37 lines
924 B
Matlab
37 lines
924 B
Matlab
%% Bend the Knees %%
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END = 4; % total pts: END+1
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GAIN = 3;
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GAIN_HIP = GAIN;
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GAIN_KNEE = GAIN;
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GAIN_ANKLE = GAIN;
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% setup vars
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t = 0 : 1 : END;
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% yeah im lost
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pos_hip = [0, -1, -3, -1, 0];
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pos_knee = [0, 1, 3, 1, 0];
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pos_ankle = [0, 1, 3, 1, 0];
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% generate graph lines
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querypts_hip = 0 : 0.001 : END;
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querypts_knee = 0 : 0.001 : END;
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querypts_ankle = 0 : 0.001 : END;
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interpts_hip = interp1(t, pos_hip, querypts_hip, 'spline')';
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interpts_knee = interp1(t, pos_knee, querypts_knee, 'spline')';
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interpts_ankle = interp1(t, pos_ankle, querypts_ankle, 'spline')';
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ret_LHip = [querypts_hip', interpts_hip];
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ret_LKnee = [querypts_knee', interpts_knee];
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ret_LAnkle = [querypts_ankle', interpts_ankle];
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ret_RHip = [querypts_hip', interpts_hip];
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ret_RKnee = [querypts_knee', interpts_knee];
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ret_RAnkle = [querypts_ankle', interpts_ankle];
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% create graph
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%figure
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%plot(t, p,'o', querypts, interpts, ':.');
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