resolves bug 1153 - bouncing ball code needs frame specifications

minor fixes in export to movie code.

git-svn-id: https://svn.csail.mit.edu/locomotion/robotlib/trunk@3746 c9849af7-e679-4ec6-a44e-fc146a885bd3

examples/BouncingBall/BallPlant.m

@@ -8,6 +8,8 @@
 
       % create flight mode system
       sys = BallFlightPhasePlant();
+      obj = setInputFrame(obj,sys.getInputFrame);
+      obj = setOutputFrame(obj,sys.getOutputFrame);
       [obj,flight_mode] = addMode(obj,sys);  % add the single mode
 
       g1=inline('x(1)-obj.r','obj','t','x','u');  % q-r<=0

examples/dev/mass_spring_damper/MassSpringDamperPlant.m

@@ -0,0 +1,28 @@
+classdef MassSpringDamperPlant < SecondOrderSystem
+% Defines the dynamics for the Pendulum.
+
+  properties
+    m = 1;   % kg
+    b = .5;
+    k = 20;
+  end
+
+  methods
+    function obj = MassSpringDamperPlant()
+      % Construct a new PendulumPlant
+      obj = obj@SecondOrderSystem(1,1,true);
+      obj = setOutputFrame(obj,obj.getStateFrame);
+    end
+
+    function qdd = sodynamics(obj,t,q,qd,u)
+      % Implement the second-order dynamics
+      qdd = (u - obj.k*q - obj.b*qd)/obj.m;
+    end
+
+    function x = getInitialState(obj)
+      % Start me anywhere!
+      x = randn(2,1);
+    end
+  end  
+
+end

examples/dev/mass_spring_damper/MassSpringDamperVisualizer.m

@@ -0,0 +1,48 @@
+classdef MassSpringDamperVisualizer < Visualizer
+% Implements the draw function for the Pendulum 
+
+% todo: use correct pendulum parameters (possibly acquire them via a
+% constructor?)
+
+  methods
+    function obj = MassSpringDamperVisualizer(r)
+      obj = obj@Visualizer(r.getStateFrame);
+    end
+
+    function draw(obj,t,x)
+      persistent hFig base wb lwheel rwheel spring dashpot;
+      if (isempty(hFig))
+        hFig = figure(25);
+        set(hFig,'DoubleBuffer', 'on');
+
+        theta = pi*[0:0.025:2];
+        wb = .3; hb=.2;
+        wheelr = 0.05;
+        lwheel = [-wb/2 + wheelr*cos(theta); wheelr + wheelr*sin(theta)]';
+        base = [wb*[1 -1 -1 1]; hb*[1 1 -1 -1]+hb+2*wheelr]';
+        spring = [ 0,linspace(.2,.8,length(theta)),1; [0,.1*sin(8*theta),0]+.3 ];
+      end
+
+      figure(hFig); cla; hold on; view(0,90);
+
+      x = x(1);
+      % draw the cart
+      patch(x(1)+base(:,1), base(:,2),0*base(:,1),'b','FaceColor',[.3 .6 .4])
+      patch(x(1)+lwheel(:,1), lwheel(:,2), 0*lwheel(:,1),'k');
+      patch(x(1)+wb+lwheel(:,1), lwheel(:,2), 0*lwheel(:,1),'k');
+
+      % draw the floor
+      line([-5,5],[0,0],'Color',.7*[1 1 1],'LineWidth',1.2);
+
+      % draw the wall
+      line([-1,-1],[0,1],'Color',.7*[1 1 1],'LineWidth',1.2);
+
+      % draw the spring
+      plot(-1+spring(1,:)*(x-wb+1),spring(2,:),'k');
+
+      axis equal;
+      axis([-1.5 1.5 -0.5 1]);
+    end    
+  end
+
+end

systems/Visualizer.m

@@ -141,7 +141,7 @@ function playbackAVI(obj,xtraj,filename)
       for i=1:length(tspan)
         obj.draw(tspan(i),eval(xtraj,tspan(i)));
         if (obj.display_time)
-          title(['t = ', num2str(t,'%.2f') ' sec']);
+          title(['t = ', num2str(tspan(i),'%.2f') ' sec']);
         end
         if (obj.draw_axes)
           f=gcf;

systems/trajectories/DTTrajectory.m

@@ -27,7 +27,7 @@
       obj.tspan = [min(tt) max(tt)];
     end
     function y = eval(obj,t)  
-      ind = find(obj.tt==t);  % only return on exact matches.  For interpolation, you should be using zoh or foh to make PPTrajectories
+      ind = find(abs(obj.tt-t)<1e-10);  % only return on exact matches.  For interpolation, you should be using zoh or foh to make PPTrajectories
       y = obj.xx(:,ind);
     end
 

util/vCalWriter.m

@@ -67,7 +67,7 @@ function addEvent(obj,summary,startdatevec,enddatevec,description,location,rrule
 
       if nargin>4 && ~isempty(description)
         typecheck(description,'char');
-        fprintf(obj.fhandle,'LOCATION:%s\r\n',description);
+        fprintf(obj.fhandle,'DESCRIPTION:%s\r\n',description);
       end
 
       if nargin>5 && ~isempty(location)
@@ -83,6 +83,32 @@ function addEvent(obj,summary,startdatevec,enddatevec,description,location,rrule
       fprintf(obj.fhandle,'END:VEVENT\r\n');
     end
 
+    function addTodo(obj,summary,duedatevec,description,rrule)
+      if datenum(duedatevec)<obj.min_datenum || datenum(duedatevec)>obj.max_datenum
+        error('due date out of range.  you may need to update the timezone implementation in the vCalWriter class');
+      end
+      fprintf(obj.fhandle,'BEGIN:VTODO\r\n');
+
+      typecheck(summary,'char');
+      fprintf(obj.fhandle,'SUMMARY:%s\r\n',summary);
+
+      sizecheck(duedatevec,6);
+      fprintf(obj.fhandle,'DUE;TZID=US-Eastern:%02d%02d%02dT%02d%02d%02d\r\n',duedatevec);
+
+      if nargin>4 && ~isempty(description)
+        typecheck(description,'char');
+        fprintf(obj.fhandle,'DESCRIPTION:%s\r\n',description);
+      end
+
+      if nargin>6 && ~isempty(rrule)
+        typecheck(rrule,'char');
+        fprintf(obj.fhandle,'RRULE:%s\r\n',rrule);
+      end
+
+      fprintf(obj.fhandle,'END:VTODO\r\n');
+    end
+
+
     function delete(obj)
       fprintf(obj.fhandle,'END:VCALENDAR\r\n');
       fclose(obj.fhandle);