fixed desired position in x

Author: varununayak

hw3/hw3.cpp

@@ -95,7 +95,7 @@ int main() {
 
 	//open file to store csv
 	std::ofstream traj_file;
-	traj_file.open("/media/varun/Work/Academics/_Spring 2019/CS 225A/cs225a_hw3/data4b.csv");
+	traj_file.open("/media/varun/Work/Academics/_Spring 2019/CS 225A/cs225a_hw3/data3a.csv");
 
 
 	// create a timer
@@ -119,7 +119,7 @@ int main() {
 		// **********************
 		// WRITE YOUR CODE AFTER
 		// **********************
-		int controller_number = QUESTION_4;  
+		int controller_number = QUESTION_3;  
 
 		robot->gravityVector(g); //update gravity vector
 		robot->coriolisForce(b); // update coriolis/cfugal vector
@@ -170,7 +170,7 @@ int main() {
 
 			x_desired_traj(0) = x_desired_traj_init(0) + 0.1*sin(Pi*controller_counter*dt);
 			x_desired_traj(1) = x_desired_traj_init(1) + 0.1*cos(Pi*controller_counter*dt);
-			x_desired_traj(2) = x_desired_traj_init(0) + 0;
+			x_desired_traj(2) = x_desired_traj_init(2) + 0;
 
 			VectorXd xdot_traj(3);
 			xdot_traj(0) = 0.1*Pi*cos(Pi*controller_counter*dt);
@@ -180,6 +180,7 @@ int main() {
 			VectorXd xddot_traj(3);
 			xddot_traj(0) = 0.1*Pi*Pi*(-sin(Pi*controller_counter*dt));
 			xddot_traj(1) = 0.1*Pi*Pi*(-cos(Pi*controller_counter*dt));
+			xddot_traj(2) = 0;
 
 
 			//compute the control torques using the control law:
@@ -270,7 +271,7 @@ int main() {
 		//store the trajectory in the csv file (order matters)
 		traj_file << x(0) << "," << x(1) << "," << x(2) << "," <<
 		x_desired(0) << "," << x_desired(1) << "," << x_desired(2) << "," <<
-		xdot(0) << "," << xdot(1) << "," << xdot(2) << "," << Vmax << endl;
+		dPhi(0) << "," << dPhi(1) << "," << dPhi(2)  << endl;
 
 
 		// **********************

read_plot.py

@@ -26,7 +26,7 @@
 
 dt = 0.001	#loop frequency (time per loop)
 
-with open('/media/varun/Work/Academics/_Spring 2019/CS 225A/cs225a_hw3/data4b.csv','r') as csvfile:
+with open('/media/varun/Work/Academics/_Spring 2019/CS 225A/cs225a_hw3/data3a.csv','r') as csvfile:
     plots = csv.reader(csvfile, delimiter=',')
     for row in plots:
         a.append(float(row[0]))
@@ -36,14 +36,14 @@
        	d.append(float(row[3]))
        	e.append(float(row[4]))
        	f.append(float(row[5]))
-
+        
         g.append(float(row[6]))
         h.append(float(row[7]))
         i.append(float(row[8]))
-
+        '''
         j.append(float(row[9]))
         k.append(-1*float(row[9]))
-
+        '''
 
 
 
@@ -69,27 +69,25 @@
 plt.legend()
 plt.grid()
 
-
 plt.subplot(2,1,2)
 
-plt.plot(t,g, label='$\dot x_x$')
-plt.plot(t,h,label='$\dot x_y$')
-plt.plot(t,i, label='$\dot x_z$')
+plt.plot(t,g, label='$d\phi_x$')
+plt.plot(t,h,label='$d\phi_y$')
+plt.plot(t,i, label='$d\phi_z$')
 
-plt.plot(t,j,'r', label='$ V_{max}$')
-plt.plot(t,k,'r', label='$ -V_{max}$')
+#plt.plot(t,j,'r', label='$ V_{max}$')
+#plt.plot(t,k,'r', label='$ -V_{max}$')
 
 
 
 
 plt.xlabel('Time [s]')
-plt.ylabel('Velocity [m/s]')
+plt.ylabel('Angle Error [rad]')
 plt.legend()
 plt.grid()
 
 
-plt.savefig('/media/varun/Work/Academics/_Spring 2019/CS 225A/cs225a_hw3/plot4b.png')
-
+plt.savefig('/media/varun/Work/Academics/_Spring 2019/CS 225A/cs225a_hw3/plot3a_v2.png')