Discretization of position and velocity

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GCats 2020-3-29

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此问题的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/513783-discretization-of-position-and-velocity

编辑： GCats 2020-4-4

采纳的回答： Ameer Hamza

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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)
    
    

采纳的回答

Ameer Hamza 2020-3-29

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https://ww2.mathworks.cn/matlabcentral/answers/513783-discretization-of-position-and-velocity#answer_422707

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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

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Ameer Hamza 2020-3-31

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Giulio, try this

x(2) = mod(x(2)+pi, 2*pi);

The second line should be correct.

Ameer Hamza 2020-3-31

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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);

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