demo_2.m

setup_CoDs;

Option.limits= [-5 5 -5 5];
Option.check=0;
Option.Deltat=0.001;
Option.F_d=6;
Option.delta_dx=-0.5;
Option.Tfinal=100;
Option.animation=0;
Option.Onsurface=1;
Option.rho=5;

disp('Draw the contact surface')
[N_x,Poly,X_target,X_free,Option.check,fig]=Construct_the_surface_for_on_surface(Option);
if Option.check==0
    error('Program exit')
end
disp('Draw some motions, make sure that it ends up at the target point and it goes through the contact surface !')
[A,X_initial,Option.check]=Construct_the_dynamcial_system(Poly,X_target,X_free,Option,fig);
if Option.check==0
    error('Program exit')
end
[X_C,X_L]=Select_the_contact_point_on_surface(Poly,X_target,X_initial,Option);
[DDX_modulated,DX_modulated,X_modulated,F_modulated,Time_modulated]=  simulate_modulated_system(A,N_x,Poly,X_initial,X_target,X_free,X_C,X_L,Option);
plot_the_simualtions(DDX_modulated,DX_modulated,X_modulated,F_modulated,Time_modulated,Poly,X_initial,X_target,X_free,X_C,X_L,N_x,Option);