Delete useless files

21252414 · Farid Alijani · 52b850f3 · 21252414 · 21252414 · 21252414
Commit 21252414 authored Sep 26, 2016 by Farid Alijani
--- a/Files_4_thesis/Different_controllers/CAM_PID_.31_.00065_.071.txt
+++ b/Files_4_thesis/Different_controllers/CAM_PID_.31_.00065_.071.txt
--- a/Files_4_thesis/Different_controllers/CAM_PID_.38_.0001_.02.txt
+++ b/Files_4_thesis/Different_controllers/CAM_PID_.38_.0001_.02.txt
--- a/Files_4_thesis/Different_controllers/CAM_PID_.38_0_.02.txt
+++ b/Files_4_thesis/Different_controllers/CAM_PID_.38_0_.02.txt
--- a/Files_4_thesis/Different_controllers/CAM_PID_.39_.0005_.01.txt
+++ b/Files_4_thesis/Different_controllers/CAM_PID_.39_.0005_.01.txt
--- a/Files_4_thesis/Different_controllers/CAM_joy.txt
+++ b/Files_4_thesis/Different_controllers/CAM_joy.txt
--- a/Files_4_thesis/Different_controllers/Odometry_Exp.m
+++ b/Files_4_thesis/Different_controllers/Odometry_Exp.m
+clc;
+close all;
+clear all;
+%% Import data and time conversion
+
+% data 1: 
+odom_Matrix_data_1 = csvread('odom_PID_.39_.0005_.01.txt',1,0);
+
+
+% time in position
+TimeP_ros_data_1 = odom_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)) = [];
+
+
+%% Pose estimation
+
+%data 1:
+odom_X_data_1 = odom_Matrix_data_1(:,2);
+odom_Y_data_1 = odom_Matrix_data_1(:,3);
+
+figure;
+plot(odom_Y_data_1,odom_X_data_1);
\ No newline at end of file
--- a/Files_4_thesis/Different_controllers/docking_with_PID_controller.m
+++ b/Files_4_thesis/Different_controllers/docking_with_PID_controller.m
@@ -23,8 +23,10 @@ clear all;
 % theta-axis gains:
 % P = .08; I = 0; D = 0;

-Pose_Matrix_data_1 = csvread('POSE_with_Py0.86_Iy0_Dy0.002ANDPt0.08_It0_Dt0.txt',1,0);
-Vel_Matrix_data_1 = csvread('VEL_with_Py0.86_Iy0_Dy0.002ANDPt0.08_It0_Dt0.txt',1,0);
+% Pose_Matrix_data_1 = csvread('POSE_with_Py0.86_Iy0_Dy0.002ANDPt0.08_It0_Dt0.txt',1,0);
+% Vel_Matrix_data_1 = csvread('VEL_with_Py0.86_Iy0_Dy0.002ANDPt0.08_It0_Dt0.txt',1,0);
+Pose_Matrix_data_1 = csvread('CAM_PID_.31_.00065_.071.txt',1,0);
+Vel_Matrix_data_1 = csvread('vel_PID_.31_.00065_.071.txt',1,0);

 % time in position
 TimeP_ros_data_1 = Pose_Matrix_data_1(:,1); % ros time, needs to be converted to sec...
@@ -53,9 +55,11 @@ t_V_sec_data_1(:,size(t_V_sec_data_1,2)) = [];
 % theta-axis gains:
 % P = .28; I = 0.1; D = 0.15;

-Pose_Matrix_data_2 = csvread('POSE_with_Py0.66_Iy0_Dy0.1ANDPt0.08_It0_Dt0.txt',1,0);
-Vel_Matrix_data_2 = csvread('VEL_with_Py0.66_Iy0_Dy0.1ANDPt0.08_It0_Dt0.txt',1,0);
+% Pose_Matrix_data_2 = csvread('POSE_with_Py0.66_Iy0_Dy0.1ANDPt0.08_It0_Dt0.txt',1,0);
+% Vel_Matrix_data_2 = csvread('VEL_with_Py0.66_Iy0_Dy0.1ANDPt0.08_It0_Dt0.txt',1,0);

+Pose_Matrix_data_2 = csvread('CAM_PID_.38_.0001_.02.txt',1,0);
+Vel_Matrix_data_2 = csvread('vel_PID_.38_.0001_.02.txt',1,0);

 % time in position
 TimeP_ros_data_2 = Pose_Matrix_data_2(:,1); % ros time, needs to be converted to sec...
@@ -84,8 +88,11 @@ t_V_sec_data_2(:,size(t_V_sec_data_2,2)) = [];
 % theta-axis gains:
 % P = .08; I = 0; D = 0;

