Im attempting to model a the following continuous time simulation but do not understand why there is an indexing error.
clear all
global Bsm Bsf Jm Jg1 Jf Gc GR Ke Kf Kg Kr Ks Kt L lf mf R g Va Tf
%Model Paramaters
Bsm=0.01; Bsf=1.5; Jm=0.002; Jg1=0.001; Jf=0.0204; Gc=9.95; GR=1.7; R=4; g=9.81;
Ke=0.35; Kf=0.5; Kg=2.0; Kr=0.9; Ks=0.9; Kt=0.35; L=0.1; lf=0.35; mf=0.5; Va=1;
% Define parameters for the simulation
stepsize = 0.1;
comminterval = 0.1;
EndTime = 20;
i = 0;
% Initial conditions
u = 0;
x = [0,0]';
xdot = [0,0]';
for time = 0:stepsize:EndTime
if rem(time,comminterval)==0
i = i+1;
tout(i) = time;
xout(i,:) = x;
xdout(i,:) = xdot;
end
xdot = derivitive(x,u);
x = eulerint(xdot, stepsize, x);
end
figure(1)
clf % clear figure
plot(tout,xout(:,1),'bo-')
xlabel('time [s]')
ylabel('states')
hold on
grid on
plot(tout,xout(:,2),'ro-')
hold off
Index exceeds the number of array elements (2).
Error in derivitive (line 5)
xdot(1,1) = -R/L*x(1)-Ke/L*x(3)+Va/L;`
The function 'derivative' for my dynamic equations I'm attempting to call is as follows:
function xdot = derivitive(x,u);
global Bsm Bsf Jm Jg1 Jf Gc GR Ke Kf Kg Kr Ks Kt L lf mf R g Va Tf
xdot(1,1) = -(R/L)*x(1)-(Ke/L)*x(3)+(Va/L);
xdot(2,1) = x(3);
xdot(3,1) = -Bsm/Jm*x(3)+Bsm/Jm*x(5)+Kt/Jm*x(1);
xdot(4,1) = x(5);
xdot(5,1) = Bsm/Jg1*x(3)-Bsm/Jg1*x(5);
xdot(6,1) = x(7);
xdot(7,1) = -Bsf/Jf*x(7)-mf*lf*g/(2*Jf)*x(4)-mf*lf*g/(2*Jf)*x(6)+Tf/Jf``
Do not understand why there is an indexing error, any help appreciated.
Related
I've been trying to write a program that can render 4D lines, the specific function doing this gets the lines already rotated, and the function attempts to clip the lines at planes z = p and w = p if needed, and then draw the line to the screen.
I think that I am doing at least most of this properly, however I am unsure, and not having much experience viewing the fourth dimension I cannot tell what might be a visual bug, or what is actually how it should be rendered.
The function first loads a line into two variables, each is one of the two endpoints of the line. If both points are beyond clippl (the clipping plane variable) for z = clippl and w = clippl, it then applies perspective transformation to them, and subsequently renders a line on the screen correspondingly.
If certain logic is met for the points, the function goes through a process of clipping them, and then continues the same as it would outside the clipping planes.
The location of the camera is held in the variables Ox, Oy, Oz, Ow at the beginning of the full program.
I can't tell if I've done this properly, can anyone tell me if this works right as a 4D perspective projection from a first person camera?
EDIT: I've added points to the rendering list that are at the corners of the cube I'm rendering, and it seems to show that there is in fact some problem with the line clipping, as I am fairly certain that the points are rendering properly, and there is not always a line showing up at it. Could the problem have to do with the w = p clip?
