EmaMaker
/
thesis
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

tesi: fix output position vector

master-costfun2
EmaMaker 2024-09-13 20:24:40 +02:00
parent 854247dee1
commit 57790779d7
1 changed files with 7 additions and 6 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

13
tesi.m
View File

@ -3,9 +3,9 @@ clear all
close all close all
% options % options
ROBOT = 'unicycle' ROBOT = 'diffdrive'
TESTS = ["straightline/chill", "straightline/chill_errortheta_pisixths", "straightline/toofast", "straightline/chill_errory", "circle/start_center", "figure8/chill", "figure8/toofast", "square"] %TESTS = ["straightline/chill", "straightline/chill_errortheta_pisixths", "straightline/toofast", "straightline/chill_errory", "circle/start_center", "figure8/chill", "figure8/toofast", "square"]
%TESTS = ["circle/start_center"] TESTS = ["circle/start_center"]
% main % main
s_ = size(TESTS); s_ = size(TESTS);
@ -29,12 +29,13 @@ for i = 1:length(TESTS)
[ref dref] = set_trajectory(sim_data.TRAJECTORY, sim_data); [ref dref] = set_trajectory(sim_data.TRAJECTORY, sim_data);
sim_data.ref = ref; sim_data.ref = ref;
sim_data.dref = dref; sim_data.dref = dref;
%sim_data.tfin = 15;
% spawn a new worker for each controller % spawn a new worker for each controller
% 1: track only % 1: track only
% 2: track + 1step % 2: track + 1step
% 3: track + multistep % 3: track + multistep
spmd (3) spmd (2)
worker_index = spmdIndex; worker_index = spmdIndex;
% load controller-specific options % load controller-specific options
data = load(['tests/' num2str(worker_index) '.mat']); data = load(['tests/' num2str(worker_index) '.mat']);
@ -64,7 +65,7 @@ for i = 1:length(TESTS)
% save simulation data % save simulation data
f1 = [ TEST '/' char(datetime, 'dd-MM-yyyy-HH-mm-ss')]; % windows compatible name f1 = [ TEST '/' char(datetime, 'dd-MM-yyyy-HH-mm-ss')]; % windows compatible name
f = ['results-' ROBOT '/' f1]; f = ['results-' ROBOT '-costfun/' f1];
mkdir(f) mkdir(f)
% save workspace % save workspace
dsave([f '/workspace_composite.mat']); 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)); y1 = q(:, 1) + sim_data.b * cos(q(:,3));
y2 = q(:, 2) + sim_data.b * sin(q(:,3)); y2 = q(:, 2) + sim_data.b * sin(q(:,3));
y = [y; y1, y2]; y = [y; [y1, y2]];
end end
ref_t = double(subs(sim_data.ref, t'))'; ref_t = double(subs(sim_data.ref, t'))';