-Pose_Matrix_data_3 = csvread('POSE_with_Py0.86_Iy0_Dy0.1ANDPt0.08_It0_Dt0.txt',1,0);
-Vel_Matrix_data_3 = csvread('VEL_with_Py0.86_Iy0_Dy0.1ANDPt0.08_It0_Dt0.txt',1,0);
+% Pose_Matrix_data_3 = csvread('POSE_with_Py0.86_Iy0_Dy0.1ANDPt0.08_It0_Dt0.txt',1,0);
+% Vel_Matrix_data_3 = csvread('VEL_with_Py0.86_Iy0_Dy0.1ANDPt0.08_It0_Dt0.txt',1,0);
+
+Pose_Matrix_data_3 = csvread('CAM_PID_.38_0_.02.txt',1,0);
+Vel_Matrix_data_3 = csvread('vel_PID_.38_0_.02.txt',1,0);

 % time in position
 TimeP_ros_data_3 = Pose_Matrix_data_3(:,1); % ros time, needs to be converted to sec...
@@ -114,8 +121,11 @@ t_V_sec_data_3(:,size(t_V_sec_data_3,2)) = [];
 % theta-axis gains:
 % P = .08; I = 0; D = 0;

-Pose_Matrix_data_4 = csvread('POSE_with_Py0.51_Iy0.0005_Dy0.05ANDPt0.08_It0_Dt0.txt',1,0);
-Vel_Matrix_data_4 = csvread('VEL_with_Py0.51_Iy0.0005_Dy0.05ANDPt0.08_It0_Dt0.txt',1,0);
+% Pose_Matrix_data_4 = csvread('POSE_with_Py0.51_Iy0.0005_Dy0.05ANDPt0.08_It0_Dt0.txt',1,0);
+% Vel_Matrix_data_4 = csvread('VEL_with_Py0.51_Iy0.0005_Dy0.05ANDPt0.08_It0_Dt0.txt',1,0);
+% 
+Pose_Matrix_data_4 = csvread('CAM_PID_.39_.0005_.01.txt',1,0);
+Vel_Matrix_data_4 = csvread('vel_PID_.39_.0005_.01.txt',1,0);

 % time in position
 TimeP_ros_data_4 = Pose_Matrix_data_4(:,1); % ros time, needs to be converted to sec...
@@ -165,14 +175,13 @@ TimeV_ros_data_5 = Vel_Matrix_data_5(:,1); % ros time, needs to be converted to
 t_V_sec_data_5 = 0:durationV_data_5/size(TimeV_ros_data_5,1):durationV_data_5;
 t_V_sec_data_5(:,size(t_V_sec_data_5,2)) = [];

-
 %% Pose estimation

 %data 1:
 % when using marker pose ,,,,
 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(:,5);
+Theta_data_1 = Pose_Matrix_data_1(:,7);


 % when using robot odometry ,,,,
@@ -190,7 +199,7 @@ ref_Pose_data_1 =[ref_X_data_1;ref_Y_data_1];
 % when using marker pose ,,,,
 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(:,5);
+Theta_data_2 = Pose_Matrix_data_2(:,7);

 % when using robot odometry ,,,,
 % Pose_X = Pose_Matrix(:,2);
@@ -207,7 +216,7 @@ ref_Pose_data_2 =[ref_X_data_2;ref_Y_data_2];
 % when using marker pose ,,,,
 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(:,5);
+Theta_data_3 = Pose_Matrix_data_3(:,7);

 % when using robot odometry ,,,,
 % Pose_X = Pose_Matrix(:,2);
@@ -224,12 +233,8 @@ ref_Pose_data_3 =[ref_X_data_3;ref_Y_data_3];
 % when using marker pose ,,,,
 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(:,5);
+Theta_data_4 = Pose_Matrix_data_4(:,7);

-% when using robot odometry ,,,,
-% Pose_X = Pose_Matrix(:,2);
-% Pose_Y = Pose_Matrix(:,3);
-% Theta = Pose_Matrix(:,7);

 % Extracting reference values when the robot is manually docked!
 ref_X_data_4 = Pose_X_data_4(size(Pose_X_data_4,1));
@@ -242,12 +247,7 @@ ref_Pose_data_4 =[ref_X_data_4;ref_Y_data_4];
 % when using marker pose ,,,,
 Pose_X_data_5 = Pose_Matrix_data_5(:,4);
 Pose_Y_data_5 = Pose_Matrix_data_5(:,3);
-Theta_data_5 = Pose_Matrix_data_5(:,5);
-
-% when using robot odometry ,,,,
-% Pose_X = Pose_Matrix(:,2);
-% Pose_Y = Pose_Matrix(:,3);
-% Theta = Pose_Matrix(:,7);
+Theta_data_5 = Pose_Matrix_data_5(:,7);

