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This commit is contained in:
Antoine Drouin
2010-02-24 12:49:23 +00:00
parent f58628cc47
commit cb2932875a
2 changed files with 6 additions and 2 deletions
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sw/simulator/scilab/q6d/q6d_sbb.sci
+5 -1
View File
@@ -43,7 +43,11 @@ function [fo_traj] = sbb_gen_traj(time, dyn, max_speed, max_accel, b0, b1)
disp_xy = b1(1:2) - b0(1:2);
[pulse_dt, pulse_ampl, traj_dt] = compute_step(norm(disp_xy), dyn(1,:), max_accel(1), max_speed(1));
fo_traj(1:2,1,1) = b0(1:2);
u = disp_xy' / norm(disp_xy);
if norm(disp_xy) != 0
u = disp_xy' / norm(disp_xy);
else
u = [0 0]';
end
for i=2:length(time)
delta_t = time(i)-time(1);
if delta_t < pulse_dt
sw/simulator/scilab/q6d/test_stop_stop.sce
+1 -1
View File
@@ -18,7 +18,7 @@ max_accel = [ 9.81*tan(rad_of_deg(30)) 0.5*9.81];
//b0 = [ 0 0 0];
//b1 = [-10 1 -2];
b0 = [ 0 0 0 ];
b1 = [ 1 0 -5];
b1 = [ 0 0 -1 ];
[fo_traj] = sbb_gen_traj(time, dyn, max_speed, max_accel, b0, b1);