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also plot trajectory and error relative to output position

master-costfun2
EmaMaker 2024-09-13 20:25:25 +02:00
parent 57790779d7
commit ee076259ca
1 changed files with 13 additions and 11 deletions
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22
plot_all.m
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@ -8,7 +8,6 @@ disp('Photos will start in 3s')
pause(3) pause(3)
PLOT_TESTS = [ PLOT_TESTS = [
%{
"results-diffdrive/straightline/chill/11-09-2024-16-57-01"; "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_errortheta_pisixths/11-09-2024-16-57-43";
"results-diffdrive/straightline/chill_errory/11-09-2024-16-59-04"; "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/chill/11-09-2024-17-00-53";
%"results-diffdrive/figure8/fancyreps/11-09-2024--45-28"; %"results-diffdrive/figure8/fancyreps/11-09-2024--45-28";
"results-diffdrive/figure8/toofast/11-09-2024-17-01-43"; "results-diffdrive/figure8/toofast/11-09-2024-17-01-43";
%}
%"results-unicycle/straightline/chill/11-09-2024-17-07-51"; "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_errortheta_pisixths/11-09-2024-17-08-35";
%"results-unicycle/straightline/chill_errory/11-09-2024-17-10-00"; "results-unicycle/straightline/chill_errory/11-09-2024-17-10-00";
%"results-unicycle/straightline/toofast/11-09-2024-17-09-18"; "results-unicycle/straightline/toofast/11-09-2024-17-09-18";
%"results-unicycle/circle/start_center/11-09-2024-17-10-48"; "results-unicycle/circle/start_center/11-09-2024-17-10-48";
"results-unicycle/square/11-09-2024-17-17-21"; "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/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) s_ = size(PLOT_TESTS)
@ -70,6 +68,11 @@ for i = 1:s_(1)
pause(0.5); export_fig(gcf, '-transparent', [dir, num2str(n), '_total_input_1x2.png']) 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(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(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 end
% correction difference (multistep, 1-step) % 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(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(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']) pause(0.5); export_fig(gcf, '-transparent', [dir, 'input_diff_1step_multistep_2x1.png'])
end end