From 564c96df22ce3a042528d5980907173ed5c66fdf Mon Sep 17 00:00:00 2001
From: mrgrandsky <farid.alijani@student.lut.fi>
Date: Thu, 28 Jul 2016 21:39:08 +0200
Subject: [PATCH] green color needs to be changed
---
Files_4_thesis/Pose25_7_16_1933.txt | 662 +++++++++++++++
Files_4_thesis/Pose25_7_16_2103.txt | 599 ++++++++++++++
Files_4_thesis/Pose25_7_16_2118.txt | 566 +++++++++++++
Files_4_thesis/Pose25_7_16_2128.txt | 562 +++++++++++++
Files_4_thesis/Pose25_7_16_2142.txt | 651 +++++++++++++++
Files_4_thesis/Pose25_7_16_2208.txt | 936 ++++++++++++++++++++++
Files_4_thesis/Pose26_7_16_1945.txt | 903 +++++++++++++++++++++
Files_4_thesis/Pose28_7_16_1607.txt | 535 +++++++++++++
Files_4_thesis/Pose28_7_16_1742.txt | 705 ++++++++++++++++
Files_4_thesis/Pose28_7_16_1928.txt | 590 ++++++++++++++
Files_4_thesis/Pose28_7_16_2002.txt | 602 ++++++++++++++
Files_4_thesis/Pose28_7_16_2024.txt | 558 +++++++++++++
Files_4_thesis/Pose28_7_16_2052.txt | 630 +++++++++++++++
Files_4_thesis/Pose28_7_16_2130.txt | 540 +++++++++++++
Files_4_thesis/QL_Matrix_22_7_16_1546.csv | 1 +
Files_4_thesis/QL_Matrix_22_7_16_1757.csv | 35 +
Files_4_thesis/Q_Learning_Plot.m | 2 +-
Files_4_thesis/Report.docx | Bin 6461432 -> 6470570 bytes
Files_4_thesis/Velocity25_7_16_1933.txt | 661 +++++++++++++++
Files_4_thesis/Velocity25_7_16_2103.txt | 598 ++++++++++++++
Files_4_thesis/Velocity25_7_16_2118.txt | 565 +++++++++++++
Files_4_thesis/Velocity25_7_16_2128.txt | 561 +++++++++++++
Files_4_thesis/Velocity25_7_16_2142.txt | 650 +++++++++++++++
Files_4_thesis/Velocity25_7_16_2208.txt | 935 +++++++++++++++++++++
Files_4_thesis/Velocity26_7_16_1945.txt | 902 +++++++++++++++++++++
Files_4_thesis/Velocity28_7_16_1607.txt | 534 ++++++++++++
Files_4_thesis/Velocity28_7_16_1742.txt | 704 ++++++++++++++++
Files_4_thesis/Velocity28_7_16_1928.txt | 589 ++++++++++++++
Files_4_thesis/Velocity28_7_16_2002.txt | 601 ++++++++++++++
Files_4_thesis/Velocity28_7_16_2024.txt | 557 +++++++++++++
Files_4_thesis/Velocity28_7_16_2052.txt | 629 +++++++++++++++
Files_4_thesis/Velocity28_7_16_2130.txt | 539 +++++++++++++
Files_4_thesis/docking_1.asv | 405 ++++++++++
Files_4_thesis/docking_1.m | 111 +--
Files_4_thesis/import_data_test.m | 49 +-
35 files changed, 18614 insertions(+), 53 deletions(-)
create mode 100644 Files_4_thesis/Pose25_7_16_1933.txt
create mode 100644 Files_4_thesis/Pose25_7_16_2103.txt
create mode 100644 Files_4_thesis/Pose25_7_16_2118.txt
create mode 100644 Files_4_thesis/Pose25_7_16_2128.txt
create mode 100644 Files_4_thesis/Pose25_7_16_2142.txt
create mode 100644 Files_4_thesis/Pose25_7_16_2208.txt
create mode 100644 Files_4_thesis/Pose26_7_16_1945.txt
create mode 100644 Files_4_thesis/Pose28_7_16_1607.txt
create mode 100644 Files_4_thesis/Pose28_7_16_1742.txt
create mode 100644 Files_4_thesis/Pose28_7_16_1928.txt
create mode 100644 Files_4_thesis/Pose28_7_16_2002.txt
create mode 100644 Files_4_thesis/Pose28_7_16_2024.txt
create mode 100644 Files_4_thesis/Pose28_7_16_2052.txt
create mode 100644 Files_4_thesis/Pose28_7_16_2130.txt
create mode 100644 Files_4_thesis/QL_Matrix_22_7_16_1546.csv
create mode 100644 Files_4_thesis/QL_Matrix_22_7_16_1757.csv
create mode 100644 Files_4_thesis/Velocity25_7_16_1933.txt
create mode 100644 Files_4_thesis/Velocity25_7_16_2103.txt
create mode 100644 Files_4_thesis/Velocity25_7_16_2118.txt
create mode 100644 Files_4_thesis/Velocity25_7_16_2128.txt
create mode 100644 Files_4_thesis/Velocity25_7_16_2142.txt
create mode 100644 Files_4_thesis/Velocity25_7_16_2208.txt
create mode 100644 Files_4_thesis/Velocity26_7_16_1945.txt
