Merge pull request #85 from OSU-LRAM/Ross

Upgraded granular system to support illustrate shape space

Author: rlhatton

UserFiles/GenericUser/Systems/sysf_three_link_granular.m

@@ -74,6 +74,17 @@
             s.geometry.linklengths = [1 1 1];
             s.geometry.baseframe = 'center';
             s.geometry.length = 1;
+            
+            % Define properties for visualizing the system
+            
+            % Make a grid of values at which to visualize the system in
+            % illustrate_shapespace. The code below uses properties of cell
+            % arrays to automatically match the dimensionality of the grid
+            % with the number of shape basis functions in use
+            s.visual.grid = cell(numel(s.geometry.linklengths)-1,1);
+            [s.visual.grid{:}] = ndgrid([-1  0  1]);
+
+
 
             % power metric
 			%s.metric = eye(2); %@(x,y) Granular_metric_calc(x,y,Metric_Tensor_raw,alpha1,alpha2);