thesis/set_initial_conditions.m

function q0 = set_initial_conditions(i)
switch i
    case 0
        q0 = [0; 0; 0];
    case 1
        q0 = [0; 0; pi];
    case 2
        q0 = [0; 0; pi/6];
    case 3
        q0 = [1; 0; 0];
    case 4
        q0 = [1; 0; -pi/6];
    case 5
        q0 = [1; 0; pi/2];
end
end
new trajectories and initial conditions 2024-07-27 14:51:23 +02:00			`function q0 = set_initial_conditions(i)`
initial simulations model a unicycle with exact i/o linearization. Plot the desired trajectory on each axis and the one took by the robot 2024-07-12 19:13:29 +02:00			`switch i`
			`case 0`
new trajectories and initial conditions 2024-07-27 14:51:23 +02:00			`q0 = [0; 0; 0];`
initial simulations model a unicycle with exact i/o linearization. Plot the desired trajectory on each axis and the one took by the robot 2024-07-12 19:13:29 +02:00			`case 1`
new trajectories and initial conditions 2024-07-27 14:51:23 +02:00			`q0 = [0; 0; pi];`
more initial conditions 2024-07-13 11:32:23 +02:00			`case 2`
new trajectories and initial conditions 2024-07-27 14:51:23 +02:00			`q0 = [0; 0; pi/6];`
			`case 3`
			`q0 = [1; 0; 0];`
trajectory: cardioid 2024-07-28 12:58:36 +02:00			`case 4`
			`q0 = [1; 0; -pi/6];`
another initial condition 2024-07-30 11:28:26 +02:00			`case 5`
			`q0 = [1; 0; pi/2];`
initial simulations model a unicycle with exact i/o linearization. Plot the desired trajectory on each axis and the one took by the robot 2024-07-12 19:13:29 +02:00			`end`
			`end`