create mode 100644 Files_4_thesis/Velocity28_7_16_1607.txt
create mode 100644 Files_4_thesis/Velocity28_7_16_1742.txt
create mode 100644 Files_4_thesis/Velocity28_7_16_1928.txt
create mode 100644 Files_4_thesis/Velocity28_7_16_2002.txt
create mode 100644 Files_4_thesis/Velocity28_7_16_2024.txt
create mode 100644 Files_4_thesis/Velocity28_7_16_2052.txt
create mode 100644 Files_4_thesis/Velocity28_7_16_2130.txt
create mode 100644 Files_4_thesis/docking_1.asv
diff --git a/Files_4_thesis/Pose25_7_16_1933.txt b/Files_4_thesis/Pose25_7_16_1933.txt
new file mode 100644
index 00000000..1b2a0423
--- /dev/null
+++ b/Files_4_thesis/Pose25_7_16_1933.txt
@@ -0,0 +1,662 @@
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diff --git a/Files_4_thesis/Pose25_7_16_2103.txt b/Files_4_thesis/Pose25_7_16_2103.txt
new file mode 100644
index 00000000..d017ca40
--- /dev/null
+++ b/Files_4_thesis/Pose25_7_16_2103.txt
@@ -0,0 +1,599 @@
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diff --git a/Files_4_thesis/Pose25_7_16_2118.txt b/Files_4_thesis/Pose25_7_16_2118.txt
new file mode 100644
index 00000000..4486e535
--- /dev/null
+++ b/Files_4_thesis/Pose25_7_16_2118.txt
@@ -0,0 +1,566 @@
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diff --git a/Files_4_thesis/Pose25_7_16_2128.txt b/Files_4_thesis/Pose25_7_16_2128.txt
new file mode 100644
index 00000000..7b1881ec
--- /dev/null
+++ b/Files_4_thesis/Pose25_7_16_2128.txt
@@ -0,0 +1,562 @@
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diff --git a/Files_4_thesis/Pose25_7_16_2142.txt b/Files_4_thesis/Pose25_7_16_2142.txt
new file mode 100644
index 00000000..d3262a0f
--- /dev/null
+++ b/Files_4_thesis/Pose25_7_16_2142.txt
@@ -0,0 +1,651 @@
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diff --git a/Files_4_thesis/Pose25_7_16_2208.txt b/Files_4_thesis/Pose25_7_16_2208.txt
new file mode 100644
index 00000000..e3893a1a
--- /dev/null
+++ b/Files_4_thesis/Pose25_7_16_2208.txt
@@ -0,0 +1,936 @@
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diff --git a/Files_4_thesis/Pose26_7_16_1945.txt b/Files_4_thesis/Pose26_7_16_1945.txt
new file mode 100644
index 00000000..02588f39
--- /dev/null
+++ b/Files_4_thesis/Pose26_7_16_1945.txt
@@ -0,0 +1,903 @@
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diff --git a/Files_4_thesis/Pose28_7_16_1607.txt b/Files_4_thesis/Pose28_7_16_1607.txt
new file mode 100644
index 00000000..3bc91f04
--- /dev/null
+++ b/Files_4_thesis/Pose28_7_16_1607.txt
@@ -0,0 +1,535 @@
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diff --git a/Files_4_thesis/Pose28_7_16_1742.txt b/Files_4_thesis/Pose28_7_16_1742.txt
new file mode 100644
index 00000000..092b74ac
--- /dev/null
+++ b/Files_4_thesis/Pose28_7_16_1742.txt
@@ -0,0 +1,705 @@
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diff --git a/Files_4_thesis/Pose28_7_16_1928.txt b/Files_4_thesis/Pose28_7_16_1928.txt
new file mode 100644
index 00000000..0a892ea8
--- /dev/null
+++ b/Files_4_thesis/Pose28_7_16_1928.txt
@@ -0,0 +1,590 @@
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diff --git a/Files_4_thesis/Pose28_7_16_2002.txt b/Files_4_thesis/Pose28_7_16_2002.txt
new file mode 100644
index 00000000..f71e0aa5
--- /dev/null
+++ b/Files_4_thesis/Pose28_7_16_2002.txt
@@ -0,0 +1,602 @@
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diff --git a/Files_4_thesis/Pose28_7_16_2024.txt b/Files_4_thesis/Pose28_7_16_2024.txt
new file mode 100644
index 00000000..1954a078
--- /dev/null
+++ b/Files_4_thesis/Pose28_7_16_2024.txt
@@ -0,0 +1,558 @@
