MainScript

 Script file: 
       MainScript.m

 Purpose:
       Simulation of Compass Gait Model

 Revisions:
       Date          Programmer      Description

       2009.05.02    Fumiya Iida     Original code

0001 % Script file:
0002 %       MainScript.m
0003 %
0004 % Purpose:
0005 %       Simulation of Compass Gait Model
0006 %
0007 % Revisions:
0008 %       Date          Programmer      Description
0009 %
0010 %       2009.05.02    Fumiya Iida     Original code
0011 %
0012 
0013 %%%% Clear Previous Values %%%%
0014 %warning off all;
0015 clear all;
0016 
0017 global hx;
0018 global env; 
0019 global SWSTFlag
0020 global qHist2;
0021 qHist2=[];
0022 
0023 namestr='Fig1';
0024 [existFlag,hx] = figflag(namestr);
0025 if ~existFlag,
0026     hx=figure('Color', [1 1 1],'Name',namestr,'Position', [1 600 1000 600]);
0027     set(hx,'DoubleBuffer','on');
0028 end
0029 
0030 maxWindow;
0031 
0032 clf;
0033 
0034 %%%% Set Parameters %%%%
0035 % envxx.mat files are generated by running EnvGene.m or the GUI version
0036 % (generateTerrain.m)
0037 
0038 % envFileName = ['env' filesep 'env00']; % flat ground
0039 % envFileName = ['env' filesep 'env01']; % uphill
0040 % envFileName = ['env' filesep 'env02'];   % downhill
0041 % envFileName = ['env' filesep 'env11'];  % one small step
0042 envFileName = ['env' filesep 'env12']; % randomly generated rough terrain
0043 
0044 load(envFileName);  % Load environmental parameters
0045 
0046 MorphologyParam;    % Load morphological parameters
0047 ControlParam;       % Load control parameters
0048 InitCondition;      % Initial conditions
0049 
0050 SWSTFlag=0;
0051 %%%% Simulation Start %%%%
0052 for LegStep=1:10
0053     
0054     [xo1 to]=ContinuousDynamics(xi,phi);
0055 
0056     [xo2]=CollisionModel(xo1);
0057 
0058     xi=xo2;
0059     phi=phi-(PER/2-to)*2*pi/PER;
0060 
0061 end