Cleaning of the files. Add script for identification with varying mass

src/getMaxPositions.m

@@ -1,4 +1,6 @@
-function [X, Y, Z] = getMaxPositions(Leg, J)
+function [X, Y, Z] = getMaxPositions(stewart)
+    Leg = stewart.Leg;
+    J = stewart.J;
     theta = linspace(0, 2*pi, 100);
     phi = linspace(-pi/2 , pi/2, 100);
     dmax = zeros(length(theta), length(phi));

src/identifyPlantCart.m

@@ -1,4 +1,4 @@
-function [G_cart, G_cart_raw] = getPlantCart()
+function [G_cart, G_cart_raw] = identifyPlantCart()
     %% Default values for opts
     opts = struct('f_low', 1,...
                   'f_high', 10000 ...

src/identifyPlantLegs.m

@@ -0,0 +1,35 @@
+function [G_legs, G_legs_raw] = identifyPlantLegs()
+    %% Default values for opts
+    opts = struct('f_low',  1,    ...
+                  'f_high', 10000 ...
+    );
+
+    %% Populate opts with input parameters
+    if exist('opts_param','var')
+        for opt = fieldnames(opts_param)'
+            opts.(opt{1}) = opts_param.(opt{1});
+        end
+    end
+
+    %% Options for Linearized
+    options = linearizeOptions;
+    options.SampleTime = 0;
+
+    %% Name of the Simulink File
+    mdl = 'stewart_simscape';
+
+    %% Centralized control (Cartesian coordinates)
+    % Input/Output definition
+    io(1) = linio([mdl, '/F_legs'],          1,'input');
+    io(2) = linio([mdl, '/Stewart_Platform'],2,'output');
+
+    % Run the linearization
+    G_legs_raw = linearize(mdl,io, 0);
+
+    G_legs = preprocessIdTf(G_legs_raw, opts.f_low, opts.f_high);
+
+    % Input/Output names
+    G_legs.InputName  = {'F1', 'F2', 'F3', 'M4', 'M5', 'M6'};
+    G_legs.OutputName = {'D1', 'D2', 'D3', 'R4', 'R5', 'R6'};
+end
+