From 442eeb5195e4337d46b1d637e4a7e0045ac578e7 Mon Sep 17 00:00:00 2001
From: Anggoro Dwi <anggoro.dwi.nr@gmail.com>
Date: Thu, 20 May 2021 15:46:34 +0700
Subject: [PATCH] misah antara ngejalanin simulasi sama membuat case case.

---
 SOURCE/DataOutMotion.data        |    2 +-
 SOURCE/Distance Error ori v2.svg | 1808 ++++++++++++++++++++++++++++++
 SOURCE/Distance Error ori.svg    |   39 +-
 SOURCE/Distance Error v2.svg     |  187 +++
 SOURCE/Distance Error.svg        |   39 +-
 SOURCE/SM_2015_Rozenheck.m       |  255 ++---
 SOURCE/plot_con.m                |   49 +
 SOURCE/run_my_simulation.m       |   74 ++
 8 files changed, 2256 insertions(+), 197 deletions(-)
 create mode 100644 SOURCE/Distance Error ori v2.svg
 create mode 100644 SOURCE/Distance Error v2.svg
 create mode 100644 SOURCE/plot_con.m
 create mode 100644 SOURCE/run_my_simulation.m

diff --git a/SOURCE/DataOutMotion.data b/SOURCE/DataOutMotion.data
index 3dcd229..ae57feb 100644
--- a/SOURCE/DataOutMotion.data
+++ b/SOURCE/DataOutMotion.data
@@ -1 +1 @@
-# Created by Octave 5.2.0, Sat Apr 10 23:13:54 2021 WIB <a2nr@localhost.localdomain>
+# Created by Octave 6.2.0, Thu May 20 11:24:39 2021 GMT <unknown@DESKTOP-KDKD>
diff --git a/SOURCE/Distance Error ori v2.svg b/SOURCE/Distance Error ori v2.svg
new file mode 100644
index 0000000..ad3fe35
--- /dev/null
+++ b/SOURCE/Distance Error ori v2.svg	
@@ -0,0 +1,1808 @@
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        id="polyline476"
-       style="stroke-width:1.41679;stroke-miterlimit:4;stroke-dasharray:none" />
+       style="stroke-width:1.41679;stroke-miterlimit:4;stroke-dasharray:none;stroke:#008000" />
   </g>
   <g
      fill="none"
diff --git a/SOURCE/SM_2015_Rozenheck.m b/SOURCE/SM_2015_Rozenheck.m
index 1b42d29..623177d 100644
--- a/SOURCE/SM_2015_Rozenheck.m
+++ b/SOURCE/SM_2015_Rozenheck.m
@@ -2,183 +2,118 @@ clear -all
 
 graphics_toolkit('gnuplot')
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% config nang kene
-algo = 0;
-d = [[]];
-ang = [];
-save_state = [];
-save algo_info.m algo;
-save algo_info.m "-append" d ang save_state;
+
 bParam = struct();
 bParam.model = omnidirectional(0.94, 0.96, 0.01, 2.2, 1.5,0.099,0.1,1.5,0.025,30,0.035,19,0.00011,1.69,0.0059,0.0059,0.9,9.1,6,'./');
-bParam.edgeL = [1 2 1;
-                       3 2 1;
-                       3 1 1;
-                      ];
+bParam.edgeL = [1 2 1;3 2 1;3 1 1;];
 bParam.dScale = 3;
 bParam.nNodeVref = 1;
 bParam.ki1 = 0;
 bParam.ki2 = 0;  
-
-# CASE 1
-bParam.kp1 = 50;
-bParam.kp2 = 3;
-      
-# CASE 2
-##bParam.kp1 = 80;
-##bParam.kp2 = 7;
-
-# CASE 3
-##bParam.kp1 = 100;
-##bParam.kp2 = 15;
+bparam.hStep = .01;
+bParam.tspan = 1:bparam.hStep:20;
 
