dscTutorials
A few simple tutorials for dynamical systems and control. Most require Matlab.
파일 탐색기
최종 버전 다운로드 (.zip)- acrobotDynamics.m
- acrobotEnergy.m
- acrobotKinematics.m
- animate.m
- autoGen_acrobotDynamics.m
- autoGen_acrobotEnergy.m
- autoGen_acrobotKinematics.m
- Derive_acrobot.m
- drawAcrobot.m
- MAIN_passiveSimulate.m
- plotAcrobot.m
- bezierCurve.m
- DEMO_bezierCurve.m
- DEMO_bezierFunction.m
- DEMO_fitBezierCurve.m
- DEMO_rationalBezierCurve.m
- DEMO_rationalBezierFunction.m
- fitBezierCurve.m
- rationalBezierCurve.m
- README.txt
- Animate.m
- Ball_Dynamics.m
- EventFunction.m
- groundHeight.m
- impactMap.m
- MAIN.m
- PlotEnergy.m
- PlotStates.m
- README.md
- README.txt
- Set_Parameters.m
- chebEval.m
- chebFitLs.m
- chebyshevDerivative.m
- chebyshevDifferentiationMatrix.m
- chebyshevFit.m
- chebyshevIntegral.m
- chebyshevInterpolate.m
- chebyshevMexProject.prj
- chebyshevODEsolve.m
- chebyshevPoints.m
- DEMO_10_data_fitting.m
- DEMO_1_compare.m
- DEMO_2_derivatives.m
- DEMO_3_nodeDerivatives.m
- DEMO_4_Order_vs_Accuracy.m
- DEMO_5_Multivariate.m
- DEMO_6_ODE_solve.m
- DEMO_7_Order_vs_Accuracy_ODE_solve.m
- DEMO_8_integral.m
- DEMO_9_chebEval.m
- Description.html
- README.md
- README.txt
- simpleHarmonicOscillator.m
- testFunction.m
- control.m
- dynamics.m
- MAIN.m
- objective.m
- README.md
- simulate.m
- Derive_EoM.m
- dynamics.m
- eventFunc.m
- finiteLqr.m
- getContour.m
- getLinSys.m
- getLinTraj.m
- MAIN_linearPlant.m
- MAIN_trajectory.m
- randDisk.m
- reachableDynamics.m
- reachableDynamicsRel.m
- reachableForward.m
- reachableForwardRel.m
- README.md
- rhs.m
- stabilizingController.m
- trajectoryLqr.m
- Ball.cpp
- Ball.h
- BouncingBall_1D.cpp
- BouncingBall_1D
- data.csv
- makefile
- plotData.m
- plotData.py
- README.txt
- Animate_Double_Pendulum.m
- Cross.m
- DeriveDynamicsDP.m
- Double_Pendulum_Dynamics.m
- Double_Pendulum_Kinematics.m
- dynamics.cpp
- Evaluate_Dynamics.cpp
- Flatten_Cpp_Params.m
- Flatten_Param_Struct.m
- GetParameters.h
- GetParameters_dynamics.h
- Kinematics_String_Replace.m
- MAIN.m
- ParamStructData.m
- ParseTmpFile.m
- Plot_Double_Pendulum.m
- README.md
- README.txt
- Set_Parameters.m
- Write_Parameter_File.m
- WriteDynamicsFile_Cpp.m
- WriteDynamicsFile_Matlab.m
- WriteKinematicsFile_Matlab.m
- Double-Pendulum-WalkerIPOPTinfo.txt
- Double_Pendulum_Dynamics.m
- Double_Pendulum_HeelStrike.m
- Double_Pendulum_Kinematics.m
- MAIN.m
- plotOutput.m
- README.md
- README.txt
- SmoothAbs.m
- walkerContinuous.m
- walkerEndpoint.m
- WrapAngle.m
- autoGen_dynamicsAnalytic.m
- autoGen_dynamicsNumeric.m
- computeGradientOfBackSlash.m
- Derive_Equations.m
- dynamicsAnalytic.m
- dynamicsNumeric.m
- MAIN.m
- symbolicGradients.m
- actuatorPower.m
- convert.m
- dynamics_doubleStance.m
- dynamics_flight.m
- dynamics_singleStanceOne.m
- dynamics_singleStanceTwo.m
- energy.m
- kinematics.m
- phaseMap.m
- Derive_EoM.m
- Write_ActuatorPower.m
- Write_ContinuousDynamics.m
- Write_Convert.m
- Write_Energy.m
- Write_Kinematics.m
- Write_PhaseMap.m
- Controller_PD.m
- MAIN_Falling_Simulation.m
- plotEnergy.m
- plotFrame.m
- rhs.m
- setupController.m
- animation.m
- getPlotInfo.m
- Make_Struct.m
