Commit 21252414 authored by Farid Alijani's avatar Farid Alijani
Browse files

Delete useless files

parent 52b850f3
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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
......@@ -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);
......
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
This diff is collapsed.
%time,field.linear.x,field.linear.y,field.linear.z,field.angular.x,field.angular.y,field.angular.z
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1474735264978276794,0.15,-0.178796373699,0.0,0.0,0.0,0.0930911779404
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1474735265139258312,0.15,-0.171500188147,0.0,0.0,0.0,0.092094707489
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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
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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
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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
1474735267738352785,0.15,-0.0783509112557,0.0,0.0,0.0,0.0533675432205
1474735267815108360,0.15,-0.0302083415666,0.0,0.0,0.0,0.0445261478424
1474735267894386654,0.15,-0.0259989913497,0.0,0.0,0.0,0.0373222112656
1474735267970403182,0.15,0.342157221908,0.0,0.0,0.0,-0.0474344611168
1474735268051608883,0.15,0.0915311291311,0.0,0.0,0.0,-0.0526498675346
1474735268127591856,0.15,-0.321630533605,0.0,0.0,0.0,0.0354624867439
1474735268212038270,0.15,-0.0472066525601,0.0,0.0,0.0,0.0365258932114
1474735268296520168,0.15,-0.0060773805342,0.0,0.0,0.0,0.0285087108612
1474735268375470629,0.15,0.287070073351,0.0,0.0,0.0,-0.0435817360878
1474735268452748095,0.15,0.09369762706,0.0,0.0,0.0,-0.0504742383957
1474735268541903121,0.15,-0.266779057253,0.0,0.0,0.0,0.0288054823875
1474735268618850790,0.15,-0.00237454699428,0.0,0.0,0.0,0.0231796979904
1474735268698746464,0.15,-0.0588105796116,0.0,0.0,0.0,0.0324794530869
1474735268778490378,0.15,-0.0502380317866,0.0,0.0,0.0,0.0376947402954
1474735268857917105,0.15,0.0378739190782,0.0,0.0,0.0,0.0197261452675
1474735268930651966,0.15,-0.163111837468,0.0,0.0,0.0,0.0578352093697
1474735269005171156,0.15,0.0383598865715,0.0,0.0,0.0,0.0352024912834
1474735269082830256,0.15,-0.0428294346327,0.0,0.0,0.0,0.0380880713463
1474735269156727559,0.15,-0.0433632903921,0.0,0.0,0.0,0.0403182387352
1474735269232153129,0.15,-0.0141899763999,0.0,0.0,0.0,0.0337304353714
1474735269313162396,0.15,0.0294904697801,0.0,0.0,0.0,0.018374311924
1474735269392785319,0.15,-0.093430823761,0.0,0.0,0.0,0.0405413389206
1474735269473180479,0.15,0.0182040426274,0.0,0.0,0.0,0.0269339561462
1474735269555748716,0.15,-0.0415738324937,0.0,0.0,0.0,0.0335303425789
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