 #### KOOR 1
-##corRobot = [0; 0;0;
-##            1; 2;0;
-##            -2; 3;0;
-##           ]; % xy xy xy
-#### KOOR 2
-##corRobot = [0; 0;0;
-##            -2; -4;0;
-##            3; -2;0;
-##           ]; % xy xy xy
-#### KOOR 3
-corRobot = [0; 0;0;
-            1; 2;0;
-            3; -3;0;
-           ]; % xy xy xy
+bParam.corRobot = [0; 0;0;1; 2;0;-2; 3;0;]; % xy xy xy
+  ## CASE 1
+  bParam.kp1 = 50;
+  bParam.kp2 = 3;
+
+  bP(1,1) = bParam;
+        
+  ## CASE 2
+  bParam.kp1 = 80;
+  bParam.kp2 = 7;
+
+  bP(1,2) = bParam;
+
+  # CASE 3
+  bParam.kp1 = 100;
+  bParam.kp2 = 15;
+
+  bP(1,3) = bParam;
+
+## KOOR 2
+bParam.corRobot = [0; 0;0;-2; -4;0;3; -2;0;]; % xy xy xy
+  ## CASE 1
+  bParam.kp1 = 50;
+  bParam.kp2 = 3;
+
+  bP(2,1) = bParam;
+        
+  ## CASE 2
+  bParam.kp1 = 80;
+  bParam.kp2 = 7;
+
+  bP(2,2) = bParam;
+
+  # CASE 3
+  bParam.kp1 = 100;
+  bParam.kp2 = 15;
+
+  bP(2,3) = bParam;
+
+## KOOR 3
+bParam.corRobot = [0; 0;0;1; 2;0;3; -3;0;]; % xy xy xy
+  ## CASE 1
+  bParam.kp1 = 50;
+  bParam.kp2 = 3;
+
+  bP(3,1) = bParam;
+        
+  ## CASE 2
+  bParam.kp1 = 80;
+  bParam.kp2 = 7;
+
+  bP(3,2) = bParam;
+
+  # CASE 3
+  bParam.kp1 = 100;
+  bParam.kp2 = 15;
+
+  bP(3,3) = bParam;
+  
 ## KOOR 4
-##corRobot = [0; 0;0;
-##            -2; -3;0;
-##            3; 2;0;
-##           ]; % xy xy xy  
-           
+bParam.corRobot = [0; 0;0;-2; -3;0;3; 2;0;]; % xy xy xy  
+  ## CASE 1
+  bParam.kp1 = 50;
+  bParam.kp2 = 3;
 
-robStateLen = size(bParam.model.origin.A,1);
-B = [
-     1 0; 0 1;
-     0 0; 0 0;
-     0 0; 0 0;
-    ];
+  bP(4,1) = bParam;
+        
+  ## CASE 2
+  bParam.kp1 = 80;
+  bParam.kp2 = 7;
 
-% fvref = fncSpeedRef('ysin',50,2,robStateLen);
-% fvref = fncSpeedRef('xsin',50,2,robStateLen);
-% fvref = fncSpeedRef('cw',-300,1,robStateLen);
-% fvref = fncSpeedRef('s',50,50,robStateLen);
-fvref = fncSpeedRef('s',0,0,robStateLen);
-h = .01;
-tspan = 1:h:20;
+  bP(4,2) = bParam;
 