- plotStates.m
- save2pdf.m
- SmoothAbs.m
- SmoothAbsFancy.m
- README.md
- README.txt
- actuatorPower.m
- convert.m
- dynamics_doubleStance.m
- dynamics_flight.m
- dynamics_singleStanceOne.m
- dynamics_singleStanceTwo.m
- kinematics.m
- phaseMap.m
- Derive_EoM.m
- Write_ActuatorPower.m
- Write_ContinuousDynamics.m
- Write_Convert.m
- Write_Kinematics.m
- Write_PhaseMap.m
- Controller_PD.m
- MAIN_Falling_Simulation.m
- plotEnergy.m
- plotFrame.m
- rhs.m
- setupController.m
- animation.m
- getPlotInfo.m
- Make_Struct.m
- plotStates.m
- save2pdf.m
- SmoothAbs.m
- SmoothAbsFancy.m
- README.md
- README.txt
- README.md
- acrobotDynamics.m
- acrobotEnergy.m
- acrobotKinematics.m
- animate.m
- autoGen_acrobotDynamics.m
- autoGen_acrobotEnergy.m
- autoGen_acrobotKinematics.m
- buildRefTraj.m
- controller.m
- controlMap.m
- Derive_acrobot.m
- drawAcrobot.m
- MAIN_passiveSimulate.m
- MAIN_runController.m
- plotAcrobot.m
- doublePendulumAnimate.m
- doublePendulumDynamics.m
- doublePendulumEnergy.m
- doublePendulumPosition.m
- EoM_Double_Pendulum.m
- MAIN_doublePendulum.m
- README.md
- writeDoublePendulumDynamics.m
- writeDoublePendulumEnergy.m
- writeDoublePendulumPosition.m
- doublePendulumAnimate.m
- doublePendulumDynamics.m
- doublePendulumEnergy.m
- doublePendulumPosition.m
- EoM_Double_Pendulum.m
- MAIN_doublePendulum.m
- README.md
- writeDoublePendulumDynamics.m
- writeDoublePendulumEnergy.m
- writeDoublePendulumPosition.m
- dynamics_10_link.m
- dynamics_10_link.prj
- dynamics_3_link.m
- dynamics_5_link.m
- dynamics_6_link.m
- dynamics_7_link.m
- energy_10_link.m
- energy_3_link.m
- energy_5_link.m
- energy_6_link.m
- energy_7_link.m
- EoM_nLink_pendulum.m
- MAIN_nLink_pendulum.m
- nLinkAnimate.m
- position_10_link.m
- position_3_link.m
- position_5_link.m
- position_6_link.m
- position_7_link.m
- README.md
- testFile
- testFile.m
- testFileCpp
- writeDynamics.m
- writeEnergy.m
- writePosition.m
- controller.m
- Derive_EoM.m
- dynamics.m
- MAIN.m
- README.md
- write_dynamics.m
- EoM_Rolling_Cart_Pole.m
- rollingCartPoleDynamics.m
- writeRollingCartPoleDynamics.m
- EoM_simpleHarmonicOscillator.m
- MAIN_singleHarmonicOscillator.m
- README.md
- simpleHarmonicOscillatorDynamics.m
- controller.m
- EoM_Derivation.m
- MAIN.m
- README.md
- rhs.m
- rocketDynamics.m
- writeDynamics.m
- EoM_Single_Pendulum.m
- MAIN_singlePendulum.m
- README.md
- singlePendulumDynamics.m
- singlePendulumEnergy.m
- singlePendulumRhs.m
- EoM_Spring_Cart_Pole.m
- springCartPoleDynamics.m
- writeSpringCartPoleDynamics.m
- README.md
- cartPoleDynamics.m
- MAIN.m
- cartPoleDynamics.m
- cartPolePosition.m
- MAIN.m
- plotPendulumCart.m
- cartPoleDynamics.m
- cartPolePosition.m
- drawCartPole.m
- MAIN.m
- plotCartPole.m
- cartPoleDynamics.m
- cartPolePosition.m
- drawCartPole.m
- MAIN.m
- plotCartPole.m
- cartPoleDynamics.m
- cartPolePosition.m
- drawCartPole.m
- getStarVerticies.m
- MAIN.m
- plotCartPole.m
- .gitignore
- cartPoleDynamics.m
- cartPolePosition.m
- drawCartPole.m
- getStarVerticies.m
- MAIN.m
- plotCartPole.m
- .gitignore
- cartPoleDynamics.m
- cartPolePosition.m
- drawCartPole.m
- getStarVerticies.m
- MAIN.m
- plotCartPole.m
- animate.m