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diff --git a/Files_4_thesis/Pose28_7_16_2052.txt b/Files_4_thesis/Pose28_7_16_2052.txt
new file mode 100644
index 00000000..ce63e48a
--- /dev/null
+++ b/Files_4_thesis/Pose28_7_16_2052.txt
@@ -0,0 +1,630 @@
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diff --git a/Files_4_thesis/Pose28_7_16_2130.txt b/Files_4_thesis/Pose28_7_16_2130.txt
new file mode 100644
index 00000000..5b0d60b3
--- /dev/null
+++ b/Files_4_thesis/Pose28_7_16_2130.txt
@@ -0,0 +1,540 @@
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diff --git a/Files_4_thesis/Q_Learning_Plot.m b/Files_4_thesis/Q_Learning_Plot.m
index 97ba9fc7..6349caa7 100644
--- a/Files_4_thesis/Q_Learning_Plot.m
+++ b/Files_4_thesis/Q_Learning_Plot.m
@@ -3,7 +3,7 @@ close all;
clc;
counter = 1;
-QL_Matrix = csvread('QL_Matrix_21_7_16_2118.csv');
+QL_Matrix = csvread('QL_Matrix_22_7_16_1546.csv');
QL_Matrix(:,size(QL_Matrix,2)) = []; % get rid of the last column
row = size(QL_Matrix,1);
diff --git a/Files_4_thesis/Report.docx b/Files_4_thesis/Report.docx
index 5aaacb6651ce27764ddf6d4cbcfab929993a33ce..f1d67db941291be2d2110c35664acc028367d4e8 100644
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diff --git a/Files_4_thesis/Velocity25_7_16_1933.txt b/Files_4_thesis/Velocity25_7_16_1933.txt
new file mode 100644
index 00000000..3c4a12a0
--- /dev/null
+++ b/Files_4_thesis/Velocity25_7_16_1933.txt
@@ -0,0 +1,661 @@
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diff --git a/Files_4_thesis/Velocity25_7_16_2103.txt b/Files_4_thesis/Velocity25_7_16_2103.txt
new file mode 100644
index 00000000..1a3d3455
--- /dev/null
+++ b/Files_4_thesis/Velocity25_7_16_2103.txt
@@ -0,0 +1,598 @@
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diff --git a/Files_4_thesis/Velocity25_7_16_2118.txt b/Files_4_thesis/Velocity25_7_16_2118.txt
new file mode 100644
index 00000000..d94de820
--- /dev/null
+++ b/Files_4_thesis/Velocity25_7_16_2118.txt
@@ -0,0 +1,565 @@
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diff --git a/Files_4_thesis/Velocity25_7_16_2128.txt b/Files_4_thesis/Velocity25_7_16_2128.txt
new file mode 100644
index 00000000..25874628
--- /dev/null
+++ b/Files_4_thesis/Velocity25_7_16_2128.txt
@@ -0,0 +1,561 @@
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diff --git a/Files_4_thesis/Velocity25_7_16_2142.txt b/Files_4_thesis/Velocity25_7_16_2142.txt
new file mode 100644
index 00000000..9d37da92
--- /dev/null
+++ b/Files_4_thesis/Velocity25_7_16_2142.txt
@@ -0,0 +1,650 @@
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diff --git a/Files_4_thesis/Velocity25_7_16_2208.txt b/Files_4_thesis/Velocity25_7_16_2208.txt
new file mode 100644
index 00000000..4ba930f2
--- /dev/null
+++ b/Files_4_thesis/Velocity25_7_16_2208.txt
@@ -0,0 +1,935 @@
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diff --git a/Files_4_thesis/Velocity26_7_16_1945.txt b/Files_4_thesis/Velocity26_7_16_1945.txt
new file mode 100644
index 00000000..d5e512cb
--- /dev/null
+++ b/Files_4_thesis/Velocity26_7_16_1945.txt
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diff --git a/Files_4_thesis/Velocity28_7_16_1607.txt b/Files_4_thesis/Velocity28_7_16_1607.txt
new file mode 100644
index 00000000..eadbb057
--- /dev/null
+++ b/Files_4_thesis/Velocity28_7_16_1607.txt
@@ -0,0 +1,534 @@
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diff --git a/Files_4_thesis/Velocity28_7_16_1742.txt b/Files_4_thesis/Velocity28_7_16_1742.txt
new file mode 100644
index 00000000..a591b450
--- /dev/null
