www.pudn.com > un_IMM_PDAF.zip > Generate2DTrajectories.m

function [y,t,dT] = Generate2DTrajectories(TrajType,dT,Time) 
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% 
% Generate2DTrajectories - generates trajectories 
% in 2D for tracking. Trajectory is defined by TrajType. 
% y is 2D 2xT data confined to [0 1] square 
% Input: 
%   TrajType    - trajectory type 
%   dT          - delta time between samples (in seconds) 
%   Time        - final simulation time in seconds 
% Output: 
%   y           - 2xT vector of measurements 
%   t           - 1xT time for each measurement 
%   dT          - input dT if not specified 
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% 
 
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% 
% parameters  
%  
if nargin < 3, Time = 3; end; 
if nargin < 2, dT = 1/30;end; % dT between samples (video frame rate) 
if nargin < 1, TrajType = 1; end; 
 
t       = 0:dT:Time; 
N       = length(t); 
 
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% 
% trajectory generation 
switch TrajType, 
case 1,             % circle 
    fx  = .4; 
    y   = [cos(2*pi*fx*t); sin(2*pi*fx*t)]*.5+.5; 
     
case 2,             % jump in x 
    SlopeV = 5; 
    tmp = logsig(SlopeV*(t-Time/2)); 
    y   = [tmp;t./Time]; 
 
case 3,             % spiral 
    R   = 0.5 + sin(2*pi/Time*t)*.5; 
    Ang = 2*pi*1*t; 
    y   = [R.*cos(Ang); R.*sin(Ang)]*.5+.5; 
     
case 4,             % 8 
    fx  = .5; 
    fy  = 1; 
    y   = [cos(2*pi*fx*t); sin(2*pi*fy*t)]*.5+.5; 
     
case 5,             % exp 
    SlopeV = 5; 
    y   = [1-exp(-t./Time*SlopeV); t./Time];    
     
case 6,             % triang 
    y   = [t./Time; triang(N)'];     
     
case 7,             % rising 
    SlopeV = 1; N3 = round(N/3); 
    y   = [t./Time; [zeros(1,N3) linspace(0,SlopeV,N3) ones(1,N-2*N3)*SlopeV]];     
     
case 8,             % non-moving random point 
    tmp = rand(2,1); 
    y   = tmp(:,ones(1,N));     
    
case 9,             % straight line from left upper to right lower 
    LeftH = .95; RightH = 0.05; 
    y   = [t./Time; linspace(LeftH,RightH,N)];     
 
case 10,             % straight line from left lower to right high corners 
    LeftH = .05; RightH = 0.95; 
    y   = [t./Time; linspace(LeftH,RightH,N)];     
     
case 11,             % straight line from left upper to right lower 
    LeftH = .75; RightH = 0.25; 
    y   = [t./Time; linspace(LeftH,RightH,N)];     
 
case 12,             % straight line from left lower to right high corners 
    LeftH = .25; RightH = 0.75; 
    y   = [t./Time; linspace(LeftH,RightH,N)];     
     
otherwise 
    error('Unknown method.')     
end;