y_tANDx_t.m

clc;
close all;
clear all;

%% Import Data 

% data 1: 
Pose_Matrix_data_1 = csvread('CAM_PID_.266_.0003_.014.txt',1,0);
Vel_Matrix_data_1 = csvread('vel_PID_.266_.0003_.014.txt',1,0);
Raw_meas_1 = csvread('Trans_PID_.266_.0003_.014.txt',1,0);

% time in position
TimeP_ros_data_1 = Pose_Matrix_data_1(:,1); % ros time, needs to be converted to sec...

% duriation =         end_time        -     start_time
  durationP_data_1 = (TimeP_ros_data_1(size(TimeP_ros_data_1,1),:) - TimeP_ros_data_1(1,:))*10^(-9); 
  
t_P_sec_data_1 = 0:durationP_data_1/size(TimeP_ros_data_1,1):durationP_data_1;
t_P_sec_data_1(:,size(t_P_sec_data_1,2)) = [];

% time in RAW MEASUREMENT
T_Raw_ros_1 = Raw_meas_1(:,1); % ros time, needs to be converted to sec...

% duriation =         end_time        -     start_time
  duRAW_1 = (T_Raw_ros_1(size(T_Raw_ros_1,1),:) - T_Raw_ros_1(1,:))*10^(-9); 
  
t_Raw_ave_1 = 0:duRAW_1/size(T_Raw_ros_1,1):duRAW_1;
t_Raw_ave_1(:,size(t_Raw_ave_1,2)) = [];

% time in vel
TimeV_ros_data_1 = Vel_Matrix_data_1(:,1); % ros time, needs to be converted to sec...

% duriation =         end_time        -     start_time
  durationV_data_1 = (TimeV_ros_data_1(size(TimeV_ros_data_1,1),:) - TimeV_ros_data_1(1,:))*10^(-9);

t_V_sec_data_1 = 0:durationV_data_1/size(TimeV_ros_data_1,1):durationV_data_1;
t_V_sec_data_1(:,size(t_V_sec_data_1,2)) = [];

% -----------------------------------------------------------------------------------------------------
% data 2: 

Pose_Matrix_data_2 = csvread('CAM_PID_.28_0_.006.txt',1,0);
Vel_Matrix_data_2 = csvread('vel_PID_.28_0_.006.txt',1,0);
RAW_meas_2 = csvread('Trans_PID_.28_0_.006.txt',1,0);

% time in position
TimeP_ros_data_2 = Pose_Matrix_data_2(:,1); % ros time, needs to be converted to sec...

% duriation =         end_time        -     start_time
  durationP_data_2 = (TimeP_ros_data_2(size(TimeP_ros_data_2,1),:) - TimeP_ros_data_2(1,:))*10^(-9); 
  
t_P_sec_data_2 = 0:durationP_data_2/size(TimeP_ros_data_2,1):durationP_data_2;
t_P_sec_data_2(:,size(t_P_sec_data_2,2)) = [];

% time in RAW MEASUREMEMT
T_RAW_ros_2 = RAW_meas_2(:,1); % ros time, needs to be converted to sec...

% duriation =         end_time        -     start_time
  duRAW_2 = (T_RAW_ros_2(size(T_RAW_ros_2,1),:) - T_RAW_ros_2(1,:))*10^(-9); 
  
t_RAW_ave_2 = 0:duRAW_2/size(T_RAW_ros_2,1):duRAW_2;
t_RAW_ave_2(:,size(t_RAW_ave_2,2)) = [];

% time in vel
TimeV_ros_data_2 = Vel_Matrix_data_2(:,1); % ros time, needs to be converted to sec...

% duriation =         end_time        -     start_time
  durationV_data_2 = (TimeV_ros_data_2(size(TimeV_ros_data_2,1),:) - TimeV_ros_data_2(1,:))*10^(-9);

t_V_sec_data_2 = 0:durationV_data_2/size(TimeV_ros_data_2,1):durationV_data_2;
t_V_sec_data_2(:,size(t_V_sec_data_2,2)) = [];

% -----------------------------------------------------------------------------------------------------
% data 3: 

Pose_Matrix_data_3 = csvread('CAM_PID_.29_.00026_.015.txt',1,0);
Vel_Matrix_data_3 = csvread('vel_PID_.29_.00026_.015.txt',1,0);
RAW_meas_3 = csvread('Trans_PID_.29_.00026_.015.txt',1,0);

% time in position
TimeP_ros_data_3 = Pose_Matrix_data_3(:,1); % ros time, needs to be converted to sec...

