?? c_plothist.m
字號:
% C_PLOTHIST Plot the process for round box pushing.
% Copyright (c) 1998-2000 Jiming Liu and Jianbing Wu
close all;
clear all;
%FLname='d:\maxplus2\circ\result\circ01';
FLname='d:\maxplus2\circ\result\circ02';
eval(['load ' FLname ';']);
BeginPoint=1;
EndPoint=131;
RHistory=RobotHistory(BeginPoint:EndPoint,:);
OHistory=ObjectHistory(BeginPoint:EndPoint,:);
GHistory=GoalHistory(BeginPoint:EndPoint,:);
ChHistory=ChromHistory(BeginPoint:EndPoint,:);
%for mm=1:12
for mm=1:6
clf;
plot(0,1,'color',[1 1 1]);
% axis([10,90,15,95]);
axis([5,95,5,95]);
hold on;
% Step=(mm-1)*6+1;
Step=(mm-1)*10+81;
ObjectPosition=OHistory(Step,:);
CurrentGoal=GHistory(Step,:);
DeltaPosition=CurrentGoal-ObjectPosition;
AxisDirection=atan2(DeltaPosition(2),DeltaPosition(1));
plot(70,90, 'Marker','^');
plot(25,57, 'Marker','d');
plot(ObjectPosition(1),ObjectPosition(2),'Marker','o','Color','k','markersize',14);
plot(CurrentGoal(1),CurrentGoal(2), 'Marker','+');
for nn=1:3
DrawDirection=ChHistory(Step,3+nn)*2*pi/32+AxisDirection+pi;
CurrentRobot=RHistory(Step,(nn-1)*2+1:2*nn);
[FirstArray,SecondArray,Fill1Array,Fill2Array]=plotrob(ObjectPosition,CurrentRobot,RobotSize,ObjectSize);
line(FirstArray,SecondArray);
fill(Fill1Array,Fill2Array,'k');
DrawPoint=[(FirstArray(1)+FirstArray(3))/2 (SecondArray(1)+SecondArray(3))/2];
DrawEnd=DrawPoint+[3*cos(DrawDirection) 3*sin(DrawDirection)];
line([DrawPoint(1) DrawEnd(1)],[DrawPoint(2) DrawEnd(2)]);
end;
drawnow;
Title_Text=['(t=' num2str(Step) ')'];
SaveString=['d:\maxplus2\circ\result\ps\c2h' num2str(Step)];
gtext(Title_Text);
eval(['print ' SaveString ' -dps;']);
end;
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