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An example for using the inverse dynamics with any simulation using MATLAB

Hello,
Is there any way to get a hint of how to use the MATLAB code with any simulation?

For instance how to move to x,y, theta? I can get the joint names and send any angle to any joint but hold no idea how to use your code to generate the angle for each joint.

Bug Forward kinematics results don't correspond to naoqi getPosition method results

When comparing the nao forward kinematics results of this library and those from naoqi, I noticed a bug in the Z axis value.

The code:

    //Right Hand
    joints[L_ARM+SHOULDER_PITCH]=0;
    joints[L_ARM+SHOULDER_ROLL]=0;
    joints[L_ARM+ELBOW_YAW]=0;
    joints[L_ARM+ELBOW_ROLL]=0;
    joints[L_ARM+WRIST_YAW]=0;
    //Right Hand
    joints[R_ARM+SHOULDER_PITCH]=0;
    joints[R_ARM+SHOULDER_ROLL]=0;
    joints[R_ARM+ELBOW_YAW]=0;
    joints[R_ARM+ELBOW_ROLL]=0;
    joints[R_ARM+WRIST_YAW]=0;

    //Now we can set the joints to the class
    nkin.setJoints(joints);

    output1= nkin.getForwardEffector((NAOKinematics::Effectors)CHAIN_L_ARM);

    //Right Hand
    output2 = nkin.getForwardEffector((NAOKinematics::Effectors)CHAIN_R_ARM);

    std::cout << "x = " << output1(0,3) << " y = " << output1(1,3) << " z = " << output1(2,3) <<  std::endl;
    std::cout << "x = " << output2(0,3) << " y = " << output2(1,3) << " z = " << output2(2,3) <<  std::endl;

The output:

x = 218.7 y = 113 z = 112.31
x = 218.7 y = -113 z = 112.31

Naoqi output for the Left arm in the same configuration in meters:

x = 0.21852196753025055,
y = 0.11063870042562485,
z = 0.08774302154779434,

The bug correspons to the HandOffsetZ constant when used to calculate the constant translation matrix. According to the aldebaran documentation HandOffsetZ is negative in the z axis.

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