[adaptive_control] Snippets with executable code.

Author: Murilo M. Marinho

working/adaptive_control.md

@@ -5,7 +5,11 @@ kernelspec:
   display_name: python3
 ---
 
-# Installing
+# Adaptive Control with Partial or Complete Task-Space Measurements
+
+This is an example implementation of the adaptive controller described in ()[http://doi.org/10.1109/TRO.2022.3181047].
+
+## Installation
 
 ```{code-cell} ipython3
 %%capture
@@ -15,18 +19,45 @@ kernelspec:
 %pip install marinholab-papers-tro2022-adaptivecontrol --break-system-packages
 ```
 
-# Importing
+## Importing
 
 ```{attention}
   In a Jupyter notebook, you can wrap the import in a `try--except` block because the kernel does not always handle
   well the import from the dynamic library.
 ```
 
+```{attention}
+  Currenlly, `dqrobotics` must be installed with the `--pre` flag. 
+```
+
 ```{literalinclude} adaptive_control/example.py
 :start-after: # IMPORT START
 :end-before: # IMPORT END
 ```
 
-# Usage
+## Usage
+
+### Kinematic Model
+
+In this implementation we rely on the object called `Example_SerialManipulatorEDH`. This object 
+inherits from `DQ_SerialManipulator`. By `EDH`, it was meant `E`xtended `DH`, from which the 
+parametric Jacobians can also be obtained.
+
+```{note}
+  In future stable versions of `dqrobotics`, this could inherit from `DQ_SerialManipulatorDH`.
+```
+
+```{literalinclude} adaptive_control/example.py
+:start-after: # ROBOT RAW KINEMATICS START
+:end-before: # ROBOT RAW KINEMATICS END
+```
+
+```{literalinclude} adaptive_control/example.py
+:start-after: # MAIN START
+:end-before: # MAIN END
+```
 
-##
+```{code-cell} ipython3
+from adaptive_control.example import main
+main()
+```

working/adaptive_control/example.py

@@ -52,16 +52,16 @@ def vs050_raw_kinematics() -> Example_SerialManipulatorEDH:
     return robot
 # ROBOT RAW KINEMATICS END
 
-# MAIN START
-setup_plot()
+def main():
+    # MAIN START
+    setup_plot()
 
-estimated_robot = vs050_raw_kinematics()
-q_init = np.array([0, pi/4, pi/2, 0, pi/4, 0])
+    estimated_robot = vs050_raw_kinematics()
+    q_init = np.array([0, pi/4, pi/2, 0, pi/4, 0])
 
-dqp.plot(estimated_robot,
-         q=q_init,
-         line_color='r',
-         cylinder_color="r",
-         cylinder_alpha=0.3)
-plt.show(block=True)
-# MAIN END
+    dqp.plot(estimated_robot,
+             q=q_init,
+             line_color='r',
+             cylinder_color="r",
+             cylinder_alpha=0.3)
+    # MAIN END