% duriation =         end_time        -     start_time
  durationP_data_3 = (TimeP_ros_data_3(size(TimeP_ros_data_3,1),:) - TimeP_ros_data_3(1,:))*10^(-9); 
  
t_P_sec_data_3 = 0:durationP_data_3/size(TimeP_ros_data_3,1):durationP_data_3;
t_P_sec_data_3(:,size(t_P_sec_data_3,2)) = [];

% time in RAW MEASUREMENT
T_RAW_ros_3 = RAW_meas_3(:,1); % ros time, needs to be converted to sec...

% duriation =         end_time        -     start_time
  duRaw_3 = (T_RAW_ros_3(size(T_RAW_ros_3,1),:) - T_RAW_ros_3(1,:))*10^(-9); 
  
t_Raw_real_3 = 0:duRaw_3/size(T_RAW_ros_3,1):duRaw_3;
t_Raw_real_3(:,size(t_Raw_real_3,2)) = [];

% time in vel
TimeV_ros_data_3 = Vel_Matrix_data_3(:,1); % ros time, needs to be converted to sec...

% duriation =         end_time        -     start_time
  durationV_data_3 = (TimeV_ros_data_3(size(TimeV_ros_data_3,1),:) - TimeV_ros_data_3(1,:))*10^(-9);

t_V_sec_data_3 = 0:durationV_data_3/size(TimeV_ros_data_3,1):durationV_data_3;
t_V_sec_data_3(:,size(t_V_sec_data_3,2)) = [];

% -----------------------------------------------------------------------------------------------------
% data 4: 
Pose_Matrix_data_4 = csvread('CAM_PID_.3_.0004_.02.txt',1,0);
Vel_Matrix_data_4 = csvread('vel_PID_.3_.0004_.02.txt',1,0);
Raw_Meas_4 = csvread('Trans_PID_.3_.0004_.02.txt',1,0);

% time in position
TimeP_ros_data_4 = Pose_Matrix_data_4(:,1); % ros time, needs to be converted to sec...

% duriation =         end_time        -     start_time
  durationP_data_4 = (TimeP_ros_data_4(size(TimeP_ros_data_4,1),:) - TimeP_ros_data_4(1,:))*10^(-9); 
  
t_P_sec_data_4 = 0:durationP_data_4/size(TimeP_ros_data_4,1):durationP_data_4;
t_P_sec_data_4(:,size(t_P_sec_data_4,2)) = [];

% time in RAW_MEASUREMENT
T_Raw_ros_4 = Raw_Meas_4(:,1); % ros time, needs to be converted to sec...

% duriation =         end_time        -     start_time
  duRaw_4 = (T_Raw_ros_4(size(T_Raw_ros_4,1),:) - T_Raw_ros_4(1,:))*10^(-9); 
  
t_Raw_real_4 = 0:duRaw_4/size(T_Raw_ros_4,1):duRaw_4;
t_Raw_real_4(:,size(t_Raw_real_4,2)) = [];

% time in vel
TimeV_ros_data_4 = Vel_Matrix_data_4(:,1); % ros time, needs to be converted to sec...

% duriation =         end_time        -     start_time
  durationV_data_4 = (TimeV_ros_data_4(size(TimeV_ros_data_4,1),:) - TimeV_ros_data_4(1,:))*10^(-9);

t_V_sec_data_4 = 0:durationV_data_4/size(TimeV_ros_data_4,1):durationV_data_4;
t_V_sec_data_4(:,size(t_V_sec_data_4,2)) = [];

%% Pose estimation

%data 1:
x_raw_1 = Raw_meas_1(:,4); % x_t
y_raw_1 = Raw_meas_1(:,3); % y_t
theta_raw_1 = Raw_meas_1(:,7); % yaw

Pose_X_data_1 = Pose_Matrix_data_1(:,4);
Pose_Y_data_1 = Pose_Matrix_data_1(:,3);
Theta_data_1 = Pose_Matrix_data_1(:,7);

%data 2:
x_raw_2 = RAW_meas_2(:,4); % x_t
y_raw_2 = RAW_meas_2(:,3); % y_t
theta_raw_2 = RAW_meas_2(:,7); % yaw

