Merge branch 'master' of https://git.rwth-aachen.de/ita/toolbox

applications/Binaural-HRTF/HRTF_class/@itaHRTF/interp.m

@@ -106,7 +106,7 @@ ear_d       =   [-0.07 0.07];
 
 W = sparse(diag(w));                                      % diagonal matrix containing weights
 D = sparse(diag(dweights_rep));                                  % decomposition order-dependent Tikhonov regularization
-Y = ita_sph_base(this.dirCoord,Nmax,'orthonormal',false);   % calculate real-valued SHs using the measurement grid
+Y = ita_sph_base(this.dirCoord,Nmax,'real');   % calculate real-valued SHs using the measurement grid
 
 %% Calculate HRTF data for field points
 if Nmax > 25
@@ -131,7 +131,7 @@ for ear=1:2
 %     % calculate weighted SH coefficients using a decomposition order-dependent Tikhonov regularization
 %     
 %     freqData_temp = data.freqData;
-%     Y = ita_sph_base(data.channelCoordinates,Nmax,'orthonormal',false);
+%     Y = ita_sph_base(data.channelCoordinates,Nmax,'real');
     
     a0              = (Y.'*W*Y + epsilon*D) \ Y.'*W * freqData_temp.';
     %a0 = (Y.'*W*Y + epsilon*D) \ Y.' *
@@ -142,10 +142,10 @@ for ear=1:2
         % calculate range-extrapolated HRTFs
         a1 = a0 .* hankel_rep.';
         
-        Yest = ita_sph_base(field,N,'orthonormal',false);  % use real-valued SH's
+        Yest = ita_sph_base(field,N,'real');  % use real-valued SH's
         hrtf_arbi(:,ear:2:end) = (Yest*a1).';           % interpolated + range-extrapolated HRTFs
     else
-        Yest = ita_sph_base(field,Nmax,'orthonormal',false);  % use real-valued SH's
+        Yest = ita_sph_base(field,Nmax,'real');  % use real-valued SH's
         hrtf_arbi(:,ear:2:end) = (Yest*a0).';           % interpolated HRTFs
     end
 end

applications/Binaural-HRTF/HRTF_class/@itaHRTF/itaHRTF.m

@@ -1110,7 +1110,7 @@ classdef  itaHRTF < itaAudio
                 W               = diag(vWeights);                                      % diagonal matrix containing weights
                 D               = diag(regweights_rep);                                % decomposition order-dependent Tikhonov regularization
                 
-                Y               = ita_sph_base(this.dirCoord,Nmeas,'orthonormal',false);   % calculate real-valued SHs using the measurement grid (high SH-order)
+                Y               = ita_sph_base(this.dirCoord,Nmeas,'real');   % calculate real-valued SHs using the measurement grid (high SH-order)
                 
                 %% Calculate spatially smoothed HRTF data set
                 hrtf_smoo_wo_ITD = zeros(this.nBins,2*this.dirCoord.nPoints); % init.: columns: LRLRLR...
@@ -1302,11 +1302,11 @@ classdef  itaHRTF < itaAudio
                 earSidePlot = sArgs.earSide;
                 if numel(phiC_deg)>1,
                     xData = phiC_deg;
-                    strTitle =[ earSidePlot ' ear, \theta = ' num2str(round(thetaC_deg)) ''];
+                    strTitle =[ earSidePlot ' ear, \theta = ' num2str(round(thetaC_deg)) '�'];
                     strXlabel = '\phi in Degree';
                 else
                     xData = thetaC_deg;
-                    strTitle =[earSidePlot ' ear, \phi = ' num2str(round(phiC_deg)) ''];
+                    strTitle =[earSidePlot ' ear, \phi = ' num2str(round(phiC_deg)) '�'];
                     strXlabel = '\theta in Degree';
                 end
                 
