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fixed bug of "undefined function or variable vecnorm" when running sl… #6

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fixed bug of "undefined function or variable vecnorm" when running sl… #6

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e167e26
fixed bug of "undefined function or variable vecnorm" when running sl…
cggos Sep 18, 2022
dbb796d
update World struct
cggos Feb 6, 2023
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4 changes: 2 additions & 2 deletions FrameTransforms/Rotations/q2au.m
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Original file line number Diff line number Diff line change
Expand Up @@ -10,13 +10,13 @@
if nargout <= 2

v = q(2:4);
a = 2*atan2(vecnorm(v),q(1));
a = 2*atan2(vnorm(v),q(1));
u = normvec(v);

else
s = q(1); % scalar part
v = q(2:4); % vector part
[n, N_v] = vecnorm(v);
[n, N_v] = vnorm(v);
if isnumeric(n)
a = 2*atan2(n,s);
else
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8 changes: 6 additions & 2 deletions HighLevel/userDataGraph.m
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Original file line number Diff line number Diff line change
Expand Up @@ -37,9 +37,13 @@

% Simulated world
% - Simulation landmark sets, playground dimensions
% World = struct(...
% 'points', thickCloister(-6,6,-6,6,1,7),... % 3d point landmarks - see THICKCLOISTER.
% 'segments', []); % 3D segments - see HOUSE.
% [CGGOS]
World = struct(...
'points', thickCloister(-6,6,-6,6,1,7),... % 3d point landmarks - see THICKCLOISTER.
'segments', []); % 3D segments - see HOUSE.
'points', thickCloister(-6,6,-6,6,1,7),...
'segments', house(0,0,0,10,10,8));

% Robot things with their controls
% - each robot's type and initial configuration, and controls.
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