Add functions to add platforms at .STEP files

src/initializeFlexibleStrutAndJointDynamics.m

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+function [stewart] = initializeFlexibleStrutAndJointDynamics(stewart, args)
+% initializeFlexibleStrutAndJointDynamics - Add Stiffness and Damping properties of each strut
+%
+% Syntax: [stewart] = initializeFlexibleStrutAndJointDynamics(args)
+%
+% Inputs:
+%    - args - Structure with the following fields:
+%        - K [nxn] - Vertical stiffness contribution of the piezoelectric stack [N/m]
+%        - M [nxn] - Vertical damping contribution of the piezoelectric stack [N/(m/s)]
+%        - xi        [1x1] - Vertical (residual) stiffness when the piezoelectric stack is removed [N/m]
+%        - step_file [6x1] - Vertical (residual) damping when the piezoelectric stack is removed [N/(m/s)]
+%        - Gf [6x1] - Gain from strain in [m] to measured [N] such that it matches
+%
+% Outputs:
+%    - stewart - updated Stewart structure with the added fields:
+
+arguments
+    stewart
+    args.K        double {mustBeNumeric} = zeros(6,6)
+    args.M        double {mustBeNumeric} = zeros(6,6)
+    args.H        double {mustBeNumeric} = 0
+    args.n_xyz    double {mustBeNumeric} = zeros(2,3)
+    args.xi       double {mustBeNumeric} = 0.1
+    args.Gf       double {mustBeNumeric} = 1
+    args.step_file char {} = ''
+end
+
+stewart.actuators.ax_off = (stewart.geometry.l(1) - args.H)/2; % Axial Offset at the ends of the actuator
+
+stewart.joints_F.type = 10;
+stewart.joints_M.type = 10;
+
+stewart.struts_F.type = 3;
+stewart.struts_M.type = 3;
+
+stewart.actuators.type = 4;
+
+stewart.actuators.Km = args.K;
+stewart.actuators.Mm = args.M;
+
+stewart.actuators.n_xyz = args.n_xyz;
+stewart.actuators.xi = args.xi;
+
+stewart.actuators.step_file = args.step_file;
+
+stewart.actuators.K = args.K(3,3); % Axial Stiffness
+
+stewart.actuators.Gf = args.Gf;

src/initializeSolidPlatforms.m

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+function [stewart] = initializeSolidPlatforms(stewart, args)
+% initializeSolidPlatforms - Initialize the geometry of the Fixed and Mobile Platforms
+%
+% Syntax: [stewart] = initializeSolidPlatforms(args)
+%
+% Inputs:
+%    - args - Structure with the following fields:
+%        - density [1x1] - Density of the platforms [kg]
+%
+% Outputs:
+%    - stewart - updated Stewart structure with the added fields:
+%      - platform_F [struct] - structure with the following fields:
+%        - type = 2
+%        - M [1x1] - Fixed Platform Density [kg/m^3]
+%      - platform_M [struct] - structure with the following fields:
+%        - type = 2
+%        - M [1x1] - Mobile Platform Density [kg/m^3]
+
+arguments
+    stewart
+    args.density (1,1) double {mustBeNumeric, mustBePositive} = 7800
+end
+
+stewart.platform_F.type = 2;
+
+stewart.platform_F.density = args.density;
+
+stewart.platform_M.type = 2;
+
+stewart.platform_M.density = args.density;