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102 lines
3.2 KiB
102 lines
3.2 KiB
%MTRAJ Multi-axis trajectory between two points
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%
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% [Q,QD,QDD] = MTRAJ(TFUNC, Q0, QF, M) is a multi-axis trajectory (MxN) varying
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% from state Q0 (1xN) to QF (1xN) according to the scalar trajectory function
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% TFUNC in M steps. Joint velocity and acceleration can be optionally returned as
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% QD (MxN) and QDD (MxN) respectively. The trajectory outputs have one row per
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% time step, and one column per axis.
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%
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% The shape of the trajectory is given by the scalar trajectory function TFUNC
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% [S,SD,SDD] = TFUNC(S0, SF, M);
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% and possible values of TFUNC include @lspb for a trapezoidal trajectory, or
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% @tpoly for a polynomial trajectory.
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%
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% [Q,QD,QDD] = MTRAJ(TFUNC, Q0, QF, T) as above but specifies the trajectory
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% length in terms of the length of the time vector T (Mx1).
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%
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% Notes::
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% - If no output arguments are specified Q, QD, and QDD are plotted.
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% - When TFUNC is @tpoly the result is functionally equivalent to JTRAJ except
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% that no initial velocities can be specified. JTRAJ is computationally a little
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% more efficient.
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%
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% See also JTRAJ, MSTRAJ, LSPB, TPOLY.
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% Copyright (C) 1993-2011, by Peter I. Corke
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%
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% This file is part of The Robotics Toolbox for Matlab (RTB).
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%
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% RTB is free software: you can redistribute it and/or modify
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% it under the terms of the GNU Lesser General Public License as published by
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% the Free Software Foundation, either version 3 of the License, or
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% (at your option) any later version.
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%
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% RTB is distributed in the hope that it will be useful,
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% but WITHOUT ANY WARRANTY; without even the implied warranty of
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% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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% GNU Lesser General Public License for more details.
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%
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% You should have received a copy of the GNU Leser General Public License
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% along with RTB. If not, see <http://www.gnu.org/licenses/>.
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function [S,Sd,Sdd] = mtraj(tfunc, q0, qf, M)
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if ~isa(tfunc, 'function_handle')
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error('first argument must be a function handle');
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end
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M0 = M;
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if ~isscalar(M)
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M = length(M);
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end
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if numcols(q0) ~= numcols(qf)
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error('must be same number of columns in q0 and qf')
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end
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s = zeros(M, numcols(q0));
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sd = zeros(M, numcols(q0));
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sdd = zeros(M, numcols(q0));
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for i=1:numcols(q0)
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% for each axis
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[s(:,i),sd(:,i),sdd(:,i)] = tfunc(q0(i), qf(i), M);
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end
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% - If no output arguments are specified S, SD, and SDD are plotted
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% against time.
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switch nargout
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case 0
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clf
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if isscalar(M0)
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t = [1:M0]';
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else
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t = M0;
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end
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subplot(311)
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plot(t, s); grid; ylabel('s');
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subplot(312)
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plot(t, sd); grid; ylabel('sd');
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subplot(313)
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plot(t, sdd); grid; ylabel('sdd');
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if ~isscalar(M0)
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xlabel('time')
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else
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for c=get(gcf, 'Children');
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set(c, 'XLim', [1 M0]);
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end
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end
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shg
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case 1
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S = s;
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case 2
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S = s;
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Sd = sd;
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case 3
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S = s;
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Sd = sd;
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Sdd = sdd;
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end
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