Correction in demo_testLQR01

demo_testLQR01.m

@@ -66,69 +66,4 @@ xlabel('t'); ylabel('kp');
 
 %pause;
 %close all;
-function demo_testLQR01
-% Test of the linear quadratic regulation
-%
-% Author:	Sylvain Calinon, 2014
-%         http://programming-by-demonstration.org/SylvainCalinon
-%
-% This source code is given for free! In exchange, I would be grateful if you cite
-% the following reference in any academic publication that uses this code or part of it:
-%
-% @inproceedings{Calinon14ICRA,
-%   author="Calinon, S. and Bruno, D. and Caldwell, D. G.",
-%   title="A task-parameterized probabilistic model with minimal intervention control",
-%   booktitle="Proc. {IEEE} Intl Conf. on Robotics and Automation ({ICRA})",
-%   year="2014",
-%   month="May-June",
-%   address="Hong Kong, China",
-%   pages="3339--3344"
-% }
-
-%% Parameters
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-model.nbVar = 2; %Dimension of the datapoints in the dataset (here: t,x1)
-model.dt = 0.01; %Time step
-nbData = 500; %Number of datapoints
-nbRepros = 3; %Number of reproductions with new situations randomly generated
-rFactor = 1E-2; %Weighting term for the minimization of control commands in LQR
 
-%% Reproduction with LQR
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-disp('Reproductions with LQR...');
-DataIn = [1:nbData] * model.dt;
-a.currTar = ones(1,nbData);
-for n=1:nbRepros
-	a.currSigma = ones(1,1,nbData) * 10^(2-n);
-	%r(n) = reproduction_LQR_finiteHorizon(DataIn, model, a, 0, rFactor);
-	r(n) = reproduction_LQR_infiniteHorizon(DataIn, model, a, 0, rFactor);
-end
-
-%% Plots
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-figure('position',[20,50,1300,500]);
-hold on; box on;
-%Plot target
-plot(r(1).Data(1,:), a.currTar, 'r-', 'linewidth', 2);
-for n=1:nbRepros
-	%Plot trajectories
-	plot(r(n).Data(1,:), r(n).Data(2,:), '-', 'linewidth', 2, 'color', ones(3,1)*(n-1)/nbRepros);
-end
-xlabel('t'); ylabel('x_1');
-
-figure;
-%Plot norm of control commands
-subplot(1,2,1); hold on;
-for n=1:nbRepros
-	plot(DataIn, r(n).ddxNorm, '-', 'linewidth', 2, 'color', ones(3,1)*(n-1)/nbRepros);
-end
-xlabel('t'); ylabel('|ddx|');
-%Plot stiffness
-subplot(1,2,2); hold on;
-for n=1:nbRepros
-	plot(DataIn, r(n).kpDet, '-', 'linewidth', 2, 'color', ones(3,1)*(n-1)/nbRepros);
-end
-xlabel('t'); ylabel('kp');
-
-%pause;
-%close all;