 % Extracting reference values when the robot is manually docked!
 ref_X_data_5 = Pose_X_data_5(size(Pose_X_data_5,1));
@@ -256,7 +256,6 @@ ref_Theta_data_5 = Theta_data_5(size(Theta_data_5,1));
 ref_Pose_data_5 =[ref_X_data_5;ref_Y_data_5];


-
 % Reference Circle 
 thresh_X = .001;
 theta = 0:.001:2*pi;
@@ -296,21 +295,16 @@ Omega_Z_data_5 = Vel_Matrix_data_5(:,7);

 %% Plots

-% for the presenation all pose estimation(x,y,theta) in one plot
+% marker position
+figure;
+plot(t_P_sec_data_4,Pose_Y_data_4,'k','LineWidth',1.6);
+
+figure;
+plot(t_P_sec_data_4,Theta_data_4,'k','LineWidth',1.6);

-% figure;
-% plot(t_P_sec,Pose_X,'b',t_P_sec,Pose_Y,'r',t_P_sec,Theta,'g');
-% 
-% title('Marker Pose');
-% xlabel('Time [sec]');
-% ylabel('Pose');
-% legend('X [m]','Y [m]','\theta [rad]');
-% grid on

-% marker position
 figure;
 set(gcf,'color','white');
-
 subplot(3,1,1);
 plot(t_P_sec_data_1,Pose_X_data_1,'LineWidth',3);
 hold on
@@ -334,7 +328,6 @@ hold on
 plot(t_P_sec_data_3,Pose_Y_data_3,'g','LineWidth',2.3);
 hold on
 plot(t_P_sec_data_4,Pose_Y_data_4,'m','LineWidth',1.6);
-
 ylabel('${y_{mar}}$ [m]','interpreter','latex','FontSize',14);

 subplot(3,1,3);
@@ -345,14 +338,13 @@ hold on
 plot(t_P_sec_data_3,Theta_data_3,'g','LineWidth',2.3);
 hold on
 plot(t_P_sec_data_4,Theta_data_4,'m','LineWidth',1.6);
-
 xlabel('$ time [sec]$','interpreter','latex','FontSize',14);
 ylabel('${\theta_{mar}}$ [rad]','interpreter','latex','FontSize',14);

 % control signals
+
 figure;
 set(gcf,'color','white');
-
 subplot(3,1,1);

 plot(t_V_sec_data_1,Vel_X_data_1,'LineWidth',3);
@@ -422,10 +414,10 @@ ylabel('$\dot{\theta}_{Rob}$ [rad/s]','interpreter','latex','FontSize',14);
 % plot(Pose_Y_data_1,Pose_X_data_1,'b','LineWidth',3.5);
 % hold on
 % quiver(Pose_Y_data_1,Pose_X_data_1,Vy,Vx,'r--','LineWidth',.1);
-
 figure;
-set(gcf,'color','white');
+plot(Pose_Y_data_4,Pose_X_data_4,'k','LineWidth',2);

+figure;
 subplot(1,3,1);
 plot(Pose_Y_data_1,Pose_X_data_1,'b','LineWidth',2);
 hold on
@@ -451,7 +443,7 @@ plot(y_circle,x_circle,'k--','LineWidth',3.4);

 title('Approach zone + SM zone + Target area');
 ylabel('${x}_{mar}$ [m]','interpreter','latex','FontSize',14);
-axis([-.1 .4 .18 1.4]);
+% axis([-.1 .4 .18 1.4]);

 subplot(1,3,2);
 plot(Pose_Y_data_1,Pose_X_data_1,'b','LineWidth',1.6);
@@ -466,7 +458,7 @@ plot(y_circle,x_circle,'k--','LineWidth',3.4);

 title('SM zone + Target area');
 xlabel('${y}_{mar}$ [m]','interpreter','latex','FontSize',14);
-axis([-.005 0.045 .195 .32]);
+% axis([-.005 0.045 .195 .32]);

 subplot(1,3,3);
 plot(Pose_Y_data_1,Pose_X_data_1,'b','LineWidth',2);
@@ -480,7 +472,7 @@ hold on
 plot(y_circle,x_circle,'k--','LineWidth',3.4);

 title('Target area');
-axis([0.0065 .0095 .1995 .2055]);
+% axis([0.0065 .0095 .1995 .2055]);

 l = legend('${P_y = 0.86, I_y = 0, D_y = 0.002}$', '${P_y = 0.66, I_y = 0, D_y = 0.1}$','${P_y = 0.86, I_y = 0, D_y = 0.1}$','${P_y = 0.51, I_y = 0.0005, D_y = 0.05}$' ,'Target');
 set(l,'interpreter','latex','FontSize',11);

