Commit 333cb8f7 authored by Farid Alijani's avatar Farid Alijani
Browse files

three config added to the report

parent 7b14a093
...@@ -207,15 +207,15 @@ plot(t_P_sec_data_1,Pose_X_data_1,'LineWidth',3); ...@@ -207,15 +207,15 @@ plot(t_P_sec_data_1,Pose_X_data_1,'LineWidth',3);
hold on hold on
plot(t_P_sec_data_2,Pose_X_data_2,'r','LineWidth',1.7); plot(t_P_sec_data_2,Pose_X_data_2,'r','LineWidth',1.7);
hold on hold on
plot(t_P_sec_data_3,Pose_X_data_3,'g','LineWidth',2.3); plot(t_P_sec_data_3,Pose_X_data_3,'g','LineWidth',1.6);
title('Marker Pose Along X_{mar} - Axis'); title('Marker Pose Along x_{mar} - axis');
% set(t,'interpreter','latex'); % set(t,'interpreter','latex');
% xlabel('$ time [sec]$','interpreter','latex'); % xlabel('$ time [sec]$','interpreter','latex');
ylabel('${X_{mar}}$ [m]','interpreter','latex','FontSize',12); ylabel('${x_{mar}}$ [m]','interpreter','latex','FontSize',14);
grid on grid on
% axis([0 45 -.01 .2]); % axis([0 45 -.01 .2]);
l2 = legend('${left}$', '${center}$','${right}$'); l2 = legend('${Config. 3}$', '${Center}$','${Config. 4}$');
set(l2,'interpreter','latex','FontSize',11); set(l2,'interpreter','latex','FontSize',11);
subplot(3,1,2); subplot(3,1,2);
...@@ -223,11 +223,11 @@ plot(t_P_sec_data_1,Pose_Y_data_1,'LineWidth',3); ...@@ -223,11 +223,11 @@ plot(t_P_sec_data_1,Pose_Y_data_1,'LineWidth',3);
hold on hold on
plot(t_P_sec_data_2,Pose_Y_data_2,'r','LineWidth',1.7); plot(t_P_sec_data_2,Pose_Y_data_2,'r','LineWidth',1.7);
hold on hold on
plot(t_P_sec_data_3,Pose_Y_data_3,'g','LineWidth',2.3); plot(t_P_sec_data_3,Pose_Y_data_3,'g','LineWidth',1.6);
title('Marker Pose Along Y_{mar} - Axis'); title('Marker Pose Along y_{mar} - axis');
% xlabel('$ time [sec]$','interpreter','latex'); % xlabel('$ time [sec]$','interpreter','latex');
ylabel('${Y_{mar}}$ [m]','interpreter','latex','FontSize',12); ylabel('${y_{mar}}$ [m]','interpreter','latex','FontSize',14);
grid on grid on
% axis([0 46 -.2 .1]); % axis([0 46 -.2 .1]);
...@@ -236,11 +236,11 @@ plot(t_P_sec_data_1,Theta_data_1,'LineWidth',3); ...@@ -236,11 +236,11 @@ plot(t_P_sec_data_1,Theta_data_1,'LineWidth',3);
hold on hold on
plot(t_P_sec_data_2,Theta_data_2,'r','LineWidth',1.7); plot(t_P_sec_data_2,Theta_data_2,'r','LineWidth',1.7);
hold on hold on
plot(t_P_sec_data_3,Theta_data_3,'g','LineWidth',2.3); plot(t_P_sec_data_3,Theta_data_3,'g','LineWidth',1.6);
title('Marker Pose Along \theta_{mar} - Axis'); title('Marker Pose Along \theta_{mar} - axis');
xlabel('$ time [sec]$','interpreter','latex','FontSize',12); xlabel('$ time [sec]$','interpreter','latex','FontSize',14);
