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trajectory_generator_computation_time.m
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<<<<<<< HEAD
% THIS SCRIPT COMPUTES THE TIME TAKEN TO GENERATE TRAJECTORIES FOR RANDOM
% STARTING POINTS
%% CONSTANTS
% Robot velocity (m/s)
rob_vel= 2;
% Configuration space
min_x= 0;
max_x= 50;
min_y= 0;
max_y= 50;
%% SAMPLE TIME= 0.05
fprintf('\n\n\nSAMPLING TIME= 0.05\n\n');
% Sampling time
h= 0.05;
% First
% Random starting point
rob_pos= [(min_x + rand()*(max_x-min_x)) (min_y + rand()*(max_y-min_y))]';
handle_point_one= @() trajectory_generator_apf(rob_vel, rob_pos, h);
% Time execution
fprintf('First\n');
fprintf('Robot initial position: [%.4f %.4f]\n', rob_pos(1), rob_pos(2));
fprintf('Computation time: %.4f seconds\n\n', timeit(handle_point_one));
% Second
% Random starting point
rob_pos= [(min_x + rand()*(max_x-min_x)) (min_y + rand()*(max_y-min_y))]';
handle_point_one= @() trajectory_generator_apf(rob_vel, rob_pos, h);
% Time execution
fprintf('Second\n');
fprintf('Robot initial position: [%.4f %.4f]\n', rob_pos(1), rob_pos(2));
fprintf('Computation time: %.4f seconds\n\n', timeit(handle_point_one));
% Third
% Random starting point
rob_pos= [(min_x + rand()*(max_x-min_x)) (min_y + rand()*(max_y-min_y))]';
handle_point_one= @() trajectory_generator_apf(rob_vel, rob_pos, h);
% Time execution
fprintf('Third\n');
fprintf('Robot initial position: [%.4f %.4f]\n', rob_pos(1), rob_pos(2));
fprintf('Computation time: %.4f seconds\n\n', timeit(handle_point_one));
%% SAMPLE TIME= 0.1
fprintf('\n\n\nSAMPLING TIME= 0.1\n\n');
% Sampling time
h= 0.1;
% First
% Random starting point
rob_pos= [(min_x + rand()*(max_x-min_x)) (min_y + rand()*(max_y-min_y))]';
handle_point_one= @() trajectory_generator_apf(rob_vel, rob_pos, h);
% Time execution
fprintf('First\n');
fprintf('Robot initial position: [%.4f %.4f]\n', rob_pos(1), rob_pos(2));
fprintf('Computation time: %.4f seconds\n\n', timeit(handle_point_one));
% Second
% Random starting point
rob_pos= [(min_x + rand()*(max_x-min_x)) (min_y + rand()*(max_y-min_y))]';
handle_point_one= @() trajectory_generator_apf(rob_vel, rob_pos, h);
% Time execution
fprintf('Second\n');
fprintf('Robot initial position: [%.4f %.4f]\n', rob_pos(1), rob_pos(2));
fprintf('Computation time: %.4f seconds\n\n', timeit(handle_point_one));
% Third
% Random starting point
rob_pos= [(min_x + rand()*(max_x-min_x)) (min_y + rand()*(max_y-min_y))]';
handle_point_one= @() trajectory_generator_apf(rob_vel, rob_pos, h);
% Time execution
fprintf('Third\n');
fprintf('Robot initial position: [%.4f %.4f]\n', rob_pos(1), rob_pos(2));
fprintf('Computation time: %.4f seconds\n\n', timeit(handle_point_one));
%% SAMPLE TIME= 0.2
fprintf('\n\n\nSAMPLING TIME= 0.2\n\n');
% Sampling time
h= 0.2;
% First
% Random starting point
rob_pos= [(min_x + rand()*(max_x-min_x)) (min_y + rand()*(max_y-min_y))]';
handle_point_one= @() trajectory_generator_apf(rob_vel, rob_pos, h);
% Time execution
fprintf('First\n');
fprintf('Robot initial position: [%.4f %.4f]\n', rob_pos(1), rob_pos(2));
fprintf('Computation time: %.4f seconds\n\n', timeit(handle_point_one));
% Second
% Random starting point
rob_pos= [(min_x + rand()*(max_x-min_x)) (min_y + rand()*(max_y-min_y))]';
handle_point_one= @() trajectory_generator_apf(rob_vel, rob_pos, h);
% Time execution
fprintf('Second\n');
fprintf('Robot initial position: [%.4f %.4f]\n', rob_pos(1), rob_pos(2));
fprintf('Computation time: %.4f seconds\n\n', timeit(handle_point_one));
% Third
% Random starting point
rob_pos= [(min_x + rand()*(max_x-min_x)) (min_y + rand()*(max_y-min_y))]';
handle_point_one= @() trajectory_generator_apf(rob_vel, rob_pos, h);
% Time execution
fprintf('Third\n');
fprintf('Robot initial position: [%.4f %.4f]\n', rob_pos(1), rob_pos(2));
