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plots~
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% [ TC, x, y ] = solveMomentEq( P_COG_init(3), ddz_G, dL, x_c, y_c,z_c,T_Cx,T_Cy,P_COG_init );
ddp_Cc=[0;0;0];
ws=zeros(2,201);
for s=2:size(dL,2)
p_C=[x(s,1);y(s,1);P_COG_init(3)];
ddp_Cc(1,s)=differentiate(x(s,2),x(s-1,2));
ddp_Cc(2,s)=differentiate(y(s,2),y(s-1,2));
ddp_Cc(3,s)=0;
ws(:,s)=wrench_sum(p_C,ddp_Cc(:,s),dL(:,s));
% plot(ddp_Cc(1),'*');hold on;
% plot(ddp_Cc(2),'*');hold on;
end
figure,
plot(ws(1,:))
figure,
plot(ws(2,:))
figure,
plot(ddp_Cc(2,:));hold on;
figure,
plot(WrenchSum(1,:));hold on;
figure,
plot(WrenchSum(2,:));hold on;
figure,
plot(dL(1,:)+WrenchSum(1,:),'r'); hold on;
plot(dL(2,:),'b'); hold on;
plot(dL(3,:),'g'); hold on;
%
figure,
plot(T_Cx,'b');hold on;
plot(WrenchSum(1,:));hold on;
legend('T_Cx_ref','T_Cx',2);
xlabel('Time [sec]');
ylabel('T_Cx, N*meters')
%
figure,
plot(L_ref(1,:),'r'); hold on;
plot(L_ref(2,:),'b'); hold on;
plot(L_ref(3,:),'g'); hold on;
figure,
plot(L_comp(1,:),'r'); hold on;
plot(L_comp(2,:),'b'); hold on;
plot(L_comp(3,:),'g'); hold on;
%
figure,plot(L_ref(1,:)-L_comp(1,:))
figure,plot(L_ref(2,:)-L_comp(2,:))
figure,plot(L_ref(3,:)-L_comp(3,:))
%
figure,
plot(dL(1,:),'r'); hold on;
plot(dL(2,:),'b'); hold on;
plot(dL(3,:),'g'); hold on;
figure,
plot(p_B(1,:),'r'); hold on;
plot(p_B(2,:),'b'); hold on;
plot(p_B(3,:),'g'); hold on;
figure,
plot(v_B(1,:),'r'); hold on;
plot(v_B(2,:),'b'); hold on;
plot(v_B(3,:),'g'); hold on;
figure,
plot(squeeze(theta_leg(1,1,:)),'r'); hold on;
plot(squeeze(theta_leg(2,1,:)),'b'); hold on;
plot(squeeze(theta_leg(3,1,:)),'g'); hold on;
plot(squeeze(theta_leg(4,1,:)),'c'); hold on;
plot(squeeze(theta_leg(5,1,:)),'m'); hold on;
plot(squeeze(theta_leg(6,1,:)),'k'); hold on;
%
figure,
plot(squeeze(theta_leg(1,2,:)),'r'); hold on;
plot(squeeze(theta_leg(2,2,:)),'b'); hold on;
plot(squeeze(theta_leg(3,2,:)),'g'); hold on;
plot(squeeze(theta_leg(4,2,:)),'c'); hold on;
plot(squeeze(theta_leg(5,2,:)),'m'); hold on;
plot(squeeze(theta_leg(6,2,:)),'k'); hold on;
%
figure,
plot(squeeze(xi_Fi_traj(1,1,:)),'r'); hold on;
plot(squeeze(xi_Fi_traj(2,1,:)),'b'); hold on;
plot(squeeze(xi_Fi_traj(3,1,:)),'g'); hold on;
figure,
plot(squeeze(xi_Fi_traj(1,2,:)),'r'); hold on;
plot(squeeze(xi_Fi_traj(2,2,:)),'b'); hold on;
plot(squeeze(xi_Fi_traj(3,2,:)),'g'); hold on;
figure,
plot(squeeze(xi_Hi_traj(1,1,:)),'r'); hold on;
plot(squeeze(xi_Hi_traj(2,1,:)),'b'); hold on;
plot(squeeze(xi_Hi_traj(3,1,:)),'g'); hold on;
figure,
plot(squeeze(xi_Hi_traj(1,2,:)),'r'); hold on;
plot(squeeze(xi_Hi_traj(2,2,:)),'b'); hold on;
plot(squeeze(xi_Hi_traj(3,2,:)),'g'); hold on;
figure,
plot(squeeze(P_F(1,1,:)),'r'); hold on;
plot(squeeze(P_F(2,1,:)),'b'); hold on;
plot(squeeze(P_F(3,1,:)),'g'); hold on;
figure,
plot(squeeze(P_F(1,2,:)),'r'); hold on;
plot(squeeze(P_F(2,2,:)),'b'); hold on;
plot(squeeze(P_F(3,2,:)),'g'); hold on;
%% calculate initial WS