+++ b/Files_4_thesis/Velocity28_7_16_1742.txt
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diff --git a/Files_4_thesis/Velocity28_7_16_1928.txt b/Files_4_thesis/Velocity28_7_16_1928.txt
new file mode 100644
index 00000000..721efdaf
--- /dev/null
+++ b/Files_4_thesis/Velocity28_7_16_1928.txt
@@ -0,0 +1,589 @@
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diff --git a/Files_4_thesis/Velocity28_7_16_2002.txt b/Files_4_thesis/Velocity28_7_16_2002.txt
new file mode 100644
index 00000000..366267b4
--- /dev/null
+++ b/Files_4_thesis/Velocity28_7_16_2002.txt
@@ -0,0 +1,601 @@
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diff --git a/Files_4_thesis/Velocity28_7_16_2024.txt b/Files_4_thesis/Velocity28_7_16_2024.txt
new file mode 100644
index 00000000..03f002d4
--- /dev/null
+++ b/Files_4_thesis/Velocity28_7_16_2024.txt
@@ -0,0 +1,557 @@
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diff --git a/Files_4_thesis/Velocity28_7_16_2052.txt b/Files_4_thesis/Velocity28_7_16_2052.txt
new file mode 100644
index 00000000..19b8f587
--- /dev/null
+++ b/Files_4_thesis/Velocity28_7_16_2052.txt
@@ -0,0 +1,629 @@
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diff --git a/Files_4_thesis/Velocity28_7_16_2130.txt b/Files_4_thesis/Velocity28_7_16_2130.txt
new file mode 100644
index 00000000..b8099c23
--- /dev/null
+++ b/Files_4_thesis/Velocity28_7_16_2130.txt
@@ -0,0 +1,539 @@
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diff --git a/Files_4_thesis/docking_1.asv b/Files_4_thesis/docking_1.asv
new file mode 100644
index 00000000..b198c32b
--- /dev/null
+++ b/Files_4_thesis/docking_1.asv
@@ -0,0 +1,405 @@
+clc;
+close all;
+clear all;
+%% Import data and time conversion
+
+% data 1: 556 ros messages for geometry_msgs/Twist
+% 557 ros messages for geometry_msgs/PoseStamped
+
+% y-axis gains:
+% (280716_2024) better!!!
+% P = .44; I = 0; D = 0;
+
+% theta-axis gains:
+% P = .08; I = 0; D = 0;
+
+% y-axis gains:
+% (280716_2002)
+% P = .46; I = 0; D = 0;
+
+% theta-axis gains:
+% P = .08; I = 0; D = 0;
+
+Pose_Matrix_data_1 = csvread('Pose28_7_16_2024.txt',1,0);
+Vel_Matrix_data_1 = csvread('Velocity28_7_16_2024.txt',1,0);
+
+% time in position
+TimeP_ros_data_1 = Pose_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)) = [];
+
+% time in vel
+TimeV_ros_data_1 = Vel_Matrix_data_1(:,1); % ros time, needs to be converted to sec...
+
+% duriation = end_time - start_time
+ durationV_data_1 = (TimeV_ros_data_1(size(TimeV_ros_data_1,1),:) - TimeV_ros_data_1(1,:))*10^(-9);
+
+t_V_sec_data_1 = 0:durationV_data_1/size(TimeV_ros_data_1,1):durationV_data_1;
+t_V_sec_data_1(:,size(t_V_sec_data_1,2)) = [];
+
+% -----------------------------------------------------------------------------------------------------
+% data 2: 588 ros messages for geometry_msgs/Twist
+% 589 ros messages for geometry_msgs/PoseStamped
+% y-axis gains:
+% P = .5; I = 0.001; D = 0.03;
+
+% theta-axis gains:
+% P = .28; I = 0.1; D = 0.15;
+
+Pose_Matrix_data_2 = csvread('Pose18_7_16_1815.txt',1,0);
+Vel_Matrix_data_2 = csvread('Velocity18_7_16_1815.txt',1,0);
+
+% time in position
+TimeP_ros_data_2 = Pose_Matrix_data_2(:,1); % ros time, needs to be converted to sec...
+
+% duriation = end_time - start_time
+ durationP_data_2 = (TimeP_ros_data_2(size(TimeP_ros_data_2,1),:) - TimeP_ros_data_2(1,:))*10^(-9);
+
+t_P_sec_data_2 = 0:durationP_data_2/size(TimeP_ros_data_2,1):durationP_data_2;
+t_P_sec_data_2(:,size(t_P_sec_data_2,2)) = [];
+
+% time in vel
+TimeV_ros_data_2 = Vel_Matrix_data_2(:,1); % ros time, needs to be converted to sec...
