Commit 245e7f58 authored by Farid Alijani's avatar Farid Alijani
Browse files

Trajectoiry nice

parent 60265e17
......@@ -232,8 +232,8 @@ ref_Pose_data_3 =[ref_X_data_3;ref_Y_data_3];
%data 4:
% 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(:,7);
Pose_Y_data_4 = abs(Pose_Matrix_data_4(:,3));
Theta_data_4 = -abs(Pose_Matrix_data_4(:,7));
% Extracting reference values when the robot is manually docked!
......@@ -320,7 +320,7 @@ plot(t_P_sec_data_3,Pose_X_data_3,'g','LineWidth',2.3);
title('Pose estimation in marker coordinate system');
ylabel('${x_{mar}}$ [m]','interpreter','latex','FontSize',14);
l2 = legend('${P_y = 0.31, I_y = 0.00065, D_y = 0.071}$', '${P_y = 0.38, I_y = 0.0001, D_y = 0.02}$','${P_y = 0.38, I_y = 0, D_y = 0.02}$','${P_y = 0.39, I_y = 0.0005, D_y = 0.01}$');
l2 = legend('${P_y = 0.28, I_y = 0.0001, D_y = 0.01}$', '${P_y = 0.29, I_y = 0.00026, D_y = 0.015}$','${P_y = 0.3, I_y = 0.0004, D_y = 0.02}$','${P_y = 0.39, I_y = 0.0005, D_y = 0.01}$');
set(l2,'interpreter','latex','FontSize',11);
legend('boxoff');
......@@ -333,7 +333,7 @@ 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);
axis([0 80 -.1 .67])
% axis([0 80 -.1 .67])
subplot(3,1,3);
plot(t_P_sec_data_1,Theta_data_1,'LineWidth',3);
hold on
......@@ -363,7 +363,7 @@ title('Control Signals');
ylabel('$\dot{x}_{Rob}$ [m/s]','interpreter','latex','FontSize',14);
axis([0 45 -.01 .2]);
l2 = legend('${P_y = 0.31, I_y = 0.00065, D_y = 0.071}$', '${P_y = 0.38, I_y = 0.0001, D_y = 0.02}$','${P_y = 0.38, I_y = 0, D_y = 0.02}$','${P_y = 0.39, I_y = 0.0005, D_y = 0.01}$');
l2 = legend('${P_y = 0.28, I_y = 0.0001, D_y = 0.01}$', '${P_y = 0.29, I_y = 0.00026, D_y = 0.015}$','${P_y = 0.3, I_y = 0.0004, D_y = 0.02}$','${P_y = 0.39, I_y = 0.0005, D_y = 0.01}$');
set(l2,'interpreter','latex','FontSize',11);
legend('boxoff');
......@@ -482,7 +482,7 @@ plot(y_circle,x_circle,'k--','LineWidth',3.4);
title('Target area');
% axis([0.0065 .0095 .1995 .2055]);
l = legend('${P_y = 0.31, I_y = 0.00065, D_y = 0.071}$', '${P_y = 0.38, I_y = 0.0001, D_y = 0.02}$','${P_y = 0.38, I_y = 0, D_y = 0.02}$','${P_y = 0.39, I_y = 0.0005, D_y = 0.01}$');
l = legend('${P_y = 0.28, I_y = 0.0001, D_y = 0.01}$', '${P_y = 0.29, I_y = 0.00026, D_y = 0.015}$','${P_y = 0.3, I_y = 0.0004, D_y = 0.02}$','${P_y = 0.39, I_y = 0.0005, D_y = 0.01}$');
set(l,'interpreter','latex','FontSize',11);
% legend('boxoff');
......
Supports Markdown
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment