Revision 1819
Shapes are now generalized and work for any (4n+1) robots.
| evolveRobots.m | ||
|---|---|---|
| 22 | 22 |
makeMovie = false; |
| 23 | 23 |
showPlots = true; |
| 24 | 24 |
doFeedback = true; |
| 25 |
shape = 1;
|
|
| 25 |
shape = 4;
|
|
| 26 | 26 |
|
| 27 | 27 |
if shape == 1 |
| 28 |
n = 10%100;
|
|
| 28 |
n = 65;
|
|
| 29 | 29 |
elseif shape < 4 |
| 30 |
n = 9;
|
|
| 30 |
n = 65;
|
|
| 31 | 31 |
elseif shape == 4 |
| 32 |
n = 9;
|
|
| 32 |
n = 65;
|
|
| 33 | 33 |
elseif shape == 5 |
| 34 | 34 |
n = 20; |
| 35 | 35 |
end |
| ... | ... | |
| 70 | 70 |
|
| 71 | 71 |
elseif shape == 2 |
| 72 | 72 |
%square |
| 73 |
desiredR(2*(1:(n-1))+1) = 20; |
|
| 74 |
desiredR(2*(1:(n-1))) = 20*sqrt(2); |
|
| 75 |
desiredPhi = (0:(n-1))*pi/4; |
|
| 73 |
desiredPhi = (0:(n-1))*(2*pi/(n-1))+pi/2; |
|
| 74 |
for index=2:(n-1)/4 |
|
| 75 |
desiredR(index) = 20/cos(abs(desiredPhi(index)-3*pi/4)); |
|
| 76 |
end |
|
| 77 |
for index=1+(n-1)/4:(n-1)/2 |
|
| 78 |
desiredR(index) = 20/sin(abs(desiredPhi(index)-3*pi/4)); |
|
| 79 |
end |
|
| 80 |
for index=1+(n-1)/2:3*(n-1)/4 |
|
| 81 |
desiredR(index) = 20/sin(abs(desiredPhi(index)+3*pi/4)); |
|
| 82 |
end |
|
| 83 |
for index=1+3*(n-1)/4:n-1 |
|
| 84 |
desiredR(index) = abs(20/sin(abs(desiredPhi(index)-3*pi/4))); |
|
| 85 |
end |
|
| 86 |
desiredR(n) = 20*sqrt(2); |
|
| 87 |
desiredPhi = desiredPhi-pi/4; |
|
| 76 | 88 |
|
| 77 | 89 |
elseif shape == 3 |
| 78 | 90 |
%diamond |
| 79 |
desiredR(2*(1:(n-1))) = 20; |
|
| 80 |
desiredR(2*(1:(n-1))+1) = 20*sqrt(2); |
|
| 81 |
desiredPhi = (0:(n-1))*pi/4; |
|
| 91 |
desiredPhi = (0:(n-1))*(2*pi/(n-1))+pi/2; |
|
| 92 |
for index=2:(n-1)/4 |
|
| 93 |
desiredR(index) = 20/cos(abs(desiredPhi(index)-3*pi/4)); |
|
| 94 |
end |
|
| 95 |
for index=1+(n-1)/4:(n-1)/2 |
|
| 96 |
desiredR(index) = 20/sin(abs(desiredPhi(index)-3*pi/4)); |
|
| 97 |
end |
|
| 98 |
for index=1+(n-1)/2:3*(n-1)/4 |
|
| 99 |
desiredR(index) = 20/sin(abs(desiredPhi(index)+3*pi/4)); |
|
| 100 |
end |
|
| 101 |
for index=1+3*(n-1)/4:n-1 |
|
| 102 |
desiredR(index) = abs(20/sin(abs(desiredPhi(index)-3*pi/4))); |
|
| 103 |
end |
|
| 104 |
desiredR(n) = 20*sqrt(2); |
|
| 82 | 105 |
|
| 83 | 106 |
elseif shape == 4 |
| 84 |
%aarow |
|
| 85 |
desiredR(2:4) = 20; |
|
| 86 |
desiredR(5) = 13; |
|
| 87 |
desiredR(6) = 24; |
|
| 88 |
desiredR(7) = 36; |
|
| 89 |
desiredR(8) = 17; |
|
| 90 |
desiredR(9) = 17; |
|
| 91 |
desiredPhi(2) = 0; |
|
| 92 |
desiredPhi(3) = pi/2; |
|
| 93 |
desiredPhi(4) = 3*pi/2; |
|
| 94 |
desiredPhi(5:7) = pi; |
|
| 95 |
desiredPhi(8) = pi/4; |
|
| 96 |
desiredPhi(9) = 7*pi/4; |
|
| 107 |
%arrow |
|
| 108 |
desiredPhi(2:(n-1)/4) = pi; |
|
| 109 |
desiredPhi(1+(n-1)/4:(n-1)/2) = 0; |
|
| 97 | 110 |
|
| 111 |
for index=1+(n-1)/2:n |
|
| 112 |
desiredPhi(index) = index*(2*pi/(n-1))+pi/2; |
|
| 113 |
end |
|
| 114 |
for index=2:(n-1)/4 |
|
| 115 |
desiredR(index) = index*80*sqrt(2)/(n-1); |
|
| 116 |
desiredR(index+(n-1)/4) = desiredR(index); |
|
| 117 |
end |
|
| 118 |
for index=1+(n-1)/2:3*(n-1)/4 |
|
| 119 |
desiredR(index) = 20/sin(abs(desiredPhi(index)+3*pi/4)); |
|
| 120 |
end |
|
| 121 |
for index=1+3*(n-1)/4:n-1 |
|
| 122 |
desiredR(index) = abs(20/sin(abs(desiredPhi(index)-3*pi/4))); |
|
| 123 |
end |
|
| 124 |
|
|
| 98 | 125 |
elseif shape == 5 |
| 99 | 126 |
%2 circles |
| 100 | 127 |
desiredR(1:(n/2)) = 20; |
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