+
+% duriation = end_time - start_time
+ durationV_data_2 = (TimeV_ros_data_2(size(TimeV_ros_data_2,1),:) - TimeV_ros_data_2(1,:))*10^(-9);
+
+t_V_sec_data_2 = 0:durationV_data_2/size(TimeV_ros_data_2,1):durationV_data_2;
+t_V_sec_data_2(:,size(t_V_sec_data_2,2)) = [];
+
+% -----------------------------------------------------------------------------------------------------
+% data 3: 628 ros messages for geometry_msgs/Twist
+% 629 ros messages for geometry_msgs/PoseStamped
+% y-axis gains:
+% P = .44; I = 0; D = 0.07;
+
+% theta-axis gains:
+% P = .08; I = 0; D = 0;
+
+Pose_Matrix_data_3 = csvread('Pose28_7_16_2052.txt',1,0);
+Vel_Matrix_data_3 = csvread('Velocity18_7_16_2052.txt',1,0);
+
+% time in position
+TimeP_ros_data_3 = Pose_Matrix_data_3(:,1); % ros time, needs to be converted to sec...
+
+% duriation = end_time - start_time
+ durationP_data_3 = (TimeP_ros_data_3(size(TimeP_ros_data_3,1),:) - TimeP_ros_data_3(1,:))*10^(-9);
+
+t_P_sec_data_3 = 0:durationP_data_3/size(TimeP_ros_data_3,1):durationP_data_3;
+t_P_sec_data_3(:,size(t_P_sec_data_3,2)) = [];
+
+% time in vel
+TimeV_ros_data_3 = Vel_Matrix_data_3(:,1); % ros time, needs to be converted to sec...
+
+% duriation = end_time - start_time
+ durationV_data_3 = (TimeV_ros_data_3(size(TimeV_ros_data_3,1),:) - TimeV_ros_data_3(1,:))*10^(-9);
+
+t_V_sec_data_3 = 0:durationV_data_3/size(TimeV_ros_data_3,1):durationV_data_3;
+t_V_sec_data_3(:,size(t_V_sec_data_3,2)) = [];
+
+
+%% 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);
+
+
+% 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_1 = Pose_X_data_1(size(Pose_X_data_1,1));
+ref_Y_data_1 = Pose_Y_data_1(size(Pose_Y_data_1,1));
+ref_Theta_data_1 = Theta_data_1(size(Theta_data_1,1));
+ref_Pose_data_1 =[ref_X_data_1;ref_Y_data_1];
+
+%data 2:
+% 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);
+
+% 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_2 = Pose_X_data_2(size(Pose_X_data_2,1));
+ref_Y_data_2 = Pose_Y_data_2(size(Pose_Y_data_2,1));
+ref_Theta_data_2 = Theta_data_2(size(Theta_data_2,1));
+ref_Pose_data_2 =[ref_X_data_2;ref_Y_data_2];
+
+%data 3:
+% 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);
+
+% 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_3 = Pose_X_data_3(size(Pose_X_data_3,1));
+ref_Y_data_3 = Pose_Y_data_3(size(Pose_Y_data_3,1));
+ref_Theta_data_3 = Theta_data_3(size(Theta_data_3,1));
+ref_Pose_data_3 =[ref_X_data_3;ref_Y_data_3];
+
+thresh_X = .001;
+theta = 0:.001:2*pi;
+
+% needs to be adjusted manually if docking platform is replaced!
+ref_x = .19979;
+ref_y = .00903;
+
+x_circle = thresh_X*cos(theta) + ref_x; % ref_X needs to be recorded
+y_circle = thresh_X*sin(theta) + ref_y; % ref_Y needs to be recorded
+
+
+%% Velocity estimation
+
+% data 1:
+Vel_X_data_1 = Vel_Matrix_data_1(:,2);
+Vel_Y_data_1 = Vel_Matrix_data_1(:,3);
+Omega_Z_data_1 = Vel_Matrix_data_1(:,7);
+
+% data 2:
+Vel_X_data_2 = Vel_Matrix_data_2(:,2);
+Vel_Y_data_2 = Vel_Matrix_data_2(:,3);
+Omega_Z_data_2 = Vel_Matrix_data_2(:,7);
+
+% data 3:
+Vel_X_data_3 = Vel_Matrix_data_3(:,2);
+Vel_Y_data_3 = Vel_Matrix_data_3(:,3);
+Omega_Z_data_3 = Vel_Matrix_data_3(:,7);
+
+
+%% Plots
+