- cartPoleDynamics.m
- cartPolePosition.m
- drawCartPole.m
- getStarVerticies.m
- MAIN.m
- plotCartPole.m
- autoGen_cartPoleDynamics.m
- autoGen_cartPoleEnergy.m
- autoGen_cartPoleKinematics.m
- cartPoleDynamics.m
- cartPoleDynamicsHumanReadable.m
- cartPoleEnergy.m
- cartPoleKinematics.m
- Derive_cartPole.m
- drawCartPoleTraj.m
- plotCartPole.m
- plotPendulumCart.m
- TEST_cartPoleDynamics.m
- TEST_humanReadableDynamics.m
- barycentricInterpolate.m
- barycentricInterpolate.prj
- barycentricWeights.m
- barycentricWeights.prj
- drawBoundingBox.m
- MAIN_solvePendulum.m
- MDP_Pendulum.m
- pendulumController.m
- pendulumDynamics.m
- pendulumSystem.m
- README.md
- rk4.m
- smoothEdgePenalty.m
- TEST_barycentric.m
- Cpp_Integrator.cpp
- Cpp_Integrator.mexa64
- dynamics.cpp
- MAIN.m
- README.md
- README.txt
- rungeKutta.cpp
- MAIN.m
- particleSwarmOptimization.m
- plotIterData.m
- chebyshevDerivative.m
- chebyshevDifferentiationMatrix.m
- chebyshevIntegral.m
- chebyshevInterpolate.m
- chebyshevPoints.m
- convertVecStruct.m
- Initial_State.m
- MAIN.m
- makeStruct.m
- NonLinCon.m
- Objective_Function.m
- oldSoln.mat
- Pendulum_Cart_Dynamics_Forced.m
- Set_Bounds.m
- Set_Parameters.m
- smoothAbs.m
- snoptObjective.m
- wrapper_FMINCON.m
- wrapper_SNOPT.m
- .gitignore
- MAIN.m
- oldSoln.mat
- Pendulum_Cart_Dynamics_Forced.m
- pendulumCart_Continuous.m
- pendulumCart_Endpoint.m
- Animate.m
- animatePendulumCart.m
- convertVecStruct.m
- Initial_State.m
- MAIN.m
- makeStruct.m
- NonLinCon.m
- Objective_Function.m
- oldSoln.mat
- Pendulum_Cart_Dynamics_Forced.m
- plotPendulumCart.m
- Set_Bounds.m
- Set_Parameters.m
- smoothAbs.m
- snoptObjective.m
- stopActionPendulumCart.m
- wrapper_FMINCON.m
- wrapper_SNOPT.m
- README.md
- README.txt
- autoGen_dynamics.m
- Derive_EoM.m
- dynamics.m
- MAIN.m
- problemStatement.svg
- autoGen_pwPoly5.m
- DEMO_fitPoly5.m
- DEMO_fitPoly5p.m
- DEMO_fitSpline.m
- DEMO_pwPoly2.m
- DEMO_pwPoly4.m
- DEMO_pwPoly5.m
- Derive_pwPoly2.m
- Derive_pwPoly4.m
- Derive_pwPoly5.m
- fitPoly5.m
- fitPoly5p.m
- fitSpline.m
- pwPoly2.m
- pwPoly4.m
- pwPoly5.m
- README.md
- chebyshevDerivative.m
- chebyshevDifferentiationMatrix.m
- chebyshevInterpolate.m
- chebyshevPoints.m
- chebyshevSegment.m
- getDefaultPlotColors.m
- MAIN.m
- MAIN_multiSegment.m
- MAIN_robotArmTask.m
- README.md
- smoothJointTrajectory.m
- structBlkDiag.m
- pd_controller.m
- pendulum.m
- README.md
- README.txt
- SmoothAbs.m
- SmoothAbsFancy.m
- SmoothBnd.m
- SmoothMax.m
- SmoothRamp.m
- TEST_SmoothAbs.m
- TEST_SmoothAbsFancy.m
- TEST_SmoothBnd.m
- TEST_SmoothMax.m
- TEST_SmoothRamp.m
- README.md
- README.txt
- smoothAbs.m
- smoothBnd.m
- smoothRamp.m
- SolveCoeff.m
- TEST_smoothAbs.m
- TEST_smoothBnd.m
- TEST_smoothRamp.m
- writeSmoothAbs.m
- writeSmoothRamp.m
- boundaryConditions.m
- dynamics.m
- MAIN_bvp4c.m
- boundaryConditions.m
- dynamics.m
- MAIN_bvp4c.m
- animation.m
- dynamics_flight.m
- dynamics_hinge.m
- dynamics_slideNeg.m
- dynamics_slidePos.m
- EoM_flight.m
- EoM_hinge.m
- EoM_slide.m
- events_flight.m
- events_hinge.m
- events_slideNeg.m
- events_slidePos.m
- FIGURE_Critical_Angle.m
- FIGURE_phaseDiagram.m
- FIGURE_PointMassTopple.m