@@ -1394,11 +1394,11 @@ classdef  itaHRTF < itaAudio
                 earSidePlot = sArgs.earSide;
                 if numel(phiC_deg)>1,
                     xData = phiC_deg;
-                    strTitle =[ earSidePlot ' ear, \theta = ' num2str(round(thetaC_deg)) ''];
+                    strTitle =[ earSidePlot ' ear, \theta = ' num2str(round(thetaC_deg)) '�'];
                     strXlabel = '\phi in Degree';
                 else
                     xData = thetaC_deg;
-                    strTitle =[earSidePlot ' ear, \phi = ' num2str(round(phiC_deg)) ''];
+                    strTitle =[earSidePlot ' ear, \phi = ' num2str(round(phiC_deg)) '�'];
                     strXlabel = '\theta in Degree';
                 end
                 

applications/Binaural-HRTF/HRTF_class/@itaHRTF/private/dfitaHRIRDAFFDataFunc.m

@@ -6,7 +6,7 @@ function [ data, samplerate, metadata ] = dfitaHRIRDAFFDataFunc( alpha, beta, it
     
     % DAFF requires data alignment by multiple of 4
     nResidual = mod( hrtf.nSamples, 4 );
-    data = [ hrtf.timeData', zeros( hrtf.nChannels, 4 - nResidual ) ];
+    data = [ hrtf.timeData', zeros( hrtf.nChannels, mod(4 - nResidual,4) ) ];
     
     metadata = [];
 end

applications/Binaural-HRTF/HRTF_class/@itaHRTF/writeDAFFFile.m

@@ -44,26 +44,33 @@ end
 
 theta_start_deg = rad2deg( min( this.channelCoordinates.theta ) );
 theta_end_deg = rad2deg( max( this.channelCoordinates.theta ) );
-theta_num_elements = size( unique( this.channelCoordinates.theta ), 1 );
+theta_num_elements = size( uniquetol( this.channelCoordinates.theta ), 1 );
 
-phi_start_deg = rad2deg( min( mod( this.channelCoordinates.phi, 2*pi ) ) );
-phi_end_deg = rad2deg( max( mod( this.channelCoordinates.phi, 2*pi ) ) );
-phi_num_elements = size( unique( this.channelCoordinates.phi ), 1 );
+phi_start_deg = rad2deg( min( mod( this.channelCoordinates.phi, 2 * pi ) ) );
+phi_end_deg = rad2deg( max( mod( this.channelCoordinates.phi, 2 * pi ) ) );
+phi_num_elements = size( uniquetol( this.channelCoordinates.phi ), 1 );
 
 assert( phi_num_elements ~= 0 );
 alphares = ( phi_end_deg - phi_start_deg ) / phi_num_elements; % phi end does not cover entire circle in this case
 alphares_full_circle = ( phi_end_deg - phi_start_deg ) / ( phi_num_elements - 1 ); % phi end does not cover entire circle in this case
 if phi_end_deg + alphares_full_circle >= 360.0
-    alpharange = [ phi_start_deg ( phi_end_deg + alphares_full_circle ) ]; % Account for full circle
+    alpharange = [ phi_start_deg 360 ]; % Account for full circle and force end of range to 360 deg
     alphares = alphares_full_circle;
 else
     alpharange = [ phi_start_deg phi_end_deg ];
 end
 
+assert( alpharange( 1 ) >= 0.0 )
+assert( alpharange( 2 ) <= 360.0 )
+
 assert( theta_num_elements ~= 0 );
 betares = ( theta_end_deg - theta_start_deg ) / ( theta_num_elements - 1 ); % phi end does not cover entire circle
 betarange = 180 - [ theta_start_deg theta_end_deg ]; % Flip poles (DAFF starts at south pole)
 
