clear -all

graphics_toolkit('gnuplot')
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% config nang kene

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.dScale = 3;
bParam.nNodeVref = 1;
bParam.ki1 = 0;
bParam.ki2 = 0;  
bparam.hStep = .01;
bParam.tspan = 1:bparam.hStep:20;
# coba solo
bParam.corRobot = [0; 0;0;1; 2;0;3; -3;0;]; % xy xy xy
  ## CASE 1
  bParam.kp1 = 50;
  bParam.kp2 = 3;

  bP(1,1) = bParam;
# solo coba 
###### KOOR 1
##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
##bParam.corRobot = [0; 0;0;-2; -3;0;3; 2;0;]; % xy xy xy  
##  ## CASE 1
##  bParam.kp1 = 50;
##  bParam.kp2 = 3;
##
##  bP(4,1) = bParam;
##        
##  ## CASE 2
##  bParam.kp1 = 80;
##  bParam.kp2 = 7;
##
##  bP(4,2) = bParam;
##
##  # CASE 3
##  bParam.kp1 = 100;
##  bParam.kp2 = 15;
##
##  bP(4,3) = bParam;
  
close all

for i = 1:size(bP,1)
  [t,y,Dd,DdNorm] = run_my_simulation(bP(i,1));
  
  plot_move(y', length(bP(1,1).tspan), "/home/a2nr/Documents/FormationControlSimulation/SOURCE/output/",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
##  plot(t,allresdd(1).DdNorm,t,allresdd(2).DdNorm,t,allresdd(3).DdNorm);
##  title(sprintf("Norm Distance error Case %i ", i));
endfor