- FIGURE_sliding_distance.m
- fsm.m
- getBoundaries.m
- getSlipDist.m
- MAIN_fsm.m
- plotData.m
- README.md
- README.md~
- runSimulation.m
- runSlipExperiment.m
- save2pdf.m
- selectPhase.m
- simulate_flight.m
- simulate_hinge.m
- simulate_slideNeg.m
- simulate_slidePos.m
- SlideDistanceLimit.m
- stitchData.m
- topple_angularRate.m
- topple_contactHorizontal.m
- topple_contactVertical.m
- topple_criticalMu.m
- ToppleFromRest.m
- writeSlide.m
- writeTopple.m
- A_Matrix.m
- Actuator_Model.m
- Animate_System.m
- B_Matrix.m
- Controller.m
- Create_Trajectory.m
- Create_Video.m
- Derive_EoM.m
- Dot.m
- Dynamics.m
- Estimator.m
- MAIN.m
- PLOT_Estimator.m
- PLOT_Inputs.m
- PLOT_Map.m
- PLOT_Stop_Action.m
- README.md
- README.txt
- Select_Goal_Point.m
- Sensors.m
- Set_Gain_Matrix.m
- Set_Parameters.m
- Simulator.m
- Trajectory_Examples.m
- Convert_State.m
- Get_Bounds.m
- Get_Parameters.m
- HammerDynamics.m
- HammerImpact.m
- Initial_State.m
- MAIN.m
- NonLinCon.m
- Objective_Function.m
- PhysicsIntegration.m
- Plotting_Script.m
- README.md
- README.txt
- README.txt~
- save2pdf.m
- Save_Figure_Script.m
- SmoothAbs.m
- SmoothBnd.m
- SmoothRamp.m
- TexFigureCode.txt
- cannon.svg
- cannon_collocation.m
- cannon_directCollocation.gif
- cannon_directCollocation.svg
- cannon_gpops.m
- cannon_multipleShooting.gif
- cannon_multipleShooting.m
- cannon_multipleShooting.svg
- cannon_singleShooting.gif
- cannon_singleShooting.m
- cannon_singleShooting.svg
- cannonDynamics.m
- diagnostics_collocation.m
- diagnostics_multipleShooting.m
- diagnostics_singleShooting.m
- drawTree.m
- groundEvent.m
- MAIN_cannon.m
- objective.m
- plotBackground.m
- plotSoln.m
- rainbow.m
- README.md
- rk4.m
- rk4_cannon.m
- simulateCannon.m
- TEST_cannonDynamics.m
- TEST_cannonFeasibility.m
- animate.m
- autoGen_cartPoleDynamics.m
- autoGen_cartPoleInvDyn.m
- autoGen_cartPoleKinematics.m
- buildConstraints.m
- cartPoleDynamics.m
- cartPoleEqns.svg
- chebyshevScalePoints.m
- computeBounds.m
- computeGuess.m
- costFunction.m
- Derive_EoM.m
- directCollocation1.m
- directCollocation2.m
- dirTrans_Euler.m
- dirTrans_Trapz.m
- drawCartPole.m
- getIndex.m
- MAIN.m
- multipleShooting1.m
- multipleShooting2.m
- multipleShooting4.m
- orthogonalCollocation.m
- packDecVar.m
- plotTraj.m
- TEST_cartPoleDynamics.m
- unPackDecVar.m
- directCollocation_HermiteSimpson.m
- MAIN.m
- riverBoatDynamics.m
- directCollocation_trapazoid.m
- MAIN.m
- riverBoatDynamics.m
- MAIN.m
- multipleShooting_Euler.m
- riverBoatDynamics.m
- README.md
- README.md
- .gitignore
- README.md
# 설치 가이드
1. 코드 내려받기
git clone https://github.com/MatthewPeterKelly/dscTutorials
깃허브에서 프로젝트 코드 전체를 내 컴퓨터로 내려받습니다.
cd dscTutorials
방금 내려받은 프로젝트 폴더 안으로 이동합니다.
2. Make
보통 추천사전 준비물
- Git GitHub에서 프로젝트 코드를 내려받으려면 필요합니다.
- Make Linux/macOS는 보통 기본 설치되어 있습니다. Windows는 별도 설치(예: MSYS2, WSL)가 필요합니다.
⚠️ 이 프로젝트는 규모가 큰 저장소라, 이 방법이 실제 핵심 제품이 아니라 내부 하위 패키지를 가리키는 것일 수 있습니다. README 전체를 함께 확인해보세요.
cd CppSimulator/BouncingBall_1D
이 프로젝트의 관련 파일이 하위 폴더 안에 있어서, 먼저 그 폴더로 이동합니다.
make
생성된 빌드 설정을 바탕으로 실제 컴파일을 진행해 실행 파일을 만듭니다.
에러 없이 끝나면 성공입니다. 생성된 실행 파일을 직접 실행해보세요.
// repository documentation
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