+assert( betarange( 2 ) >= 0.0 )
+assert( betarange( 1 ) <= 180.0 )
+
+
 %% Assemble metadata
 
 metadata = daffv17_add_metadata( metadata, 'Generation script', 'String', 'writeDAFFFile.m' );

applications/Binaural-HRTF/HpTF_class/itaHpTF_Audio.m

@@ -14,6 +14,7 @@ classdef itaHpTF_Audio < itaHpTF
     %                                             Audio Engineering Society Convention 130, May 2011)
     %         normalized        (Normalization of HpTF)
     %         smoothing         (Smoothing bandwidth has to be defined in fractions of octaves, see also ita_smooth)
+    %         mic               (measured microphone transfer funcions - not inverted: length does not matter; will be adapted)
     %
     % itaHpTF_Audio Methods (private):
     %         HP_equalization   If this.mic is not set, it will be unused 
@@ -30,7 +31,9 @@ classdef itaHpTF_Audio < itaHpTF
         m_fUpper     = 18000;
         mMethod      = 'mSTD';
         mNormalized  = true;
+        mGainComp    = true;
         mSmoothing   = 1/6;
+        mSelectMeas    = 1:8; % select the channels which should be used for the HpTF
     end
     
     properties(Dependent = true, Hidden = false)
@@ -38,8 +41,10 @@ classdef itaHpTF_Audio < itaHpTF
         fLower      = 100;
         fUpper      = 18000;
         method      = 'mSTD';
-        normalized  = true;
+        normalized  = true; % normalization of the signal
+        gainComp    = true; % microphone compensation
         smoothing   = 1/6;
+        selectMeas   = 1:8; % select specific measurements
     end
     
     properties (Dependent = true, SetAccess = private)
@@ -122,6 +127,13 @@ classdef itaHpTF_Audio < itaHpTF
         function normalized = get.normalized(this)
             normalized = this.mNormalized; end
         
+        function comp = get.gainComp(this)
+            comp = this.mGainComp; end
+        
+        function sel = get.selectMeas(this)
+            sel = this.mSelectMeas; end
+        
+        
         function smoothing = get.smoothing(this)
             smoothing = this.mSmoothing; end
         %% ................................................................
@@ -151,6 +163,16 @@ classdef itaHpTF_Audio < itaHpTF
             this = HP_equalization(this);
         end
         
+        function this = set.selectMeas(this,ch)
+            this.mSelectMeas = ch;
+            this = HP_equalization(this);
+        end
+        
+        function this = set.gainComp(this,comp)
+            this.mGainComp = comp;
+            this = HP_equalization(this);
+        end
+        
         function this = set.smoothing(this,smoothing)
             this.mSmoothing = smoothing;
             this = HP_equalization(this);
@@ -162,11 +184,12 @@ classdef itaHpTF_Audio < itaHpTF
         % SET PRIVATE
         %..................................................................
         function this = set.init(this,var)
-            this.nameHP      = var.nameHP;
+             this.nameHP      = var.nameHP;
             this.nameMic     = var.nameMic;
             this.nameSubj    = var.nameSubj;
             this.repeat      = var.repeat;
             this.mTF.time    = var.time;
+            this.selectMeas  = 1:var.repeat;
             this = HP_equalization(this);
         end
         
@@ -175,11 +198,8 @@ classdef itaHpTF_Audio < itaHpTF
             %     Audio Engineering Society Convention 130, May 2011
             
             tWin    = this.TF.trackLength; % crop HPTF
-            if this.mic.dimensions == 2 % mic min phase + extension
-                minMic = ita_minimumphase(this.mic);
-                [mic, TF] = ita_extend_dat(minMic,this.TF);
-            else TF = this.TF;
-            end
+            measSel = sort([2*this.selectMeas-1 2*this.selectMeas]);
+            TF = this.TF.ch(measSel);
             
             %init
             thisEQ  = this;
@@ -200,14 +220,19 @@ classdef itaHpTF_Audio < itaHpTF
                     otherwise
                         error('Unknown type');
                 end
-                if this.mic.dimensions == 2
-                    Rec = ita_multiply_spk(Rec,mic);
+                
+                if this.mic.dimensions == 2 % Compensation of mic
+                    minMic  = ita_minimumphase(this.mic);
+                    RecM    = ita_convolve(Rec,minMic.ch(cdx));
+                    RecM.fftDegree = TF.fftDegree;
+                else
+                    RecM = Rec;
                 end
-                %% Short Filter with no correction for low freqs and minimun phase
-                aux = max(abs(Rec.freqData),[],2);
+                %% Short Filter with no correction for low freqs and minimum phase
+                aux = max(abs(RecM.freqData),[],2);
                 
