classdef SimulatedExperiment < handle % Authors: Quentin Leboutet, Julien Roux, Alexandre Janot and Gordon Cheng % % This class is a data container for robot simulated experiment data. The experiment data % acquired on a simulated robot can be stored in a SimulatedExperiment object provided that it is % in the form of a set of points, regrouped in a structure with the following fields: [time, Q, % Qp,Qpp, X, Xp, Qm, Qpm, Qppm, Xm, Xpm, Qd, Qpd, Qppd, Xd, Xpd, Tau_friction, Tau, Taum]. % The Experiment class provides dedicated interpolation routines that allows getting a % data point at any epoch. % % The process is the following: % % Assuming that you already have the experiment data fields availabe in the % workspace, you should first instantiate a Experiment object and fill it with the data: % % exp = SimulatedExperiment; % exp.setExperimentData(experimentData); % % To get the experiment data at any epoch t, one then simply have to call: % % exp.getExperimentData(t); properties data = struct('time', [], 'Qd', [], 'Qpd', [], 'Qppd', [], 'Xd', [], 'Xpd', [], 'Q', [], 'Qp', [], 'Qpp', [], 'X', [], 'Xp', [], 'Qm', [], 'Qpm', [], 'Qppm', [], 'Xm', [], 'Xpm', [], 'Tau', [], 'Taum', [], 'Tau_friction', []); % time [s] % Q [rad] % Qp [rad/s] % Qpp [rad/s^2] % X [m] % Xp [m/s] % Tau [N.m] end properties (Dependent = true) t_i % First trajectory epoch [s]. t_f % Last trajectory epoch [s]. samplingFrequency % Sampling frequency of the trajectory data points [Hz]. nbDOF % Number of Degrees of Freedom of the robot. end methods function this = setExperimentData(this, experimentData) [a_q,b_q,c_q] = size(experimentData.Q); if ~isequal(size(experimentData.Q), size(experimentData.Qp), size(experimentData.Qpp), size(experimentData.Tau), size(experimentData.Qd), size(experimentData.Qpd), size(experimentData.Qppd), size(experimentData.Qm), size(experimentData.Qpm), size(experimentData.Qppm), size(experimentData.Taum), size(experimentData.Tau_friction)) error('Experiment data container: incorrect data dimention!') elseif a_q>b_q this.data.time = experimentData.time; this.data.Qd = permute(experimentData.Qd,[2,1,3]); this.data.Qpd = permute(experimentData.Qpd,[2,1,3]); this.data.Qppd = permute(experimentData.Qppd,[2,1,3]); this.data.Xd = permute(experimentData.Xd,[2,1,3]); this.data.Xpd = permute(experimentData.Xpd,[2,1,3]); this.data.Q = permute(experimentData.Q,[2,1,3]); this.data.Qp = permute(experimentData.Qp,[2,1,3]); this.data.Qpp = permute(experimentData.Qpp,[2,1,3]); this.data.X = permute(experimentData.X,[2,1,3]); this.data.Xp = permute(experimentData.Xp,[2,1,3]); this.data.Tau = permute(experimentData.Tau,[2,1,3]); this.data.Qm = permute(experimentData.Qm,[2,1,3]); this.data.Qpm = permute(experimentData.Qpm,[2,1,3]); this.data.Qppm = permute(experimentData.Qppm,[2,1,3]); this.data.Xm = permute(experimentData.Xm,[2,1,3]); this.data.Xpm = permute(experimentData.Xpm,[2,1,3]); this.data.Taum = permute(experimentData.Taum,[2,1,3]); this.data.Tau_friction = permute(experimentData.Tau_friction,[2,1,3]); else this.data.time = experimentData.time; this.data.Qd = experimentData.Qd; this.data.Qpd = experimentData.Qpd; this.data.Qppd = experimentData.Qppd; this.data.Xd = experimentData.Xd; this.data.Xpd = experimentData.Xpd; this.data.Q = experimentData.Q; this.data.Qp = experimentData.Qp; this.data.Qpp = experimentData.Qpp; this.data.X = experimentData.X; this.data.Xp = experimentData.Xp; this.data.Tau = experimentData.Tau; this.data.Qm = experimentData.Qm; this.data.Qpm = experimentData.Qpm; this.data.Qppm = experimentData.Qppm; this.data.Xm = experimentData.Xm; this.data.Xpm = experimentData.Xpm; this.data.Taum = experimentData.Taum; this.data.Tau_friction = experimentData.Tau_friction; end end function experimentDataStruct = getExperimentData(this, time, expNb, method, varargin) if nargin == 3 for i = 1:size(this.data.Q,1) Qd(i,:) = interp1(this.data.time,this.data.Qd(i,:,expNb),time); Qpd(i,:) = interp1(this.data.time,this.data.Qpd(i,:,expNb),time); Qppd(i,:) = interp1(this.data.time,this.data.Qppd(i,:,expNb),time); Q(i,:) = interp1(this.data.time,this.data.Q(i,:,expNb),time); Qp(i,:) = interp1(this.data.time,this.data.Qp(i,:,expNb),time); Qpp(i,:) = interp1(this.data.time,this.data.Qpp(i,:,expNb),time); Tau(i,:) = interp1(this.data.time,this.data.Tau(i,:,expNb),time); Qm(i,:) = interp1(this.data.time,this.data.Qm(i,:,expNb),time); Qpm(i,:) = interp1(this.data.time,this.data.Qpm(i,:,expNb),time); Qppm(i,:) = interp1(this.data.time,this.data.Qppm(i,:,expNb),time); Taum(i,:) = interp1(this.data.time,this.data.Taum(i,:,expNb),time); Tau_friction(i,:) = interp1(this.data.time,this.data.Tau_friction(i,:,expNb),time); end for j = 1:size(this.data.X,1) Xd(j,:) = interp1(this.data.time,this.data.Xd(j,:,expNb),time); Xpd(j,:) = interp1(this.data.time,this.data.Xpd(j,:,expNb),time); X(j,:) = interp1(this.data.time,this.data.X(j,:,expNb),time); Xp(j,:) = interp1(this.data.time,this.data.Xp(j,:,expNb),time); Xm(j,:) = interp1(this.data.time,this.data.Xm(j,:,expNb),time); Xpm(j,:) = interp1(this.data.time,this.data.Xpm(j,:,expNb),time); end elseif nargin == 4 % interpolation method = 'linear', 'nearest', 'next', 'previous', 'pchip', 'cubic', 'v5cubic', 'makima', or 'spline' for i = 1:size(this.data.Q,1) Qd(i,:) = interp1(this.data.time,this.data.Qd(i,:,expNb),time,method); Qpd(i,:) = interp1(this.data.time,this.data.Qpd(i,:,expNb),time,method); Qppd(i,:) = interp1(this.data.time,this.data.Qppd(i,:,expNb),time,method); Q(i,:) = interp1(this.data.time,this.data.Q(i,:,expNb),time,method); Qp(i,:) = interp1(this.data.time,this.data.Qp(i,:,expNb),time,method); Qpp(i,:) = interp1(this.data.time,this.data.Qpp(i,:,expNb),time,method); Tau(i,:) = interp1(this.data.time,this.data.Tau(i,:,expNb),time,method); Qm(i,:) = interp1(this.data.time,this.data.Qm(i,:,expNb),time,method); Qpm(i,:) = interp1(this.data.time,this.data.Qpm(i,:,expNb),time,method); Qppm(i,:) = interp1(this.data.time,this.data.Qppm(i,:,expNb),time,method); Taum(i,:) = interp1(this.data.time,this.data.Taum(i,:,expNb),time,method); Tau_friction(i,:) = interp1(this.data.time,this.data.Tau_friction(i,:,expNb),time,method); end for j = 1:size(this.data.X,1) Xd(j,:) = interp1(this.data.time,this.data.Xd(j,:,expNb),time,method); Xpd(j,:) = interp1(this.data.time,this.data.Xpd(j,:,expNb),time,method); X(j,:) = interp1(this.data.time,this.data.X(j,:,expNb),time,method); Xp(j,:) = interp1(this.data.time,this.data.Xp(j,:,expNb),time,method); Xm(j,:) = interp1(this.data.time,this.data.Xm(j,:,expNb),time,method); Xpm(j,:) = interp1(this.data.time,this.data.Xpm(j,:,expNb),time,method); end else error('Experiment data container: incorrect number of arguments!'); end experimentDataStruct.Qd = Qd; experimentDataStruct.Qpd = Qpd; experimentDataStruct.Qppd = Qppd; experimentDataStruct.Xd = Xd; experimentDataStruct.Xpd = Xpd; experimentDataStruct.Q = Q; experimentDataStruct.Qp = Qp; experimentDataStruct.Qpp = Qpp; experimentDataStruct.Tau = Tau; experimentDataStruct.X = X; experimentDataStruct.Xp = Xp; experimentDataStruct.Qm = Qm; experimentDataStruct.Qpm = Qpm; experimentDataStruct.Qppm = Qppm; experimentDataStruct.Taum = Taum; experimentDataStruct.Tau_friction = Tau_friction; experimentDataStruct.Xm = Xm; experimentDataStruct.Xpm = Xpm; end function value = get.samplingFrequency(this) % in [Hz] value = (this.data.time(end) - this.data.time(1))/numel(this.data.time); end function value = get.t_i(this) % in [s] value = this.data.time(1); end function value = get.t_f(this) % in [s] value = this.data.time(end); end end end