?? repeatview.m
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%---------------------------------------------------------
%
% This function repeats the OS4 flight view.
%
%
% Developed by Marcelo Becker & Samir Bouabdallah
% EPFL - October, 2005
%
% BECAUSE THE PROGRAM IS LICENSED FREE OF CHARGE, THERE IS NO WARRANTY
% FOR THE PROGRAM, TO THE EXTENT PERMITTED BY APPLICABLE LAW. EXCEPT WHEN
% OTHERWISE STATED IN WRITING THE COPYRIGHT HOLDERS AND/OR OTHER PARTIES
% PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY OF ANY KIND, EITHER EXPRESSED
% OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
% MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE. THE ENTIRE RISK AS
% TO THE QUALITY AND PERFORMANCE OF THE PROGRAM IS WITH YOU. SHOULD THE
% PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF ALL NECESSARY SERVICING,
% REPAIR OR CORRECTION.
%
% 12. IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING
% WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MAY MODIFY AND/OR
% REDISTRIBUTE THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES,
% INCLUDING ANY GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING
% OUT OF THE USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED
% TO LOSS OF DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY
% YOU OR THIRD PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER
% PROGRAMS), EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE
% POSSIBILITY OF SUCH DAMAGES.
%----------------------------------------------------------
function repeatview(L)
% Global variables declaration
global SwitchProc1 SwitchCompl % used for the Selection of the Procedures
global GRAF chbox % Radio Button
global EDIT % Edit Text on Robox Window
global EIXOS EIXOS1 EIXOS2 EIXOS3 EIXOS4 EIXOS5 EIXOS6
global FIGU FIGU1 FIGU2 FIGU3 FIGU4 % Figure parameters
global LINHA XLIMI YLIMI
global x y z
global roll pitch yaw tout
global OS4movie BOT_SAVE_F
% -------------------------------------------------------------------------
[cont1 cont2] = size(x);
az3d = -41; % Azimuth for the 3-D view [degrees]
el3d = 48; % Elevation for the 3-D view [degrees]
R1 = 0.15; % OS4 Rotor radius [m]
R2 = 0.37; % OS4 base [m]
R3 = 0.01;
L1 = 0.1; % OS4 Avionics Box length [m]
H1 = 0.1; % OS4 Avionics Box height [m]
ang1= 5*pi/180; % OS4 motor structure inclination angle [rd]
hlinha = R2*tan(ang1);
h2inha = 0.06 - hlinha;
% area used to produce the movie
leftframe = -40;
bottomframe = -30;
widthframe = 440;
heightframe = 350;
view(az3d,el3d);
set(FIGU2,'Pointer','watch');
pause(0.01);
for cont3 = 1:1:cont1,
cth=cos(pi-pitch(cont3));
sth=sin(pi-pitch(cont3));
cph=cos(pi+roll(cont3));
sph=sin(pi+roll(cont3));
cps=cos(-yaw(cont3)+pi/2);
sps=sin(-yaw(cont3)+pi/2);
cps1=cos(-yaw(cont3)+pi);
sps1=sin(-yaw(cont3)+pi);
cps2=cos(-yaw(cont3)+3*pi/4);
sps2=sin(-yaw(cont3)+3*pi/4);
cla;
% 3D View
% -------
if SwitchCompl == 1
% OS4 Avionics Box
aux=sqrt(2);
py = [L1/aux 0 -L1/aux 0 L1/aux]; % box botton
px = [0 -L1/aux 0 L1/aux 0];
pz = [-L1/2 -L1/2 -L1/2 -L1/2 -L1/2];
npx = px*(cps1*cth + sps1*sph*sth) + py*sps1*cph + pz*(-cps1*sth + sps1*sph*cth) + x(cont3);
npy = px*(-sps1*cth + cps1*sph*sth) + py*cps1*cph + pz*(sps1*sth + cps1*sph*cth) + y(cont3);