                 % find first maximum and truncate low freq correction at this point
-                idxDF   = Rec.freq2index([this.fLower  this.fLower*1.5 ]);
+                idxDF   = RecM.freq2index([this.fLower  this.fLower*1.5 ]);
                 d_aux   = diff(aux(idxDF(1):idxDF(2)));
                 idx     = find(diff(sign(d_aux)) ~= 0,1,'first'); % Bruno style...
                 aux(1:idxDF(1)+idx+1) = aux(idxDF(1)+idx+2);
@@ -227,10 +252,18 @@ classdef itaHpTF_Audio < itaHpTF
             this_min   = ita_minimumphase(ita_time_shift(HpTF,tWin/2));
             this_win   = ita_time_window(this_min,[tWin*0.99,tWin],'time','crop');
            
-            if this.normalized,                    
-                this_norm = ita_normalize_dat(this_win);
+            if this.gainComp % compensate gains from mics (equalize)
+                idxDF   = this_win.freq2index(this.fLower);
+                chGain  = 20*log10(abs(this_win.freqData(idxDF,:)));
+                this_comp = this_win;
+                this_comp.freqData = bsxfun(@times,this_win.freqData,10.^(-chGain/20));
+            else, this_comp = this_win;
+            end
+            
+            if this.normalized
+                this_norm = ita_normalize_dat(this_comp);
                 thisEQ.timeData = this_norm.timeData;
-            else thisEQ.timeData = this_win.timeData;
+            else, thisEQ.timeData = this_comp.timeData;
             end
             
             if ~isempty(this.savePath)

applications/Binaural-HRTF/HpTF_class/itaHpTF_MS.m

@@ -88,6 +88,7 @@ classdef itaHpTF_MS < itaHpTF
                 % Measure Right side
                 MS.inputChannels = chIn(2);
                 MS.outputChannels = chOut(2);
+                commandwindow
                 resultR = MS.run;
                 resultR.channelNames{1} = strR;
                 
@@ -108,7 +109,7 @@ classdef itaHpTF_MS < itaHpTF
                     disp(['Measurement ',num2str(idxM),'/',num2str(this.repeat),' finished.'])
                     disp('Put headphones off and on again. Press any key to continue.')
                     pause
-                    pause(2)
+                    pause(1)
                 else
                     commandwindow
                     fprintf('\nMEASUREMENT DONE!\n')
@@ -118,6 +119,7 @@ classdef itaHpTF_MS < itaHpTF
             MS.inputChannels = chIn;
             
             HpTF = itaHpTF_Audio(this);
+            HpTF.selectMeas = 1:this.repeat;
             assignin('base', ['HpTF_' this.nameSubj], HpTF)
         end
         

applications/HTMLhelp/ita_generate_documentation.m

@@ -40,7 +40,8 @@ ignoreList  = {'.svn', ...
                'doc', ...
                'GuiCallbacks', ...
                'external_packages', ...
-               'ExternalPackages'};
+               'ExternalPackages', ...
+               'helpers'};
 pathStr = genpath(sArgs.rootpath);
 prefixToolbox = fliplr(strtok(fliplr(sArgs.rootpath),filesep)); %get Toolbox folder name
 

applications/Hardware/ITAMotorControl/ClassStuff/itaMotorControl/itaMotorControlNanotec.m

@@ -142,7 +142,7 @@ classdef itaMotorControlNanotec < itaMotorControl
                 % parse the notfound options for wait
 
