Origami_Workspace_MATLAB/plot_wheelchairDK.m at main · comet-lab/Origami_Workspace_MATLAB · GitHub

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%% ------------------------------------------------------
%  Wheelchair: Straight then Circular Motion (Top View)
%  COM vs Axle Trajectory + STL at Start/End
% ------------------------------------------------------
clear; clc; close all;

%% ------------------------------------------------------
%  Load STL Room
% ------------------------------------------------------
path = fullfile("stl/","PP_room4.stl");
[vertices, faces, ~, ~] = stlRead(path);

room.vertices = vertices * 0.0254;   % inch → meter
room.faces    = faces;

%% ------------------------------------------------------
%  Initialize Wheelchair
% ------------------------------------------------------
wc = WheelChair(3, path);

%% Motion parameters
N_straight = 40;
N_circle   = 120;

ds_straight = 0.04;   % straight motion
dL_circle   = 0.02;   % circular motion
dR_circle   = 0.05;

%% Storage
N = N_straight + N_circle;
COM_traj  = zeros(N+1,2);
axle_traj = zeros(N+1,2);

%% Initial pose
T_start = wc.T_world_wc;
theta = atan2(T_start(2,1), T_start(1,1));

COM_traj(1,:) = T_start(1:2,4)';
axle_traj(1,:) = COM_traj(1,:) - ...
                 wc.COMoffset * [cos(theta), sin(theta)];

idx = 1;

%% ------------------------------------------------------
%  1) Straight motion
%% ------------------------------------------------------
for k = 1:N_straight
    T = wc.drive(ds_straight, ds_straight);
    wc.T_world_wc = T;

    theta = atan2(T(2,1), T(1,1));

    idx = idx + 1;
    COM_traj(idx,:) = T(1:2,4)';
    axle_traj(idx,:) = COM_traj(idx,:) - ...
                       wc.COMoffset * [cos(theta), sin(theta)];
end

%% ------------------------------------------------------
%  2) Circular motion
%% ------------------------------------------------------
for k = 1:N_circle
    T = wc.drive(dL_circle, dR_circle);
    wc.T_world_wc = T;

    theta = atan2(T(2,1), T(1,1));

    idx = idx + 1;
    COM_traj(idx,:) = T(1:2,4)';
    axle_traj(idx,:) = COM_traj(idx,:) - ...
                       wc.COMoffset * [cos(theta), sin(theta)];
end

% Save end pose
T_end = wc.T_world_wc;

%% ------------------------------------------------------
%  Plot top view trajectories
%% ------------------------------------------------------
figure('Color','w'); hold on; axis equal; grid on;

set(gca, 'FontName', 'CMU Serif', 'FontSize', 14);

xlabel('X (m)');
ylabel('Y (m)');
title('Wheelchair Differential Kinematics Visualization');

% Trajectories
plot(COM_traj(:,1), COM_traj(:,2), ...
     'b-', 'LineWidth', 2);
plot(axle_traj(:,1), axle_traj(:,2), ...
     'r-', 'LineWidth', 2);

% Start points
plot(COM_traj(1,1), COM_traj(1,2), ...
     'bo', 'MarkerFaceColor','b', 'MarkerSize',6);
plot(axle_traj(1,1), axle_traj(1,2), ...
     'ro', 'MarkerFaceColor','r', 'MarkerSize',6);

% End points
plot(COM_traj(end,1), COM_traj(end,2), ...
     'bs', 'MarkerFaceColor','b', 'MarkerSize',8);
plot(axle_traj(end,1), axle_traj(end,2), ...
     'rs', 'MarkerFaceColor','r', 'MarkerSize',8);

legend({'COM trajectory', ...
        'Axle trajectory', ...
        'COM start', 'Axle start', ...
        'COM end', 'Axle end'}, ...
        'Location','northwest', 'FontSize', 10);

%% ------------------------------------------------------
%  Draw STL at start and end (top view)
%% ------------------------------------------------------
[V0, F0] = wc.boundingBox(T_start);
[V1, F1] = wc.boundingBox(T_end);

% Start STL
patch('Vertices',V0,'Faces',F0, ...
      'FaceColor',[0.6 0.6 0.6], ...
      'FaceAlpha',0.3,'EdgeColor','none', 'HandleVisibility','off');

% End STL
patch('Vertices',V1,'Faces',F1, ...
      'FaceColor',[0.2 0.8 0.2], ...
      'FaceAlpha',0.4,'EdgeColor','none', 'HandleVisibility','off');

% Labels
text(COM_traj(1,1)-0.35, COM_traj(1,2)+0.1, ...
     '  Start pose', ...
     'FontName','CMU Serif', ...
     'FontSize',12, ...
     'Color',[0.3 0.3 0.3], ...
     'FontWeight','bold');

text(COM_traj(end,1), COM_traj(end,2), ...
     '  End pose', ...
     'FontName','CMU Serif', ...
     'FontSize',12, ...
     'Color',[0 0.5 0], ...
     'FontWeight','bold');
% xlim([-1,3])
view(2);