Correct path of two functions
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@ -48,7 +48,7 @@
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:END:
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<<sec:computeReferencePose>>
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This Matlab function is accessible [[file:src/computeReferencePose.m][here]].
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This Matlab function is accessible [[file:..//src/computeReferencePose.m][here]].
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#+begin_src matlab
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function [WTr] = computeReferencePose(Dy, Ry, Rz, Dh, Dn)
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@ -129,6 +129,7 @@ This Matlab function is accessible [[file:src/computeReferencePose.m][here]].
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WTr = Rty*Rry*Rrz*Rh*Rn;
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end
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#+end_src
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* Compute the Sample Position Error w.r.t. the NASS
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:PROPERTIES:
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:header-args:matlab+: :tangle ../src/computeSampleError.m
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@ -136,7 +137,7 @@ This Matlab function is accessible [[file:src/computeReferencePose.m][here]].
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:END:
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<<sec:computeSampleError>>
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This Matlab function is accessible [[file:src/computeSampleError.m][here]].
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This Matlab function is accessible [[file:..//src/computeSampleError.m][here]].
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#+begin_src matlab
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function [MTr] = computeSampleError(WTm, WTr)
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20
src/computeSampleError.m
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20
src/computeSampleError.m
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@ -0,0 +1,20 @@
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function [MTr] = computeSampleError(WTm, WTr)
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% computeSampleError -
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%
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% Syntax: [MTr] = computeSampleError(WTm, WTr)
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%
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% Inputs:
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% - WTm - Homoegeneous transformation that represent the
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% wanted pose of the sample with respect to the granite
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% - WTr - Homoegeneous transformation that represent the
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% measured pose of the sample with respect to the granite
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%
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% Outputs:
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% - MTr - Homoegeneous transformation that represent the
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% wanted pose of the sample expressed in a frame
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% attached to the top platform of the nano-hexapod
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MTr = zeros(4,4);
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MTr = [WTm(1:3,1:3)', -WTm(1:3,1:3)'*WTm(1:3,4) ; 0 0 0 1]*WTr;
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end
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