51 lines
1.7 KiB
Matlab
51 lines
1.7 KiB
Matlab
function plot_move(yOut,time,path,bParam)
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lengthCorRobot = length(bParam.corRobot);
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robStateLen = size(bParam.model.origin.A,1);
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lengthNode = length(bParam.edgeL);
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tspan = bParam.tspan;
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xi = 1:robStateLen:lengthCorRobot-1;
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yi = 2:robStateLen:lengthCorRobot;
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str_tmp = "@(e) plot(";
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for i = 1:lengthNode-1
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str_tmp = strcat(str_tmp,sprintf("yOut(%i,1:e),yOut(%i,1:e),",xi(i),yi(i)));
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endfor
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str_tmp = strcat(str_tmp,sprintf("yOut(%i,1:e),yOut(%i,1:e));",xi(i+1),yi(i+1)));
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_plot_move = eval(str_tmp); %_plot_move(end);
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% membuat fungsi plot robot di waktu
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% tertentu
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str_tmp = "@(t) plot( [";
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for i = 1:robStateLen:lengthCorRobot
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str_tmp = strcat( str_tmp, sprintf("yOut(%i,t), ",i));
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endfor
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str_tmp = strcat( str_tmp, sprintf("], ["));
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for i = 2:robStateLen:lengthCorRobot
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str_tmp = strcat( str_tmp, sprintf("yOut(%i,t), ",i));
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endfor
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str_tmp = strcat( str_tmp, sprintf("], \"^\");"));
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plot_rb = eval(str_tmp); % plot_rb(coordinat)
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str_tmp = "legend(";
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for i = 1:numNodes(edgeL2adjL(bParam.edgeL))-1;
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str_tmp =strcat(str_tmp,sprintf("\"R%i \", ",i));
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endfor
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str_tmp =strcat(str_tmp,sprintf("\"R%i \" )",++i));
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for t=1:time
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f=figure('visible', 'off');
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hold on
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_plot_move(t);
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plot_rb(t);
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eval(str_tmp);
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filename=strcat(path,sprintf('x%03d%03d_y%03d%03d_kp1%03d_kp2%03d_%05d.png', ...
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bParam.corRobot(4),bParam.corRobot(5),bParam.corRobot(7),bParam.corRobot(8),...
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bParam.kp1,bParam.kp2,t));
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print(filename);
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hold off
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close(f);
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endfor
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endfunction
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