HosikChae

function y = KF(x)
  % reference: https://www.mathworks.com/help/matlab/ref/persistent.html
  persistent A B C D dt m1 l1 R Q P0 P;

  % only executed at the first time -> initialization
  if isempty(P) 
    % A = ...; B = ...; C = ...; D = ...;
    % R = ...; Q = ...; P0 = ...;
    % m1 = ...; l1 = ...; dt = ...;
  end

HosikChae

import numpy as np
import collections

def IK(joint, JOINT_IDs, Dmax=0.3, lam=0.1, a=0.1):
  [u, D, vT] = np.linalg.svd(jacobian(JOINT_IDs))
  op = vT.T @ np.diag(D / (D ** 2 + lam ** 2)) @ l.T
  
  th = clipped_vector(joint[JOINT_ID_EE]['p_des'] - joint[JOINT_ID_EE]['p'], Dmax) # p/p_des: desired/current Position in World Coord
  a = skew2axis(joint[JOINT_ID_EE]['R_des'] @ joint[JOINT_ID_EE]['R'].T) # R/R_des : desired/current attitude in World Coord
  q = a * op @ np.vstack((th, a))

HosikChae

CMake를 왜 쓰는거죠?
좋은 툴은 Visual Studio 뿐입니다. 그 이외에는 전부 사도(邪道)입니다 사도! - 작성자

주의

• 이 문서는 CMake를 주관적으로 서술합니다
• 이 문서를 통해 CMake를 시작하기엔 적합하지 않습니다
  https://cgold.readthedocs.io/en/latest/ 3.1 챕터까지 따라해본 이후 기본사항들을 속성으로 익히는 것을 돕기위한 보조자료로써 작성되었습니다

HosikChae

// A simple quickref for Eigen. Add anything that's missing.
// Main author: Keir Mierle

#include <Eigen/Dense>

Matrix<double, 3, 3> A;               // Fixed rows and cols. Same as Matrix3d.
Matrix<double, 3, Dynamic> B;         // Fixed rows, dynamic cols.
Matrix<double, Dynamic, Dynamic> C;   // Full dynamic. Same as MatrixXd.
Matrix<double, 3, 3, RowMajor> E;     // Row major; default is column-major.
Matrix3f P, Q, R;                     // 3x3 float matrix.

HosikChae

#! /usr/bin/env python
# -*- coding: utf-8 -*-
#
# This file presents an interface for interacting with the Playstation 4 Controller
# in Python. Simply plug your PS4 controller into your computer using USB and run this
# script!
#
# NOTE: I assume in this script that the only joystick plugged in is the PS4 controller.
#       if this is not the case, you will need to change the class accordingly.
#

HosikChae

#!/usr/bin/ruby
# Create display override file to force Mac OS X to use RGB mode for Display
# see http://embdev.net/topic/284710

require 'base64'

data=`ioreg -l -d0 -w 0 -r -c AppleDisplay`

edids=data.scan(/IODisplayEDID.*?<([a-z0-9]+)>/i).flatten
vendorids=data.scan(/DisplayVendorID.*?([0-9]+)/i).flatten

HosikChae

clear; clc; close all;
% from 'cdc.go.kr'
data_Feb = [12, 15, 15, 16, 18, 23, 24, 22, 23, 27, 28, 28, 28, 28, 28, 29, 30, 31, 46, 82, 156, 346, 556, 763, 893, 1146, 1595];
max_capacity = 7500;

t = 1:length(data_Feb);
x0 = [1 1];
F = @(x,xdata)x(1)*exp(-x(2)*xdata);% + x(3)*exp(-x(4)*xdata);
[x,resnorm,~,exitflag,output] = lsqcurvefit(F,x0,t,data2);