npz = px*(sth*cph) - py*sph + pz*(cth*cph) + z(cont3);
efe=patch(npy, npx, npz,[0.5 0.7 0.5],'Parent',EIXOS6);
py = [L1/aux 0 -L1/aux 0 L1/aux]; % box top
px = [0 -L1/aux 0 L1/aux 0];
pz = [L1/2 L1/2 L1/2 L1/2 L1/2];
npx = px*(cps1*cth + sps1*sph*sth) + py*sps1*cph + pz*(-cps1*sth + sps1*sph*cth) + x(cont3);
npy = px*(-sps1*cth + cps1*sph*sth) + py*cps1*cph + pz*(sps1*sth + cps1*sph*cth) + y(cont3);
npz = px*(sth*cph) - py*sph + pz*(cth*cph) + z(cont3);
efe=patch(npy, npx, npz,[0.5 0.7 0.5],'Parent',EIXOS6);
py = [L1/aux L1/aux 0 0 L1/aux]; % box sides
px = [0 0 -L1/aux -L1/aux 0];
pz = [-L1/2 L1/2 L1/2 -L1/2 -L1/2];
npx = px*(cps1*cth + sps1*sph*sth) + py*sps1*cph + pz*(-cps1*sth + sps1*sph*cth) + x(cont3);
npy = px*(-sps1*cth + cps1*sph*sth) + py*cps1*cph + pz*(sps1*sth + cps1*sph*cth) + y(cont3);
npz = px*(sth*cph) - py*sph + pz*(cth*cph) + z(cont3);
efe=patch(npy, npx, npz,[0.5 0.7 0.5],'Parent',EIXOS6);
py = [0 0 -L1/aux -L1/aux 0];
px = [-L1/aux -L1/aux 0 0 -L1/aux];
pz = [-L1/2 L1/2 L1/2 -L1/2 -L1/2];
npx = px*(cps1*cth + sps1*sph*sth) + py*sps1*cph + pz*(-cps1*sth + sps1*sph*cth) + x(cont3);
npy = px*(-sps1*cth + cps1*sph*sth) + py*cps1*cph + pz*(sps1*sth + cps1*sph*cth) + y(cont3);
npz = px*(sth*cph) - py*sph + pz*(cth*cph) + z(cont3);
efe=patch(npy, npx, npz,[0.5 0.7 0.5],'Parent',EIXOS6);
py = [-L1/aux -L1/aux 0 0 -L1/aux];
px = [0 0 L1/aux L1/aux 0];
pz = [-L1/2 L1/2 L1/2 -L1/2 -L1/2];
npx = px*(cps1*cth + sps1*sph*sth) + py*sps1*cph + pz*(-cps1*sth + sps1*sph*cth) + x(cont3);
npy = px*(-sps1*cth + cps1*sph*sth) + py*cps1*cph + pz*(sps1*sth + cps1*sph*cth) + y(cont3);
npz = px*(sth*cph) - py*sph + pz*(cth*cph) + z(cont3);
efe=patch(npy, npx, npz,[0.5 0.7 0.5],'Parent',EIXOS6);
py = [0 0 L1/aux L1/aux 0];
px = [L1/aux L1/aux 0 0 L1/2];
pz = [-L1/2 L1/2 L1/2 -L1/2 -L1/2];
npx = px*(cps1*cth + sps1*sph*sth) + py*sps1*cph + pz*(-cps1*sth + sps1*sph*cth) + x(cont3);
npy = px*(-sps1*cth + cps1*sph*sth) + py*cps1*cph + pz*(sps1*sth + cps1*sph*cth) + y(cont3);
npz = px*(sth*cph) - py*sph + pz*(cth*cph) + z(cont3);
efe=patch(npy, npx, npz,[0.5 0.7 0.5],'Parent',EIXOS6);
% OS4 Structure bars and Rotors
% Rotor # 4
npx = 0*(cps1*cth + sps1*sph*sth) + R2*sps1*cph + (hlinha + h2inha + L1/2)*(-cps1*sth + sps1*sph*cth) + x(cont3);
npy = 0*(-sps1*cth + cps1*sph*sth) + R2*cps1*cph + (hlinha + h2inha + L1/2)*(sps1*sth + cps1*sph*cth) + y(cont3);
npz = 0*(sth*cph) - (R2)*sph + (hlinha + h2inha + L1/2)*(cth*cph) + z(cont3);
npxo = 0*(cps1*cth + sps1*sph*sth) + 0*sps1*cph + (h2inha + L1/2)*(-cps1*sth + sps1*sph*cth) + x(cont3);
npyo = 0*(-sps1*cth + cps1*sph*sth) + 0*cps1*cph + (h2inha + L1/2)*(sps1*sth + cps1*sph*cth) + y(cont3);
npzo = 0*(sth*cph) - 0*sph + (h2inha + L1/2)*(cth*cph) + z(cont3);
xxc = [npxo; npx];
zzc = [npzo; npz];
yyc = [npyo; npy];
como = 0;
for tt=0:0.1:6.28,
como = como + 1;
xo(como) = R1*cos(tt)*(cps1*cth + sps1*sph*sth) + R1*sin(tt)*sps1*cph + 0*(-cps1*sth + sps1*sph*cth) + npx;
yo(como) = R1*cos(tt)*(-sps1*cth + cps1*sph*sth) + R1*sin(tt)*cps1*cph + 0*(sps1*sth + cps1*sph*cth) + npy;
zo(como) = R1*cos(tt)*(sth*cph) - R1*sin(tt)*sph + 0*(cth*cph) + npz;
end
efe=patch(yo,xo,zo,[0.9 0.9 0.9],'LineStyle','-','Parent',EIXOS6);
LINHA=line(yyc, xxc, zzc,'Parent',EIXOS6,'Color',[0 0 0],'LineStyle','-', 'LineWidth',2);