Here's the function, the program uses p5.js:
function drawPLines(P){
var lA,lB;
for(var i=0;i<P.length;i++){
lA = [P[i][0],P[i][1],P[i][2],P[i][3]];
lB = [P[i][4],P[i][5],P[i][6],P[i][7]];
//X: ( x*VS+(width*0.5)+(ox*VS) )
//Y: ( y*VS+(height*0.5)+(oy*VS) )
//x: (XV[0]*P[i][0])+(YV[0]*P[i][1])+(ZV[0]*P[i][2])+(WV[0]*P[i][3])
//y: (XV[1]*P[i][0])+(YV[1]*P[i][1])+(ZV[1]*P[i][2])+(WV[1]*P[i][3])
var x0,y0,x1,y1;
//x0 = (XV[0]*lA[0])+(YV[0]*lA[1])+(ZV[0]*lA[2])+(WV[0]*lA[3]);
//y0 = (XV[1]*lA[0])+(YV[1]*lA[1])+(ZV[1]*lA[2])+(WV[1]*lA[3]);
//new rendering pipeline
//old rendering pipeline
if(lA[2]>clippl&&lB[2]>clippl&&lA[3]>clippl&&lB[3]>clippl){
x0 = XV[0]*lA[0];
y0 = YV[1]*lA[1];
x0 = (x0/lA[3])/(lA[2]/lA[3]);
y0 = (y0/lA[3])/(lA[2]/lA[3]);
//console.log(y);
x0 = ( x0*VS+(width*0.5)+(ox*VS) );
y0 = ( y0*VS+(height*0.5)+(oy*VS) );
//x1 = (XV[0]*lB[0])+(YV[0]*lB[1])+(ZV[0]*lB[2])+(WV[0]*lB[3]);
//y1 = (XV[1]*lB[0])+(YV[1]*lB[1])+(ZV[1]*lB[2])+(WV[1]*lB[3]);
x1 = XV[0]*lB[0];
y1 = YV[1]*lB[1];
x1 = (x1/lB[3])/(lB[2]/lB[3]);
y1 = (y1/lB[3])/(lB[2]/lB[3]);
//console.log(y);
x1 = ( x1*VS+(width*0.5)+(ox*VS) );
y1 = ( y1*VS+(height*0.5)+(oy*VS) );
stroke([P[i][8],P[i][9],P[i][10],P[i][11]]);
line(x0,y0,x1,y1);
}else if((lA[2]>clippl||lA[3]>clippl||lB[2]>clippl||lB[3]>clippl)){
var V = 0;
var zV = 0;
var wV = 0;
//var oV = 0;
if(lA[2]>clippl&&lA[3]>clippl){
V++;
}else if(lA[2]>clippl&&lA[3]<=clippl){
zV++;
}else if(lA[2]<=clippl&&lA[3]>clippl){
wV++;
}/*else{
oV++;
}*/
if(lB[2]>clippl&&lB[3]>clippl){
V++;
}else if(lB[2]>clippl&&lB[3]<=clippl){
zV++;
}else if(lB[2]<=clippl&&lB[3]>clippl){
wV++;
}/*else{
oV++;
}*/
if((V==1)||(wV==1&&(V==1||zV==1))||(zV==1&&(V==1||wV==1))){
var lin = lB;
var out = lA;
if(lA[2]<=clippl){
out = lB;
lin = lA;
}
if(lin[2]<=clippl){
lin = [((((lA[0]-lB[0])*clippl)-((lA[0]-lB[0])*lB[2]))/(lA[2]-lB[2]))+lB[0],((((lA[1]-lB[1])*clippl)-((lA[1]-lB[1])*lB[2]))/(lA[2]-lB[2]))+lB[1],clippl,((((lA[3]-lB[3])*clippl)-((lA[3]-lB[3])*lB[2]))/(lA[2]-lB[2]))+lB[3]];
}
if((lA[2]-lB[2])!==0){
lA = lin;
lB = out;
}
lin = lA;
out = lB;
if(lB[3]<=clippl){
out = lA;
lin = lB;
}
if(lin[3]<=clippl){
lin = [((((lA[0]-lB[0])*clippl)-((lA[0]-lB[0])*lB[3]))/(lA[3]-lB[3]))+lB[0],((((lA[1]-lB[1])*clippl)-((lA[1]-lB[1])*lB[3]))/(lA[3]-lB[3]))+lB[1],((((lA[2]-lB[2])*clippl)-((lA[2]-lB[2])*lB[3]))/(lA[3]-lB[3]))+lB[2],clippl];
//alert(lin);
//alert(out);
}
if((lA[3]-lB[3])!==0){
lA = lin;
lB = out;
}
if(lA[2]>clippl||lB[2]>clippl||lA[3]>clippl||lB[3]>clippl){
x0 = XV[0]*lA[0];
y0 = YV[1]*lA[1];
x0 = (x0/lA[3])/(lA[2]/lA[3]);
y0 = (y0/lA[3])/(lA[2]/lA[3]);
//console.log(y);
x0 = ( x0*VS+(width*0.5)+(ox*VS) );
y0 = ( y0*VS+(height*0.5)+(oy*VS) );
//x1 = (XV[0]*lB[0])+(YV[0]*lB[1])+(ZV[0]*lB[2])+(WV[0]*lB[3]);
//y1 = (XV[1]*lB[0])+(YV[1]*lB[1])+(ZV[1]*lB[2])+(WV[1]*lB[3]);
x1 = XV[0]*lB[0];
y1 = YV[1]*lB[1];
x1 = (x1/lB[3])/(lB[2]/lB[3]);
y1 = (y1/lB[3])/(lB[2]/lB[3]);
//console.log(y);
x1 = ( x1*VS+(width*0.5)+(ox*VS) );
y1 = ( y1*VS+(height*0.5)+(oy*VS) );
stroke([P[i][8],P[i][9],P[i][10],P[i][11]]);
line(x0,y0,x1,y1);
}
}
}
}
}
You can see the full program at https://editor.p5js.org/hpestock/sketches/Yfagz4Bz3
I am trying to find three parameters (a, b, c) to fit my experimental data using ODE solver and optimization by least squares using Scilab in-built functions.
