Merge branch 'master' of https://gitlab.control.lth.se/cont-mkr/convergence_dmp_two_arms

README.md

+This is an implementation (mainly C++) or temporally coupled dynamical movement
+primitives (DMPs), described in
+
+Karlsson, M., F. Bagge Carlson, A. Robertsson, and R. Johansson (2017a).
+“Two-degree-of-freedom control for trajectory tracking and perturbationrecovery
+during execution of dynamical movement primitives”. In:20thIFAC World Congress.
+July 9–14, Toulouse, France, pp. 1959–1966.
+
+Karlsson, M., A. Robertsson, and R. Johansson (2018a). “Convergence of dynamical
+movement primitives with temporal coupling”. In:EuropeanControl Conference 
+(ECC). June 12–15, Limassol, Cyprus, pp. 32–39.
+
+Two videos are available:
+https://www.youtube.com/watch?v=KRfjMXs4LjQ
+and
+https://www.youtube.com/watch?v=u8GwsSsL0TI
+
+
+Compile simulink .mdl file:
+open matlab 2012a
+click on red box to initialize
+press ctrl+B to build (c-code is generated and compiled)
+
+Compile C++:
+1. Navigate to cpp folder
+2. type 'make'
+
+
+Run ExtCtrl:
+/opt/robot/example/opcom/lth_net_xeno -v /dev/ttyUSB0 localhost 2000
+
+Then load /tmp/$USER/convergence_dmp_two_arms
+
+Run C++ program:
+./main localhost 2000
+
+
+Requirements:
+
+Armadillo
+C++ library for linear algebra & scientific computing
+http://arma.sourceforge.net/
+
+You may have to adjust some directories for compiling and linking.
+
+See also:
+https://gitlab.control.lth.se/cont-mkr/dmp_perturbation_sim_example
+for simple simulation in Matlab.
+
+https://github.com/baggepinnen/DynamicMovementPrimitives.jl
+for a Julia implementation. Also allows for offline simulations.
+
+
+
+