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trajectory: add square

master
EmaMaker 2024-07-29 15:22:49 +02:00
parent 67167598d9
commit 0c9f715fd6
1 changed files with 13 additions and 0 deletions
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13
set_trajectory.m
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@ -42,9 +42,22 @@ switch i
xref = cos(0.5*s);
yref = 0.5 * sin(s);
case 11
% cardioid
a = 0.5;
xref = 2*a*(1-cos(0.5*s))*sin(0.5*s);
%xref = 4*a*(0.2-cos(0.5*s))*sin(0.5*s);
yref = 2*a*(1-cos(0.5*s))*cos(0.5*s);
case 12
% square! in parametic form! https://math.stackexchange.com/questions/978486/parametric-form-of-square
%speed = 0.3;
speed = 0.18;
side = 2;
s_ = speed * s;
%xref = side * cos(s) / max(abs(cos(speed*s)), abs(sin(speed*s))) ;
%yref = side * sin(s) / max(abs(cos(speed*s)), abs(sin(speed+s))) ;
p = (sqrt(2) * (abs(sin(s_ + pi/4)) + abs(cos(s_ + pi/4))));
xref = side * cos(s_) / p;
yref = side * sin(s_) / p;
end
ref = [xref; yref];