+% for the presenation all pose estimation(x,y,theta) in one plot
+
+% 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;
+subplot(3,1,1);
+plot(t_P_sec_data_1,Pose_X_data_1);
+hold on
+plot(t_P_sec_data_2,Pose_X_data_2,'r');
+hold on
+plot(t_P_sec_data_3,Pose_X_data_3,'g');
+
+title('Marker X-axis');
+% xlabel('Time [sec]');
+ylabel('X [m]');
+grid on
+
+subplot(3,1,2);
+plot(t_P_sec_data_1,Pose_Y_data_1);
+hold on
+plot(t_P_sec_data_2,Pose_Y_data_2,'r');
+hold on
+plot(t_P_sec_data_3,Pose_Y_data_3,'g');
+
+title('Marker Y-axis');
+% xlabel('Time [sec]');
+ylabel('Y [m]');
+grid on
+
+subplot(3,1,3);
+plot(t_P_sec_data_1,Theta_data_1);
+hold on
+plot(t_P_sec_data_2,Theta_data_2,'r');
+hold on
+plot(t_P_sec_data_3,Theta_data_3,'g');
+
+title('Marker \theta-axis');
+xlabel('Time [sec]');
+ylabel('\theta [rad]');
+grid on
+
+% control signals
+figure;
+subplot(3,1,1);
+
+plot(t_V_sec_data_1,Vel_X_data_1,'LineWidth',1.2);
+hold on
+plot(t_V_sec_data_2,Vel_X_data_2,'r','LineWidth',1.2);
+hold on
+plot(t_V_sec_data_3,Vel_X_data_3,'g','LineWidth',1.2);
+
+title('Control Signal X-axis');
+% xlabel('Time [sec]');
+ylabel('V_x [m/s]');
+grid on
+% axis([0 46 -.01 .11]);
+
+subplot(3,1,2);
+plot(t_V_sec_data_1,Vel_Y_data_1,'LineWidth',1.2);
+hold on
+plot(t_V_sec_data_2,Vel_Y_data_2,'r','LineWidth',1.2);
+hold on
+plot(t_V_sec_data_3,Vel_Y_data_3,'g','LineWidth',1.2);
+
+title('Control Signal Y-axis');
+% xlabel('Time [sec]');
+ylabel('V_y [m/s]');
+grid on
+% axis([0 46 -.2 .1]);
+
+subplot(3,1,3);
+plot(t_V_sec_data_1,Omega_Z_data_1,'LineWidth',1.2);
+hold on
+plot(t_V_sec_data_2,Omega_Z_data_2,'r','LineWidth',1.2);
+hold on
+plot(t_V_sec_data_3,Omega_Z_data_3,'g','LineWidth',1.2);
+
+title('Control Signal \theta-axis');
+xlabel('Time [sec]');
+ylabel('\omega [rad/s]');
+grid on
+% axis([0 46 -.1 .15]);
+
+% Trajectory
+% figure;
+% plot(Pose_Y_data_1,Pose_X_data_1,'b',ref_Y_data_1,ref_X_data_1,'k*');
+% hold on
+% plot(Pose_Y_data_2,Pose_X_data_2,'r',ref_Y_data_2,ref_X_data_2,'k*');
+%
+% hold on
+% plot(Pose_Y_data_3,Pose_X_data_3,'g',ref_Y_data_3,ref_X_data_3,'k*');
+%
+
+%
+% for k = Pose_X_data_1(1):Pose_X_data_1(size(Pose_X_data_1,1))
+% x_arrow(k) =
+%
+% end
+%
+% x_arrow = linspace(Pose_X_data_1(1),Pose_X_data_1(size(Pose_X_data_1,1)),150);
+% y_arrow = linspace(Pose_Y_data_1(1),Pose_Y_data_1(size(Pose_Y_data_1,1)),150);
+%
+% Vx = gradient(x_arrow,.01);
+% Vy = gradient(y_arrow,.01);
+%
+% figure;
+% plot(y_arrow,x_arrow,'b--','LineWidth',.5);
+% % hold on
+% % quiver(y_arrow,x_arrow,Vy,Vx,'r--','LineWidth',1.5);
+%
+
+
+figure;
+subplot(1,3,1);
+plot(Pose_Y_data_1,Pose_X_data_1,'b','LineWidth',2);
+hold on
+plot(Pose_Y_data_2,Pose_X_data_2,'r','LineWidth',2);
+hold on
+plot(Pose_Y_data_3,Pose_X_data_3,'g','LineWidth',2);
+hold on
+plot(y_circle,x_circle,'k--','LineWidth',3.4)
+
+title('Docking Trajectroy (Whole area)');
+xlabel('Y [m]');
+ylabel('X [m]');
+axis([-.3 .2 .18 1.3]);
+% legend('Trajectory 1','Reference Position 1', 'Trajectory 2','Reference Position 2','Trajectory 3','Reference Position 3');
+grid on
+
+subplot(1,3,2);
+plot(Pose_Y_data_1,Pose_X_data_1,'b','LineWidth',2);
+hold on
