MATLAB File Help: HebiUtils
HebiUtils
  HebiUtils contains general utilitites for HEBI tools
 
    HebiUtils Methods:
 
    now                - returns the current timestamp [s]
 
    saveGains          - saves group gains to disk (XML)
    loadGains          - loads group gains from disk (XML)
 
    saveSafetyParams   - saves group safety parameters to disk (XML)
    loadSafetyParams   - loads group safety parameters from disk (XML)
 
    newGroupFromLog    - generates a group from a .hebilog file that
                         you can use play back data using getNextFeedback.
 
    newImitationGroup  - creates an imitation group for testing
 
    loadGroupLog       - loads a binary .hebilog file into memory
    loadGroupLogsUI    - shows a UI dialog to load one or more logs.
 
    readGroupLogInfo   - reads the first info and gains struct from
                         a .hebilog file
 
    convertGroupLog    - converts a binary .hebilog file into a readable
                         format, either in memory or files like CSV or MAT.
    convertGroupLogsUI - shows a UI dialog to chose one or more log
                         files to convert.
 
    plotLogs           - visualizes feedback data from one or more log
                         files in a formatted and labeled plot.
 
    plotTrajectory     - visualizes the positions, velocities, and
                         accelerations of a trajectory produced by
                         HebiTrajectoryGenerator.
 
    quat2rotMat        - converts orientations represented by a unit
                         quaternion to a rotation matrix.
Class Details
Sealed true
Construct on load false
Method Summary
Static   convertGroupLog converts a binary log file into various formats 
Static   convertGroupLogsUI shows a dialog to choose one or more 
Static   loadGains loads gains for group from disk (xml) 
Static   loadGroupLog loads a binary .hebilog file into memory 
Static   loadGroupLogsUI shows a dialog to choose one or more .hebilog files  
Static   loadSafetyParams loads safety parameters for a group from disk (xml) 
Static   newGroupFromLog replays data from a log file 
Static   newImitationGroup creates an imitation group for testing 
Static   now returns the current timestamp in seconds 
Static   plotLogs Nicely formatted plotting of HEBI logs. 
Static   plotTrajectory Visualize the output of HebiTrajectory. 
Static   quat2rotMat QUAT2DCM Conversion of a quaternion to an orthogonal rotation matrix. 
Static   readGroupLogInfo reads the first info and gains struct 
Static   saveGains saves gains for group to disk (xml) 
Static   saveSafetyParams saves safety parameters for a group to disk (xml)