global total_mass g
wsx= total_mass*g*P_COG_init(2)
wsy= -total_mass*g*P_COG_init(1)
sum(sum(abs(xi_B(4:6,:))))
y(:,1) = interp1(CoG.time',CoG.signals.values(:,1),lt);
y(:,2) = interp1(CoGD.time',CoGD.signals.values(:,1),lt);
x(:,1) = interp1(CoG.time',CoG.signals.values(:,2),lt);
x(:,2) = interp1(CoGD.time',CoGD.signals.values(:,2),lt);
for s=1:size(theta_leg,3)
if s+1<=size(theta_leg,3)
[chain_leg_R, chain_leg_L, chain_arm_R, chain_arm_L, chain_head] = ...
move_robot(theta_leg(:,:,s),theta_arm(:,:,s),theta_head,swing(s),swing(s+1),s);
else
[chain_leg_R, chain_leg_L, chain_arm_R, chain_arm_L, chain_head] = ...
move_robot(theta_leg(:,:,s),theta_arm(:,:,s),theta_head,swing(s),swing(s),s);
end
% animate the motion
if animation == 1
animate(chain_leg_R, chain_leg_L, chain_arm_R, chain_arm_L, chain_head);
end
end
%% Previous plots from batiste
%com_diff = com_desired - com_measured;
% pos_diff = desired_pos - real_pos;
%
% pos_diff_R = zeros(3,iteration-1);
% pos_diff_L = zeros(3,iteration-1);
% pos_diff_R(:,:) = pos_diff(:,1,:);
% pos_diff_L(:,:) = pos_diff(:,2,:);
%
% real_pos_R = zeros(3,iteration-1);
% real_pos_L = zeros(3,iteration-1);
% real_pos_R(:,:) = real_pos(:,1,:);
% real_pos_L(:,:) = real_pos(:,2,:);
%
% real_pos_armR = zeros(3,iteration-1);
% real_pos_armL = zeros(3,iteration-1);
% real_pos_armR(:,:) = real_pos_arm(:,1,:);
% real_pos_armL(:,:) = real_pos_arm(:,2,:);
%
% des_pos_R = zeros(3,iteration-1);
% des_pos_L = zeros(3,iteration-1);
% des_pos_R(:,:) = desired_pos(:,1,:);
% des_pos_L(:,:) = desired_pos(:,2,:);
% T = step_time*nb_steps;
% time_vector = linspace(0,T,nb_points*nb_steps);
%
% if plot_res == 1
% % desired pos
% figure();
% subplot(2,3,1);
% plot(time_vector,des_pos_R(1,:));
% ylabel('meter');
% xlabel('number of steps');
% title('right foot x');
% subplot(2,3,2);
% plot(time_vector,des_pos_R(2,:));
% ylabel('meter');
% xlabel('number of steps');
% title('right foot y');
% subplot(2,3,3);
% plot(time_vector,des_pos_R(3,:));
% ylabel('meter');
% xlabel('number of steps');
% title('right foot z');
% subplot(2,3,4);
% plot(time_vector,des_pos_L(1,:));
% ylabel('meter');
% xlabel('number of steps');
% title('left foot x');
% subplot(2,3,5);
% plot(time_vector,des_pos_L(2,:));
% ylabel('meter');
% xlabel('number of steps');
% title('left foot y');
% subplot(2,3,6);
% plot(time_vector,des_pos_L(3,:));
% ylabel('meter');
% xlabel('number of steps');
% title('left foot z');
% set(gcf,'NextPlot','add');
% axes;
% h = suptitle('Desired position of the feet');
% set(gca,'Visible','off');
% set(h,'Visible','on');
%
% % real pos
% figure();
% subplot(2,3,1);
% plot(time_vector,real_pos_R(1,:));
% ylabel('meter');
% xlabel('number of steps');
% title('right foot x');
% subplot(2,3,2);
% plot(time_vector,real_pos_R(2,:));
% ylabel('meter');
% xlabel('number of steps');
% title('right foot y');
% subplot(2,3,3);
% plot(time_vector,real_pos_R(3,:));
% ylabel('meter');
