From 541c0b832dd9eac8bb3149a879479105b05c8510 Mon Sep 17 00:00:00 2001 From: Yanhao Yang Date: Tue, 19 Jul 2022 17:16:51 -0700 Subject: [PATCH 1/2] Fix se2exp --- .../GaitOptimization/optimalgaitgenerator_fcns/se2exp.m | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ProgramFiles/GaitOptimization/optimalgaitgenerator_fcns/se2exp.m b/ProgramFiles/GaitOptimization/optimalgaitgenerator_fcns/se2exp.m index 2ff1984..6d37bd1 100644 --- a/ProgramFiles/GaitOptimization/optimalgaitgenerator_fcns/se2exp.m +++ b/ProgramFiles/GaitOptimization/optimalgaitgenerator_fcns/se2exp.m @@ -12,7 +12,7 @@ z_theta = xi(3); - z_xy = 1/z_theta * [sin(z_theta), 1-cos(z_theta); cos(z_theta)-1, sin(z_theta)] * xi(1:2); + z_xy = 1/z_theta * [sin(z_theta), -1+cos(z_theta); 1-cos(z_theta), sin(z_theta)] * xi(1:2); expXi = [ [cos(z_theta), -sin(z_theta); sin(z_theta), cos(z_theta)], z_xy; 0 0 1]; From 65c134eff5d2de393eb7256b373e16b8706dba68 Mon Sep 17 00:00:00 2001 From: Yanhao Yang Date: Thu, 29 Sep 2022 16:20:52 -0700 Subject: [PATCH 2/2] Add illustrate shape space for animation background --- ProgramFiles/Animation/animate_locomotor.m | 14 +++++++++----- ProgramFiles/sys_draw_fcns/ShapeSpace_draw.m | 5 +++++ .../animatebutton_gui2_Callback.m | 2 ++ .../sysplotter_gui_fcns/animation_gui.fig | Bin 22656 -> 26399 bytes .../sysplotter_gui_fcns/animation_gui.m | 11 ++++++++++- 5 files changed, 26 insertions(+), 6 deletions(-) diff --git a/ProgramFiles/Animation/animate_locomotor.m b/ProgramFiles/Animation/animate_locomotor.m index 282b66c..11ddd58 100644 --- a/ProgramFiles/Animation/animate_locomotor.m +++ b/ProgramFiles/Animation/animate_locomotor.m @@ -134,12 +134,12 @@ function animate_locomotor(export,info_needed) % Create lists to iterate along for shape space axis creation, and then % trim out movies that aren't being made - fignums = [171; 172; 173; 181; 182; 183]; + fignums = [171; 172; 173; 181; 182; 183; 191]; fignums(~export_list(2:end)) = []; % Name the plots to draw into those windows, and trim them to just the % plots being made - fignames = {'CCF X';'CCF Y';'CCF Theta'; 'Avec X';'Avec Y';'Avec Theta'}; + fignames = {'CCF X';'CCF Y';'CCF Theta'; 'Avec X';'Avec Y';'Avec Theta'; 'Illustrate Shape Space'}; if strcmp(info_needed.Coordinates,'minperturbation_coords') fignamessuffix = ' min. perturbation coords'; @@ -152,7 +152,7 @@ function animate_locomotor(export,info_needed) %%%%% % Internal names used by sys_draw - figinternal = {'X';'Y';'T';'X';'Y';'T'}; + figinternal = {'X';'Y';'T';'X';'Y';'T';''}; if strcmp(info_needed.Coordinates,'minperturbation_coords') figinternalsuffix = 'opt'; else @@ -164,7 +164,7 @@ function animate_locomotor(export,info_needed) %%%%%% % Category of plots to make - figcategory = {'CCF';'CCF';'CCF';'vfield';'vfield';'vfield'}; + figcategory = {'CCF';'CCF';'CCF';'vfield';'vfield';'vfield';'ShapeSpace'}; figcategory(~export_list(2:end)) = []; %%%%%% @@ -224,7 +224,11 @@ function animate_locomotor(export,info_needed) % Call the drawing function for idx = 1:numel(plot_info) - hh(idx,1) = absolute_feval(underlying_function{idx},s,[],plot_info(idx),[],'null',resolution); + if strcmp(plot_info(idx).category, 'ShapeSpace') + hh(idx,1) = feval([plot_info(idx).category '_draw'],s,[],plot_info(idx),system_name,'null',resolution); + else + hh(idx,1) = absolute_feval(underlying_function{idx},s,[],plot_info(idx),[],'null',resolution); + end end % Remove click callbacks on axes created diff --git a/ProgramFiles/sys_draw_fcns/ShapeSpace_draw.m b/ProgramFiles/sys_draw_fcns/ShapeSpace_draw.m index 2a0520b..8bc5cab 100644 --- a/ProgramFiles/sys_draw_fcns/ShapeSpace_draw.m +++ b/ProgramFiles/sys_draw_fcns/ShapeSpace_draw.m @@ -61,5 +61,10 @@ end + %Label the axes + label_shapespace_axes(plot_info.axes,[],plot_info.stretch); + + %Set the tic marks + set(plot_info.axes,'FontSize',30,'FontName','Helvetica') end diff --git a/ProgramFiles/sysplotter_gui_fcns/animatebutton_gui2_Callback.m b/ProgramFiles/sysplotter_gui_fcns/animatebutton_gui2_Callback.m index 2e88542..84ca63d 100755 --- a/ProgramFiles/sysplotter_gui_fcns/animatebutton_gui2_Callback.m +++ b/ProgramFiles/sysplotter_gui_fcns/animatebutton_gui2_Callback.m @@ -30,6 +30,8 @@ function animatebutton_gui2_Callback(hObject, eventdata, handles) info_needed.Movies.vfieldx = get(handles.checkbox_vfieldx_movie,'value'); info_needed.Movies.vfieldy = get(handles.checkbox_vfieldy_movie,'value'); info_needed.Movies.vfieldtheta = get(handles.checkbox_vfieldtheta_movie,'value'); +% +info_needed.Movies.illustrateShapeSpace = get(handles.checkbox_illustrate_shape_space,'value'); % Get the selected system coordinates info_needed.Coordinates = get(findobj(handles.coordinate_selector,'Value',1),'Tag'); diff --git a/ProgramFiles/sysplotter_gui_fcns/animation_gui.fig b/ProgramFiles/sysplotter_gui_fcns/animation_gui.fig index 95bee1caccd087ebe335add96a79fd8bb6a228f2..4cb4ce745c16854700dcf45287b8123497d99eaf 100755 GIT binary patch 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checkbox_vfieldtheta_movie_Callback(hObject, eventdata, handles) % handles structure with handles and user data (see GUIDATA) % Hint: get(hObject,'Value') returns toggle state of checkbox_vfieldtheta_movie + + +% --- Executes on button press in checkbox_illustrate_shape_space. +function checkbox_illustrate_shape_space_Callback(hObject, eventdata, handles) +% hObject handle to checkbox_illustrate_shape_space (see GCBO) +% eventdata reserved - to be defined in a future version of MATLAB +% handles structure with handles and user data (see GUIDATA) + +% Hint: get(hObject,'Value') returns toggle state of checkbox_illustrate_shape_space