update dynamic programming

src/dynamic/cal_chain.m

@@ -66,7 +66,8 @@
 end
 
 
-function [u_i, v_i] = optim_2d_solve(z_i, y_i, lambda_z_i1, lambda_y_i1, m, g, l)
+function [u_i, v_i] = optim_2d_solve(z_i, y_i, lambda_z_i1, lambda_y_i1, ...
+ m, g, l)
 % Trigonometric functions cannot be used in `solve`
 
  x = optimvar('x', 2, 1, 'LowerBound', [-l; -l], 'UpperBound', [l; l]);
@@ -86,7 +87,7 @@
 
 
 function [u_i, v_i] = optim_2d_fmincon(z_i, y_i, lambda_z_i1, lambda_y_i1, ...
-  m, g, l)
+ m, g, l)
 % Two Dimension Method using Pontryagins Maximum Principle
 % Trigonometric functions can be used in `fmincon`
 

src/dynamic/get_data_chain_diff.m

@@ -1,10 +1,10 @@
 
 
-function struct_data = get_data_chain_diff(n)
+function s_data = get_data_chain_diff(n)
  s_total = 10;
  m_total = 14;
 
- struct_data = struct(...
+ s_data = struct(...
  'rho', m_total / s_total, ...
  'g', 9.81, ...
  's_total', s_total, ...

src/dynamic/main.m

@@ -16,13 +16,14 @@ function main()
 
  %% Continuous Wire
  solve_project_conti(z_t_1, y_t_1)
- 
+
  %% Trajectory of a Suspended Chain using Two Symmetric Half Chains
  [z_t_1, y_t_1] = solve_project_discrete(true);
 end
 
 
 function [z_t_1, y_t_1] = solve_project_discrete(whe_sym)
+% whe_sym: whether to use symmetric method
 
  s_data_1 = get_data_chain(6); % When the number of sections is 6
  s_data_2 = get_data_chain(100); % When the number of sections is 100
@@ -58,7 +59,7 @@ function plot_chain_discrete(x1, y1, x2, y2, name_fig)
  ylabel('y')
  legend('when N = 6','when N = 100')
  hold off
- 
+
 % saveas(h, name_fig, 'png');
 end
 
@@ -85,7 +86,7 @@ function plot_chain_conti(vec_x, vec_y, x1, y1)
  ylabel('y')
  legend('Suspended Wire','Suspended Chain with N = 6')
  hold off
- 
+
 % saveas(h1, 'conti', 'png');
 end