Plot time difference from robot to nominal time

analyze.py

@@ -15,6 +15,7 @@ if __name__ == '__main__':
     t_tot = data[-1,2] - data[0,2]
     t_robot = (data[...,1] - data[0,1]) / (data[-1,1] - data[0,1]) * t_tot
     t_sensor = (data[...,2] - data[0,2]) / (data[-1,2] - data[0,2]) * t_tot
+    t_nom = numpy.linspace(0,1,len(t_sensor)) * t_tot
 
     kp = data[...,4:18]
     d_kp = kp[1:,1::2]-kp[0:-1,1::2]
@@ -32,7 +33,9 @@ if __name__ == '__main__':
         axarr[2].set_title(r'Torque [Nm]')
         axarr[2].plot(seq[cut],torque[...,i][cut])
         axarr[3].set_title(r'$t_{robot} - t_{sensor}$')
-        axarr[3].plot(seq[cut],(t_robot - t_sensor)[cut])
+        axarr[3].plot(seq[cut], numpy.stack(((t_robot - t_sensor),
+                                             (t_robot - t_nom)),
+                                            axis=1)[cut])
         f.savefig('axis_%d_%s.jpg' % (i + 1, sys.argv[1]))
 
     plt.show()