Bugfix when rtMat are empty, changed identf visualization

@Robot/prepareDataset.m

@@ -81,7 +81,11 @@
                     camFrames = [camFrames{:}];
                     uniqueFrames = [uniqueFrames; {camFrames.name}'];
                 end
-                rtFields = fieldnames(datasets.(part){dataset}.rtMat)';
+                if isstruct(datasets.(part){dataset}.rtMat)
+                    rtFields = fieldnames(datasets.(part){dataset}.rtMat)';
+                else
+                    rtFields = {};
+                end
                 % Preallocate arrays
                 links(length(datasets.(part){dataset}.frame), 1) = Link();
                 for name=1:length(datasets.(part){dataset}.frame)

UserData/Robots/iCub/loadICUB.m

@@ -1,4 +1,4 @@
-function [ name, linkStructure, structure ] = loadICUBv2()
+function [ name, linkStructure, structure ] = loadICUB()
 %LOADICUBV2 Function for loading iCub version 2 robot 
 % Custom function for loading iCub version 2 robot.
 % OUTPUT - name - robot name

Utils/CalibUtils/internalCalibration.m

@@ -142,4 +142,5 @@ function internalCalibration(rob, config, whpars, data, folder, saveInfo, saveDa
     if saveInfo(2)
        save([outfolder, 'jacobians.mat'], 'jacobians', '-v7.3');
     end
+    addpath(outfolder);
 end

Visualisation/plotJacobian.m

@@ -59,11 +59,12 @@ function plotJacobian(folder, titles)
     for fig=1:floor(length(jacobians)/6)+1
         rows = 2;
         cols = 3;
-        h = figure();
-        hold on;
+        %h = figure();
+        %hold on;
         %% plot normalized jacobians
         for j = count:min(count+5,length(jacobians))
-            subplot(rows,cols,j-count+1);
+            %subplot(rows,cols,j-count+1);
+            h = figure();
             maxs = max(max(abs(jacobians{j})));
             maxs(maxs == 0) = 1;
             jac = jacobians{j}./maxs;
@@ -72,7 +73,7 @@ function plotJacobian(folder, titles)
             ylim([-1,1])
             xlim([0.5, size(jac,2)+0.5])
             bp = gca;
-            xtickangle(15)
+            xtickangle(30)
             bp.XAxis.TickLabelInterpreter = 'latex';
             ylabel('$\frac{\partial X_i}{\partial \phi_j}$', 'Interpreter', 'latex','FontSize',12);