[WARNING]: WBC library of matlab functions will be transformed into a package in the future release

[gabrielenava]

In the current master branch, there is a library of matlab utility functions that are used by the controllers. However, we have other controllers in other github organizations, including matlab-simulators that use local copies of these functions. I decided to convert this library in a package in order to:

• avoid to duplicate the library in several repositories;
• allow to permanently add the library to the Matlab path. If I don't use the package, it may be difficult to understand which function is used in case there are functions with the same name in other folders in the path (there may be random failures, e.g. imagine you have your local version of the skew function in your local path. If for some reason the path to your local version of skew is not loaded, and the library of whole-body-controllers is in the Matlab path, your code may run anyways, but unexpected results may occur.

The modification has been implemented and tested in this PR. When it will be merged into master, all the standard demos (yoga, standup, impedance) should work as before. All other not officially supported demos can work as before as well, provided that the user adds the prefix wbc. to the name of all the functions of the library when there is a call to these functions. E.g.:

function [ ] = myRandomFunction ()

   % call to one of the functions in the library (add wbc.)
   [outputs] = wbc.nameOfFunctionInsideTheLibrary(inputs)
end

cc @Yeshasvitvs @aikolina

[gabrielenava]

Closing. I sent an email.

[yeshasvitirupachuri]

@gabrielenava The PR link is broken.

[gabrielenava]

link restored, thanks!