From 2408bdf47263f96b716b2569779f26858a1880f2 Mon Sep 17 00:00:00 2001 From: EmaMaker Date: Fri, 13 Sep 2024 20:25:25 +0200 Subject: [PATCH] also plot trajectory and error relative to output position --- plot_all.m | 24 +++++++++++++----------- 1 file changed, 13 insertions(+), 11 deletions(-) diff --git a/plot_all.m b/plot_all.m index c318485..28d4773 100644 --- a/plot_all.m +++ b/plot_all.m @@ -8,7 +8,6 @@ disp('Photos will start in 3s') pause(3) PLOT_TESTS = [ - %{ "results-diffdrive/straightline/chill/11-09-2024-16-57-01"; "results-diffdrive/straightline/chill_errortheta_pisixths/11-09-2024-16-57-43"; "results-diffdrive/straightline/chill_errory/11-09-2024-16-59-04"; @@ -18,17 +17,16 @@ PLOT_TESTS = [ "results-diffdrive/figure8/chill/11-09-2024-17-00-53"; %"results-diffdrive/figure8/fancyreps/11-09-2024--45-28"; "results-diffdrive/figure8/toofast/11-09-2024-17-01-43"; - %} - %"results-unicycle/straightline/chill/11-09-2024-17-07-51"; - %"results-unicycle/straightline/chill_errortheta_pisixths/11-09-2024-17-08-35"; - %"results-unicycle/straightline/chill_errory/11-09-2024-17-10-00"; - %"results-unicycle/straightline/toofast/11-09-2024-17-09-18"; - %"results-unicycle/circle/start_center/11-09-2024-17-10-48"; + "results-unicycle/straightline/chill/11-09-2024-17-07-51"; + "results-unicycle/straightline/chill_errortheta_pisixths/11-09-2024-17-08-35"; + "results-unicycle/straightline/chill_errory/11-09-2024-17-10-00"; + "results-unicycle/straightline/toofast/11-09-2024-17-09-18"; + "results-unicycle/circle/start_center/11-09-2024-17-10-48"; "results-unicycle/square/11-09-2024-17-17-21"; - %"results-unicycle/figure8/chill/11-09-2024-17-11-53"; + "results-unicycle/figure8/chill/11-09-2024-17-11-53"; %"results-unicycle/figure8/fancyreps/11-09-2024--45-28"; - %"results-unicycle/figure8/toofast/11-09-2024-17-12-45"; + "results-unicycle/figure8/toofast/11-09-2024-17-12-45"; ] s_ = size(PLOT_TESTS) @@ -60,7 +58,7 @@ for i = 1:s_(1) pause(0.5); export_fig(gcf, '-transparent', [dir, num2str(n), '_triple_input_1x2.png']) pause(1); clf; plot_tripleinput(t{n}, sim_data{n}.SATURATION, U{n}, U_track{n}, U_corr{n}, 1, in1, in2, m1, m2) pause(0.5); export_fig(gcf, '-transparent', [dir, num2str(n), '_triple_input_2x1.png']) - + %pause(1); clf; plot_input(t{n}, sim_data{n}.SATURATION, U_track{n}, 'track') %pause(0.5); export_fig(gcf, '-transparent', [dir, num2str(n), '_track_input.png']) %pause(1); clf; plot_input(t{n}, sim_data{n}.SATURATION, U_corr{n}, 'corr') @@ -70,6 +68,11 @@ for i = 1:s_(1) pause(0.5); export_fig(gcf, '-transparent', [dir, num2str(n), '_total_input_1x2.png']) pause(1); clf; plot_input(t{n},sim_data{n}.SATURATION, U{n}, 1, '', in1, in2, m1, m2) pause(0.5); export_fig(gcf, '-transparent', [dir, num2str(n), '_total_input_2x1.png']) + + pause(1); clf; plot_trajectory(t{n}, ref_t{n}, y{n}) + pause(0.5); export_fig(gcf, '-transparent', [dir, num2str(n), '_trajectory_out.png']) + pause(1); clf; plot_error(t{n}, ref_t{n}, y{n}) + pause(0.5); export_fig(gcf, '-transparent', [dir, num2str(n), '_error_out.png']) end % correction difference (multistep, 1-step) @@ -95,5 +98,4 @@ for i = 1:s_(1) pause(0.5); export_fig(gcf, '-transparent', [dir, 'input_diff_1step_multistep_1x2.png']) pause(1); clf; plot_input_diff(t{2}, t{3}, U{2}, U{3}, 1, ['\textbf{$$' in1 '^{1step}$$}'], ['\textbf{$$' in1 '^{multistep}$$}'], ['\textbf{$$' in2 '^{1step}$$}'], ['\textbf{$$' in2 '^{multistep}$$}'], m1, m2) pause(0.5); export_fig(gcf, '-transparent', [dir, 'input_diff_1step_multistep_2x1.png']) - end \ No newline at end of file