--- a/Files_4_thesis/Different_controllers/joystick_exp.m
+++ b/Files_4_thesis/Different_controllers/joystick_exp.m
+clc;
+close all;
+clear all;
+
+%% Import data
+
+
+% data 6: 
+
+% ------------JOYSTICK-------------
+
+Pose_Matrix_data_6 = csvread('CAM_joy.txt',1,0);
+Vel_Matrix_data_6 = csvread('vel_joy.txt',1,0);
+
+% time in position
+TimeP_ros_data_6 = Pose_Matrix_data_6(:,1); % ros time, needs to be converted to sec...
+
+% duriation =         end_time        -     start_time
+  durationP_data_6 = (TimeP_ros_data_6(size(TimeP_ros_data_6,1),:) - TimeP_ros_data_6(1,:))*10^(-9); 
+  
+t_P_sec_data_6 = 0:durationP_data_6/size(TimeP_ros_data_6,1):durationP_data_6;
+t_P_sec_data_6(:,size(t_P_sec_data_6,2)) = [];
+
+% time in vel
+TimeV_ros_data_6 = Vel_Matrix_data_6(:,1); % ros time, needs to be converted to sec...
+
+% duriation =         end_time        -     start_time
+  durationV_data_6 = (TimeV_ros_data_6(size(TimeV_ros_data_6,1),:) - TimeV_ros_data_6(1,:))*10^(-9);
+
+t_V_sec_data_6 = 0:durationV_data_6/size(TimeV_ros_data_6,1):durationV_data_6;
+t_V_sec_data_6(:,size(t_V_sec_data_6,2)) = [];
+
+
+
+%% pose estimation
+
+%data 6:
+% when using marker pose ,,,,
+Pose_X_data_6 = Pose_Matrix_data_6(:,4);
+Pose_Y_data_6 = Pose_Matrix_data_6(:,3);
+Theta_data_6 = Pose_Matrix_data_6(:,7);
+
+% Extracting reference values when the robot is manually docked!
+ref_X_data_6 = Pose_X_data_6(size(Pose_X_data_6,1));
+ref_Y_data_6 = Pose_Y_data_6(size(Pose_Y_data_6,1));
+ref_Theta_data_6 = Theta_data_6(size(Theta_data_6,1));
+ref_Pose_data_6 =[ref_X_data_6;ref_Y_data_6];
+
+%% Velocity
+
+
+% data 6:
+Vel_X_data_6 = Vel_Matrix_data_6(:,2);
+Vel_Y_data_6 = Vel_Matrix_data_6(:,3);
+Omega_Z_data_6 = Vel_Matrix_data_6(:,7);
+
+%% plots
+
+figure;
+plot(t_P_sec_data_6,Pose_X_data_6,'LineWidth',2);
+xlabel('time');
+ylabel('x');
+
+figure;
+plot(t_P_sec_data_6,Pose_Y_data_6,'LineWidth',2);
+xlabel('time');
+ylabel('y');
+
+
+figure;
+plot(t_P_sec_data_6,Theta_data_6,'LineWidth',2);
+hold on
+plot(t_P_sec_data_6,pi/2,'r--','LineWidth',3);
+xlabel('time');
+ylabel('\theta');
+
+figure;
+plot(t_V_sec_data_6,Vel_X_data_6,'LineWidth',1.1);
+xlabel('time');
+ylabel('x_{dot}');
+
+figure;
+plot(t_V_sec_data_6,Vel_Y_data_6,'LineWidth',1.1);
+xlabel('time');
+ylabel('y_{dot}');
+
+figure;
+plot(t_V_sec_data_6,Omega_Z_data_6,'LineWidth',1.6);
+xlabel('time');
+ylabel('\theta_{dot}');
+
+figure;
+set(gcf,'color','white');
+plot(Pose_Y_data_6,Pose_X_data_6,'r','LineWidth',2);
+xlabel('Y');
+ylabel('X');
\ No newline at end of file
--- a/Files_4_thesis/Different_controllers/odom_PID_.31_.00065_.071.txt
+++ b/Files_4_thesis/Different_controllers/odom_PID_.31_.00065_.071.txt
--- a/Files_4_thesis/Different_controllers/odom_PID_.38_.0001_.02.txt
+++ b/Files_4_thesis/Different_controllers/odom_PID_.38_.0001_.02.txt
--- a/Files_4_thesis/Different_controllers/odom_PID_.38_0_.02.txt
+++ b/Files_4_thesis/Different_controllers/odom_PID_.38_0_.02.txt
--- a/Files_4_thesis/Different_controllers/odom_PID_.39_.0005_.01.txt
