Discretization of position and velocity

4 views (last 30 days)
Hey all,
I need to discretize the states x (x(1) is position, x(2) is velocity) in a function called dicretize.
function s = discretize(x, par)
if 0 < x(1) < 2*pi
x(1) = x(1);
else
x(1) = mod(x(1), 2*pi);
end
s(1) = discretize(x(1), 1,par.pos_states)

Accepted Answer

Ameer Hamza
Ameer Hamza on 29 Mar 2020
First, the condition
if 0 < x(1) < 2*pi
is not doing what it seem it does. The correct it
if 0 < x(1) && x(1) < 2*pi
Beside, why do you use the if block when you are using mod function which will automatically wrap all values in the interval [0,2*pi]. Check the following code
function s = discretize_state(x, par)
% TODO: Discretize state. Note: s(1) should be
% TODO: position, s(2) velocity.
x(1) = mod(x(1), 2*pi);
s(1) = round(x(1)/(2*pi)*(par.pos_states-1) + 1);
end
  6 Comments
Ameer Hamza
Ameer Hamza on 31 Mar 2020
Giulio, try this
x(2) = mod(x(2)+pi, 2*pi);
The second line should be correct.
Ameer Hamza
Ameer Hamza on 31 Mar 2020
The first one map -pi -> 0 and pi -> 2*pi and it will wrap the values according to interval [-pi, pi]. The second one map all the values in the range [-pi pi], but to use that, you will need to change
round((x(1)/(2*pi)+0.5)*(par.pos_states-1) + 1);

Sign in to comment.

More Answers (0)

Tags

No tags entered yet.

Products


Release

R2019b

Community Treasure Hunt

Find the treasures in MATLAB Central and discover how the community can help you!

Start Hunting!