From 57790779d7bf40f4010ea0d33829789eec7e237e Mon Sep 17 00:00:00 2001 From: EmaMaker Date: Fri, 13 Sep 2024 20:24:40 +0200 Subject: [PATCH] tesi: fix output position vector --- tesi.m | 13 +++++++------ 1 file changed, 7 insertions(+), 6 deletions(-) diff --git a/tesi.m b/tesi.m index bfc4537..f96b45e 100644 --- a/tesi.m +++ b/tesi.m @@ -3,9 +3,9 @@ clear all close all % options -ROBOT = 'unicycle' -TESTS = ["straightline/chill", "straightline/chill_errortheta_pisixths", "straightline/toofast", "straightline/chill_errory", "circle/start_center", "figure8/chill", "figure8/toofast", "square"] -%TESTS = ["circle/start_center"] +ROBOT = 'diffdrive' +%TESTS = ["straightline/chill", "straightline/chill_errortheta_pisixths", "straightline/toofast", "straightline/chill_errory", "circle/start_center", "figure8/chill", "figure8/toofast", "square"] +TESTS = ["circle/start_center"] % main s_ = size(TESTS); @@ -29,12 +29,13 @@ for i = 1:length(TESTS) [ref dref] = set_trajectory(sim_data.TRAJECTORY, sim_data); sim_data.ref = ref; sim_data.dref = dref; + %sim_data.tfin = 15; % spawn a new worker for each controller % 1: track only % 2: track + 1step % 3: track + multistep - spmd (3) + spmd (2) worker_index = spmdIndex; % load controller-specific options data = load(['tests/' num2str(worker_index) '.mat']); @@ -64,7 +65,7 @@ for i = 1:length(TESTS) % save simulation data f1 = [ TEST '/' char(datetime, 'dd-MM-yyyy-HH-mm-ss')]; % windows compatible name - f = ['results-' ROBOT '/' f1]; + f = ['results-' ROBOT '-costfun/' f1]; mkdir(f) % save workspace dsave([f '/workspace_composite.mat']); @@ -149,7 +150,7 @@ function [t, q, y, ref_t, U, U_track, U_corr, U_corr_pred_history, Q_pred] = sim y1 = q(:, 1) + sim_data.b * cos(q(:,3)); y2 = q(:, 2) + sim_data.b * sin(q(:,3)); - y = [y; y1, y2]; + y = [y; [y1, y2]]; end ref_t = double(subs(sim_data.ref, t'))';