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