Pose_X_data_2 = Pose_Matrix_data_2(:,4);
Pose_Y_data_2 = Pose_Matrix_data_2(:,3);
Theta_data_2 = Pose_Matrix_data_2(:,7);

%data 3:
x_raw_3 = RAW_meas_3(:,4); % x_t
y_raw_3 = RAW_meas_3(:,3); % y_t
theta_raw_3 = RAW_meas_3(:,7); % yaw

Pose_X_data_3 = Pose_Matrix_data_3(:,4);
Pose_Y_data_3 = Pose_Matrix_data_3(:,3);
Theta_data_3 = Pose_Matrix_data_3(:,7);


%data 4:
x_raw_4 = Raw_Meas_4(:,4); % x_t
y_raw_4 = Raw_Meas_4(:,3); % y_t
theta_raw_4 = Raw_Meas_4(:,7); % yaw

Pose_X_data_4 = Pose_Matrix_data_4(:,4);
Pose_Y_data_4 = Pose_Matrix_data_4(:,3);
Theta_data_4 = Pose_Matrix_data_4(:,7);


% Reference Circle 
thresh_X = .0013;
theta = 0:.001:2*pi;

% needs to be adjusted manually if docking platform is replaced!
ref_x = -.2025;
ref_y = -.0185;

x_circle = thresh_X*cos(theta) + ref_x; % ref_X needs to be recorded
y_circle = thresh_X*sin(theta) + ref_y; % ref_Y needs to be recorded

%% Velocity estimation

% data 1:
Vel_X_data_1 = Vel_Matrix_data_1(:,2);
Vel_Y_data_1 = Vel_Matrix_data_1(:,3);
Omega_Z_data_1 = Vel_Matrix_data_1(:,7);


% data 2:
Vel_X_data_2 = Vel_Matrix_data_2(:,2);
Vel_Y_data_2 = Vel_Matrix_data_2(:,3);
Omega_Z_data_2 = Vel_Matrix_data_2(:,7);


% data 3:
Vel_X_data_3 = Vel_Matrix_data_3(:,2);
Vel_Y_data_3 = Vel_Matrix_data_3(:,3);
Omega_Z_data_3 = Vel_Matrix_data_3(:,7);

% data 4:
Vel_X_data_4 = Vel_Matrix_data_4(:,2);
Vel_Y_data_4 = Vel_Matrix_data_4(:,3);
Omega_Z_data_4 = Vel_Matrix_data_4(:,7);
%% Plot


figure;
set(gcf,'color','white');

% % raw measurement
% subplot(331);
% 
% plot(t_Raw_ave_1,x_raw_1,'b','LineWidth',1.5);
% hold on;
% plot(t_RAW_ave_2,x_raw_2,'k','LineWidth',1.5);
% hold on;
% plot(t_Raw_real_3,x_raw_3,'g','LineWidth',1.5);
% hold on;
% plot(t_Raw_real_4,x_raw_4,'r','LineWidth',1.5);
% ylabel('x_{raw}');
% title('Raw Measurement');
% 
% subplot(334);
% plot(t_Raw_ave_1,y_raw_1,'b','LineWidth',1.5);
% hold on;
% plot(t_RAW_ave_2,y_raw_2,'k','LineWidth',1.5);
% hold on;
% plot(t_Raw_real_3,y_raw_3,'g','LineWidth',1.5);
% hold on;
% plot(t_Raw_real_4,y_raw_4,'r','LineWidth',1.5);
% 
% ylabel('y_{raw}');
% 
% subplot(337);
% 
% plot(t_Raw_ave_1,theta_raw_1,'b','LineWidth',1.5);
% hold on;
% plot(t_RAW_ave_2,theta_raw_2,'k','LineWidth',1.5);
% hold on;
% plot(t_Raw_real_3,theta_raw_3,'g','LineWidth',1.5);
% hold on;
% plot(t_Raw_real_4,theta_raw_4,'r','LineWidth',1.5);
% xlabel('time');
% ylabel('\theta_{raw}');

% subplot(332);
subplot(321);
plot(t_P_sec_data_1,Pose_X_data_1,'LineWidth',1.9);
hold on
plot(t_P_sec_data_2,Pose_X_data_2,'r','LineWidth',1.8);
hold on
plot(t_P_sec_data_3,Pose_X_data_3,'g','LineWidth',1.7);
hold on
plot(t_P_sec_data_4,Pose_X_data_4,'m','LineWidth',1.6);
% set(gca,'fontsize',20);