                 [controlOptions, notFound] = ita_parse_arguments(controlOptions,notFound);
-                
+                this.wait = controlOptions.wait;
                 for index = 1:length(this.motorList)
                     motorposition = sArgs.(this.motorList{index}.getMotorName());
                     this.started(index) = this.motorList{index}.prepareMove(motorposition,notFound{:});
@@ -222,6 +222,15 @@ classdef itaMotorControlNanotec < itaMotorControl
             ita_verbose_info('Finished preparing',2)
         end
         
+        function startMove(this)
+            for index = 1:length(this.motorList)
+                if this.started(index)
+                    this.motorList{index}.startMoveToPosition();
+                end
+            end
+            this.wait4everything;
+        end
+        
         function startContinuousMoveNow(this)
             % start moves
             for index = 1:length(this.motorList)
@@ -235,6 +244,7 @@ classdef itaMotorControlNanotec < itaMotorControl
                 this.mIsInitialized             =   false;
                 error(sprintf('Motor %s is not responding!',this.motorList{index}.getMotorName));
             end
+            this.wait4everything
             this.preparedList = [];
         end
         
@@ -447,7 +457,7 @@ classdef itaMotorControlNanotec < itaMotorControl
                 else
                     ita_verbose_info('Position NOT reached! - Check for errors!', 0);
                     this.send_commandlist(this.failed_command_repititions); % mpo: bugfix: send_commandlist needs argument
-                    this.isReferenced = false;
+%                     this.isReferenced = false;
                 end
                 this.clear_receivedlist;
                 this.started(1:length(this.motorIDList)) = false;

applications/Hardware/ITAMotorControl/ClassStuff/itaMotorControl/itaMotorNanotec_HRTFarc.m

@@ -14,18 +14,25 @@ classdef itaMotorNanotec_HRTFarc < itaMotorNanotec
     end
     
     properties(Constant, Hidden = true)
+        
         sArgs_default_motor = struct( ...
-            'wait',         true,       ...
-            'speed',        2,          ...
-            'VST',          'adaptiv',  ...
-            'limit',        true,      ...
-            'continuous',   false,      ...
-            'absolut',      true,      ...
-            'closed_loop',  false,       ...
-            'acceleration_ramp', 1,  ...
-            'gear_ratio',   5,        ...
-            'current',      100,        ...
-            'ramp_mode',    2           );    
+            'wait',             true,       ...
+            'speed',            2,          ...
+            'VST',              'adaptiv',  ...
+            'limit',            true,      ...
+            'continuous',       false,      ...
+            'absolut',          true,      ...
+            'closed_loop',      false,       ...
+            'acceleration_ramp',1,  ...
+            'gear_ratio',       5,        ...
+            'current',          100,        ...
+            'ramp_mode',        2,           ...
+            'P',                400, ...
+            'I',                2.0, ...
+            'D',                700, ...
+            'P_nenner',         3, ...
+            'I_nenner',         5,...
+            'D_nenner',         3);    
     end
     
     methods
@@ -87,11 +94,11 @@ classdef itaMotorNanotec_HRTFarc < itaMotorNanotec
             % phasenstrom im stillstand
             motorControl.add_to_commandlist(sprintf('#%dr=0\r' , this.motorID));
             % fehlerkorrekturmodus
-            motorControl.add_to_commandlist(sprintf('#%dU=1\r' , this.motorID));
+            motorControl.add_to_commandlist(sprintf('#%dU=0\r' , this.motorID));
             % ausschwingzeit
             motorControl.add_to_commandlist(sprintf('#%dO=1\r' , this.motorID));
             % umkehrspiel
-            motorControl.add_to_commandlist(sprintf('#%dz=0\r'          , this.motorID));
+            motorControl.add_to_commandlist(sprintf('#%dz=5\r'          , this.motorID));
             
