clear -all
close all
conRobot = [1 2 1;
            1 4 1;
            1 5 1;
            1 6 1;
            2 3 1;
            2 4 1;
            3 4 1;
            4 5 1;
            5 6 1;
            5 2 1;
            %% 6 3 1;
            %% 6 4 1;
            %% 6 2 1;
            %% 3 1 1;
            %% 3 5 1;
           ];
dRobot = [ 1;
           1;
           1;
           1;
           1;
           1;
           1;
           1;
           1;
           1;
           %% 1;
           %% 2;
           %% 2;
           %% 2;
           %% 2;
           %% 2;
];
corRobot = [2; 2.5;
            2.7; 2.6;
            3; 2.3;
            2.5; 1.5;
            1.8; 1.5;
            1.5; 2;
           ]; % xy xy xy
%% figure(1)
[R,K,d] = rigidityMatrixFnc(conRobot);
vref = [-5; 5];
B = [
     1 0; 0 1;
     0 0; 0 0;
     0 0; 0 0;
     0 0; 0 0;
     0 0; 0 0;
     0 0; 0 0;
    ];
kp = 10;
ki = 3;
_zero = zeros(size(R(corRobot,K),1),1);
sInit = [corRobot; _zero;];
sAnsInit =[_zero; _zero;];
%% tspan = linspace(1,0.1,30);
tspan = 1:0.01:10;
dydt = @(t, y) systm_robot(t, y,(dRobot*6), R,K, kp, ki, B, vref);
[t,y] = ode45(dydt, tspan, sInit);

cntr = 1;
bypassCntr = @(c) cntr;
plusPlusCntr = @(c) cntr++;

dyansdt = @(t, yin) systm_anlys_robot(t, yin, y(:,1:(2*numNodes(edgeL2adj(conRobot)))) ,bypassCntr, plusPlusCntr ,(dRobot*6), R, K, kp, ki, B, vref);
[t,yans] = ode45(dyansdt, tspan, sAnsInit);

ddYans = zeros(size(yans,1),1);
for i = 1:size(yans,1)
  ddYans(i) = norm(yans(i,1:(size(yans,2)/2)));
endfor

figure(1)

str_tmp = "plot(";
for i = 1:length(corRobot)-1
  str_tmp = strcat(str_tmp,sprintf("y'(%i,:),",i));
endfor
str_tmp = strcat(str_tmp,sprintf("y'(%i,:));",i+1));
eval(str_tmp);

hold on
str_tmp = "@(t) plot( [";
for i = 1:2:length(corRobot)
  str_tmp = strcat( str_tmp, sprintf("y'(%i,t), ",i));
endfor
str_tmp = strcat( str_tmp, sprintf("], ["));
for i = 2:2: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 = 1:2:length(corRobot);
yrb = 2:2:length(corRobot);

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" )
  endfor
endfunction

plot_con(plot_rb, y', conRobot, xrb, yrb, 1);
plot_con(plot_rb, y', conRobot, xrb, yrb, length(tspan));


str_tmp = "legend(";
for i = 1:numNodes(edgeL2adjL(conRobot))-1;
  str_tmp =strcat(str_tmp,sprintf("\"Robot %i \", ",i));
endfor
str_tmp =strcat(str_tmp,sprintf("\"Robot %i \" )",++i));
eval(str_tmp)

figure(2)
plot([1:length(ddYans)],ddYans )

%% plot_rb(20);
%% plot_rb(40);
%% plot_rb(60);
%% plot_rb(80);
%% plot_rb(100);