However, I keep having the message "submatrix incorrectly defined" at line "y_exp(:,1) = [0.135 ..."
When I try another series of data (t, yexp) such as the one used in the original template I get no error messages. The template I use was found here: https://wiki.scilab.org/Non%20linear%20optimization%20for%20parameter%20fitting%20example
function dy = myModel ( t , y , a , b, c )
// The right-hand side of the Ordinary Differential Equation.
dy(1) = -a*y(1) - b*y(1)*y(2)
dy(2) = a*y(1) - b*y(1)*y(2) - c*y(2)
endfunction
function f = myDifferences ( k )
// Returns the difference between the simulated differential
// equation and the experimental data.
global MYDATA
t = MYDATA.t
y_exp = MYDATA.y_exp
a = k(1)
b = k(2)
c = k(3)
y0 = y_exp(1,:)
t0 = 0
y_calc=ode(y0',t0,t,list(myModel,a,b,c))
diffmat = y_calc' - y_exp
// Make a column vector
f = diffmat(:)
MYDATA.funeval = MYDATA.funeval+ 1
endfunction
// Experimental data
t = [0,20,30,45,75,105,135,180,240]';
y_exp(:,1) =
[0.135,0.0924,0.067,0.0527,0.0363,0.02445,0.01668,0.012,0.009]';
y_exp(:,2) =
[0,0.00918,0.0132,0.01835,0.0261,0.03215,0.0366,0.0393,0.0401]';
// Store data for future use
global MYDATA;
MYDATA.t = t;
MYDATA.y_exp = y_exp;
MYDATA.funeval = 0;
function val = L_Squares ( k )
// Computes the sum of squares of the differences.
f = myDifferences ( k )
val = sum(f.^2)
endfunction
// Initial guess
a = 0;
b = 0;
c = 0;
x0 = [a;b;c];
[fopt ,xopt]=leastsq(myDifferences, x0)
Does anyone know how to approach this problem?
Just rewrite lines 28,29 as
y_exp = [0.135,0.0924,0.067,0.0527,0.0363,0.02445,0.01668,0.012,0.009
0,0.00918,0.0132,0.01835,0.0261,0.03215,0.0366,0.0393,0.0401]';
or insert a clear at line 1 (you may have defined y_exp before with a different size).
I have found many times a solution for my problems from here, but this time I am totally baffled. I don't know what's wrong at my code.
I made a code to create a box with charged particles inside with Vpython. As I launch the program, I get only a grey screen and the program crash. No error message, nothing.
from visual import *
from random import *
def electronizer(num):
list = []
electron_charge = -1.60217662e-19
electron_mass = 9.10938356e-31
for i in range(num):
another_list = []
e = sphere(pos=(random(), random(),random()), radius=2.818e-15,
color=color.cyan)
e.v = vector(random(), random(), random())
another_list.append(e)
another_list.append(e.v)
another_list.append(electron_charge)
another_list.append(electron_mass)
list.append(another_list)
return list
def protonizer(num):
list = []
proton_charge = 1.60217662e-19
proton_mass = 1.6726219e-27
for i in range(num):
another_list = []
p = sphere(pos=(random(), random(),random()), radius=0.8408739e-15, color=color.red)
p.v = vector(random(), random(), random())
another_list.append(p)
another_list.append(p.v)
another_list.append(proton_charge)
another_list.append(proton_mass)
list.append(another_list)
return list
def cross(a, b):
c = vector(a[1]*b[2] - a[2]*b[1],
a[2]*b[0] - a[0]*b[2],
a[0]*b[1] - a[1]*b[0])
return c
def positioner(work_list):
k = 8.9875517873681764e3 #Nm2/C2
G = 6.674e-11 # Nm2/kg2
vac_perm = 1.2566370614e-6 # H/m
pi = 3.14159265
dt = 0.1e-3
constant = 1
force = vector(0,0,0)
for i in range(len(work_list)):
for j in range(len(work_list)):
if i != j:
r = work_list[i][0].pos - work_list[j][0].pos
r_mag = mag(r)
r_norm = norm(r)
F = k * ((work_list[i][2] * work_list[j][2]) / (r_mag**2)) * r_norm
force += F
