26 lines
502 B
Matlab
26 lines
502 B
Matlab
function [ref, dref] = set_trajectory(i)
|
|
syms s
|
|
|
|
switch i
|
|
case 0
|
|
% a straigth line trajectory at v=0.5m/s
|
|
xref = 0.5*s;
|
|
yref = 0;
|
|
case 1
|
|
% a straigth line trajectory at v=10 m/s
|
|
xref = 10*s;
|
|
yref = 0;
|
|
case 2
|
|
xref = 5*cos(s);
|
|
yref = 5*sin(s);
|
|
case 3
|
|
xref = 15*cos(s);
|
|
yref = 15*sin(s);
|
|
case 4
|
|
xref = 5*cos(0.05*s)
|
|
yref = 5*cos(0.05*s)
|
|
end
|
|
|
|
ref = [xref; yref];
|
|
dref = diff(ref, s);
|
|
end |