-## sys = formationControl2ndBuilder(bParam);
-% sys = formationControl1stBuilder(bParam);
-sys = formationControl2ndModelBuilder(bParam);
-% sys = formationControl1stModelBuilder(bParam);
-
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% config nang nduwur
-
-_zero = zeros(size(sys.R(corRobot,sys.K),1),1);
-sInit = [corRobot; _zero;];
-s1stInit = [corRobot; zeros(size(corRobot)); zeros(size(sys.d))];
-s2ndInit = [corRobot;zeros(length(corRobot),1); zeros(length(corRobot),1); _zero;]; 
-s2ndModelInit = [corRobot; zeros(length(corRobot),1); zeros(length(corRobot),1); _zero; zeros(length(corRobot),1);]; 
-
-## state_init = s2ndInit;
-% state_init = sInit;
-state_init = s2ndModelInit;
-% state_init = s1stInit;
-
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% start solving
-printf("Mulai memecakan masalah \n\n");
-startExe = tic;
-
-% continue
-##dydt = @(t, y) algo_init(sys,y,fvref(t));
-dydt = @(t, y) sys.ss(y,fvref(t));
-[t,y] = ode45(dydt, tspan, state_init);
-
-% discrate taylor methode
-## dydt = @(t, y) sys.dss(y, h, fvref(t));
-## t(1,:) = tspan(1);
-## y(1,:) = dydt(t(1), state_init); 
-## for i = 2:length(tspan)
-##   t(i,:) = tspan(i);
-##   y(i,:) = dydt(t(i),y(i-1,:)');
-## endfor
-
-Dd(1,:) = [norm((sys.K*y(1,1:9)')(1:3)) norm((sys.K*y(1,1:9)')(4:6)) norm((sys.K*y(1,1:9)')(7:9))]';
-for i = 2:length(tspan)
-  Dd(i,:) = [norm((sys.K*y(i,1:9)')(1:3)) norm((sys.K*y(i,1:9)')(4:6)) norm((sys.K*y(i,1:9)')(7:9))]';
-endfor
-
-endExe = toc(startExe);
-printf("Membutuhkan waktu %i menit, %i detik \n untuk memecahkan masalah mu  \n\n",
-       floor(endExe/60), rem(endExe,60))
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% End Solving
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% start plot it
+  # CASE 3
+  bParam.kp1 = 100;
+  bParam.kp2 = 15;
 
+  bP(4,3) = bParam;
+  
 close all
 
-figure(1)
-
-                                % plot trayektori dari setiap robot
-str_tmp = "plot(";
-
-
-xi = 1:robStateLen:length(corRobot)-1
-yi = 2:robStateLen:length(corRobot)
-
-for i = 1:sys.n-1
-  str_tmp = strcat(str_tmp,sprintf("y'(%i,:),y'(%i,:),",xi(i),yi(i)));
-endfor
-str_tmp = strcat(str_tmp,sprintf("y'(%i,:),y'(%i,:));",xi(i+1),yi(i+1)));
-eval(str_tmp);
-
-hold on
-                                % membuat fungsi plot robot di waktu
-                                % tertentu
-str_tmp = "@(t) plot( [";
-for i = 1:robStateLen:length(corRobot)
-  str_tmp = strcat( str_tmp, sprintf("y'(%i,t), ",i));
-endfor
-str_tmp = strcat( str_tmp, sprintf("], ["));
-for i = 2:robStateLen:length(corRobot)
-  str_tmp = strcat( str_tmp, sprintf("y'(%i,t), ",i));
-endfor
-str_tmp = strcat( str_tmp, sprintf("], \"^\");"));
-plot_rb = eval(str_tmp);
-
-xrb = 1:robStateLen:length(corRobot);
-yrb = 2:robStateLen:length(corRobot);
-
-                                % fungsi untuk plot coneksi di waktu
-                                % tertentu
-function plot_con (pltRb, yOut, conIn,xm,ym, time)
-  pltRb(time);
-  for i = 1:length(conIn)
-    plot([yOut(xm(conIn(i, 1)),time), yOut(xm(conIn(i, 2)),time)],
-         [yOut(ym(conIn(i,1)),time), yOut(ym(conIn(i,2)),time)], "r" )
+for i = 1:size(bP,1)
+  [t,y,Dd,DdNorm] = run_my_simulation(bP(i,1));
+  figure
+  plot_con( y', bParam.edgeL,  [1, length(bP(1,1).tspan)] ,bP(i,1));
+  title(sprintf("Motion dari Robot Case %i ", i ));
+  
+  figure
+  resdd = struct();
+  resdd.DdNorm = DdNorm;
+  allresdd(1) = resdd;
+  for j = 2:size(bP,2)
+    [t,y,Dd,resdd.DdNorm] = run_my_simulation(bP(i,j));
+    allresdd(j) = resdd;
   endfor
-endfunction
-
-plot_con(plot_rb, y', bParam.edgeL, xrb, yrb, 1);
-% plot_con(plot_rb, y', bParam.edgeL, xrb, yrb, round(length(tspan)/2));
-plot_con(plot_rb, y', bParam.edgeL, xrb, yrb, length(tspan));
-
-
-str_tmp = "legend(";
-for i = 1:numNodes(edgeL2adjL(bParam.edgeL))-1;
-  str_tmp =strcat(str_tmp,sprintf("\"R%i \", ",i));
+  plot(t,allresdd(1).DdNorm,t,allresdd(2).DdNorm,t,allresdd(3).DdNorm);
+  title(sprintf("Norm Distance error Case %i ", i));
 endfor
-str_tmp =strcat(str_tmp,sprintf("\"R%i \" )",++i));
-eval(str_tmp)
-title("Motion dari Robot");
 
