----------------------------------------------------------------------

FIGURE 2 

execfile('./Sm_Plotter.py', globals(), locals())

ic = softMotion.Sm_Condition()
fc = softMotion.Sm_Condition()

ic.a = -6
ic.v = -3
ic.x = 10.
fc.a = 8
fc.v = 8
fc.x = 10


#vmin vmax amin amax jmin jmax
limits = softMotion.Sm_Limits(-20, 20, -20, 20, -30, 30)
myplotter = SmPlotter(limits,ic,fc)
myplotter.drawAV()

----------------------------------------------------------------------


FIGURE 3

execfile('./Sm_Plotter.py', globals(), locals())

ic = softMotion.Sm_Condition()
fc = softMotion.Sm_Condition()

ic.a = -8
ic.v = -3
ic.x = 10.
fc.a = -12
fc.v = 5
fc.x = 10


#vmin vmax amin amax jmin jmax
limits = softMotion.Sm_Limits(-20, 20, -20, 20, -30, 30)
myplotter = SmPlotter(limits,ic,fc)
myplotter.drawAV()

----------------------------------------------------------------------


FIGURE 4


execfile('./Sm_Plotter.py', globals(), locals())

ic = softMotion.Sm_Condition()
fc = softMotion.Sm_Condition()

ic.a = 10
ic.v = 4
ic.x = 10.
fc.a = 10
fc.v = 6
fc.x = 10.


#vmin vmax amin amax jmin jmax
limits = softMotion.Sm_Limits(-20, 20, -20, 20, -30, 30)
myplotter = SmPlotter(limits,ic,fc)
myplotter.drawAV()


----------------------------------------------------------------------

FIGURE 5


execfile('./Sm_Plotter.py', globals(), locals())

ic = softMotion.Sm_Condition()
fc = softMotion.Sm_Condition()

ic.a = 8
ic.v = -5
ic.x = 10.
fc.a = 8
fc.v = 5
fc.x = 10


#vmin vmax amin amax jmin jmax
limits = softMotion.Sm_Limits(-30, 30, -30, 30, -50, 50)
myplotter = SmPlotter(limits,ic,fc)
myplotter.drawAV()

------------------------------------------------------------------------

FIGURE 6


execfile('./Sm_Plotter.py', globals(), locals())

ic = softMotion.Sm_Condition()
fc = softMotion.Sm_Condition()

ic.a = 8
ic.v = -5
ic.x = 10.
fc.a = 8
fc.v = 5
fc.x = 10


#vmin vmax amin amax jmin jmax
limits = softMotion.Sm_Limits(-30, 30, -30, 30, -50, 50)
myplotter = SmPlotter(limits,ic,fc)
myplotter.drawTX()

----------------------------------------------------------------------

FIGURE 7


execfile('./Sm_Plotter.py', globals(), locals())

ic = softMotion.Sm_Condition()
fc = softMotion.Sm_Condition()

ic.a = 8
ic.v = 10
ic.x = 10.
fc.a = 8
fc.v = 20
fc.x = 10


#vmin vmax amin amax jmin jmax
limits = softMotion.Sm_Limits(-30, 30, -30, 30, -50, 50)
myplotter = SmPlotter(limits,ic,fc)
myplotter.drawTX()

----------------------------------------------------------------------

FIGURE 8

execfile('./Sm_Plotter.py', globals(), locals())

ic = softMotion.Sm_Condition()
fc = softMotion.Sm_Condition()

ic.a = 8
ic.v = 10
ic.x = 0
fc.a = 8
fc.v = 20
fc.x = 9.44920

#vmin vmax amin amax jmin jmax
limits = softMotion.Sm_Limits(-30, 30, -30, 30, -50, 50)
myplotter = SmPlotter(limits,ic,fc)
myplotter.drawVT()

# 9.44920 < Lambda > 9.44921

----------------------------------------------------------------------

FIGURE 9

execfile('./Sm_Plotter.py', globals(), locals())

ic = softMotion.Sm_Condition()
fc = softMotion.Sm_Condition()

ic.a = 20
ic.v = -4.99
ic.x = 10.
fc.a = 20
fc.v = 4.99
fc.x = 10

#vmin vmax amin amax jmin jmax
limits = softMotion.Sm_Limits(-30, 30, -30, 30, -40, 40)
myplotter = SmPlotter(limits,ic,fc)
myplotter.drawTX()

----------------------------------------------------------------------

FIGURE 10

execfile('./Sm_Plotter.py', globals(), locals())

ic = softMotion.Sm_Condition()
fc = softMotion.Sm_Condition()

ic.a = -39.0
ic.v = 17.205
ic.x = 0.
fc.a = -39.0
fc.v = -17.105
fc.x = -49.861304330903231

#vmin vmax amin amax jmin jmax
limits= softMotion.Sm_Limits(-40.0,70.0,-55.0,50.0,-40.0,50.0)
myplotter = SmPlotter(limits,ic,fc)
myplotter.drawTX()


---------------------------------------------------------------------


FIGURE 11

execfile('./Sm_Plotter.py', globals(), locals())

ic = softMotion.Sm_Condition(20.9815, -83.4179, 0)
fc = softMotion.Sm_Condition(-20.6076, -79.5853, -213.683)
limits = softMotion.Sm_Limits(-90.9696, 25.1527, -20.9973, 20.9973, -2.02754, 29.7968)

myplotter = SmPlotter(limits,ic,fc)
myplotter.drawAV()


---------------------------------------------------------------------