Commit cd97191b by Martin Karlsson

### plots upsampled

parent 6e6213e0
 ... ... @@ -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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