+plot(Pose_Y_data_2,Pose_X_data_2,'r','LineWidth',2);
+hold on
+plot(Pose_Y_data_3,Pose_X_data_3,'g','LineWidth',2);
+hold on
+plot(y_circle,x_circle,'k--','LineWidth',3.4);
+title('Docking Trajectroy (SM zone)');
+xlabel('Y [m]');
+ylabel('X [m]');
+% axis([-.08 0 .265 .355]);
+grid on
+
+subplot(1,3,3);
+plot(Pose_Y_data_1,Pose_X_data_1,'b','LineWidth',2);
+hold on
+plot(Pose_Y_data_2,Pose_X_data_2,'r','LineWidth',2);
+hold on
+plot(Pose_Y_data_3,Pose_X_data_3,'g','LineWidth',2);
+hold on
+plot(y_circle,x_circle,'k--','LineWidth',3.4);
+title('Docking Trajectroy (reference area)');
+xlabel('Y [m]');
+ylabel('X [m]');
+% axis([-.04 -.03 .266 .269]);
+grid on
+
+figure;
+subplot(2,1,1);
+plot(diff(TimeP_ros_data_1)/1e9,'g')
+hold on
+plot (diff(t_P_sec_data_1),'k--')
+title('Position sampling time');
+ylabel('Sampling time');
+legend('ROS calc.','Real time calc. [sec]','Orientation','horizontal');
+% grid on
+% axis([0 428 .05 .15]);
+
+subplot(2,1,2);
+plot(diff(TimeV_ros_data_1)/1e9,'g');
+hold on
+plot (diff(t_V_sec_data_1),'k--')
+title('Velocity sampling time');
+xlabel('samples');
+ylabel('Sampling time');
+% legend('ROS calc.','Ordinary calc.','Orientation','horizontal');
+% grid on
+% axis([0 428 -.005 .025]);
+%
+% subplot(3,1,3);
+% plot(diff(TimeV_ros_data_1)/1e9,'g')
+% hold on
+% plot (diff(t_V_sec_data_1),'k--')
+% xlabel('samples');
+% ylabel('time step');
+% axis([150 250 0 .02]);
+
+figure;
+subplot(3,1,1);
+plot(diff(Pose_X_data_1));
+title('X-Pose diff');
+xlabel('samples');
+ylabel('X difference [m]');
+grid on
+
+subplot(3,1,2);
+plot(diff(Pose_X_data_1));
+title('Y-Pose diff');
+xlabel('samples');
+ylabel('Y difference [m]');
+grid on
+
+subplot(3,1,3);
+plot(diff(Theta_data_1));
+title('\theta-Pose diff');
+xlabel('samples');
+ylabel('\theta difference [rad]');
+grid on
\ No newline at end of file
diff --git a/Files_4_thesis/docking_1.m b/Files_4_thesis/docking_1.m
index 86f6518b..2136ea08 100644
--- a/Files_4_thesis/docking_1.m
+++ b/Files_4_thesis/docking_1.m
@@ -3,16 +3,25 @@ close all;
clear all;
%% Import data and time conversion
-% data 1: 308 ros messages for geometry_msgs/Twist
-% 308 ros messages for geometry_msgs/PoseStamped
+% data 1: 556 ros messages for geometry_msgs/Twist
+% 557 ros messages for geometry_msgs/PoseStamped
+
+% y-axis gains:
+% (280716_2024) better!!!
+% P = .44; I = 0; D = 0;
+
+% theta-axis gains:
+% P = .08; I = 0; D = 0;
+
% y-axis gains:
-% P = .6; I = 0; D = 0;
+% (280716_2002)
+% P = .46; I = 0; D = 0;
% theta-axis gains:
-% P = .3; I = 0; D = 0;
+% P = .08; I = 0; D = 0;
-Pose_Matrix_data_1 = csvread('Pose18_7_16_1737.txt',1,0);
-Vel_Matrix_data_1 = csvread('Velocity18_7_16_1737.txt',1,0);
+Pose_Matrix_data_1 = csvread('Pose28_7_16_2024.txt',1,0);
+Vel_Matrix_data_1 = csvread('Velocity28_7_16_2024.txt',1,0);
% time in position
TimeP_ros_data_1 = Pose_Matrix_data_1(:,1); % ros time, needs to be converted to sec...
@@ -23,7 +32,6 @@ TimeP_ros_data_1 = Pose_Matrix_data_1(:,1); % ros time, needs to be converted to
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)) = [];
-
% time in vel
TimeV_ros_data_1 = Vel_Matrix_data_1(:,1); % ros time, needs to be converted to sec...
