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【答案】应助回帖
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szb21971: 金币+10, ★有帮助 2015-01-19 09:46:24
The following is a function I wrote to generate a stick diagram of robot motion. Hope it is helpful to you all.
function [foot2] = stick(filename,user_frame_per_second,max_step)
global robot
foot2=[];
mov_traj = load(filename);
dt = mov_traj(2,1) - mov_traj(1,1);
frame_per_second = fix(1/dt);
if user_frame_per_second == 0
show_frame_per_second = frame_per_second;
else
show_frame_per_second = user_frame_per_second;
end
capture_frame_per_second = 20;
color0 = [0 0 0];
color1 = [0 0 0];
color2 = [0 0 0];
color3 = [1 1 1]*0.5;
color4 = [1 1 1]*0.5;
width = 2;
scrsz = get(0,'ScreenSize');
animation = figure;
%hold on
xxlim = [-0.8 0.8]
yylim = [ 0.0 1.6]
set(animation,'name','2D walking','Position',[100 100 450 450]);
h_axes = axes('Parent',animation,'Units','Pixels','Position',[50 40 400 400],'Ylim',yylim,'Xlim',xxlim);
%tx = text('Parent',h_axes,'Visible','off');
set(h_axes,'visible','on');
ground = line('Parent',h_axes,'Color',[0 0 0],'Visible','off','LineWidth',2);
set(ground, 'Parent',h_axes,'Xdata',xxlim,'Ydata', [0 0],'visible','on');
idx =1
ss_flag = 0;
step_count = 0;
l_ankle_pos = zeros(2,1); l_knee_pos = zeros(2,1); l_hip_pos = zeros(2,1); head_pos = zeros(2,1);
r_knee_pos = zeros(2,1); r_ankle_pos = zeros(2,1);
r_ankle_pos_b_save = [-1,0]';
base = [0 0]';
for i = 1:size(mov_traj,1)
tt = mov_traj(i,1);
l_ankle_abs = mov_traj(i,2);
l_knee_abs = l_ankle_abs + mov_traj(i,3);
l_hip_abs = l_knee_abs + mov_traj(i,4);
r_hip_abs = l_hip_abs + mov_traj(i,5);
r_knee_abs = r_hip_abs + mov_traj(i,6);
% r_knee_abs = r_knee_abs;
l_ankle_pos_b =[0 0]';
l_knee_pos_b = [ -robot.calf_length * sin(l_ankle_abs) robot.calf_length* cos(l_ankle_abs)]';
l_hip_pos_b = [l_knee_pos_b(1)-sin(l_knee_abs)*robot.thigh_length l_knee_pos_b(2)+cos(l_knee_abs)*robot.thigh_length ]';
head_pos_b = [l_hip_pos_b(1)-sin(l_hip_abs)*robot.torso_length l_hip_pos_b(2) + cos(l_hip_abs)*robot.torso_length]';
r_knee_pos_b = [l_hip_pos_b(1)+sin(r_hip_abs)*robot.thigh_length l_hip_pos_b(2) - cos(r_hip_abs)*robot.thigh_length]';
r_ankle_pos_b = [r_knee_pos_b(1)+sin(r_knee_abs)*robot.calf_length r_knee_pos_b(2) - cos(r_knee_abs)*robot.calf_length]';
if (r_ankle_pos_b_save(1) > 0 && r_ankle_pos_b(1) < 0) % switch
step_count = step_count +1;
if step_count >= max_step
break
end
ss_flag = 1;
tmp = color0; color0 = color4; color4=tmp;
tmp = color1; color1 = color3; color3=tmp;
set(l_calf,'Color',color0,'Visible','off');
set(l_thigh,'Color',color1,'Visible','off');
set(torso,'Color',color2,'Visible','off')
set(r_thigh,'Color',color3,'Visible','off');
set(r_calf,'Color',color4,'Visible','off');
% hip_travel = hip_travel + r_ankle_pos_b_save(1);
