Differences

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--- ece4560:piktul:05resratepos [2017/10/22 16:28] – [Playing Back as a Movie/Command Sequence] pvela
+++ ece4560:piktul:05resratepos [2024/08/20 21:38] (current) – external edit 127.0.0.1
@@ Line 33: / Line 33: @@
   end
 </code>
-This can be a hidden function within the ''genPositionTrajectory'' member function or it can be a protected member function (the easiest would be to make it a public member function).  It is the main part that has the resolved rate equations. Code stubs to insert into the piktul class can be found here: {{ece4560:piktul:resolvedStubs.m|stubs}}.
+This can be a hidden function within the ''genPositionTrajectory'' member function or it can be a protected member function (the easiest would be to make it a public member function).  It is the main part that has the resolved rate equations. Code stubs to insert into the piktul class can be found here: {{ece4560:piktul:resolvedStubs.m|stubs}}. The code stubs have ''posODE'' as a hidden function within a function.  The documentation of the code stub provides additional clues as to how to code the entire learning module up.
-Suppose you'd like to test it out without actually using the piktul, but rather you'd like to use the ''piktul_display'' function.  The easiest would be to write a modified version of the ''followJointTrajectory'' function called ''displayJointTrajectory''
+Overall, try to have functionality or code that seems inherent to the piktul actually reside in the ''piktul'' class.  Some can be outside of it.  I leave this as a judgement call, but definitely you should be considering what functionality should actually be implemented within the  class and how it supports abstraction/encapsulation as per good coding design.
+==== Playing Back as a Movie ====
+Suppose you'd like to test it out without actually using the piktul. You can always use the ''piktul_display'' function to test out the code.  If you can get the resolved rate code working to
+generate the joint angles versus time, then using ''piktul_display'' in a loop will display it as a movie in a Matlab figure. The easiest would be to write a modified version of the ''followJointTrajectory'' function called ''displayJointTrajectory''
 <code=Matlab>
   function displayJointTrajectory(jtraj, tspan, nsteps)
   end
 </code>
-that uses the function ''piktul_display'' instead of ''setArm''.  doing so will visualize the arm instead of commanding the arm.
+that uses the function ''piktul_display'' instead of ''setArm''.  Doing so will visualize the arm instead of commanding the arm.   Remember to include the ''drawnow'' command at the end of the  loop to force the figure to refresh.
 ==== Playing Back as a Command Sequence ====