From cd97191b03d7c170715b29c3fc77d083fe46ede6 Mon Sep 17 00:00:00 2001
From: Martin Karlsson <letter2martin@gmail.com>
Date: Tue, 23 May 2017 09:31:02 +0200
Subject: [PATCH] plots upsampled
---
main.m | 16 +++++++++-------
1 file changed, 9 insertions(+), 7 deletions(-)
diff --git a/main.m b/main.m
index b0edfa8..b6cc91e 100644
--- a/main.m
+++ b/main.m
@@ -9,7 +9,7 @@ traj = max(0,-sin(2*pi*t(1:round(2*end/5))/2.5)); traj = [traj ; traj(end)*ones(
% Determine DMP from demonstration:
T_end = length(traj)*dt;
-tau =T_end/3; % Yields 95% convergence at the deomnstration time
+tau =T_end/3; % Yields 95% convergence at the demonstration time
P = length(traj); % Number of time steps
w = traj2w(traj,dt, tau, c, D, alpha_z, beta_z, alpha_x, n_kernel); % Basis function weights. Used to determine f.
g = traj(end); % DMP goal point.
@@ -59,7 +59,8 @@ for t = 2:2*P
% Stopping perturbation
ya_dot = ya_dot + ya_ddot*dt;
if (t > 500 && t < 750)
- ya_dot = 0;
+ ya_ddot_perturbation = -25*ya_dot;
+ ya_dot = ya_dot + ya_ddot_perturbation*dt;
end
ya(t) = ya(t-1) + ya_dot*dt;
@@ -73,14 +74,14 @@ t = cumsum(dt*ones(size(y)));
% Plot results
figure
subplot(211)
-plot(t(1:10:end),ya(1:10:end),'b-',t(1:10:end),y(1:10:end),'r--', t(1:10:end),y_unpert(1:10:end),'k-.','LineWidth',2)
+plot(t,ya,'b-',t,y,'r--', t,y_unpert,'k-.','LineWidth',2)
legend('y_a','y_c','y_u')
axis([0 8 -.2 1])
xlabel('Time [s]')
ylabel('Position [m]')
subplot(212)
-plot(t(1:10:end),ya_ddot_log(1:10:end),'b-',t(1:10:end),y_ddot_log(1:10:end),'r--', t(1:10:end),yddot_unpert(1:10:end),'k-.','LineWidth',2)
+plot(t,ya_ddot_log,'b-',t,y_ddot_log,'r--', t,yddot_unpert,'k-.','LineWidth',2)
legend('ÿ_a','ÿ_c','ÿ_u')
axis([0 8 -20 20])
xlabel('Time [s]')
@@ -111,7 +112,8 @@ for t = 2:2*P
% Moving perturbation
ya_dot = ya_dot + ya_ddot*dt;
if (t > 500 && t < 750)
- ya_dot = .15;
+ ya_ddot_perturbation = (.30-ya_dot)*25;
+ ya_dot = ya_dot + ya_ddot_perturbation*dt;
end
ya(t) = ya(t-1) + ya_dot*dt;
@@ -125,14 +127,14 @@ t = cumsum(dt*ones(size(y)));
% Plot results
figure
subplot(211)
-plot(t(1:10:end),ya(1:10:end),'b-',t(1:10:end),y(1:10:end),'r--', t(1:10:end),y_unpert(1:10:end),'k-.','LineWidth',2)
+plot(t,ya,'b-',t,y,'r--', t,y_unpert,'k-.','LineWidth',2)
legend('y_a','y_c','y_u')
axis([0 8 -.2 1.5])
xlabel('Time [s]')
ylabel('Position [m]')
subplot(212)
-plot(t(1:10:end),ya_ddot_log(1:10:end),'b-',t(1:10:end),y_ddot_log(1:10:end),'r--', t(1:10:end),yddot_unpert(1:10:end),'k-.','LineWidth',2)
+plot(t,ya_ddot_log,'b-',t,y_ddot_log,'r--', t,yddot_unpert,'k-.','LineWidth',2)
legend('ÿ_a','ÿ_c','ÿ_u')
axis([0 8 -20 20])
xlabel('Time [s]')
--
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