ylabel('${\theta_{mar}}$ [rad]','interpreter','latex','FontSize',12); ylabel('${\theta_{mar}}$ [rad]','interpreter','latex','FontSize',14);
grid on grid on
% axis([0 46 -.1 .15]); % axis([0 46 -.1 .15]);
...@@ -252,14 +252,14 @@ plot(t_V_sec_data_1,Vel_X_data_1,'LineWidth',3); ...@@ -252,14 +252,14 @@ plot(t_V_sec_data_1,Vel_X_data_1,'LineWidth',3);
hold on hold on
plot(t_V_sec_data_2,Vel_X_data_2,'r','LineWidth',1.7); plot(t_V_sec_data_2,Vel_X_data_2,'r','LineWidth',1.7);
hold on hold on
plot(t_V_sec_data_3,Vel_X_data_3,'g','LineWidth',2.3); plot(t_V_sec_data_3,Vel_X_data_3,'g','LineWidth',1.6);
title('Control Signal Along X_{rob} - Axis'); title('Control Signal Along x_{Rob} - axis');
% xlabel('$ time [sec]$','interpreter','latex'); % xlabel('$ time [sec]$','interpreter','latex');
ylabel('$\dot{X_{rob}}$ [m/s]','interpreter','latex','FontSize',12); ylabel('$\dot{x}_{Rob}$ [m/s]','interpreter','latex','FontSize',14);
grid on grid on
axis([0 45 -.01 .2]); axis([0 45 -.01 .2]);
l2 = legend('${left}$', '${center}$','${right}$'); l2 = legend('${Config. 3}$', '${Center}$','${Config. 4}$');
set(l2,'interpreter','latex','FontSize',11); set(l2,'interpreter','latex','FontSize',11);
...@@ -268,12 +268,12 @@ plot(t_V_sec_data_1,Vel_Y_data_1,'LineWidth',3); ...@@ -268,12 +268,12 @@ plot(t_V_sec_data_1,Vel_Y_data_1,'LineWidth',3);
hold on hold on
plot(t_V_sec_data_2,Vel_Y_data_2,'r','LineWidth',1.7); plot(t_V_sec_data_2,Vel_Y_data_2,'r','LineWidth',1.7);
hold on hold on
plot(t_V_sec_data_3,Vel_Y_data_3,'g','LineWidth',2.3); plot(t_V_sec_data_3,Vel_Y_data_3,'g','LineWidth',1.6);
title('Control Signal Along Y_{rob} - Axis'); title('Control Signal Along y_{Rob} - axis');
% xlabel('$ time [sec]$','interpreter','latex'); % xlabel('$ time [sec]$','interpreter','latex');
ylabel('$\dot{Y_{rob}}$ [m/s]','interpreter','latex','FontSize',12); ylabel('$\dot{y}_{Rob}$ [m/s]','interpreter','latex','FontSize',14);
grid on grid on
% axis([0 46 -.2 .1]); % axis([0 46 -.2 .1]);
...@@ -282,11 +282,11 @@ plot(t_V_sec_data_1,Omega_Z_data_1,'LineWidth',3); ...@@ -282,11 +282,11 @@ plot(t_V_sec_data_1,Omega_Z_data_1,'LineWidth',3);
hold on hold on
plot(t_V_sec_data_2,Omega_Z_data_2,'r','LineWidth',1.7); plot(t_V_sec_data_2,Omega_Z_data_2,'r','LineWidth',1.7);
hold on hold on
plot(t_V_sec_data_3,Omega_Z_data_3,'g','LineWidth',2.3); plot(t_V_sec_data_3,Omega_Z_data_3,'g','LineWidth',1.6);
title('Control Signal Along \theta_{rob} - Axis'); title('Control Signal Along \theta_{Rob} - axis');
xlabel('$ time [sec]$','interpreter','latex','FontSize',12); xlabel('$ time [sec]$','interpreter','latex','FontSize',14);
ylabel('$\dot{\theta_{rob}}$ [rad/s]','interpreter','latex','FontSize',12); ylabel('$\dot{\theta}_{Rob}$ [rad/s]','interpreter','latex','FontSize',14);
