Only one simulink file in matlab folder

src/initializeGround.m

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+function [ground] = initializeGround(args)
+% initializeGround - Initialize the Ground that can then be used for simulations and analysis
+%
+% Syntax: [ground] = initializeGround(args)
+%
+% Inputs:
+%    - args - Structure with the following fields:
+%        - type - 'none', 'solid', 'flexible'
+%        - K [3x1] - Translation Stiffness of the Ground [N/m]
+%        - C [3x1] - Translation Damping of the Ground [N/(m/s)]
+%
+% Outputs:
+%    - ground - Struture with the following properties:
+%        - type - 1 (none), 2 (solid), 3 (flexible)
+%        - K [3x1] - Translation Stiffness of the Ground [N/m]
+%        - C [3x1] - Translation Damping of the Ground [N/(m/s)]
+
+arguments
+  args.type char {mustBeMember(args.type,{'none', 'solid', 'flexible'})} = 'none'
+  args.K (3,1) double {mustBeNumeric, mustBeNonnegative} = 1e8*ones(3,1)
+  args.C (3,1) double {mustBeNumeric, mustBeNonnegative} = 1e1*ones(3,1)
+end
+
+switch args.type
+  case 'none'
+    ground.type = 1;
+  case 'solid'
+    ground.type = 2;
+  case 'flexible'
+    ground.type = 3;
+end
+
+ground.K = args.K;
+ground.C = args.C;

src/initializePayload.m

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+function [payload] = initializePayload(args)
+% initializePayload - Initialize the Payload that can then be used for simulations and analysis
+%
+% Syntax: [payload] = initializePayload(args)
+%
+% Inputs:
+%    - args - Structure with the following fields:
+%        - type - 'none', 'solid', 'flexible', 'cartesian'
+%        - h [1x1] - Height of the CoM of the payload w.r.t {M} [m]
+%                    This also the position where K and C are defined
+%        - K [6x1] - Stiffness of the Payload [N/m, N/rad]
+%        - C [6x1] - Damping of the Payload [N/(m/s), N/(rad/s)]
+%        - m [1x1] - Mass of the Payload [kg]
+%        - I [3x3] - Inertia matrix for the Payload [kg*m2]
+%
+% Outputs:
+%    - payload - Struture with the following properties:
+%        - type - 1 (none), 2 (solid), 3 (flexible)
+%        - h [1x1] - Height of the CoM of the payload w.r.t {M} [m]
+%        - K [6x1] - Stiffness of the Payload [N/m, N/rad]
+%        - C [6x1] - Stiffness of the Payload [N/(m/s), N/(rad/s)]
+%        - m [1x1] - Mass of the Payload [kg]
+%        - I [3x3] - Inertia matrix for the Payload [kg*m2]
+
+arguments
+  args.type char {mustBeMember(args.type,{'none', 'solid', 'flexible', 'cartesian'})} = 'none'
+  args.K (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e8*ones(6,1)
+  args.C (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e1*ones(6,1)
+  args.h (1,1) double {mustBeNumeric, mustBeNonnegative} = 100e-3
+  args.m (1,1) double {mustBeNumeric, mustBeNonnegative} = 10
+  args.I (3,3) double {mustBeNumeric, mustBeNonnegative} = 1*eye(3)
+end
+
+switch args.type
+  case 'none'
+    payload.type = 1;
+  case 'solid'
+    payload.type = 2;
+  case 'flexible'
+    payload.type = 3;
+  case 'cartesian'
+    payload.type = 4;
+end
+
+payload.K = args.K;
+payload.C = args.C;
+payload.m = args.m;
+payload.I = args.I;
+
+payload.h = args.h;