solve_forward_dynamic.m
8406fed2a624master

solve_forward_dynamic.m
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			function [IDDATA] = solve_forward_dynamic(IDDATA,DYDATA,CMDATA)
			%{
			Function for solving the forward dynamic problem.
			--------------------------------------------------------------------------
			Syntax :
			[FDDATA] = solve_forward_dynamic(KEDATA,EFDATA,CMDATA)
			--------------------------------------------------------------------------
			Function Description :
			This function built on the state-space developed already integrate the
			motion to get the results of the forward dynamic problem.
			--------------------------------------------------------------------------
			%}

			for j = 1:size(IDDATA.t,2)-1
			disp(['solving the foward dynamic simulation, Time Stamp : ', num2str(j), '/', num2str(size(IDDATA.t,2)-1)]);
			% Define the initial conditions
			if j==1
			U0 = [IDDATA.ImposedMotion([1,4,7],1);0;-2e-3;0;
			IDDATA.ImposedMotion([2,5,8],1);0;0;0];
			else
			U0 = sol.y(:,end);
			end


			ti = IDDATA.t(j);
			tf = IDDATA.t(j+1);

			options = odeset('RelTol',1e-5,'MaxStep',IDDATA.StepSize);
			sol = ode45(@(t,u) StateSpace(t,u,j, IDDATA, DYDATA, CMDATA), [ti tf], U0, options);

			% to use only the feedforward controller change StateSpace_CL to
			% StateSpace.

			solutions(j)=sol;
			end
			FDDATA = solutions;

			% Show the Results Comparision
			IDDATA = show_the_results(IDDATA, FDDATA);

			return