B = constant*(vac_perm / 4*pi) * (cross(work_list[j][2] * work_list[j][1], norm(r)))/r_mag**2
F = cross(work_list[i][2] * work_list[i][1], B)
force += F
F = -(G * work_list[i][3] * work_list[j][3]) / r_mag**2 * r_norm
force += F
acceleration = force / work_list[i][3]
difference_in_velocity = acceleration * dt
work_list[i][1] += difference_in_velocity
difference_in_position = work_list[i][1] * dt
work_list[i][0].pos += difference_in_position
if abs(work_list[i][0].pos[0]) > 2.5e-6:
work_list[i][1][0] = -work_list[i][1][0]
elif abs(work_list[i][0][1]) > 2.5e-6:
work_list[i][1][1] = -work_list[i][1][1]
elif abs(work_list[i][0][2]) > 2.5e-6:
work_list[i][1][2] = -work_list[i][1][2]
return work_list
box = box(pos=(0, 0, 0), length = 5e-6, width = 5e-6, height = 5e-6, opacity = 0.5)
protons_num = raw_input("number of protons: ")
electrons_num = raw_input("number of electrons: ")
list_of_electrons = electronizer(int(electrons_num))
list_of_protons = protonizer(int(protons_num))
work_list = list_of_electrons + list_of_protons
while True:
work_list = positioner(work_list)
You should ask your question on the VPython.org forum where the VPython experts hang out and will be able to answer your question. You should mention which operating system you are using and which version of python you are using. From your code I see that you are using classic VPython. There is a newer version of VPython 7 that just came out but the VPython syntax has changed.
I want to set values depends on the selected radio button and to use that values in other function.
Whatever i try, i always get the same answer
NameError: global name 'tX' is not defined #
import maya.cmds as cmds
from functools import partial
winID='MSDKID'
def init(*args):
print tX
print tY
print tZ
print rX
print rY
print rZ
return
def prozor():
if cmds.window(winID, exists = True):
cmds.deleteUI(winID);
cmds.window()
cmds.columnLayout( adjustableColumn=True, rowSpacing=10 )
cmds.button(label = "Init")
cmds.button(label = "MirrorSDK",command=init)
cmds.setParent( '..' )
cmds.setParent( '..' )
cmds.frameLayout( label='Position' )
cmds.columnLayout()
collection2 = cmds.radioCollection()
RButton0 = cmds.radioButton( label='Behavior' )
RButton1 = cmds.radioButton( label='Orientation' )
cmds.button(l='Apply', command = partial(script,RButton0,RButton1,))
cmds.setParent( '..' )
cmds.setParent( '..' )
print script(RButton0,RButton1)
cmds.showWindow()
def script(RButton0,RButton1,*_cb_val):
X = 0
rb0 = cmds.radioButton(RButton0, q = True, sl = True)
rb1 = cmds.radioButton(RButton1,q = True, sl = True)
if (rb0 == True):
tX = -1
tY = -1
tZ = -1
rX = 1
rY = 1
rZ = 1
if (rb1 == True):
tX = -1
tY = 1
tZ = 1
rX = 1
rY = -1
rZ = -1
return tX,tY,tZ,rX,rY,rZ
prozor()
The variables you are defining in script() are local to that function. The other functions don't see them.
If you need multiple UI elements to share data, you'll probably need to create a class to let them share variables. Some reference here and here
i'm stuck for days to calculate the velocity of a mouvement so i'll try to more explain my problem.
i have to applicate an approache which allows to detect fall with kinect SDK and VS c#.
this approche takes as input 3 dimensions of a 3Box, built from the coordinates of skeleton joints.
these dimensions are:
W = |xMin - xMax|;
H = |yMin - yMax|;
D = |zMin - zMax|;
with xMin, xMax, yMin, yMax, zMin, zMax the minimum and the maximum of coordinates in all the tracked joints.
