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29 lines
756 B
29 lines
756 B
%CHECK script to compare M-file and MEX-file versions of RNE
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% load the model and remove non-linear friction
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rdh = nofriction(rdh, 'coulomb');
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rmdh = nofriction(rdh, 'coulomb');
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% number of trials
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n = 10;
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fprintf('************************ normal case *****************************\n')
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args = {};
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fprintf('DH: ')
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check2(rdh, n, args);
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fprintf('MDH: ')
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check2(rmdh, n, args);
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fprintf('************************ no gravity *****************************\n')
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args = {[0 0 0]};
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fprintf('DH: ')
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check2(rdh, n, args);
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fprintf('MDH: ')
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check2(rmdh, n, args);
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fprintf('************************ ext force *****************************\n')
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args = {[0 0 9.81], [10 10 10 10 10 10]'};
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fprintf('DH: ')
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check2(rdh, n, args);
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fprintf('MDH: ')
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check2(rmdh, n, args);
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