if npx < 0, aqux = npx-0.06; else, aqux = npx+0.16; end
if npy < 0, aquy = npy-0.06; else, aquy = npy+0.16; end
aquz = npz + 0.16;
text(aquy,aqux,aquz,'4','FontSize',6,'Parent',EIXOS6);
% Rotor # 2
npx = 0*(cps1*cth + sps1*sph*sth) - R2*sps1*cph + (hlinha + h2inha + L1/2)*(-cps1*sth + sps1*sph*cth) + x(cont3);
npy = 0*(-sps1*cth + cps1*sph*sth) - R2*cps1*cph + (hlinha + h2inha + L1/2)*(sps1*sth + cps1*sph*cth) + y(cont3);
npz = 0*(sth*cph) - (-R2)*sph + (hlinha + h2inha + L1/2)*(cth*cph) + z(cont3);
npxo = 0*(cps1*cth + sps1*sph*sth) + 0*sps1*cph + (h2inha + L1/2)*(-cps1*sth + sps1*sph*cth) + x(cont3);
npyo = 0*(-sps1*cth + cps1*sph*sth) + 0*cps1*cph + (h2inha + L1/2)*(sps1*sth + cps1*sph*cth) + y(cont3);
npzo = 0*(sth*cph) - 0*sph + (h2inha + L1/2)*(cth*cph) + z(cont3);
xxc = [npxo; npx];
zzc = [npzo; npz];
yyc = [npyo; npy];
como = 0;
for tt=0:0.1:6.28,
como = como + 1;
xo(como) = R1*cos(tt)*(cps1*cth + sps1*sph*sth) + R1*sin(tt)*sps1*cph + 0*(-cps1*sth + sps1*sph*cth) + npx;
yo(como) = R1*cos(tt)*(-sps1*cth + cps1*sph*sth) + R1*sin(tt)*cps1*cph + 0*(sps1*sth + cps1*sph*cth) + npy;
zo(como) = R1*cos(tt)*(sth*cph) - R1*sin(tt)*sph + 0*(cth*cph) + npz;
end
efe=patch(yo,xo,zo,[0.9 0.9 0.9],'LineStyle','-','Parent',EIXOS6);
LINHA=line(yyc, xxc, zzc,'Parent',EIXOS6,'Color',[0 0 0],'LineStyle','-', 'LineWidth',2);
if npx < 0, aqux = npx-0.06; else, aqux = npx+0.16; end
if npy < 0, aquy = npy-0.06; else, aquy = npy+0.16; end
aquz = npz + 0.16;
text(aquy,aqux,aquz,'2','FontSize',6,'Parent',EIXOS6);
% Rotor # 3
npx = -R2*(cps1*cth + sps1*sph*sth) + 0*sps1*cph + (hlinha + h2inha + L1/2)*(-cps1*sth + sps1*sph*cth) + x(cont3);
npy = -R2*(-sps1*cth + cps1*sph*sth) + 0*cps1*cph + (hlinha + h2inha + L1/2)*(sps1*sth + cps1*sph*cth) + y(cont3);
npz = -R2*(sth*cph) - 0*sph + (hlinha + h2inha + L1/2)*(cth*cph) + z(cont3);
npxo = 0*(cps1*cth + sps1*sph*sth) + 0*sps1*cph + (h2inha + L1/2)*(-cps1*sth + sps1*sph*cth) + x(cont3);
npyo = 0*(-sps1*cth + cps1*sph*sth) + 0*cps1*cph + (h2inha + L1/2)*(sps1*sth + cps1*sph*cth) + y(cont3);
npzo = 0*(sth*cph) - 0*sph + (h2inha + L1/2)*(cth*cph) + z(cont3);
xxc = [npxo; npx];
zzc = [npzo; npz];
yyc = [npyo; npy];
como = 0;
for tt=0:0.1:6.28,
como = como + 1;
xo(como) = R1*cos(tt)*(cps1*cth + sps1*sph*sth) + R1*sin(tt)*sps1*cph + 0*(-cps1*sth + sps1*sph*cth) + npx;
yo(como) = R1*cos(tt)*(-sps1*cth + cps1*sph*sth) + R1*sin(tt)*cps1*cph + 0*(sps1*sth + cps1*sph*cth) + npy;
zo(como) = R1*cos(tt)*(sth*cph) - R1*sin(tt)*sph + 0*(cth*cph) + npz;
end
efe=patch(yo,xo,zo,[0.9 0.9 0.9],'LineStyle','-','Parent',EIXOS6);
LINHA=line(yyc, xxc, zzc,'Parent',EIXOS6,'Color',[0 0 0],'LineStyle','-', 'LineWidth',2);
if npx < 0, aqux = npx-0.06; else, aqux = npx+0.16; end
if npy < 0, aquy = npy-0.06; else, aquy = npy+0.16; end
aquz = npz + 0.16;
text(aquy,aqux,aquz,'3','FontSize',6,'Parent',EIXOS6);
% Rotor # 1
npx = R2*(cps1*cth + sps1*sph*sth) + 0*sps1*cph + (hlinha + h2inha + L1/2)*(-cps1*sth + sps1*sph*cth) + x(cont3);
npy = R2*(-sps1*cth + cps1*sph*sth) + 0*cps1*cph + (hlinha + h2inha + L1/2)*(sps1*sth + cps1*sph*cth) + y(cont3);
npz = R2*(sth*cph) - 0*sph + (hlinha + h2inha + L1/2)*(cth*cph) + z(cont3);
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