grid on grid on
% axis([0 46 -.1 .15]); % axis([0 46 -.1 .15]);
...@@ -324,16 +324,25 @@ grid on ...@@ -324,16 +324,25 @@ grid on
figure; figure;
subplot(1,3,1); subplot(1,3,1);
plot(Pose_Y_data_1,Pose_X_data_1,'b','LineWidth',2); plot(Pose_Y_data_1,Pose_X_data_1,'b','LineWidth',2);
% hold on
% quiver(Pose_Y_data_1,Pose_X_data_1,gradient(Pose_Y_data_1),gradient(Pose_X_data_1),'r--','LineWidth',.01);
hold on hold on
plot(Pose_Y_data_2,Pose_X_data_2,'r','LineWidth',2); plot(Pose_Y_data_2,Pose_X_data_2,'r','LineWidth',2);
% hold on
% quiver(Pose_Y_data_2,Pose_X_data_2,gradient(Pose_Y_data_2),gradient(Pose_X_data_2),'m--','LineWidth',.01);
hold on hold on
plot(Pose_Y_data_3,Pose_X_data_3,'g','LineWidth',2); plot(Pose_Y_data_3,Pose_X_data_3,'g','LineWidth',2);
% hold on
% quiver(Pose_Y_data_3,Pose_X_data_3,gradient(Pose_Y_data_3),gradient(Pose_X_data_3),'k--','LineWidth',.01);
hold on hold on
plot(y_circle,x_circle,'k--','LineWidth',3.4); plot(y_circle,x_circle,'k--','LineWidth',3.4);
title('Entire Area'); title('Entire Area');
xlabel('${Y}$ [m]','interpreter','latex','FontSize',11); xlabel('${y_{mar}}$ [m]','interpreter','latex','FontSize',14);
ylabel('${X}$ [m]','interpreter','latex','FontSize',11); ylabel('${x_{mar}}$ [m]','interpreter','latex','FontSize',14);
axis([-.4 .4 .18 1.4]); axis([-.4 .4 .18 1.4]);
grid on grid on
...@@ -347,7 +356,7 @@ hold on ...@@ -347,7 +356,7 @@ hold on
plot(y_circle,x_circle,'k--','LineWidth',3.4); plot(y_circle,x_circle,'k--','LineWidth',3.4);
title('SM zone'); title('SM zone');
xlabel('${Y}$ [m]','interpreter','latex','FontSize',11); xlabel('${y_{mar}}$ [m]','interpreter','latex','FontSize',14);
% ylabel('${X}$ [m]','interpreter','latex','FontSize',11); % ylabel('${X}$ [m]','interpreter','latex','FontSize',11);
axis([-.01 0.02 .195 .32]); axis([-.01 0.02 .195 .32]);
grid on grid on
...@@ -362,11 +371,11 @@ hold on ...@@ -362,11 +371,11 @@ hold on
plot(y_circle,x_circle,'k--','LineWidth',3.4); plot(y_circle,x_circle,'k--','LineWidth',3.4);
title('Target'); title('Target');
xlabel('${Y}$ [m]','interpreter','latex','FontSize',11); xlabel('${y_{mar}}$ [m]','interpreter','latex','FontSize',14);
% ylabel('${X}$ [m]','interpreter','latex','FontSize',11); % ylabel('${X}$ [m]','interpreter','latex','FontSize',11);
axis([0.0125 .015 .1995 .2055]); axis([0.0125 .015 .1995 .2055]);
grid on grid on
l = legend('${left}$', '${center}$','${right}$','Target'); l = legend('${Config. 3}$', '${Center}$','${Config. 4}$','Target');
set(l,'interpreter','latex','FontSize',11); set(l,'interpreter','latex','FontSize',11);
......
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