-figure(2)
-plot(t,Dd(:,1),t,Dd(:,2),t,Dd(:,3))
-title("distance error")
-legend()
 
-csvwrite("DataOutMotion.csv", [t y(:,1:9)])
-csvwrite("DataErrorEdge.csv", [t Dd])
-save DataOutMotion.data y(:,1:9)
-save DataErrorEdge.data Dd
+
+
 
diff --git a/SOURCE/plot_con.m b/SOURCE/plot_con.m
new file mode 100644
index 0000000..31eb058
--- /dev/null
+++ b/SOURCE/plot_con.m
@@ -0,0 +1,49 @@
+% fungsi untuk plot coneksi di waktu
+% tertentu
+function plot_con (yOut, conIn, time, bParam)
+  lengthCorRobot = length(bParam.corRobot);
+  robStateLen = size(bParam.model.origin.A,1);
+  lengthNode = length(bParam.edgeL);
+  tspan = bParam.tspan;
+
+  xi = 1:robStateLen:lengthCorRobot-1;
+  yi = 2:robStateLen:lengthCorRobot;
+                                  % plot trayektori dari setiap robot
+  str_tmp = "plot(";
+  for i = 1:lengthNode-1
+    str_tmp = strcat(str_tmp,sprintf("yOut(%i,:),yOut(%i,:),",xi(i),yi(i)));
+  endfor
+  str_tmp = strcat(str_tmp,sprintf("yOut(%i,:),yOut(%i,:));",xi(i+1),yi(i+1)));
+  eval(str_tmp);
+  hold on
+                                  % membuat fungsi plot robot di waktu
+                                  % tertentu
+  str_tmp = "@(t) plot( [";
+  for i = 1:robStateLen:lengthCorRobot
+    str_tmp = strcat( str_tmp, sprintf("yOut(%i,t), ",i));
+  endfor
+  str_tmp = strcat( str_tmp, sprintf("], ["));
+  for i = 2:robStateLen:lengthCorRobot
+    str_tmp = strcat( str_tmp, sprintf("yOut(%i,t), ",i));
+  endfor
+  str_tmp = strcat( str_tmp, sprintf("], \"^\");"));
+  plot_rb = eval(str_tmp);
+
+  xrb = 1:robStateLen:lengthCorRobot;
+  yrb = 2:robStateLen:lengthCorRobot;
+  
+  for tm = 1:length(time)
+    plot_rb(time(tm));
+    for i = 1:length(conIn)
+      plot([yOut(xrb(conIn(i, 1)),time(tm)), yOut(xrb(conIn(i, 2)),time(tm))],
+           [yOut(yrb(conIn(i,1)),time(tm)), yOut(yrb(conIn(i,2)),time(tm))], "r" )
+    endfor
+  endfor
+  
+  str_tmp = "legend(";
+  for i = 1:numNodes(edgeL2adjL(bParam.edgeL))-1;
+    str_tmp =strcat(str_tmp,sprintf("\"R%i \", ",i));
+  endfor
+  str_tmp =strcat(str_tmp,sprintf("\"R%i \" )",++i));
+  eval(str_tmp)
+endfunction
\ No newline at end of file
diff --git a/SOURCE/run_my_simulation.m b/SOURCE/run_my_simulation.m
new file mode 100644
index 0000000..99c74ca
--- /dev/null
+++ b/SOURCE/run_my_simulation.m
@@ -0,0 +1,74 @@
+function [t,y,Dd,DdNorm] = run_my_simulation(bParam)
+  algo = 0;
+  d = [[]];
+  ang = [];
+  save_state = [];
+  save algo_info.m algo d ang save_state;
+  
+  robStateLen = size(bParam.model.origin.A,1);
