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tesi: save workspace before saving figures

master
EmaMaker 2024-09-10 21:17:22 +02:00
parent f90e3bdb68
commit 397bda10f5
1 changed files with 17 additions and 16 deletions
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tesi.m
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@ -3,7 +3,7 @@ clear all
close all
%TESTS = ["sin_faster", "sin", "circle", "straightline", "reverse_straightline"]
TESTS = ["circle/start_center"]
TESTS = ["straightline/chill", "straightline/chill_errortheta_pisixths", "straightline/toofast", "straightline/chill_errory", "circle/start_center", "figure8/chill", "figure8/toofast", "square"]
s_ = size(TESTS);
@ -44,20 +44,25 @@ for i = 1:s_(1)
disp('Done')
end
% save simulation data
f1 = [ TEST '/' char(datetime, 'dd-MM-yyyy-HH-mm-ss')]; % windows compatible
f = ['results-diffdrive/' f1];
mkdir(f)
% save workspace
dsave([f '/workspace_composite.mat']);
% save test file
copyfile(['tests/' TEST], f);
% save figures + plot results
h = [];
% plot results
s1_ = size(worker_index);
for n = 1:s1_(2)
h = [h, figure('Name', [TEST ' ' num2str(n)] )];
plot_results(t{n}, q{n}, ref_t{n}, U{n}, U_track{n}, U_corr{n});
end
% windows compatible
f1 = [ TEST '/' char(datetime, 'dd-MM-yyyy HH-mm-ss')];
f = ['results-diffdrive/' f1];
mkdir(f)
savefig(h, [f '/figure.fig']);
h = [h, figure('Name', 'difference between 1step and multistep')]
% plot correction different between 1-step and multistep
h = [h, figure('Name', 'difference between 1step and multistep')];
subplot(2,1,1)
plot(t{2}, U_corr{2}(:, 1) - U_corr{3}(:, 1))
xlabel('t')
@ -66,11 +71,8 @@ for i = 1:s_(1)
plot(t{2}, U_corr{2}(:, 2) - U_corr{3}(:, 2))
xlabel('t')
ylabel('difference on w_l between 1-step and multistep')
clear h
dsave([f '/workspace_composite.mat']);
copyfile(['tests/' TEST], f);
% save figures
savefig(h, [f '/figure.fig']);
%video(q{1}', ref_t{1}', 0.1, t{1}, 2, sim_data{1}.tc*0.05, "aa");
%video(q{2}', ref_t{2}', 0.1, t{2}, 2, sim_data{1}.tc*0.05, "aa");
@ -112,8 +114,7 @@ function [t, q, ref_t, U, U_track, U_corr, U_corr_pred_history, Q_pred] = simula
q = [q; z];
t = [t; v];
[u_discr, u_track, u_corr, U_corr_history, q_pred] = control_act(t(end), q(end, :), sim_data);
sim_data.U_corr_history = U_corr_history;
U = [U; ones(length(v), 1)*u_discr'];