Add metrology element (change of base, computation of error)

Lot's of new things:
- try to use less .mat files
- computation of setpoint and error in the cartesian frame fixed to the granite
- change of base to have the errors w.r.t. the NASS base
- add script to plot setpoint, position and error

active_damping/iff_control.m

@@ -19,4 +19,4 @@ K_iff_heavy_vc = 20/s*tf(eye(6));
 K_iff_heavy_pz = 535/s*tf(eye(6));
 
 %%
-save('./mat/K_iff_crit.mat', 'K_iff_light_vc', 'K_iff_light_pz', 'K_iff_heavy_vc', 'K_iff_heavy_pz');
+save('./mat/K_iff_crit.mat', 'K_iff_light_vc', 'K_iff_light_pz', 'K_iff_heavy_vc', 'K_iff_heavy_pz');

active_damping/iff_identification.m

@@ -9,12 +9,12 @@ initializeSample(struct('mass', 1));
 
 initializeNanoHexapod(struct('actuator', 'lorentz'));
 K_iff = K_iff_light_vc; %#ok
-save('./mat/K_iff.mat', 'K_iff');
+save('./mat/controllers.mat', 'K_iff');
 G_iff_light_vc = identifyPlant();
 
 initializeNanoHexapod(struct('actuator', 'piezo'));
 K_iff = K_iff_light_pz; %#ok
-save('./mat/K_iff.mat', 'K_iff');
+save('./mat/controllers.mat', 'K_iff');
 G_iff_light_pz = identifyPlant();
 
 %% Heavy Sample
@@ -22,12 +22,12 @@ initializeSample(struct('mass', 50));
 
 initializeNanoHexapod(struct('actuator', 'lorentz'));
 K_iff = K_iff_heavy_vc; %#ok
-save('./mat/K_iff.mat', 'K_iff');
+save('./mat/controllers.mat', 'K_iff');
 G_iff_heavy_vc = identifyPlant();
 
 initializeNanoHexapod(struct('actuator', 'piezo'));
 K_iff = K_iff_heavy_pz;
-save('./mat/K_iff.mat', 'K_iff');
+save('./mat/controllers.mat', 'K_iff', '-append');
 G_iff_heavy_pz = identifyPlant();
 
 %% Save the obtained transfer functions