?? r_viewobj.m
字號:
% R_VIEWOBJ View the square box trajectory when pushing.
% Copyright (c) 1998-2000 Jiming Liu and Jianbing Wu
close all;
clear all;
FLname='d:\maxplus2\rect\result\rect01';
eval(['load ' FLname ';']);
figHistory=figure(...
'Color',[0 0 0],...
'Position',[100 0 600 600],...
'Resize','on',...
'NumberTitle','off',...
'Name','Distribution Show');
Point_X=0;
Point_Y=0;
View_Width=100;
End_X=Point_X+View_Width;
End_Y=Point_Y+View_Width;
BeginPoint=1;
EndPoint=158;
OHistory=ObjectHistory(BeginPoint:EndPoint,:);
GHistory=GoalHistory(BeginPoint:EndPoint,:);
clf;
plot(Point_X,Point_Y,'color',[1 1 1]);
axis([Point_X,End_X,Point_Y,End_Y]);
axis on;
hold on;
SplineLength=EndPoint-BeginPoint+1;;
X_Vector=[];
Y_Vector=[];
for nn=1:SplineLength
Last_X=OHistory(nn,1);
Last_Y=OHistory(nn,2);
X_Vector=[X_Vector Last_X];
Y_Vector=[Y_Vector Last_Y];
end
t=1:SplineLength;
ts=1:0.1:SplineLength;
xs=spline(t,X_Vector,ts);
ys=spline(t,Y_Vector,ts);
plot(xs,ys,'k-');
[FirstArray,SecondArray,WhichPoint]=r_plotsquare(OHistory(SplineLength,:),ObjectSize);
line(FirstArray,SecondArray);
line([OHistory(SplineLength,1) WhichPoint(1)],[OHistory(SplineLength,2) WhichPoint(2)]);
plot(GHistory(1,1), GHistory(1,2), 'Marker','^');
%plot(39,26, 'Marker','d');
plot(GHistory(SplineLength,1), GHistory(SplineLength,2), 'Marker','+');
title('Object-Pushing Trajectory');
drawnow;
gtext('t=158');
%gtext('t=90');
gtext('t=83');
gtext('t=1');
print d:\maxplus2\rect\result\ps\r1obj -dps;
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