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mode(-1);
// Copyright ENPC
path="SCI/demos/npend";
getf(path+'/macros.sci');
getf(path+'/dessin.sci');
xbasc();set("figure_style","old")
flag1=x_choose(['Read a precomputed trajectory';
'Simulation with ode (needs f77 and link. may fail. see help link)'],...
'Simulation or Visualisation ? (click below)');
select flag1,
case 2 then
mode(1)
npend_build_and_load() ;
n=np();
r=1*ones(1,n);m=1*ones(1,n);j=1*ones(1,n);g=9.81;
y0=0*ones(2*n,1);
tt=0:0.05:10;
yt=ode(y0,0,tt,'npend');
xselect();
xbasc();
chaina(yt);
flag=2 ;
y=[]; for i=1:n;y=[y;'theta'+string(i)];end
yd=[]; for i=1:n;yd=[yd;'thetad'+string(i)];end
ystr=[y;yd];
while flag==2,
[n1,n2]=size(yt);
flag=x_choose(['Stop';'Go on'],'Choose');
if flag==2 then
y0=evstr(x_mdialog(['Initial point '],ystr,...
string(yt(:,n2))));
yt=ode(y0,0,tt,'npend');
met=x_choose(['With last point trajectory';'Without'],...
'Graphic Option');
xbasc();
if met==1; chainb(yt);else;chaina(yt);end
end
end
mode(-1)
case 1 then // A precomputed value for
mode(1)
//x0=[0;%pi/2+0.1;0;5.0;0.0;4.0;0;0];
n=10;
r=1*ones(1,n);m=1*ones(1,n);j=1*ones(1,n);g=9.81;
y0=0*ones(2*n,1);
yt=read(path+'/yt.wrt',20,201);
chaina(yt);
mode(-1)
end
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