2024-08-13 11:45:36 +02:00
|
|
|
clc
|
|
|
|
|
clear all
|
|
|
|
|
close all
|
|
|
|
|
|
|
|
|
|
disp('Creating figure')
|
2024-08-31 13:31:35 +02:00
|
|
|
figure('units','normalized','outerposition',[0 0 1 1])
|
2024-08-13 11:45:36 +02:00
|
|
|
disp('Photos will start in 3s')
|
|
|
|
|
pause(3)
|
|
|
|
|
|
|
|
|
|
PLOT_TESTS = [
|
2024-08-31 13:31:35 +02:00
|
|
|
"results-diffdrive/straightline/chill/01-Aug-2024 15-34-03";
|
|
|
|
|
"results-diffdrive/straightline/chill_errortheta_pisixths/01-Aug-2024 15-56-36";
|
|
|
|
|
"results-diffdrive/square/01-Aug-2024 16-18-51";
|
|
|
|
|
"results-diffdrive/circle/start_center/01-Aug-2024 16-46-41";
|
|
|
|
|
"results-diffdrive/circle/start_tangent/01-Aug-2024 16-55-09";
|
|
|
|
|
"results-diffdrive/circle/toofast/01-Aug-2024 17-35-25";
|
|
|
|
|
"results-diffdrive/straightline/toofast/01-Aug-2024 15-37-48";
|
|
|
|
|
"results-diffdrive/figure8/chill/15-Aug-2024 09-16-21";
|
|
|
|
|
"results-diffdrive/figure8/toofast/15-Aug-2024 09-10-32";
|
2024-09-01 18:50:43 +02:00
|
|
|
"results-diffdrive/straightline/abrupt_stop_chill/27-Aug-2024 10-15-43";
|
2024-08-31 13:31:35 +02:00
|
|
|
"results-diffdrive/straightline/abrupt_stop_toofast/27-Aug-2024 10-44-35";
|
2024-08-30 16:51:21 +02:00
|
|
|
"results-diffdrive/sin/no_start_error/27-Aug-2024 19-28-17";
|
|
|
|
|
"results-diffdrive/sin/no_start_error/27-Aug-2024 19-29-42";
|
|
|
|
|
"results-diffdrive/sin/no_start_error/27-Aug-2024 19-31-17";
|
2024-08-31 13:31:35 +02:00
|
|
|
"results-diffdrive/sin/no_start_error/27-Aug-2024 19-38-03";
|
2024-08-13 11:45:36 +02:00
|
|
|
]
|
|
|
|
|
|
|
|
|
|
s_ = size(PLOT_TESTS)
|
|
|
|
|
for i = 1:s_(1)
|
|
|
|
|
clearvars -except PLOT_TESTS s_ i
|
|
|
|
|
|
|
|
|
|
sPLOT_TEST = convertStringsToChars(PLOT_TESTS(i));
|
|
|
|
|
PLOT_TEST = [sPLOT_TEST, '/workspace_composite.mat']
|
|
|
|
|
load(PLOT_TEST)
|
|
|
|
|
|
2024-08-29 19:36:11 +02:00
|
|
|
dir = ['images-diffdrive/', sPLOT_TEST, '/']
|
2024-08-13 11:45:36 +02:00
|
|
|
mkdir(dir);
|
|
|
|
|
for n=1:3
|
|
|
|
|
clf; plot_trajectory(t{n}, ref_t{n}, q{n})
|
|
|
|
|
export_fig(gcf, '-transparent', [dir, num2str(n), '_trajectory.eps'])
|
|
|
|
|
clf; plot_error(t{n}, ref_t{n}, q{n})
|
|
|
|
|
export_fig(gcf, '-transparent', [dir, num2str(n), '_error.eps'])
|
2024-08-31 13:31:35 +02:00
|
|
|
clf; plot_doubleinput(t{n}, sim_data{n}.SATURATION, U_track{n}, U_corr{n}, 0)
|
|
|
|
|
export_fig(gcf, '-transparent', [dir, num2str(n), '_double_input_1x2.eps'])
|
|
|
|
|
clf; plot_doubleinput(t{n}, sim_data{n}.SATURATION, U_track{n}, U_corr{n}, 1)
|
|
|
|
|
export_fig(gcf, '-transparent', [dir, num2str(n), '_double_input_2x1.eps'])
|
|
|
|
|
clf; plot_tripleinput(t{n}, sim_data{n}.SATURATION, U{n}, U_track{n}, U_corr{n}, 0)
|
|
|
|
|
export_fig(gcf, '-transparent', [dir, num2str(n), '_triple_input_1x2.eps'])
|
|
|
|
|
clf; plot_tripleinput(t{n}, sim_data{n}.SATURATION, U{n}, U_track{n}, U_corr{n}, 1)
|
|
|
|
|
export_fig(gcf, '-transparent', [dir, num2str(n), '_triple_input_2x1.eps'])
|
|
|
|
|
|
2024-08-13 11:45:36 +02:00
|
|
|
%print([dir, num2str(n), '_error.png'], '-dpng')
|
|
|
|
|
%clf; plot_input(t{n}, sim_data{n}.SATURATION, U_track{n}, 'track')
|
|
|
|
|
%export_fig(gcf, '-transparent', [dir, num2str(n), '_track_input.eps'])
|
|
|
|
|
%print([dir, num2str(n), '_track_input.png'], '-dpng')
|
|
|
|
|
%clf; plot_input(t{n}, sim_data{n}.SATURATION, U_corr{n}, 'corr')
|
|
|
|
|
%export_fig(gcf, '-transparent', [dir, num2str(n), '_corr_input.eps'])
|
|
|
|
|
%print([dir, num2str(n), '_corr_input.png'], '-dpng')
|
2024-08-31 13:31:35 +02:00
|
|
|
|
2024-08-13 11:45:36 +02:00
|
|
|
%clf; plot_input(t{n},sim_data{n}.SATURATION, U{n}, '')
|
|
|
|
|
%export_fig(gcf, '-transparent', [dir, num2str(n), '_total_input.eps'])
|
|
|
|
|
%print([dir, num2str(n), '_total_input.png'], '-dpng')
|
|
|
|
|
end
|
2024-08-31 13:31:35 +02:00
|
|
|
|
2024-08-13 11:45:36 +02:00
|
|
|
clf; plot_input_diff(t{3}, U_corr{3}, U_corr{2},0)
|
|
|
|
|
export_fig(gcf, '-transparent', [dir, num2str(n), 'corr_input_diff_1x2.eps'])
|
|
|
|
|
%print([dir, 'corr_input_diff_1x2.png'], '-dpng')
|
|
|
|
|
clf; plot_input_diff(t{3}, U_corr{3}, U_corr{2},1)
|
|
|
|
|
export_fig(gcf, '-transparent', [dir, num2str(n), 'corr_input_diff_2x1.eps'])
|
|
|
|
|
%print([dir, 'corr_input_diff_2x1.png'], '-dpng')
|
|
|
|
|
end
|
