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Updated the Simulink implementation to work with the current code - #44
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…hat they can run within simulink
… changed some of the test SLX files
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Prier
requested changes
Aug 25, 2026
| switch obj.RobotType | ||
| case obj.all_robot_types(1) | ||
| obj.robot_model = obj.sdu_controllers.models.BreedingBlanketHandlingRobotModel(); | ||
| obj.robot_model = obj.sdu_controllers.models.ParameterRobotModel("/home/madla/Documents/sdu_controllers/config/models/breeding_blanket_handling_robot.yaml"); |
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Here it should preferably not point to a specific file on your PC, but use the default through the BreedingBlanketHandlingRobotModel() constructor.
| switch obj.RobotType | ||
| case obj.all_robot_types(1) | ||
| obj.robot_model = obj.sdu_controllers.models.BreedingBlanketHandlingRobotModel(); | ||
| obj.robot_model = obj.sdu_controllers.models.ParameterRobotModel("/home/madla/Documents/sdu_controllers/config/models/breeding_blanket_handling_robot.yaml"); |
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Here it should preferably not point to a specific file on your PC, but use the default through the BreedingBlanketHandlingRobotModel() constructor.
…e fullPivHouseholderQr for more numerical stability. Also added a new example for the Eurofusion robot using the operational space controller while the tilting plate joint is fixed. Here, we also see some of the joints wander a bit off while the end-effector is at the desired position -- that is how it is, when we are using this particular controller.
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Minor changes have been to the pyhton bindings: removed the PID controller from init.py, since it is also being made in _sdu_controller.cpp which is more updated.
Reshaping of the input to the controllers in simulink have been added, since some of them are sensitive to row vs collum vectors.