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

src/runSimulation.m

@@ -19,10 +19,10 @@ function [] = runSimulation(sys_name, sys_mass, ctrl_type, act_damp)
     if strcmp(act_damp, 'iff')
         K_iff_crit = load('./mat/K_iff_crit.mat');
         K_iff = K_iff_crit.(sprintf('K_iff_%s_%s', sys_mass, sys_name)); %#ok
-        save('./mat/K_iff.mat', 'K_iff');
+        save('./mat/controllers.mat', 'K_iff', '-append');
     elseif strcmp(act_damp, 'none')
         K_iff = tf(zeros(6)); %#ok
-        save('./mat/K_iff.mat', 'K_iff');
+        save('./mat/controllers.mat', 'K_iff', '-append');
     end
 
     %%
@@ -33,7 +33,7 @@ function [] = runSimulation(sys_name, sys_mass, ctrl_type, act_damp)
     else
         error('sys_name should be pz or vc');
     end
-    
+
     if strcmp(sys_mass, 'light')
     	initializeSample(struct('mass', 1));
     elseif strcmp(sys_mass, 'heavy')