plotfig7.m

nn modelling and auto-pid controller

function pts = plotFig7(plotOn)
% generate a bunch of points on the barrier
%
% if plotOn == 1 (not default), generates a figure like figure 7 from
%   A.W.Merz, "The Game of Two Identical Cars", pp.324 -- 343
%	Journal of Optimization Theory and Applications, 9, 5 (1972)
%
% Ian Mitchell, 1/21/01

if(nargin < 1)
  plotOn = 0;
end

pauseOn = 1;

% Set up some slices
%   must offset slice at 0 slightly to avoid going out of level set grid
slices = [ -pi:pi/100:-pi/100, -1e-4 ];
beta = 1;
scale = [ 5, 5, 1 ];
offset = [ 0, 0, 2 * pi ];
coordinateOrder = [ 2 1 3 ];

aspect = scale;
%styles = { '-*'; '-*'; '-*' };
styles = { '-'; '-'; '-' };
%styles = { '-'; '--'; '-.' };
%styles = { 'x-'; 's-'; 'o-' };
%colors = { 'b'; 'b'; 'b' };
colors = { 'b'; 'r'; 'm' };

if(plotOn)
  if(pauseOn)
    figure;
    hold off;
  else
    %figure;
    hold on;
  end
end

pts = zeros(0, 3);

for i = 1:length(slices)

  [ xp xm xc ] = barrier(slices(i), beta);
  % line coordinate system up with aircraft3d
  scalep = repmat(scale, size(xp, 1), 1);
  scalem = repmat(scale, size(xm, 1), 1);
  scalec = repmat(scale, size(xc, 1), 1);
  offsetp = repmat(offset, size(xp, 1), 1);
  offsetm = repmat(offset, size(xm, 1), 1);
  offsetc = repmat(offset, size(xc, 1), 1);
  xp = xp(:, coordinateOrder) .* scalep + offsetp;
  xm = xm(:, coordinateOrder) .* scalem + offsetm;
  xc = xc(:, coordinateOrder) .* scalec + offsetc;

  if(plotOn)
    plot3(xp(:,1), xp(:,2), xp(:,3), [ colors{1}, styles{1} ], ...
	  xm(:,1), xm(:,2), xm(:,3), [ colors{2}, styles{2} ], ...
	  xc(:,1), xc(:,2), xc(:,3), [ colors{3}, styles{3} ]);
    if(pauseOn)
      disp([ 'i = ' num2str(i) ', psi = ' num2str(slices(i)) ]);
      daspect(aspect);
      view(2);
      grid on;
      xlabel('x');  ylabel('y');  zlabel('\theta');
      pause;
    end
  end

  pts = [ pts; xp; xm; xc ];
end

if(plotOn & ~pauseOn)
  daspect(aspect);
  view(2);
  grid on;
  xlabel('x');  ylabel('y');  zlabel('\theta');
end