+
+  % fvref = fncSpeedRef('ysin',50,2,robStateLen);
+  % fvref = fncSpeedRef('xsin',50,2,robStateLen);
+  % fvref = fncSpeedRef('cw',-300,1,robStateLen);
+  % fvref = fncSpeedRef('s',50,50,robStateLen);
+  fvref = fncSpeedRef('s',0,0,robStateLen);
+
+  ## sys = formationControl2ndBuilder(bParam);
+  % sys = formationControl1stBuilder(bParam);
+  sys = formationControl2ndModelBuilder(bParam);
+  % sys = formationControl1stModelBuilder(bParam);
+
+  %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% config nang nduwur
+
+  _zero = zeros(size(sys.R(bParam.corRobot,sys.K),1),1);
+  sInit = [bParam.corRobot; _zero;];
+  s1stInit = [bParam.corRobot; 
+              zeros(size(bParam.corRobot));
+              zeros(size(sys.d))];
+  s2ndInit = [bParam.corRobot;
+              zeros(length(bParam.corRobot),1); 
+              zeros(length(bParam.corRobot),1); 
+              _zero;]; 
+  s2ndModelInit = [bParam.corRobot; 
+                   zeros(length(bParam.corRobot),1); 
+                   zeros(length(bParam.corRobot),1); 
+                   _zero; 
+                   zeros(length(bParam.corRobot),1);]; 
+
+  ## state_init = s2ndInit;
+  % state_init = sInit;
+  state_init = s2ndModelInit;
+  % state_init = s1stInit;
+
+  %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% start solving
+
+  printf("Mulai memecakan masalah \n\n");
+  startExe = tic;
+
+  % continue
+  dydt = @(t, y) algo_init(sys,y,fvref(t));
+  ##dydt = @(t, y) sys.ss(y,fvref(t));
+  [t,y] = ode45(dydt, bParam.tspan, state_init);
+
+  % discrate taylor methode
+  ## dydt = @(t, y) sys.dss(y, bparam.hStep, fvref(t));
+  ## t(1,:) = bParam.tspan(1);
+  ## y(1,:) = dydt(t(1), state_init); 
+  ## for i = 2:length(bParam.tspan)
+  ##   t(i,:) = bParam.tspan(i);
+  ##   y(i,:) = dydt(t(i),y(i-1,:)');
+  ## endfor
+
+  Dd(1,:) = [norm((sys.K*y(1,1:9)')(1:3)) norm((sys.K*y(1,1:9)')(4:6)) norm((sys.K*y(1,1:9)')(7:9))]';
+  DdNorm(1) = norm(Dd(1,:));
+  for i = 2:length(bParam.tspan)
+    Dd(i,:) = [norm((sys.K*y(i,1:9)')(1:3)) norm((sys.K*y(i,1:9)')(4:6)) norm((sys.K*y(i,1:9)')(7:9))]';
+    DdNorm(i) = norm(Dd(i,:));
+  endfor
+
+  endExe = toc(startExe);
+  printf("Membutuhkan waktu %i menit, %i detik \n untuk memecahkan masalah mu  \n\n",
+         floor(endExe/60), rem(endExe,60))
+  %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% End Solving
+  %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% start plot it
+endfunction
\ No newline at end of file