% ylabel('${x_{mar}}$ [m]','interpreter','latex','FontSize',20);
% title('a) ${x_{mar}}$','interpreter','latex','FontSize',20);
% 
% l2 = legend('${P_y = 0.266, I_y = 0.0003, D_y = 0.014}$', '${P_y = 0.28, I_y = 0, D_y = 0.006}$','${P_y = 0.29, I_y = 0.00026, D_y = 0.015}$','${P_y = 0.3, I_y = 0.0004, D_y = 0.02}$');
% set(l2,'interpreter','latex','FontSize',9);
% legend('boxoff');

% subplot(335);
subplot(323);

plot(t_P_sec_data_1,Pose_Y_data_1,'LineWidth',1.9);
hold on
plot(t_P_sec_data_2,Pose_Y_data_2,'r','LineWidth',1.8);
hold on
plot(t_P_sec_data_3,Pose_Y_data_3,'g','LineWidth',1.7);
hold on
plot(t_P_sec_data_4,Pose_Y_data_4,'m','LineWidth',1.6);
% set(gca,'fontsize',20);
% ylabel('${y_{mar}}$ [m]','interpreter','latex','FontSize',20);
% title('b) ${y_{mar}}$','interpreter','latex','FontSize',20);

% subplot(338);
subplot(325);

plot(t_P_sec_data_1,Theta_data_1,'LineWidth',1.9);
hold on
plot(t_P_sec_data_2,Theta_data_2,'r','LineWidth',1.8);
hold on
plot(t_P_sec_data_3,Theta_data_3,'g','LineWidth',1.7);
hold on
plot(t_P_sec_data_4,Theta_data_4,'m','LineWidth',1.6);
% set(gca,'fontsize',20);
% title('c) ${\theta_{mar}}$','interpreter','latex','FontSize',20);
% xlabel('$ time [s]$','interpreter','latex','FontSize',20);
% ylabel('${\theta_{mar}}$ [rad]','interpreter','latex','FontSize',20);


% Control Signals

% % control signals
% figure;
% set(gcf,'color','white');

% subplot(333);
subplot(322);

plot(t_V_sec_data_1,Vel_X_data_1,'LineWidth',1.9);
hold on
plot(t_V_sec_data_2,Vel_X_data_2,'r','LineWidth',1.8);
hold on
plot(t_V_sec_data_3,Vel_X_data_3,'g','LineWidth',1.7);
hold on
plot(t_V_sec_data_4,Vel_X_data_4,'m','LineWidth',1.6);
% set(gca,'fontsize',20);
% title('d) $\dot{x}_{Rob}$','interpreter','latex','FontSize',20);
% ylabel('$\dot{x}_{Rob}$ [m/s]','interpreter','latex','FontSize',20);
% 
% l2 = legend('${P_y = 0.266, I_y = 0.0003, D_y = 0.014}$', '${P_y = 0.28, I_y = 0, D_y = 0.006}$','${P_y = 0.29, I_y = 0.00026, D_y = 0.015}$','${P_y = 0.3, I_y = 0.0004, D_y = 0.02}$');
% set(l2,'interpreter','latex','FontSize',13);
% legend('boxoff');
axis([0 60 -.01 .17]);

% subplot(336);
subplot(324);

plot(t_V_sec_data_1,Vel_Y_data_1,'LineWidth',1.9);
hold on
plot(t_V_sec_data_2,Vel_Y_data_2,'r','LineWidth',1.8);
hold on
plot(t_V_sec_data_3,Vel_Y_data_3,'g','LineWidth',1.7);
hold on
plot(t_V_sec_data_4,Vel_Y_data_4,'m','LineWidth',1.6);
% set(gca,'fontsize',20);
% ylabel('$\dot{y}_{Rob}$ [m/s]','interpreter','latex','FontSize',20);
% title('e) $\dot{y}_{Rob}$','interpreter','latex','FontSize',20);

% subplot(339);
subplot(326);

plot(t_V_sec_data_1,Omega_Z_data_1,'LineWidth',1.9);
hold on
plot(t_V_sec_data_2,Omega_Z_data_2,'r','LineWidth',1.8);
hold on
plot(t_V_sec_data_3,Omega_Z_data_3,'g','LineWidth',1.7);
hold on
plot(t_V_sec_data_4,Omega_Z_data_4,'m','LineWidth',1.6);
% set(gca,'fontsize',20);
% title('f) $\dot{\theta}_{Rob}$','interpreter','latex','FontSize',20);
% xlabel('$ time [s]$','interpreter','latex','FontSize',20);
% ylabel('$\dot{\theta}_{Rob}$ [rad/s]','interpreter','latex','FontSize',20);

