How should I call animation from classdef?

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ryunosuke tazawa
ryunosuke tazawa on 27 Oct 2021
I want to know the way to call the animation from classdef.
I defined the animatedline in classdef, and I called the animation to other code from the classdef.
But it did not showed the animation.
close all;
Length1 = 1.0;
Length2 = 1.0;
Mass1 = 1.0;
Mass2 = 1.0;
Ts = 0.01;
Theta_Initial1 = 0;
Theta_Initial2 = 0;
AngularVelocity_Initial1 = 0;
AngularVelocity_Initial2 = 0;
Pendulum2 = classDoublePendulum(Length1,Length2,Mass1,Mass2,Theta_Initial1,Theta_Initial2,AngularVelocity_Initial1,AngularVelocity_Initial2,Ts);
Trq = [10; 10];
for i=1:100
Pendulum2.Dstep(Trq); % call classdef but animation did not work.
end
Please someone help me , teach me the way.
classdef classDoublePendulum < handle
properties
Length1 = 1;
Length2 = 1;
Mass1 = 1;
Mass2 = 1;
AngularVelocity1 = 0;
AngularAcceleration1 = 0;
AngularVelocity2 = 0;
AngularAcceleration2 = 0;
Theta1 = 0;
Theta2 = 0;
Ts = 0.01;
X_Position1;
Y_Position1;
X_Position2;
Y_Position2;
Ball_Arrival = 0;
num1_1;
num1_2;
num1_3;
num1_4;
den1;
num2_1;
num2_2;
num2_3;
num2_4;
den2;
end
properties(Access = private)
Gravity = 9.8;
Pendulum_Double;
Curve;
Range;
end
methods
function obj = classDoublePendulum(Length1,Length2, Mass1,Mass2, Theta1, Theta2, AngularVelocity1, AngularVelocity2, Ts)
obj.Length1 = Length1;
obj.Length2 = Length2;
obj.Mass1 = Mass1;
obj.Mass2 = Mass2;
obj.Theta1 = Theta1;
obj.Theta2 = Theta2;
obj.AngularVelocity1 = AngularVelocity1;
obj.AngularVelocity2 = AngularVelocity2;
obj.Ts = Ts;
obj.X_Position1 = obj.Length1 * sin(obj.Theta1);
obj.Y_Position1 = -obj.Length1 * cos(obj.Theta1);
obj.X_Position2 = obj.X_Position1 + obj.Length2 * sin(obj.Theta1 + obj.Theta2);
obj.Y_Position2 = obj.Y_Position1 - obj.Length2 * cos(obj.Theta1 + obj.Theta2);
obj.Ball_Arrival = obj.X_Position2 + +abs(obj.AngularVelocity2)*(sqrt(2*abs(obj.Y_Position2)/obj.Gravity)); % ボールの距離
% animationcall
obj.Pendulum_Double = animatedline('Color','b','Marker','o','MarkerSize',10,'MarkerFaceColor','b','LineWidth',3);
obj.Curve = animatedline('Color','w','LineStyle','-','Marker','none','Linewidth',2);
obj.Range = [(obj.Length1 + obj.Length2)*(-2), (obj.Length1 + obj.Length2) * 2];
axis equal; axis off;
set(gca, 'Xlim', obj.Range, 'Ylim',obj.Range);
set(gcf, 'Color', 'w');
end
function Dstep(obj,tau)
obj.num1_1 = -obj.Gravity * (2 * obj.Mass1 + obj.Mass2) * sin(obj.Theta1);
obj.num1_2 = -obj.Mass2 * obj.Gravity * sin(obj.Theta1 - 2 * obj.Theta2);
obj.num1_3 = -2 * sin(obj.Theta1 - obj.Theta2) * obj.Mass2;
obj.num1_4 = obj.AngularVelocity2^2 * obj.Length2 + obj.AngularVelocity1^2 * obj.Length1 * cos(obj.Theta1 - obj.Theta2);
obj.den1 = obj.Length1 * (2 * obj.Mass1 + obj.Mass2 - obj.Mass2 * cos(2 * obj.Theta1 - 2 * obj.Theta2));
obj.AngularAcceleration1 = (obj.num1_1 + obj.num1_2 + obj.num1_3 * obj.num1_4)/obj.den1;
obj.num2_1 = 2 * sin(obj.Theta1 - obj.Theta2);
obj.num2_2 = obj.AngularVelocity1^2 * obj.Length1 * (obj.Mass1 + obj.Mass2);
obj.num2_3 = obj.Gravity * (obj.Mass1 + obj.Mass2 ) * cos(obj.Theta1);
obj.num2_4 = obj.AngularVelocity2^2 * obj.Length2 * obj.Mass2 * cos(obj.Theta1 - obj.Theta2);
obj.den2 = obj.Length2 * (2 * obj.Mass1 + obj.Mass2 - obj.Mass2 * cos(2 * obj.Theta1 - 2*obj.Theta2));
obj.AngularAcceleration2 = (obj.num2_1 * (obj.num2_2 + obj.num2_3 + obj.num2_4))/obj.den2;
obj.AngularVelocity1 = obj.AngularVelocity1 + obj.AngularAcceleration1 * obj.Ts;
obj.AngularVelocity2 = obj.AngularVelocity2 + obj.AngularAcceleration2 * obj.Ts;
obj.Theta1 = obj.Theta1 + obj.AngularVelocity1 * obj.Ts;
obj.Theta2 = obj.Theta2 + obj.AngularVelocity2 * obj.Ts;
obj.X_Position1 = obj.Length1 * sin(obj.Theta1);
obj.Y_Position1 = -obj.Length1 * cos(obj.Theta1);
obj.X_Position2 = obj.X_Position1 + obj.Length2 * sin(obj.Theta1 + obj.Theta2);
obj.Y_Position2 = obj.Y_Position1 - obj.Length2 * cos(obj.Theta1 + obj.Theta2);
obj.Ball_Arrival = obj.X_Position2 + +abs(obj.AngularVelocity2)*(sqrt(2*abs(obj.Y_Position2)/obj.Gravity));
% animation call and upadate
obj.Curve.addpoints(obj.X_Position2, obj.Y_Position2);
drawnow limitrate
obj.Pendulum_Double.addpoints([0 obj.X_Position1 obj.X_Position2], [0 obj.Y_Position1 obj.Y_Position2]);
clearpoints(obj.Pendulum_Double);
end
end
end

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