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star2dust / paper-simulation

Let's reproduce paper simulations of multi-robot systems, formation control, distributed optimization and cooperative manipulation.
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Code running error #2

Closed lajiji closed 1 year ago

lajiji commented 3 years ago

Hi, I ran "alonso-mora2017multi robot" with the following error:

main robot control Function or variable 'rt2tr' is not defined. Error pkgMechanics.RigidCuboid/updateVerticesPosition (line 105) obj.hTransMat = rt2tr( obj.rotMat , obj.position (1:3)); Error pkgMechanics.RigidCuboid (line 62) obj.updateVerticesPosition ; Error main robot control (line 12) obst(1) = pkgMechanics.RigidCuboid (1,xo1,[1.5,3.5,1]);

star2dust commented 3 years ago

Thanks for your comment. This simulation requires Robotics Toolbox to work. See https://github.com/star2dust/Robotics-Toolbox. Clone the Robotics-Toolbox project and you can find rt2tr.m in Robotics-Toolbox\rvctools\release10.3.1\robot.