% ground_height = ground_height + r_ankle_pos_b_save(2);
base = base + r_ankle_pos_b_save;
%ground_height =0 ;
%set(h_axes,'Ylim',[-0.05+ground_height 1.95+ground_height]);
base;
r_ankle_pos_b_save;
r_ankle_pos_b;
%pause
end
r_ankle_pos_b_save = r_ankle_pos_b;
% drift = l_hip_pos(1);
% l_ankle_pos(1) = l_ankle_pos(1) - drift;
% l_knee_pos(1) = l_knee_pos(1) - drift;
% l_hip_pos(1) = l_hip_pos(1) - drift;
% head_pos(1) = head_pos(1) - drift;
% r_knee_pos(1) = r_knee_pos(1) - drift;
% r_ankle_pos(1) = r_ankle_pos(1) - drift;
l_ankle_pos = l_ankle_pos_b + base;
l_knee_pos = l_knee_pos_b + base;
l_hip_pos = l_hip_pos_b + base;
head_pos = head_pos_b + base;
r_knee_pos = r_knee_pos_b + base;
r_ankle_pos = r_ankle_pos_b + base;
foot2 = [foot2,r_ankle_pos];
if (mod(i,fix(frame_per_second/show_frame_per_second)) == 1 )
torso = line('Parent',h_axes,'Color',color2,'Visible','off','LineWidth',width);
r_thigh = line('Parent',h_axes,'Color',color3,'Visible','off','LineWidth',width);
r_calf = line('Parent',h_axes,'Color',color4,'Visible','off','LineWidth',width);
l_calf = line('Parent',h_axes,'Color',color0,'Visible','off','LineWidth',width);
l_thigh = line('Parent',h_axes,'Color',color1,'Visible','off','LineWidth',width);
if mod(step_count,2) == 1
set(l_calf, 'Parent',h_axes,'Xdata',[l_ankle_pos(1) l_knee_pos(1)],'Ydata', [l_ankle_pos(2) l_knee_pos(2)],'visible','on');
set(l_thigh, 'Parent',h_axes,'Xdata',[l_knee_pos(1) l_hip_pos(1)],'Ydata', [l_knee_pos(2) l_hip_pos(2)],'visible','on');
set(torso, 'Parent',h_axes,'Xdata',[l_hip_pos(1) head_pos(1)],'Ydata', [l_hip_pos(2) head_pos(2)],'visible','on');
set(r_thigh, 'Parent',h_axes,'Xdata',[l_hip_pos(1) r_knee_pos(1)],'Ydata', [l_hip_pos(2) r_knee_pos(2)],'visible','on');
set(r_calf, 'Parent',h_axes,'Xdata',[r_knee_pos(1) r_ankle_pos(1)],'Ydata', [r_knee_pos(2) r_ankle_pos(2)],'visible','on');
else
set(torso, 'Parent',h_axes,'Xdata',[l_hip_pos(1) head_pos(1)],'Ydata', [l_hip_pos(2) head_pos(2)],'visible','on');
set(r_thigh, 'Parent',h_axes,'Xdata',[l_hip_pos(1) r_knee_pos(1)],'Ydata', [l_hip_pos(2) r_knee_pos(2)],'visible','on');
set(r_calf, 'Parent',h_axes,'Xdata',[r_knee_pos(1) r_ankle_pos(1)],'Ydata', [r_knee_pos(2) r_ankle_pos(2)],'visible','on');
set(l_calf, 'Parent',h_axes,'Xdata',[l_ankle_pos(1) l_knee_pos(1)],'Ydata', [l_ankle_pos(2) l_knee_pos(2)],'visible','on');
set(l_thigh, 'Parent',h_axes,'Xdata',[l_knee_pos(1) l_hip_pos(1)],'Ydata', [l_knee_pos(2) l_hip_pos(2)],'visible','on');
end
stime=sprintf('time:%5.2f',tt);
%set(tx,'Parent',h_axes,'Position',[l_hip_pos(1),1.8],'String',stime,'visible','on');
%set(h_axes,'Xlim',[l_hip_pos(1)-1.0 l_hip_pos(1)+1.0]);
drawnow;
end
if l_ankle_pos(1) > xxlim(2)
break
end
end
xlabel('(m)')
ylabel('(m)') |
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