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Simulation Stop Index & Obstacle Plotting

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- Add parameter to stop simulation when specified
  index in reference trajectory is reached
- Modify `forwardIntegrate` to return `Xobs` for plotting
- Plot obstacles in part2 testing figure
- Change some line plotting styles for clarity
This commit is contained in:
Sravan Balaji
2021-12-12 16:29:20 -05:00
parent 5534819d90
commit 6f6db84c23
3 changed files with 17 additions and 11 deletions
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16
Experimentation/part2_test_controller.m
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@@ -4,7 +4,7 @@ clear;
clc;
%% Call simulation functions
[Y,U,t_total,t_update] = forwardIntegrate();
[Y,U,t_total,t_update,Xobs] = forwardIntegrate();
info = getTrajectoryInfo(Y,U)
%% Figures
@@ -17,9 +17,15 @@ grid on;
load('TestTrack.mat')
load('ROB535_ControlProject_part1_Team3.mat')
plot(Y(:,1), Y(:,3), 'b-');
plot(ROB535_ControlProject_part1_state(:,1), ROB535_ControlProject_part1_state(:,3), 'k-');
plot(TestTrack.bl(1,:), TestTrack.bl(2,:), 'r.-');
plot(TestTrack.br(1,:), TestTrack.br(2,:), 'r.-');
plot(TestTrack.cline(1,:), TestTrack.cline(2,:), 'g.-');
plot(TestTrack.cline(1,:), TestTrack.cline(2,:), 'g.-');
for i = 1:length(Xobs)
xvals = Xobs{i}(:,1);
yvals = Xobs{i}(:,2);
fill(xvals, yvals, 'm');
end
plot(ROB535_ControlProject_part1_state(:,1), ROB535_ControlProject_part1_state(:,3), 'k--');
plot(Y(:,1), Y(:,3), 'b-');