demo_drawData_DS.m

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% Demo Script for Drawing Data GMM-based LPV_DS Learning for paper:       %
%  'A Physically-Consistent Bayesian Non-Parametric Mixture Model for     %
%   Dynamical System Learning.'                                           %                                                 %
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% Copyright (C) 2018 Learning Algorithms and Systems Laboratory,          %
% EPFL, Switzerland                                                       %
% Author:  Nadia Figueroa                                                 % 
% email:   nadia.figueroafernandez@epfl.ch                                %
% website: http://lasa.epfl.ch                                            %
%                                                                         %
% This work was supported by the EU project Cogimon H2020-ICT-23-2014.    %
%                                                                         %
% Permission is granted to copy, distribute, and/or modify this program   %
% under the terms of the GNU General Public License, version 2 or any     %
% later version published by the Free Software Foundation.                %
%                                                                         %
% This program is distributed in the hope that it will be useful, but     %
% WITHOUT ANY WARRANTY; without even the implied warranty of              %
% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General%
% Public License for more details                                         %
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%%  Draw 2D Dataset with GUI  %%
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close all; clear all; clc

% Create Figure
fig1 = figure('Color',[1 1 1]);
limits = [0 10 -5 5];
axis(limits)
set(gcf, 'Units', 'Normalized', 'OuterPosition', [0.25, 0.55, 0.2646 0.4358]);
grid on

% Draw Reference Trajectories
[data, hp] = draw_mouse_data_on_DS(fig1, limits);

% Process Drawn Data for DS learning
[Data, Data_sh, att, x0_all, dt] = processDrawnData(data);

% Position/Velocity Trajectories
vel_samples = 10; vel_size = 0.5; 
[h_data, h_att, h_vel] = plot_reference_trajectories_DS(Data, att, vel_samples, vel_size);


% Extract Position and Velocities
M          = size(Data,1)/2;    
Xi_ref     = Data(1:M,:);
Xi_dot_ref = Data(M+1:end,:);  
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%% To use this dataset go to the demo_loadData_*.m scripts %
%% and start with the[Step 2] block of code                %
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