multirobot-calibration/UserData/Robots/iCub/loadICUBWL.m at master · ctu-vras/multirobot-calibration · GitHub

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function [ WL ] = loadICUBWL()
%LOADICUBWL iCub whitelist configuration function
%   Custom function for robot whitelist configuration. Position in
%   whitelist logical matrix corresponds with the position in kinematics matrix.
%   Value 1 means the parameter will be calibrated.
%OUTPUT - WL - whitelist structure
    WL.head = zeros(4,4);

    WL.leftArm = [0, 0, 0, 0;
                 1, 1, 1, 1;
                 1, 1, 1, 1;
                 1, 1, 1, 1;
                 1, 1, 1, 1;
                 1, 1, 1, 1;
                 1, 1, 1, 1;
                 1, 1, 0, 1];

    WL.rightArm = [0, 0, 0, 0;
                 1, 1, 1, 1;
                 1, 1, 1, 1;
                 1, 1, 1, 1;
                 1, 1, 1, 1;
                 1, 1, 1, 1;
                 1, 1, 1, 1;
                 1, 1, 0, 1];

    WL.leftEye = ones(2,4);

    WL.rightEye = ones(2,4);

    WL.torso = zeros(2,4);

end