Delete old function to make cubic configurations

src/initializeCubicConfiguration.m

@@ -1,89 +0,0 @@
-function [stewart] = initializeCubicConfiguration(opts_param)
-
-opts = struct(...
-    'H_tot', 90,  ... % Total height of the Hexapod [mm]
-    'L',     110, ... % Size of the Cube [mm]
-    'H',     40,  ... % Height between base joints and platform joints [mm]
-    'H0',    75   ... % Height between the corner of the cube and the plane containing the base joints [mm]
-    );
-
-if exist('opts_param','var')
-    for opt = fieldnames(opts_param)'
-        opts.(opt{1}) = opts_param.(opt{1});
-    end
-end
-
-points = [0, 0, 0; ...
-          0, 0, 1; ...
-          0, 1, 0; ...
-          0, 1, 1; ...
-          1, 0, 0; ...
-          1, 0, 1; ...
-          1, 1, 0; ...
-          1, 1, 1];
-points = opts.L*points;
-
-sx = cross([1, 1, 1], [1 0 0]);
-sx = sx/norm(sx);
-
-sy = -cross(sx, [1, 1, 1]);
-sy = sy/norm(sy);
-
-sz = [1, 1, 1];
-sz = sz/norm(sz);
-
-R = [sx', sy', sz']';
-
-cube = zeros(size(points));
-for i = 1:size(points, 1)
-  cube(i, :) = R * points(i, :)';
-end
-
-leg_indices = [3, 4; ...
-               2, 4; ...
-               2, 6; ...
-               5, 6; ...
-               5, 7; ...
-               3, 7];
-
-legs = zeros(6, 3);
-legs_start = zeros(6, 3);
-
-for i = 1:6
-  legs(i, :) = cube(leg_indices(i, 2), :) - cube(leg_indices(i, 1), :);
-  legs_start(i, :) = cube(leg_indices(i, 1), :);
-end
-
-Hmax = cube(4, 3) - cube(2, 3);
-if opts.H0 < cube(2, 3)
-  error(sprintf('H0 is not high enought. Minimum H0 = %.1f', cube(2, 3)));
-else if opts.H0 + opts.H > cube(4, 3)
-  error(sprintf('H0+H is too high. Maximum H0+H = %.1f', cube(4, 3)));
-  error('H0+H is too high');
-end
-
-Aa = zeros(6, 3);
-for i = 1:6
-  t = (opts.H0-legs_start(i, 3))/(legs(i, 3));
-  Aa(i, :) = legs_start(i, :) + t*legs(i, :);
-end
-
-Ab = zeros(6, 3);
-for i = 1:6
-  t = (opts.H0+opts.H-legs_start(i, 3))/(legs(i, 3));
-  Ab(i, :) = legs_start(i, :) + t*legs(i, :);
-end
-
-Bb = zeros(6, 3);
-Bb = Ab - (opts.H0 + opts.H_tot/2 + opts.H/2)*[0, 0, 1];
-
-h = opts.H0 + opts.H/2 - opts.H_tot/2;
-Aa = Aa - h*[0, 0, 1];
-Ab = Ab - h*[0, 0, 1];
-
-stewart = struct();
-  stewart.Aa = Aa;
-  stewart.Ab = Ab;
-  stewart.Bb = Bb;
-  stewart.H_tot = opts.H_tot;
-end