Submitted version of the thesis - Airlab, the Artificial Intelligence ...
Submitted version of the thesis - Airlab, the Artificial Intelligence ...
Submitted version of the thesis - Airlab, the Artificial Intelligence ...
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B.4. Motion Simulator 129<br />
if (plot == 1)<br />
% scalature<br />
k1 = max(abs(v F) ,abs(v L ));<br />
v1 = v F/k1∗R robot/2;<br />
v2 = v L/k1∗R robot/2;<br />
p1 = R robot/2;<br />
m arr = [0 0.04∗p1 −0.04∗p1; 0.1∗p1 0 0];<br />
v txt = [0.05∗p1; 0.2∗p1 ];<br />
s1 = R robot/( 2 ∗ max(abs([ vt ;vn])));<br />
%plot<br />
figure (1)<br />
hold on<br />
h1 = line ([0 , R robot∗cosA] ,[0 R robot∗sinA ]);<br />
h2 = line([0,−R robot∗cosA] ,[0 R robot∗sinA ]);<br />
h3 = line ([0 ,0] ,[0 −R robot ]);<br />
set(h1, ’Color ’ ,[0.2 0.2 0.2]);<br />
set(h2, ’Color ’ ,[0.2 0.2 0.2]);<br />
set(h3, ’Color ’ ,[0.2 0.2 0.2]);<br />
set(h1, ’LineStyle ’ , ’−. ’ );<br />
set(h2, ’LineStyle ’ , ’−. ’ );<br />
set(h3, ’LineStyle ’ , ’−. ’ );<br />
if (v F ˜= 0)<br />
line ([0 0] ,[0 v1] , ’Color ’ ,[1 0 0]);<br />
if (v F < 0)<br />
fill ([0 p1∗0.05 −p1∗0.05] ,[v1 v1+0.12∗p1 v1+0.12∗p1] , ’r ’)<br />
else<br />
fill ([0 p1∗0.05 −p1∗0.05] ,[v1 v1−0.12∗p1 v1−0.12∗p1] , ’r ’)<br />
end<br />
text(0.15∗v1,v1, ’v F ’ );<br />
end