+++ b/Files_4_thesis/Different_controllers/odom_PID_.39_.0005_.01.txt
--- a/Files_4_thesis/Different_controllers/vel_PID_.31_.00065_.071.txt
+++ b/Files_4_thesis/Different_controllers/vel_PID_.31_.00065_.071.txt
+%time,field.linear.x,field.linear.y,field.linear.z,field.angular.x,field.angular.y,field.angular.z
+1474735264639261748,0.15,-0.587719078182,0.0,0.0,0.0,0.0930911779404
+1474735264735116871,0.15,-0.178684022799,0.0,0.0,0.0,0.0930911779404
+1474735264818446299,0.15,-0.178721473099,0.0,0.0,0.0,0.0930911779404
+1474735264900609198,0.15,-0.178758923399,0.0,0.0,0.0,0.0930911779404
+1474735264978276794,0.15,-0.178796373699,0.0,0.0,0.0,0.0930911779404
+1474735265058916501,0.15,-0.182429553437,0.0,0.0,0.0,0.0940143346786
+1474735265139258312,0.15,-0.171500188147,0.0,0.0,0.0,0.092094707489
+1474735265220266377,0.15,-0.18084763359,0.0,0.0,0.0,0.0929728627205
+1474735265305402725,0.15,-0.194639906388,0.0,0.0,0.0,0.0969043850899
+1474735265383457232,0.15,-0.182303796131,0.0,0.0,0.0,0.0961038351059
+1474735265463437646,0.15,-0.0858758387386,0.0,0.0,0.0,0.0803587913513
+1474735265548661172,0.15,0.921033549714,0.0,0.0,0.0,-0.0972007632256
+1474735265629969791,0.15,0.229410148885,0.0,0.0,0.0,-0.110118579865
+1474735265704195430,0.15,-0.940092633833,0.0,0.0,0.0,0.0834185957909
+1474735265785065725,0.15,-0.147157341428,0.0,0.0,0.0,0.0821481823921
+1474735265861608833,0.15,-0.0914116914563,0.0,0.0,0.0,0.0723434567451
+1474735265943030375,0.15,-0.157453933906,0.0,0.0,0.0,0.0773842811584
+1474735266022637485,0.15,-0.158398220017,0.0,0.0,0.0,0.0811794281006
+1474735266102966813,0.15,-0.169530116409,0.0,0.0,0.0,0.086182641983
+1474735266184223355,0.15,-0.162975881239,0.0,0.0,0.0,0.0885693907738
+1474735266277307347,0.15,-0.0827713944179,0.0,0.0,0.0,0.0764001488686
+1474735266356176776,0.15,-0.138072836191,0.0,0.0,0.0,0.0778622508049
+1474735266443019011,0.15,-0.0267957160545,0.0,0.0,0.0,0.0601962685585
+1474735266523953881,0.15,-0.270590258293,0.0,0.0,0.0,0.0953271269798
+1474735266601246539,0.15,-0.105543984188,0.0,0.0,0.0,0.0885700464249
+1474735266679941805,0.15,-0.0904194541341,0.0,0.0,0.0,0.0793373465538
+1474735266760716455,0.15,-0.145606976384,0.0,0.0,0.0,0.0849718332291
+1474735266837493707,0.15,0.0627058111015,0.0,0.0,0.0,0.0498804926872
+1474735266917614960,0.15,-0.128487365819,0.0,0.0,0.0,0.0594755887985
+1474735266999349856,0.15,-0.0828617050362,0.0,0.0,0.0,0.0604063749313
+1474735267080411154,0.15,-0.0876919114189,0.0,0.0,0.0,0.0609117627144
+1474735267157049214,0.15,-0.0419866604659,0.0,0.0,0.0,0.0526094913483
+1474735267239767162,0.15,-0.116459072217,0.0,0.0,0.0,0.0611672878265
+1474735267324351645,0.15,-0.0506561634791,0.0,0.0,0.0,0.0538143396378
+1474735267406161519,0.15,0.272097235618,0.0,0.0,0.0,-0.0161823153496
+1474735267488312751,0.15,-0.294377403808,0.0,0.0,0.0,0.0486187815666
+1474735267571637818,0.15,0.00249287820481,0.0,0.0,0.0,0.0339969277382
+1474735267651291016,0.15,-0.131755488587,0.0,0.0,0.0,0.0517423629761
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