Commit b0314014 authored by Anders Blomdell's avatar Anders Blomdell
Browse files

Plot time difference from robot to nominal time

parent 0bbc83a8
...@@ -15,6 +15,7 @@ if __name__ == '__main__': ...@@ -15,6 +15,7 @@ if __name__ == '__main__':
t_tot = data[-1,2] - data[0,2] t_tot = data[-1,2] - data[0,2]
t_robot = (data[...,1] - data[0,1]) / (data[-1,1] - data[0,1]) * t_tot 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_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] kp = data[...,4:18]
d_kp = kp[1:,1::2]-kp[0:-1,1::2] d_kp = kp[1:,1::2]-kp[0:-1,1::2]
...@@ -32,7 +33,9 @@ if __name__ == '__main__': ...@@ -32,7 +33,9 @@ if __name__ == '__main__':
axarr[2].set_title(r'Torque [Nm]') axarr[2].set_title(r'Torque [Nm]')
axarr[2].plot(seq[cut],torque[...,i][cut]) axarr[2].plot(seq[cut],torque[...,i][cut])
axarr[3].set_title(r'$t_{robot} - t_{sensor}$') 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])) f.savefig('axis_%d_%s.jpg' % (i + 1, sys.argv[1]))
plt.show() plt.show()
......
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