Important update of the stewart-architecture file

src/initializeJointDynamics.m

@@ -0,0 +1,23 @@
+function [stewart] = initializeJointDynamics(stewart, args)
+% initializeJointDynamics - Add Stiffness and Damping properties for the spherical joints
+%
+% Syntax: [stewart] = initializeJointDynamics(args)
+%
+% Inputs:
+%    - args - Structure with the following fields:
+%        - Kri [6x1] - Rotational Stiffness for each spherical joints [N/rad]
+%        - Cri [6x1] - Damping of each spherical joint [N/(rad/s)]
+%
+% Outputs:
+%    - stewart - updated Stewart structure with the added fields:
+%        - Kri [6x1] - Rotational Stiffness for each spherical joints [N/rad]
+%        - Cri [6x1] - Damping of each spherical joint [N/(rad/s)]
+
+arguments
+    stewart
+    args.Kri (6,1) double {mustBeNumeric, mustBePositive} = zeros(6,1)
+    args.Cri (6,1) double {mustBeNumeric, mustBePositive} = zeros(6,1)
+end
+
+stewart.Kri = args.Kri;
+stewart.Cri = args.Cri;