% Trajectory

figure;
set(gcf,'color','white');
subplot(131);
plot(Pose_Y_data_1,Pose_X_data_1,'b','LineWidth',2);
% hold on
% quiver(abs(Pose_Y_data_1),Pose_X_data_1,gradient(Pose_Y_data_1),gradient(Pose_X_data_1),'r--','LineWidth',.1);

hold on
plot(Pose_Y_data_2,Pose_X_data_2,'r','LineWidth',2);
% hold on
% quiver(abs(Pose_Y_data_2),Pose_X_data_2,gradient(Pose_Y_data_2),gradient(Pose_X_data_2),'m--','LineWidth',.1);

hold on
plot(Pose_Y_data_3,Pose_X_data_3,'g','LineWidth',2);
% hold on
% quiver(abs(Pose_Y_data_3),Pose_X_data_3,gradient(Pose_Y_data_3),gradient(Pose_X_data_3),'k--','LineWidth',.1);

hold on
plot(Pose_Y_data_4,Pose_X_data_4,'m','LineWidth',2);
% hold on
% quiver(abs(Pose_Y_data_4),Pose_X_data_4,gradient(Pose_Y_data_4),gradient(Pose_X_data_4),'b--','LineWidth',.1);

hold on
plot(y_circle,x_circle,'k--','LineWidth',3.4);
% set(gca,'fontsize',20);
% title('${a) Approach  + SM  + Target}$','interpreter','latex','FontSize',20);
% ylabel('${x}_{mar}$ [m]','interpreter','latex','FontSize',20);
% axis([-.65 .05 -1.6 -.19]);
axis([-.65 .03 -1.47 -.16]);
subplot(132);
plot(Pose_Y_data_1,Pose_X_data_1,'b','LineWidth',2);
hold on
plot(Pose_Y_data_2,Pose_X_data_2,'r','LineWidth',2);
hold on
plot(Pose_Y_data_3,Pose_X_data_3,'g','LineWidth',2);
hold on
plot(Pose_Y_data_4,Pose_X_data_4,'m','LineWidth',2);
hold on
plot(y_circle,x_circle,'k--','LineWidth',3.4);
% set(gca,'fontsize',20);
% title('$ {b) SM + Target}$','interpreter','latex','FontSize',20);
% xlabel('${y}_{mar}$ [m]','interpreter','latex','FontSize',20);
axis([-.025 0.005 -.29 -.19]);
% axis([-.033 -.01 -.26 -.195]);
subplot(133);
plot(Pose_Y_data_1,Pose_X_data_1,'b','LineWidth',2);
hold on
plot(Pose_Y_data_2,Pose_X_data_2,'r','LineWidth',2);
hold on
plot(Pose_Y_data_3,Pose_X_data_3,'g','LineWidth',2);
hold on
plot(Pose_Y_data_4,Pose_X_data_4,'m','LineWidth',2);
hold on
plot(y_circle,x_circle,'k--','LineWidth',3.4);
% set(gca,'fontsize',20);
% title('$ {c) Target}$','interpreter','latex','FontSize',20);
% axis([-.0205 -.0168 -.2054 -.199]);
axis([-.0201 -.017 -.206 -.1995]);
l = legend('${P_y = .266, I_y = .0003, D_y = .014}$', '${P_y = .28, I_y = 0, D_y = .006}$','${P_y = .29, I_y = .00026, D_y = .015}$','${P_y = .3, I_y = .0004, D_y = .02}$','${Target}$');
set(l,'interpreter','latex','FontSize',12);
legend('boxoff');




% no transformation
figure;
set(gcf,'color','white');
plot(y_raw_1,x_raw_1,'b','LineWidth',2);
hold on;
plot(y_raw_2,x_raw_2,'r','LineWidth',2);
hold on;
plot(y_raw_3,x_raw_3,'g','LineWidth',2);
hold on;
plot(y_raw_4,x_raw_4,'m','LineWidth',2);


xlabel('y_t');
ylabel('x_t');
% axis([-.1 .1 .19 1.55]);