At this point, this is not the problem.. i already calculated all these values:
List<Joint> JointList = new List<Joint>();
List<double> JCx = new List<double>();
List<double> JCy = new List<double>();
List<double> JCz = new List<double>();
// define the min and max of coordinates as the filed of view of kinect
private double xMin = 2.2;
private double xMax = -2.2;
private int framecounter = 0;
private double yMin = 1.6;
private double yMax = -1.6;
private double zMin = 4;
private double zMax = 0;
Skeleton first = GetFirstSkeleton(allFramesReadyEventArgs);
if (first == null) // if no skeleton
{
txtP.Text = "No One";
return;
}
else
{
txtP.Text = "Yes";
skeletonDetected = true;
/// define all joints
Joint Head = first.Joints[JointType.Head];
JointList.Add(Head);
Joint SC = first.Joints[JointType.ShoulderCenter];
JointList.Add(SC);
Joint SL = first.Joints[JointType.ShoulderLeft];
JointList.Add(SL);
Joint SR = first.Joints[JointType.ShoulderRight];
JointList.Add(SR);
Joint EL = first.Joints[JointType.ElbowLeft];
JointList.Add(EL);
Joint ER = first.Joints[JointType.ElbowRight];
JointList.Add(ER);
Joint WL = first.Joints[JointType.WristLeft];
JointList.Add(WL);
Joint WR = first.Joints[JointType.WristRight];
JointList.Add(WR);
Joint HandL = first.Joints[JointType.HandLeft];
JointList.Add(HandL);
Joint HandR = first.Joints[JointType.HandRight];
JointList.Add(HandR);
Joint Spine = first.Joints[JointType.Spine];
JointList.Add(Spine);
Joint HipC = first.Joints[JointType.HipCenter];
JointList.Add(HipC);
Joint HipL = first.Joints[JointType.HipLeft];
JointList.Add(HipL);
Joint HipR = first.Joints[JointType.HipRight];
JointList.Add(HipR);
Joint KL = first.Joints[JointType.KneeLeft];
JointList.Add(KL);
Joint KR = first.Joints[JointType.KneeRight];
JointList.Add(KR);
Joint AnkL = first.Joints[JointType.AnkleLeft];
JointList.Add(AnkL);
Joint AnkR = first.Joints[JointType.AnkleRight];
JointList.Add(AnkR);
Joint FL = first.Joints[JointType.FootLeft];
JointList.Add(FL);
Joint FR = first.Joints[JointType.FootRight];
JointList.Add(FR);
// calculate x, y and z coordinates for each joint and
// put it into 3 different lists
foreach (Joint j in JointList)
{
if (j.TrackingState == JointTrackingState.Tracked)
jx = j.Position.X;
JCx.Add(jx);
jy = j.Position.Y;
JCy.Add(jy);
jz = j.Position.Z;
JCz.Add(jz);
foreach (double f in JCx)
{
if (f < xMin)
xMin = f;
else if (f > xMax)
xMax = f;
}
foreach (double f in JCy)
{
if (f < yMin)
yMin = f;
else if (f > yMax)
yMax = f;
}
foreach (double f in JCz)
{
if (f < zMin)
zMin = f;
else if (f > zMax)
zMax = f;
}
}
txtminx.Text = xMin.ToString();
txtmaxx.Text = xMax.ToString();
txtminy.Text = yMin.ToString();
txtmaxy.Text = yMax.ToString();
txtminz.Text = zMin.ToString();
txtmaxz.Text = zMax.ToString();
//calculate the 3 dimensions of the Box and the diagonal WD
double W = System.Math.Abs(xMin - xMax);
double H = System.Math.Abs(yMin - yMax);
double D = System.Math.Abs(zMin - zMax);
double WD = System.Math.Sqrt(Math.Pow(W0, 2) + Math.Pow(D0, 2));
The problem is when i have to calculate the velocity of the box dimensions vH and vWD .
vH = (Hi - H0) /(Ti- T0);
vWD = (WDi- WD0) /(Ti-T0);
i tried to use DateTime.UtcNow and Stopwatch to calculate the time spend
DateTime T0 = DateTime.UtcNow;
Stopwatch _stopwatch = Stopwatch.StartNew();
DateTime Ti = DateTime.UtcNow;
but i don't know how to get H value in a first time and in a second also i'm not sure if this methode will give me real result.
Can anyone help me ?
Thanks in advance
I did something similar in an application.
I started a StopWatch when the application started:
System.Diagnostics.Stopwatch stopWatch = new System.Diagnostics.Stopwatch();
int msNow;
int msPast;
int dif;
TimeSpan currentTime;
TimeSpan lastTime = new TimeSpan(0);
public GaitAnalyzer()
{
stopWatch.Start();
}
Then you just have to do something like this:
currentTime = stopWatch.Elapsed;
msNow = currentTime.Seconds * 1000 + currentTime.Milliseconds;
if(lastTime.Ticks != 0)
{
msPast = lastTime.Seconds * 1000 + lastTime.Milliseconds;
dif = msNow - msPast;
}
lastTime = currentTime;