changes from zurich; my mac

Functions/moveit_wrapper_.m

@@ -0,0 +1,40 @@
+function [data_out, state_out] = moveit_wrapper(func_name, data_in, para)
+    % Generic wrapper for legacy MATLAB functions using loop-based execution
+    %
+    % Usage:
+    %   [data_out, state_out] = wrapper('quantize', data_in, para);
+    %
+    % Inputs:
+    %   - func_name: Name of the function as a string (e.g., 'quantize')
+    %   - data_in: Input signal or empty for initialization
+    %   - para: Structure with parameters (optional)
+    %
+    % Outputs:
+    %   - data_out: Processed output signal
+    %   - state_out: Internal state of the function
+    
+    global loop;
+
+    % Ensure the function exists
+    if ~exist(func_name, 'file')
+        error('Function "%s" does not exist.', func_name);
+    end
+
+    % Step 1: Get default parameters if not provided
+    if nargin < 3 || isempty(para)
+        loop = 0;  % Request parameter structure
+        [para, comment] = feval(func_name);
+    end
+
+    % Initialize state
+    state = struct();
+
+    % Step 2: Initialize the function
+    loop = 0;
+    [~, state_] = feval(func_name, data_in, state, para);
+
+    % Step 3: Process input signal
+    loop = 1;
+    [data_out, state_out] = feval(func_name, data_in, state_, para);
+    
+end