24 lines
948 B
Matlab
24 lines
948 B
Matlab
function [q,qd,q2d] = fourier_series_traj(t,q0,A,B,w,N)
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% -----------------------------------------------------------------------
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% The function evaluates trancated Fourier series polynomial
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% Inputs:
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% t - time instantes at which the polynomail should be evaluated
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% q0 - initial offset, should be vector (nx1)
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% A - sine coefficients
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% B - cosine coefficients
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% w - fundamental frequency
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% N - number of harmonics
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% Outputs:
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% q - positions i.e. value of polynomial
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% qd - velocities i.e. derivative of polynomail
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% q2d - accelerations i.e. second derivative of polynomial
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% -----------------------------------------------------------------------
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q = q0;
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qd = zeros(size(q0));
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q2d = zeros(size(q0));
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for k = 1:N
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q = q + A(:,k)/(w*k).*sin(w*k*t) - B(:,k)/(w*k).*cos(w*k*t);
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qd = qd + A(:,k).*cos(w*k*t) + B(:,k)*sin(w*k*t);
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q2d = q2d - A(:,k)*w*k.*sin(w*k*t) + B(:,k)*w*k*cos(w*k*t);
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end
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