% xlabel('number of steps');
% title('right foot z');
% subplot(2,3,4);
% plot(time_vector,real_pos_L(1,:));
% ylabel('meter');
% xlabel('number of steps');
% title('left foot x');
% subplot(2,3,5);
% plot(time_vector,real_pos_L(2,:));
% ylabel('meter');
% xlabel('number of steps');
% title('left foot y');
% subplot(2,3,6);
% plot(time_vector,real_pos_L(3,:));
% ylabel('meter');
% xlabel('number of steps');
% title('left foot z');
% set(gcf,'NextPlot','add');
% axes;
% h = suptitle('Measured position of the feet');
% set(gca,'Visible','off');
% set(h,'Visible','on');
%
% % real pos arm
% figure();
% subplot(2,3,1);
% plot(time_vector,real_pos_armR(1,:));
% ylabel('meter');
% xlabel('number of steps');
% title('right hand x');
% subplot(2,3,2);
% plot(time_vector,real_pos_armR(2,:));
% ylabel('meter');
% xlabel('number of steps');
% title('right hand y');
% subplot(2,3,3);
% plot(time_vector,real_pos_armR(3,:));
% ylabel('meter');
% xlabel('number of steps');
% title('right hand z');
% subplot(2,3,4);
% plot(time_vector,real_pos_armL(1,:));
% ylabel('meter');
% xlabel('number of steps');
% title('left hand x');
% subplot(2,3,5);
% plot(time_vector,real_pos_armL(2,:));
% ylabel('meter');
% xlabel('number of steps');
% title('left hand y');
% subplot(2,3,6);
% plot(time_vector,real_pos_armL(3,:));
% ylabel('meter');
% xlabel('number of steps');
% title('left hand z');
% set(gcf,'NextPlot','add');
% axes;
% h = suptitle('Measured position of the hands');
% set(gca,'Visible','off');
% set(h,'Visible','on');
%
% % % com position
% % figure();
% % subplot(3,3,1);
% % plot(time_vector,com_desired(1,:));
% % ylabel('meter');
% % xlabel('number of steps');
% % title('x desired');
% % subplot(3,3,2);
% % plot(time_vector,com_desired(2,:));
% % ylabel('meter');
% % xlabel('number of steps');
% % title('y desired');
% % subplot(3,3,3);
% % plot(time_vector,com_desired(3,:));
% % ylabel('meter');
% % xlabel('number of steps');
% % title('z desired');
% % subplot(3,3,4);
% % plot(time_vector,com_measured(1,:));
% % ylabel('meter');
% % xlabel('number of steps');
% % title('x measured');
% % subplot(3,3,5);
% % plot(time_vector,com_measured(2,:));
% % ylabel('meter');
% % xlabel('number of steps');
% % title('y measured');
% % subplot(3,3,6);
% % plot(time_vector,com_measured(3,:));
% % ylabel('meter');
% % xlabel('number of steps');
% % title('z measured');
% % subplot(3,3,7);
% % plot(time_vector,com_diff(1,:));
% % ylabel('meter');
% % xlabel('number of steps');
% % title('difference in x');
% % subplot(3,3,8);
% % plot(time_vector,com_diff(2,:));
% % ylabel('meter');
% % xlabel('number of steps');
% % title('difference in y');
% % subplot(3,3,9);
% % plot(time_vector,com_diff(3,:));
% % ylabel('meter');
% % xlabel('number of steps');
% % title('difference in z');
% %
% % set(gcf,'NextPlot','add');
% % axes;
% % h = suptitle('Position of the Center of Mass');
% % set(gca,'Visible','off');
% % set(h,'Visible','on');
% end