             % automatisches senden des status deaktivieren
             motorControl.add_to_commandlist(sprintf('#%dJ=0\r'          , this.motorID));
@@ -125,7 +132,7 @@ classdef itaMotorNanotec_HRTFarc < itaMotorNanotec
             motorControl.add_to_commandlist(sprintf('#%dd=1\r'          , this.motorID));
             % Calculate and set lower speed:
 %             stepspersecond      =   round(this.sArgs_default_motor.speed/0.9*this.sArgs_default_motor.gear_ratio);
-            motorControl.add_to_commandlist(sprintf('#%du=%d\r'       , this.motorID, 3));
+            motorControl.add_to_commandlist(sprintf('#%du=%d\r'       , this.motorID, 1));
             % Calculate and set upper speed:
             stepspersecond      =   round(this.sArgs_default_motor.speed/0.9*this.sArgs_default_motor.gear_ratio);
             motorControl.add_to_commandlist(sprintf('#%do=%d\r'       , this.motorID, stepspersecond));
@@ -149,7 +156,7 @@ classdef itaMotorNanotec_HRTFarc < itaMotorNanotec
                sArgs = ita_parse_arguments(sArgs,varargin);
            end
            if sArgs.continuous
-                ret = this.prepare_move(position, 'speed', sArgs.speed,'continuous', true); 
+                ret = this.prepare_move(position, sArgs); 
                 started = true;
            else
                    % if only the phi angle is given
@@ -300,19 +307,25 @@ classdef itaMotorNanotec_HRTFarc < itaMotorNanotec
                 % Activate CL during movement:
                 motorControl.add_to_commandlist(sprintf('#%d:CL_enable=2\r' , this.motorID));
                 % Nice values for the speed closed loop control:
-                pos     =   [0.5 1 2 3 4 8 12 16 25 32 40 50];
-                vecP    =   [0.5 1.5 2.5 3.5 4.5 4.5 5.5 2.5 2.0 1.3 1.3 1.3];
-                vecI    =   [0.05 0.1 0.2 0.3 0.4 0.8 1.2 1.6 2.0 2.5 2.5 2.5];
-                vecD    =   [9 6 4 3 2 1 1 3 6 10 10 10];
-                pP      =   polyfit(pos,vecP,5);
-                pI      =   polyfit(pos,vecI,5);
-                pD      =   polyfit(pos,vecD,5);
-                P       =   polyval(pP,this.sArgs_motor.speed);
-                I       =   polyval(pI,this.sArgs_motor.speed);
-                D       =   polyval(pD,this.sArgs_motor.speed);
-                P_nenner    =   5;
-                I_nenner    =   5;
-                D_nenner    =   5;
+%                 pos     =   [0.5 1 2 3 4 8 12 16 25 32 40 50];
+%                 vecP    =   [0.5 1.5 2.5 3.5 4.5 4.5 5.5 2.5 2.0 1.3 1.3 1.3];
+%                 vecI    =   [0.05 0.1 0.2 0.3 0.4 0.8 1.2 1.6 2.0 2.5 2.5 2.5];
+%                 vecD    =   [9 6 4 3 2 1 1 3 6 10 10 10];
+%                 pP      =   polyfit(pos,vecP,5);
+%                 pI      =   polyfit(pos,vecI,5);
+%                 pD      =   polyfit(pos,vecD,5);
