www.pudn.com > RobotToolbox.rar > check1.m

%CHECK script to compare M-file and MEX-file versions of RNE

% load the model and remove non-linear friction
rdh = nofriction(rdh, 'coulomb');
rmdh = nofriction(rdh, 'coulomb');

% number of trials
n = 10;

fprintf('************************ normal case *****************************\n')
args = {};
fprintf('DH:  ')
check2(rdh, n, args);
fprintf('MDH: ')
check2(rmdh, n, args);

fprintf('************************ no gravity *****************************\n')
args = {[0 0 0]};
fprintf('DH:  ')
check2(rdh, n, args);
fprintf('MDH: ')
check2(rmdh, n, args);

fprintf('************************ ext force *****************************\n')
args = {[0 0 9.81], [10 10 10 10 10 10]'};
fprintf('DH:  ')
check2(rdh, n, args);
fprintf('MDH: ')
check2(rmdh, n, args);