Revision 1818 branches/16299_s10/matlab/evolveRobots.m
| evolveRobots.m (revision 1818) | ||
|---|---|---|
| 5 | 5 |
dt = 0.041709; |
| 6 | 6 |
%else: |
| 7 | 7 |
%dt = .01; |
| 8 |
tf = 40; |
|
| 8 |
tf = 5.5 %40; |
|
| 9 | 9 |
|
| 10 | 10 |
|
| 11 | 11 |
%shape numbers: |
| ... | ... | |
| 20 | 20 |
|
| 21 | 21 |
%%% output options |
| 22 | 22 |
makeMovie = false; |
| 23 |
showPlots = false; |
|
| 23 |
showPlots = true; |
|
| 24 | 24 |
doFeedback = true; |
| 25 | 25 |
shape = 1; |
| 26 | 26 |
|
| 27 | 27 |
if shape == 1 |
| 28 |
n = 100; |
|
| 28 |
n = 10%100; |
|
| 29 | 29 |
elseif shape < 4 |
| 30 | 30 |
n = 9; |
| 31 | 31 |
elseif shape == 4 |
| ... | ... | |
| 159 | 159 |
mov = moviein(numsteps+1,f,winsize); |
| 160 | 160 |
mov(:,1) = getframe(f,winsize); |
| 161 | 161 |
|
| 162 |
% init |
|
| 163 |
xoldSensor = 0; |
|
| 164 |
yoldSensor = 0; |
|
| 165 |
thetaoldSensor = 0; |
|
| 166 |
|
|
| 162 | 167 |
% Run through each timestep |
| 163 | 168 |
for t = 0:dt:tf |
| 164 | 169 |
|
| ... | ... | |
| 171 | 176 |
|
| 172 | 177 |
% Update the sensor values using the sensor model |
| 173 | 178 |
[Xs(:,idx), Ys(:,idx), Thetas(:,idx), Phis(:,idx), sensorState, encoderNoise, xoldSensor, yoldSensor, thetaoldSensor] = ... |
| 174 |
sensorModel(X(:,idx), Y(:,idx), Theta(:,idx), Phi(:,idx), sensorState, n, encoderNoise, wheels, xoldSensor, yoldSensor, thetaoldSensor); |
|
| 179 |
sensorModel(X(:,idx), Y(:,idx), Theta(:,idx), Phi(:,idx), sensorState, n, encoderNoise, wheels, xoldSensor, yoldSensor, thetaoldSensor, dt); |
|
| 175 | 180 |
%Phis |
| 176 | 181 |
|
| 177 | 182 |
% visualize real position |
Also available in: Unified diff