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Gait Family Optimizer #115

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Gait Family Optimizer #115

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5436099
Gait Family Optimizer
Jul 21, 2022
6e48341
Combine two optimalgaitgenerator
Sep 25, 2022
47ffcbb
ContMethod
JinwooChoi1 Apr 16, 2024
e605e7c
Stable version
JinwooChoi1 Apr 16, 2024
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48 changes: 33 additions & 15 deletions ProgramFiles/Animation/animate_locomotor.m
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Original file line number Diff line number Diff line change
Expand Up @@ -62,7 +62,7 @@ function animate_locomotor(export,info_needed)

set(h.f,...
'position',...
[600 1500 800 350],...
[600 600 800 350],...
'paperposition',[0 0 10 4.5],...
'papersize',[10 4.5],...
'Color','w',...
Expand Down Expand Up @@ -134,12 +134,14 @@ 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';...
'Configuration'};

if strcmp(info_needed.Coordinates,'minperturbation_coords')
fignamessuffix = ' min. perturbation coords';
Expand All @@ -152,7 +154,7 @@ 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';'S'};
if strcmp(info_needed.Coordinates,'minperturbation_coords')
figinternalsuffix = 'opt';
else
Expand All @@ -164,7 +166,9 @@ function animate_locomotor(export,info_needed)

%%%%%%
% Category of plots to make
figcategory = {'CCF';'CCF';'CCF';'vfield';'vfield';'vfield'};
figcategory = {'CCF_draw';'CCF_draw';'CCF_draw';...
'vfield_draw';'vfield_draw';'vfield_draw';...
'illustrate_shapespace'};
figcategory(~export_list(2:end)) = [];

%%%%%%
Expand All @@ -187,7 +191,7 @@ function animate_locomotor(export,info_needed)

% Identify the function with the drawing code
underlying_function{idx} = ...
fullfile(info_needed.sysplotterpath,'sys_draw_fcns',[figcategory{idx} '_draw']);
fullfile(info_needed.sysplotterpath,'sys_draw_fcns',figcategory{idx});

end

Expand Down Expand Up @@ -224,7 +228,12 @@ 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(figinternal{idx},'Sopt')
absolute_feval(underlying_function{idx},s,fignums);
h{idx}.ax = gca;
else
hh(idx,1) = absolute_feval(underlying_function{idx},s,[],plot_info(idx),[],'null',resolution);
end
end

% Remove click callbacks on axes created
Expand All @@ -240,11 +249,16 @@ function animate_locomotor(export,info_needed)
end

load('sysplotter_config','Colorset')

% Now create a tracer-and-dot on each axis
for i = 1:numel(h)
h{i}.tl = line('Parent',h{i}.ax,'XData',[],'YData',[],'ZData',[],'LineWidth',7,'Color',Colorset.spot); %Tracer line
h{i}.tld = line('Parent',h{i}.ax,'XData',[],'YData',[],'ZData',[],'LineWidth',5,'Color',Colorset.spot,'Marker','o','MarkerFaceColor',Colorset.spot,'MarkerSize',10,'LineStyle','none');
if strcmp(figinternal{idx},'Sopt')
h{i}.tl = line('Parent',h{i}.ax,'XData',[],'YData',[],'ZData',[],'LineWidth',5,'Color',Colorset.spot); %Tracer line
h{i}.tld = line('Parent',h{i}.ax,'XData',[],'YData',[],'ZData',[],'LineWidth',3,'Color',Colorset.spot,'Marker','o','MarkerFaceColor',Colorset.spot,'MarkerSize',7,'LineStyle','none');
else
h{i}.tl = line('Parent',h{i}.ax,'XData',[],'YData',[],'ZData',[],'LineWidth',7,'Color',Colorset.spot); %Tracer line
h{i}.tld = line('Parent',h{i}.ax,'XData',[],'YData',[],'ZData',[],'LineWidth',5,'Color',Colorset.spot,'Marker','o','MarkerFaceColor',Colorset.spot,'MarkerSize',10,'LineStyle','none');
end
end

end
Expand Down Expand Up @@ -375,12 +389,16 @@ function animate_locomotor(export,info_needed)
% xy components (uses the start-pos to offset the starting xy
% position so that it passes through the center of the frame at the
% halfway point of the movie
posdata_xy_augmented = ...
% posdata_xy_augmented = ...
% powerm_pade(cyclic_displacement_m,... % Take the displacement over one gait cycle
% +start_pos... % Raise it to the negative power of the starting offset (so that we start back from the origin
% +(i-1))... % For each subsequent gait, shift if forward by one gait cycle
% *posraw_xy_augmented(:,first_index:end); % Apply the starting offset for this cycle (calculated in the lines above) to the within-cycle displacements
posdata_xy_augmented = ...
powerm_pade(cyclic_displacement_m,... % Take the displacement over one gait cycle
+start_pos... % Raise it to the negative power of the starting offset (so that we start back from the origin
+(i-1))... % For each subsequent gait, shift if forward by one gait cycle
*posraw_xy_augmented(:,first_index:end); % Apply the starting offset for this cycle (calculated in the lines above) to the within-cycle displacements

(i-1))... % For each subsequent gait, shift if forward by one gait cycle
*posraw_xy_augmented(:,first_index:end);

% theta component (always starts at zero orientation)
posdata_theta = ...
posraw(first_index:end,3)'... % Take the theta values from the within-gait displacement
Expand Down
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