+%                 P       =   polyval(pP,this.sArgs_motor.speed);
+%                 I       =   polyval(pI,this.sArgs_motor.speed);
+%                 D       =   polyval(pD,this.sArgs_motor.speed);
+%                 P_nenner    =   5;
+%                 I_nenner    =   5;
+%                 D_nenner    =   5;
+                P           =   this.sArgs_motor.P;% (400 = default)
+                I           =   this.sArgs_motor.I;% (2 = default)
+                D           =   this.sArgs_motor.D;% (700 = default)
+                P_nenner    =   this.sArgs_motor.P_nenner;
+                I_nenner    =   this.sArgs_motor.I_nenner;
+                D_nenner    =   this.sArgs_motor.D_nenner;
                 P_zaehler   =   round(P*2^P_nenner);
                 I_zaehler   =   round(I*2^I_nenner);
                 D_zaehler   =   round(D*2^D_nenner);
@@ -322,13 +335,14 @@ classdef itaMotorNanotec_HRTFarc < itaMotorNanotec
                 motorControl.add_to_commandlist(sprintf('#%d:CL_KI_v_N=%d\r'    , this.motorID, I_nenner));
                 motorControl.add_to_commandlist(sprintf('#%d:CL_KD_v_Z=%d\r'    , this.motorID, D_zaehler));
                 motorControl.add_to_commandlist(sprintf('#%d:CL_KD_v_N=%d\r'    , this.motorID, D_nenner));
-                % Nice values for the positioning closed loop control:
-                P       =   200;% (400 = default)
-                I       =   1.0;% (2 = default)
-                D       =   300;% (700 = default)
-                P_nenner    =   3;
-                I_nenner    =   5;
-                D_nenner    =   3;
+%                 % Nice values for the positioning closed loop control:
+
+                P           =   this.sArgs_motor.P;% (400 = default)
+                I           =   this.sArgs_motor.I;% (2 = default)
+                D           =   this.sArgs_motor.D;% (700 = default)
+                P_nenner    =   this.sArgs_motor.P_nenner;
+                I_nenner    =   this.sArgs_motor.I_nenner;
+                D_nenner    =   this.sArgs_motor.D_nenner;
                 P_zaehler   =   round(P*2^P_nenner);
                 I_zaehler   =   round(I*2^I_nenner);
                 D_zaehler   =   round(D*2^D_nenner);
@@ -338,6 +352,7 @@ classdef itaMotorNanotec_HRTFarc < itaMotorNanotec
                 motorControl.add_to_commandlist(sprintf('#%d:CL_KI_s_N=%d\r'    , this.motorID, I_nenner));
                 motorControl.add_to_commandlist(sprintf('#%d:CL_KD_s_Z=%d\r'    , this.motorID, D_zaehler));
                 motorControl.add_to_commandlist(sprintf('#%d:CL_KD_s_N=%d\r'    , this.motorID, D_nenner));
+
                 % Kask V-Regler: P = 1.2, I = 0.85, D = 0.7
                 % Kask- P-Regler: P = 400 (default), I = 2 (default), D = 700 (default)
                 % TODO: Send values to the motor... or we just skip the

