From db637b811576ad9399cf0ac92a5f813e20781acc Mon Sep 17 00:00:00 2001
From: baggepinnen <cont-frb@ulund.org>
Date: Mon, 19 Feb 2018 07:42:06 +0100
Subject: [PATCH] fix timeindex bug in nn prior simulation
---
flux/nn_prior/two_link_sys.jl | 4 ++--
jump_lin_id/figs/robot_train.tex | 2 +-
2 files changed, 3 insertions(+), 3 deletions(-)
diff --git a/flux/nn_prior/two_link_sys.jl b/flux/nn_prior/two_link_sys.jl
index ce9ca9b..7a655b4 100644
--- a/flux/nn_prior/two_link_sys.jl
+++ b/flux/nn_prior/two_link_sys.jl
@@ -24,9 +24,9 @@ function generate_data(sys::TwoLinkSys, systype, seed, validation=false; ufun=u-
local x,u
while !done
u = ufun(randn(n,N+2))
- t = h:h:N*h+h
+ t = 0:h:N*h
x0 = [-0.4,0,0,0]
- prob = OrdinaryDiffEq.ODEProblem((x,p,t)->time_derivative(x, u[:,ceil(Int,t/h)]),x0,(t[[1,end]]...))
+ prob = OrdinaryDiffEq.ODEProblem((x,p,t)->time_derivative(x, u[:,floor(Int,t/h)+1]),x0,(t[[1,end]]...))
sol = solve(prob,Tsit5(),reltol=1e-8,abstol=1e-8)
x = hcat(sol(t)...)
done = all(abs.(x[1:2,:]) .< 0.9π)
diff --git a/jump_lin_id/figs/robot_train.tex b/jump_lin_id/figs/robot_train.tex
index d037400..874d131 100644
--- a/jump_lin_id/figs/robot_train.tex
+++ b/jump_lin_id/figs/robot_train.tex
@@ -1899,7 +1899,7 @@ mark options = {
(200.0, 0.7559084700421508)
};
\end{axis}
-\begin{axis}[height = {\figureheight}, ylabel = {}, title = {End effector positions}, xmin = {1.0}, xmax = {200.0}, ymax = {0.9017369909373718}, xlabel = {}, unbounded coords=jump
+\begin{axis}[height = {\figureheight}, ylabel = {}, title = {End-effector positions}, xmin = {1.0}, xmax = {200.0}, ymax = {0.9017369909373718}, xlabel = {}, unbounded coords=jump
, scaled x ticks = false
, xticklabel style={rotate = 0}
, xmajorgrids = false
--
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