fprintf('Computation time: %.4f seconds\n\n', timeit(handle_point_one));
=======
% THIS SCRIPT COMPUTES THE TIME TAKEN TO GENERATE TRAJECTORIES FOR RANDOM
% STARTING POINTS
%% CONSTANTS
% Robot velocity (m/s)
rob_vel= 2;
% Configuration space
min_x= 0;
max_x= 50;
min_y= 0;
max_y= 50;
%% SAMPLE TIME= 0.05
fprintf('\n\n\nSAMPLING TIME= 0.05\n\n');
% Sampling time
h= 0.05;
% First
% Random starting point
rob_pos= [(min_x + rand()*(max_x-min_x)) (min_y + rand()*(max_y-min_y))]';
handle_point_one= @() trajectory_generator_apf(rob_vel, rob_pos, h);
% Time execution
fprintf('First\n');
fprintf('Robot initial position: [%.4f %.4f]\n', rob_pos(1), rob_pos(2));
fprintf('Computation time: %.4f seconds\n\n', timeit(handle_point_one));
% Second
% Random starting point
rob_pos= [(min_x + rand()*(max_x-min_x)) (min_y + rand()*(max_y-min_y))]';
handle_point_one= @() trajectory_generator_apf(rob_vel, rob_pos, h);
% Time execution
fprintf('Second\n');
fprintf('Robot initial position: [%.4f %.4f]\n', rob_pos(1), rob_pos(2));
fprintf('Computation time: %.4f seconds\n\n', timeit(handle_point_one));
% Third
% Random starting point
rob_pos= [(min_x + rand()*(max_x-min_x)) (min_y + rand()*(max_y-min_y))]';
handle_point_one= @() trajectory_generator_apf(rob_vel, rob_pos, h);
% Time execution
fprintf('Third\n');
fprintf('Robot initial position: [%.4f %.4f]\n', rob_pos(1), rob_pos(2));
fprintf('Computation time: %.4f seconds\n\n', timeit(handle_point_one));
%% SAMPLE TIME= 0.1
fprintf('\n\n\nSAMPLING TIME= 0.1\n\n');
% Sampling time
h= 0.1;
% First
% Random starting point
rob_pos= [(min_x + rand()*(max_x-min_x)) (min_y + rand()*(max_y-min_y))]';
handle_point_one= @() trajectory_generator_apf(rob_vel, rob_pos, h);
% Time execution
fprintf('First\n');
fprintf('Robot initial position: [%.4f %.4f]\n', rob_pos(1), rob_pos(2));
fprintf('Computation time: %.4f seconds\n\n', timeit(handle_point_one));
% Second
% Random starting point
rob_pos= [(min_x + rand()*(max_x-min_x)) (min_y + rand()*(max_y-min_y))]';
handle_point_one= @() trajectory_generator_apf(rob_vel, rob_pos, h);
% Time execution
fprintf('Second\n');
fprintf('Robot initial position: [%.4f %.4f]\n', rob_pos(1), rob_pos(2));
fprintf('Computation time: %.4f seconds\n\n', timeit(handle_point_one));
% Third
% Random starting point
rob_pos= [(min_x + rand()*(max_x-min_x)) (min_y + rand()*(max_y-min_y))]';
handle_point_one= @() trajectory_generator_apf(rob_vel, rob_pos, h);
% Time execution
fprintf('Third\n');
fprintf('Robot initial position: [%.4f %.4f]\n', rob_pos(1), rob_pos(2));
fprintf('Computation time: %.4f seconds\n\n', timeit(handle_point_one));
%% SAMPLE TIME= 0.2
fprintf('\n\n\nSAMPLING TIME= 0.2\n\n');
% Sampling time
h= 0.2;
% First
% Random starting point
rob_pos= [(min_x + rand()*(max_x-min_x)) (min_y + rand()*(max_y-min_y))]';
handle_point_one= @() trajectory_generator_apf(rob_vel, rob_pos, h);
% Time execution
fprintf('First\n');
fprintf('Robot initial position: [%.4f %.4f]\n', rob_pos(1), rob_pos(2));
fprintf('Computation time: %.4f seconds\n\n', timeit(handle_point_one));
% Second
% Random starting point
rob_pos= [(min_x + rand()*(max_x-min_x)) (min_y + rand()*(max_y-min_y))]';
handle_point_one= @() trajectory_generator_apf(rob_vel, rob_pos, h);
% Time execution
fprintf('Second\n');
fprintf('Robot initial position: [%.4f %.4f]\n', rob_pos(1), rob_pos(2));
fprintf('Computation time: %.4f seconds\n\n', timeit(handle_point_one));
% Third
% Random starting point
rob_pos= [(min_x + rand()*(max_x-min_x)) (min_y + rand()*(max_y-min_y))]';
handle_point_one= @() trajectory_generator_apf(rob_vel, rob_pos, h);
% Time execution
fprintf('Third\n');
fprintf('Robot initial position: [%.4f %.4f]\n', rob_pos(1), rob_pos(2));
fprintf('Computation time: %.4f seconds\n\n', timeit(handle_point_one));
>>>>>>> 79d1e4cbca9c1d72b2084fc6b0242f538f4716cd