applications/Hardware/ITAMotorControl/ClassStuff/itaMotorControl/test_itaEimarMotorControl.m

@@ -204,7 +204,7 @@ classdef test_itaEimarMotorControl < itaMeasurementTasksScan
             % calculate the pre angle
             % the pre angle is needed because the measurement setup will
             % not start recording imidiately
-            numRepetitions = this.measurementSetup.repititions;
+            numRepetitions = this.measurementSetup.repetitions;
             timePerRepetition = this.measurementSetup.twait*length(this.measurementSetup.outputChannels);
             speed   =   360/(numRepetitions*timePerRepetition);
 
@@ -215,7 +215,7 @@ classdef test_itaEimarMotorControl < itaMeasurementTasksScan
             preAngle = min(preAngle,15);
             preAngle = max(preAngle,8);
             numTotalRepetitions = numRepetitions+ceil(preAngleTime/(timePerRepetition))+9;
-            this.measurementSetup.repititions = numTotalRepetitions;
+            this.measurementSetup.repetitions = numTotalRepetitions;
             
             %prepare motors for continuous measurement
             this.mMotorControl.prepareForContinuousMeasurement('speed',speed,'preAngle',preAngle);

applications/Hardware/Tracking/Optitrack/@itaOptitrack/itaOptitrack.m

@@ -553,7 +553,7 @@ classdef itaOptitrack < handle
                 if Optitrack_obj.singleShot
                    Optitrack_obj.timerData = timer('TimerFcn',{@Optitrack_obj.TimerCallback},'ExecutionMode','singleShot'); % execute timer callback once
                 else
-                   Optitrack_obj.timerData = timer('TimerFcn',{@Optitrack_obj.TimerCallback},'Period',round(1/16/Optitrack_obj.frameRate*1000)/1000,'ExecutionMode','fixedRate','BusyMode','drop');
+                   Optitrack_obj.timerData = timer('TimerFcn',{@Optitrack_obj.TimerCallback},'Period',round(1/16/Optitrack_obj.frameRate*1000)/1000,'ExecutionMode','fixedSpacing','BusyMode','drop');
                 end
             else
                 Optitrack_obj.correctRowIdx = 1; % reset row counter
@@ -561,7 +561,7 @@ classdef itaOptitrack < handle
                    Optitrack_obj.timerData = timer('TimerFcn',{@Optitrack_obj.TimerCallback},'ExecutionMode','singleShot'); % execute timer callback once
                 else
                    Optitrack_obj.timerData = timer('TimerFcn',{@Optitrack_obj.TimerCallback},'Period',round(1/16/Optitrack_obj.frameRate*1000)/1000,...
-                        'ExecutionMode','fixedRate','BusyMode','drop','TasksToExecute',32*Optitrack_obj.numFrames); % execute timer 16*Optitrack_obj.numFrames times but abort as soon as Optitrack_obj.rigidBodyLogData.data is filled
+                        'ExecutionMode','fixedSpacing','BusyMode','drop','TasksToExecute',32*Optitrack_obj.numFrames); % execute timer 16*Optitrack_obj.numFrames times but abort as soon as Optitrack_obj.rigidBodyLogData.data is filled
                 end
             end
             

applications/Hardware/Tracking/Optitrack/ita_vu2quat.m

@@ -52,8 +52,15 @@ if abs(dot(v,u,2)) > 1e-5
 end
 
 % normalize view/up vectors
-v = normr(v);
-u = normr(u);
+[~,colv]=size(v);
+[~,colu]=size(u);
+if (colv == 1)
+    v(~isnan(v(:,1)),:) = v(~isnan(v(:,1)),:) ./ abs(v(~isnan(v(:,1)),:));
+    u(~isnan(u(:,1)),:) = u(~isnan(u(:,1)),:) ./ abs(u(~isnan(u(:,1)),:));
+else
+    v = sqrt( ones ./ (sum((v(~isnan(v(:,1)),:).*v(~isnan(v(:,1)),:))')) )' * ones(1,colv).*v(~isnan(v(:,1)),:);
+    u = sqrt( ones ./ (sum((u(~isnan(u(:,1)),:).*u(~isnan(u(:,1)),:))')) )' * ones(1,colu).*u(~isnan(u(:,1)),:);
+end
 
 % calculate side vector
 s = cross(v, u);
@@ -65,7 +72,7 @@ qx = qw;
 qy = qw;
 qz = qw;
 
-for idx = 1:vec_ent;
+for idx = 1:vec_ent
     
     % build rotation matrix
     R = [s(idx,:); u(idx,:); -v(idx,:)];

applications/Hardware/Tracking/Optitrack/ita_vu2rpy.m

@@ -63,8 +63,15 @@ if abs(dot(v,u,2)) > 1e-5
 end
 
 % normalize view/up vectors
-v(~isnan(v(:,1)),:) = normr(v(~isnan(v(:,1)),:));
-u(~isnan(u(:,1)),:) = normr(u(~isnan(u(:,1)),:));
+[~,colv]=size(v);
+[~,colu]=size(u);
+if (colv == 1)
+    v(~isnan(v(:,1)),:) = v(~isnan(v(:,1)),:) ./ abs(v(~isnan(v(:,1)),:));
+    u(~isnan(u(:,1)),:) = u(~isnan(u(:,1)),:) ./ abs(u(~isnan(u(:,1)),:));
+else
+    v = sqrt( ones ./ (sum((v(~isnan(v(:,1)),:).*v(~isnan(v(:,1)),:))')) )' * ones(1,colv).*v(~isnan(v(:,1)),:);
+    u = sqrt( ones ./ (sum((u(~isnan(u(:,1)),:).*u(~isnan(u(:,1)),:))')) )' * ones(1,colu).*u(~isnan(u(:,1)),:);
+end