three config added to the report

Files_4_thesis/Different_angle/docking_different_angle.m

@@ -207,15 +207,15 @@ plot(t_P_sec_data_1,Pose_X_data_1,'LineWidth',3);
 hold on
 plot(t_P_sec_data_2,Pose_X_data_2,'r','LineWidth',1.7);
 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');
 % xlabel('$ time [sec]$','interpreter','latex');
-ylabel('${X_{mar}}$ [m]','interpreter','latex','FontSize',12);
+ylabel('${x_{mar}}$ [m]','interpreter','latex','FontSize',14);
 grid on
 % axis([0 45 -.01 .2]);
-l2 = legend('${left}$', '${center}$','${right}$');
+l2 = legend('${Config. 3}$', '${Center}$','${Config. 4}$');
 set(l2,'interpreter','latex','FontSize',11);
 
 subplot(3,1,2);
@@ -223,11 +223,11 @@ plot(t_P_sec_data_1,Pose_Y_data_1,'LineWidth',3);
 hold on
 plot(t_P_sec_data_2,Pose_Y_data_2,'r','LineWidth',1.7);
 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]$','interpreter','latex');
-ylabel('${Y_{mar}}$ [m]','interpreter','latex','FontSize',12);
+ylabel('${y_{mar}}$ [m]','interpreter','latex','FontSize',14);
 grid on
 % axis([0 46 -.2 .1]);
 
@@ -236,11 +236,11 @@ plot(t_P_sec_data_1,Theta_data_1,'LineWidth',3);
 hold on
 plot(t_P_sec_data_2,Theta_data_2,'r','LineWidth',1.7);
 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');
-xlabel('$ time [sec]$','interpreter','latex','FontSize',12);
-ylabel('${\theta_{mar}}$ [rad]','interpreter','latex','FontSize',12);
+title('Marker Pose Along \theta_{mar} - axis');
+xlabel('$ time [sec]$','interpreter','latex','FontSize',14);
+ylabel('${\theta_{mar}}$ [rad]','interpreter','latex','FontSize',14);
 grid on
 % axis([0 46 -.1 .15]);
 
@@ -252,14 +252,14 @@ plot(t_V_sec_data_1,Vel_X_data_1,'LineWidth',3);
 hold on
 plot(t_V_sec_data_2,Vel_X_data_2,'r','LineWidth',1.7);
 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]$','interpreter','latex');
-ylabel('$\dot{X_{rob}}$ [m/s]','interpreter','latex','FontSize',12);
+ylabel('$\dot{x}_{Rob}$ [m/s]','interpreter','latex','FontSize',14);
 grid on
 axis([0 45 -.01 .2]);
-l2 = legend('${left}$', '${center}$','${right}$');
+l2 = legend('${Config. 3}$', '${Center}$','${Config. 4}$');
 set(l2,'interpreter','latex','FontSize',11);
 
 
@@ -268,12 +268,12 @@ plot(t_V_sec_data_1,Vel_Y_data_1,'LineWidth',3);
 hold on
 plot(t_V_sec_data_2,Vel_Y_data_2,'r','LineWidth',1.7);
 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]$','interpreter','latex');
-ylabel('$\dot{Y_{rob}}$ [m/s]','interpreter','latex','FontSize',12);
+ylabel('$\dot{y}_{Rob}$ [m/s]','interpreter','latex','FontSize',14);
 grid on
 % axis([0 46 -.2 .1]);
 
@@ -282,11 +282,11 @@ plot(t_V_sec_data_1,Omega_Z_data_1,'LineWidth',3);
 hold on
 plot(t_V_sec_data_2,Omega_Z_data_2,'r','LineWidth',1.7);
 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');
-xlabel('$ time [sec]$','interpreter','latex','FontSize',12);
-ylabel('$\dot{\theta_{rob}}$ [rad/s]','interpreter','latex','FontSize',12);
+title('Control Signal Along \theta_{Rob} - axis');
+xlabel('$ time [sec]$','interpreter','latex','FontSize',14);
+ylabel('$\dot{\theta}_{Rob}$ [rad/s]','interpreter','latex','FontSize',14);
 grid on
 % axis([0 46 -.1 .15]);
 
@@ -324,16 +324,25 @@ grid on
 figure;
 subplot(1,3,1);
 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
 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
 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
 plot(y_circle,x_circle,'k--','LineWidth',3.4);
 
 title('Entire Area');
-xlabel('${Y}$ [m]','interpreter','latex','FontSize',11);
-ylabel('${X}$ [m]','interpreter','latex','FontSize',11);
+xlabel('${y_{mar}}$ [m]','interpreter','latex','FontSize',14);
+ylabel('${x_{mar}}$ [m]','interpreter','latex','FontSize',14);
 axis([-.4 .4 .18 1.4]);
 grid on
 
@@ -347,7 +356,7 @@ hold on
 plot(y_circle,x_circle,'k--','LineWidth',3.4);
 
 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);
 axis([-.01 0.02 .195 .32]);
 grid on
@@ -362,11 +371,11 @@ hold on
 plot(y_circle,x_circle,'k--','LineWidth',3.4);
 
 title('Target');
-xlabel('${Y}$ [m]','interpreter','latex','FontSize',11);
+xlabel('${y_{mar}}$ [m]','interpreter','latex','FontSize',14);
 % ylabel('${X}$ [m]','interpreter','latex','FontSize',11);
 axis([0.0125 .015 .1995 .2055]);
 grid on
-l = legend('${left}$', '${center}$','${right}$','Target');
+l = legend('${Config. 3}$', '${Center}$','${Config. 4}$','Target');
 set(l,'interpreter','latex','FontSize',11);