Lapsim_Matlab/CourseDataSet.m at master · UBCFormulaElectric/Lapsim_Matlab · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
function CrseData = CourseDataSet()

   CrseData = xlsread('2018LincolnEndurance.xlsx');   %Read Course Data as set of X,Y Coordinates from excel

   CrseData = CrseData.*0.3;

    n = 5000;
    bn = 0.005*n;

    t = 1:length(CrseData(:,1));
    xy = [transpose(CrseData(:,1));transpose(CrseData(:,2))];
    pp = csaps(t,xy);
    tInterp = linspace(1,length(CrseData(:,1)),n);
    xyInterp = ppval(pp, tInterp);

    figure
    plot(CrseData(:,1),CrseData(:,2),'o:')
    hold on
    plot(xyInterp(1,:),xyInterp(2,:),'r.')
    legend({'Original data','Spline interpolation'},'FontSize',12)
    axis('equal');
    hold off

   CrseData = transpose(xyInterp);


   CrseData(1,3) = Inf;


for i = 2:(length(CrseData) - 1)                % Cycles through all course data and determines the radius and instantaneous center of each segment

   [R,xcyc] = fit_circle([CrseData(i-1,1) CrseData(i-1,2);CrseData(i,1) CrseData(i,2);CrseData(i+1,1) CrseData(i+1,2)]);
   Slength = sectorL(CrseData(i,1), CrseData(i,2), CrseData(i+1,1), CrseData(i+1,2));   %Runs sector length function and writes to CrseData

%     if R>200                                        %Sets a threshold where any radius above this is classified as a straight (ie. R=Inf)
%         CrseData(i,3) = Inf;
%     else
        CrseData(i,3) = R;                          %Otherwise radius is set to calculated
%     end

   CrseData(i-1,4) = Slength;
   CrseData(i,5:6) = xcyc;

end

CrseData(:,3) = smooth(CrseData(:,3),bn);                                 %Smooths radius data based on moving aver with with bucket size of 3

for i = 2:(length(CrseData)-1)

    if CrseData(i,3) > 180
        CrseData(i,3) = Inf;
    end

end


figure
plot(CrseData(:,1), CrseData(:,2),'b');
figure
plot(1:length(CrseData), CrseData(:,3),'r');


  CrseData(1,7) = 0;                                           %Sets the values for direction vector and dtheta for the first segment
  CrseData(1,8) = 1;
  CrseData(1,9) = 0;


 for i = 2:length(CrseData)

   %Loops through the course data to determine the direction unit vector

       if CrseData(i,3) == inf                                  %if the radius is infinite (ie a straight) a different algorith for determining vector is used

           xvec = CrseData(i+1,1) - CrseData(i,1);              %Calculates x and y components of vector
           yvec = CrseData(i+1,2) - CrseData(i,2);
           mag = sqrt(yvec^2 + xvec^2);                         %Calculates magnitude so vector can be normalized
           CrseData(i,7) = xvec/mag;
           CrseData(i,8) = yvec/mag;

       else

            yvec = CrseData(i,2) - CrseData(i,6);               %Otherwise direction vector is the vector perpendicular to vector from center of point
            xvec = CrseData(i,1) - CrseData(i,5);
            mag = sqrt(yvec^2 + xvec^2);
            CrseData(i,7) = yvec/mag;
            CrseData(i,8) = -1*(xvec/mag);

       end
        if i ~= 1                                                               %Determines unit vector direction based off whether different in angle between previous is greater than 90

            dtheta = atan2d(CrseData(i-1,7)*CrseData(i,8) - CrseData(i-1,8)*CrseData(i,7), CrseData(i-1,7)*CrseData(i,7) + CrseData(i-1,8)*CrseData(i,8));

        end

        dtheta = abs(dtheta);

        if dtheta >= 90

            CrseData(i,7) = -1*(yvec/mag);
            CrseData(i,8) = xvec/mag;

        end

        CrseData(i,9) = deg2rad(atan2d(CrseData(i-1,7)*CrseData(i,8) - CrseData(i-1,8)*CrseData(i,7), CrseData(i-1,7)*CrseData(i,7) + CrseData(i-1,8)*CrseData(i,8)));

 end

 LapLength = sum(CrseData(:,4));


%    figure
%    quiver(CrseData(:,1),CrseData(:,2),CrseData(:,7),CrseData(:,8))

%save('2018LincolnEndurance.mat','CrseData');

 display(LapLength)

end


% B = smooth(CrseData(:,3),3);                                 %Smooths radius data based on moving aver with with bucket size of 3
%     CrseData(:,3) = B;
%
% k = 1;
% %ICrseData(k,1:2) = CrseData(1,1:2);
%
% ref = [1,0];
% i = 2;
% % for i = 2:(length(CrseData)-1)
%
%     posN(1,1:2) = CrseData(i-1, 1:2) - CrseData(i,5:6)
%     posN(2,1:2) = CrseData(i,1:2) - CrseData(i, 5:6)
%     posN(3,1:2) = CrseData(i+1, 1:2) - CrseData(i,5:6)
%
%     thetaN(1) = acos(dot(posN(1,1:2),ref)/(norm(ref)*norm(posN(1,1:2))));
%     thetaN(2) = acos(dot(posN(2,1:2),ref)/(norm(ref)*norm(posN(2,1:2))));
%     thetaN(3) = acos(dot(posN(3,1:2),ref)/(norm(ref)*norm(posN(3,1:2))));
%
%     for m = 1:3
%        if posN(m,2) < 0 thetaN(m) = 2*pi - thetaN(m); end
%     end
%     %thetaN = [atan(posN(1,2)/posN(1,1)), atan(posN(2,2)/posN(2,1)), atan(posN(3,2)/posN(3,1))]
%
%     dtheta = (thetaN(2) - thetaN(3))/d;
%     ICrseData(k,1:2) = CrseData(i,1:2);
%     k=k+1;
%
%     for j = 1:3
%
%         ICrseData(k,1) = CrseData(i,3)*cos(thetaN(2)-dtheta*j) + CrseData(i,5);
%         ICrseData(k,2) = CrseData(i,3)*cos(thetaN(2)-dtheta*j) + CrseData(i,6);
%         k=k+1;
%
%     end
%
% % end
%
%
% scatter(ICrseData(:,1), ICrseData(:,2),'r')
% hold on;
% %scatter(CrseData(:,1), CrseData(:,2),'b')