Add .mat files

matlab/src/generateSpiralAngleTrajectory.m

@@ -0,0 +1,35 @@
+function [ref] = generateSpiralAngleTrajectory(args)
+% generateSpiralAngleTrajectory -
+%
+% Syntax: [ref] = generateSpiralAngleTrajectory(args)
+%
+% Inputs:
+%    - args
+%
+% Outputs:
+%    - ref - Reference Signal
+
+arguments
+    args.R_tot  (1,1) double {mustBeNumeric, mustBePositive} = 10e-6 % [rad]
+    args.n_turn (1,1) double {mustBeInteger, mustBePositive} = 5 % [-]
+    args.Ts     (1,1) double {mustBeNumeric, mustBePositive} = 1e-3 % [s]
+    args.t_turn (1,1) double {mustBeNumeric, mustBePositive} = 1 % [s]
+    args.t_end  (1,1) double {mustBeNumeric, mustBePositive} = 1 % [s]
+end
+
+time_s = 0:args.Ts:args.n_turn*args.t_turn;
+time_e = 0:args.Ts:args.t_end;
+
+Rx = sin(2*pi*time_s/args.t_turn).*(args.R_tot*time_s/(args.n_turn*args.t_turn));
+Ry = cos(2*pi*time_s/args.t_turn).*(args.R_tot*time_s/(args.n_turn*args.t_turn));
+
+Rx = [Rx, 0*time_e];
+Ry = [Ry, Ry(end) - Ry(end)*time_e/args.t_end];
+
+t = 0:args.Ts:args.Ts*(length(Rx) - 1);
+
+ref = zeros(length(Rx), 7);
+
+ref(:, 1) = t;
+ref(:, 5) = Rx;
+ref(:, 6) = Ry;