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tesi: save composites

master
EmaMaker 2024-07-31 21:21:29 +02:00
parent ef8a12166a
commit 713a010eb4
1 changed files with 33 additions and 18 deletions
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tesi.m
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@ -3,11 +3,11 @@ clear all
close all
%TESTS = ["sin_faster", "sin", "circle", "straightline", "reverse_straightline"]
TESTS = ["cardioid"]
TESTS = ["square"]
s_ = size(TESTS);
for i = 1:s_(2)
for i = 1:s_(1)
clear data sim_data
close all
@ -16,8 +16,13 @@ for i = 1:s_(2)
sim_data = load(['tests/' TEST '/common.mat']);
%sim_data.INITIAL_CONDITIONS=3;
sim_data.tfin=15
sim_data.r=0.08;
sim_data.b=0.2;
sim_data.d=0.15;
sim_data.SATURATION=[2.15;2.15];
sim_data.q0 = set_initial_conditions(sim_data.INITIAL_CONDITIONS);
[ref dref] = set_trajectory(sim_data.TRAJECTORY);
sim_data.ref = ref;
@ -34,7 +39,7 @@ for i = 1:s_(2)
sim_data.U_corr_history = zeros(2,1,sim_data.PREDICTION_HORIZON);
sim_data
[t, q, ref_t, U, U_track, U_corr] = simulate_discr(sim_data);
[t, q, ref_t, U, U_track, U_corr, Q_pred] = simulate_discr(sim_data);
disp('Done')
end
@ -42,8 +47,7 @@ for i = 1:s_(2)
h = [];
s1_ = size(worker_index);
for n = 1:s1_(2)
h_ = figure('Name', [TEST ' ' num2str(n)] );
h = [h, h_];
h = [h, figure('Name', [TEST ' ' num2str(n)] )];
plot_results(t{n}, q{n}, ref_t{n}, U{n}, U_track{n}, U_corr{n});
end
@ -51,26 +55,35 @@ for i = 1:s_(2)
f = ['results/' f1];
mkdir(f)
savefig(h, [f '/' f1 '.fig']);
save([f '/workspace.mat']);
clear h
dsave([f '/workspace_composite.mat']);
copyfile(['tests/' TEST], f);
%video(q{1}', ref_t{1}', 0.1, t{1}, 2, sim_data{1}.tc*0.05, "aa");
%video(q{2}', ref_t{2}', 0.1, t{2}, 2, sim_data{1}.tc*0.05, "aa");
%video(q{3}', ref_t{3}', 0.1, t{3}, 2, sim_data{1}.tc*0.05, "aa");
end
%% FUNCTION DECLARATIONS
% Discrete-time simulation
function [t, q, ref_t, U, U_track, U_corr] = simulate_discr(sim_data)
function [t, q, ref_t, U, U_track, U_corr, Q_pred] = simulate_discr(sim_data)
tc = sim_data.tc;
steps = sim_data.tfin/tc
q = sim_data.q0';
t = 0;
[u_discr, u_track, u_corr, U_corr_history] = control_act(t, q, sim_data);
Q_pred = zeros(sim_data.PREDICTION_HORIZON,3,sim_data.tfin/sim_data.tc + 1);
[u_discr, u_track, u_corr, U_corr_history, q_pred] = control_act(t, q, sim_data);
sim_data.U_corr_history = U_corr_history;
U = u_discr';
U_corr = u_corr';
U_track = u_track';
Q_pred(:, :, 1) = q_pred;
for n = 1:steps
sim_data.old_u_corr = u_corr;
@ -81,16 +94,17 @@ function [t, q, ref_t, U, U_track, U_corr] = simulate_discr(sim_data)
z0 = q(end, :);
%[v, z] = ode45(@sistema_discr, tspan, z0, u_discr);
[v, z] = ode45(@(v, z) sistema_discr(v, z, u_discr), tspan, z0);
[v, z] = ode45(@(v, z) sistema_discr(v, z, u_discr, sim_data), tspan, z0);
q = [q; z];
t = [t; v];
[u_discr, u_track, u_corr, U_corr_history] = control_act(t(end), q(end, :), sim_data);
[u_discr, u_track, u_corr, U_corr_history, q_pred] = control_act(t(end), q(end, :), sim_data);
sim_data.U_corr_history = U_corr_history;
U = [U; ones(length(v), 1)*u_discr'];
U_corr = [U_corr; ones(length(v), 1)*u_corr'];
U_track = [U_track; ones(length(v), 1)*u_track'];
Q_pred(:, :, 1+n) = q_pred;
end
ref_t = double(subs(sim_data.ref, t'))';
@ -112,31 +126,32 @@ function plot_results(t, x, ref, U, U_track, U_corr)
subplot(4,2,3)
plot(t, U(:, 1))
xlabel('t')
ylabel('input v')
ylabel('input wr')
subplot(4,2,4)
plot(t, U(:, 2))
xlabel('t')
ylabel('input w')
ylabel('input wl')
hold off
subplot(4,2,5)
plot(t, U_corr(:, 1))
xlabel('t')
ylabel('correction input v')
ylabel('correction input wr')
subplot(4,2,6)
plot(t, U_corr(:, 2))
xlabel('t')
ylabel('correction input w')
ylabel('correction input wl')
subplot(4,2,7)
plot(t, U_track(:, 1))
xlabel('t')
ylabel('tracking input v')
ylabel('tracking input wr')
subplot(4,2,8)
plot(t, U_track(:, 2))
xlabel('t')
ylabel('tracking input w')
ylabel('tracking input wl')
ex = ref(:, 1) - x(:, 1);
ey = ref(:, 2) - x(:, 2);