@@ -34,8 +42,8 @@ t_V_sec_data_1 = 0:durationV_data_1/size(TimeV_ros_data_1,1):durationV_data_1;
t_V_sec_data_1(:,size(t_V_sec_data_1,2)) = [];
% -----------------------------------------------------------------------------------------------------
-% data 2: 377 ros messages for geometry_msgs/Twist
-% 378 ros messages for geometry_msgs/PoseStamped
+% data 2: 588 ros messages for geometry_msgs/Twist
+% 589 ros messages for geometry_msgs/PoseStamped
% y-axis gains:
% P = .5; I = 0.001; D = 0.03;
@@ -64,16 +72,16 @@ t_V_sec_data_2 = 0:durationV_data_2/size(TimeV_ros_data_2,1):durationV_data_2;
t_V_sec_data_2(:,size(t_V_sec_data_2,2)) = [];
% -----------------------------------------------------------------------------------------------------
-% data 3: 416 ros messages for geometry_msgs/Twist
-% 417 ros messages for geometry_msgs/PoseStamped
+% data 3: 538 ros messages for geometry_msgs/Twist
+% 539 ros messages for geometry_msgs/PoseStamped
% y-axis gains:
-% P = .75; I = 0.0004; D = 0.1;
+% P = .44; I = .0005; D = 0.15;
% theta-axis gains:
-% P = .36; I = 0.0067; D = 0.0002;
+% P = .08; I = 0; D = 0;
-Pose_Matrix_data_3 = csvread('Pose18_7_16_1925.txt',1,0);
-Vel_Matrix_data_3 = csvread('Velocity18_7_16_1925.txt',1,0);
+Pose_Matrix_data_3 = csvread('Pose28_7_16_2130.txt',1,0);
+Vel_Matrix_data_3 = csvread('Velocity28_7_16_2130.txt',1,0);
% time in position
TimeP_ros_data_3 = Pose_Matrix_data_3(:,1); % ros time, needs to be converted to sec...
@@ -102,6 +110,7 @@ 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);
+
% when using robot odometry ,,,,
% Pose_X = Pose_Matrix(:,2);
% Pose_Y = Pose_Matrix(:,3);
@@ -149,8 +158,11 @@ ref_Pose_data_3 =[ref_X_data_3;ref_Y_data_3];
thresh_X = .001;
theta = 0:.001:2*pi;
-ref_x = .267438;
-ref_y = -.0337; %.337
+
+% needs to be adjusted manually if docking platform is replaced!
+ref_x = .19979;
+ref_y = .00903;
+
x_circle = thresh_X*cos(theta) + ref_x; % ref_X needs to be recorded
y_circle = thresh_X*sin(theta) + ref_y; % ref_Y needs to be recorded
@@ -186,7 +198,7 @@ Omega_Z_data_3 = Vel_Matrix_data_3(:,7);
% legend('X [m]','Y [m]','\theta [rad]');
% grid on
-
+% marker position
figure;
subplot(3,1,1);
plot(t_P_sec_data_1,Pose_X_data_1);
@@ -224,26 +236,7 @@ xlabel('Time [sec]');
ylabel('\theta [rad]');
grid on
-
-% figure;
-% plot(TimeP_ros,Pose_X,'b',TimeP_ros,Pose_Y,'r',TimeP_ros,Theta,'g');
-%
-% title('Marker Pose ROS computation');
-% xlabel('Ros Time');
-% ylabel('Pose');
-% legend('X [m]','Y [m]','\theta [rad]');
-% grid on
-
-% for the presenation all control signals in one plot
-% figure;
-% plot(t_V_sec,Vel_X,'b',t_V_sec,Vel_Y,'r',t_V_sec,Omega_Z,'g');
-%
-% title('Control Signal');
-% xlabel('Time [sec.]');
-% ylabel('Velocity');
-% legend('V_x [m/s]','V_y [m/s]','\omega [rad/s]');
-% grid on
-
+% control signals
figure;
subplot(3,1,1);
@@ -257,6 +250,7 @@ title('Control Signal X-axis');
% xlabel('Time [sec]');
ylabel('V_x [m/s]');
grid on
+% axis([0 46 -.01 .11]);
subplot(3,1,2);
plot(t_V_sec_data_1,Vel_Y_data_1,'LineWidth',1.2);
@@ -269,6 +263,7 @@ title('Control Signal Y-axis');
% xlabel('Time [sec]');
ylabel('V_y [m/s]');
grid on
+% axis([0 46 -.2 .1]);
subplot(3,1,3);
plot(t_V_sec_data_1,Omega_Z_data_1,'LineWidth',1.2);
@@ -281,6 +276,7 @@ title('Control Signal \theta-axis');
xlabel('Time [sec]');
ylabel('\omega [rad/s]');
grid on
+% axis([0 46 -.1 .15]);
% Trajectory
% figure;
@@ -290,6 +286,26 @@ grid on
%
% hold on
% plot(Pose_Y_data_3,Pose_X_data_3,'g',ref_Y_data_3,ref_X_data_3,'k*');
+%
+
+%
+% for k = Pose_X_data_1(1):Pose_X_data_1(size(Pose_X_data_1,1))
+% x_arrow(k) =
+%
+% end
+%
+% x_arrow = linspace(Pose_X_data_1(1),Pose_X_data_1(size(Pose_X_data_1,1)),150);
+% y_arrow = linspace(Pose_Y_data_1(1),Pose_Y_data_1(size(Pose_Y_data_1,1)),150);
+%
+% Vx = gradient(x_arrow,.01);
+% Vy = gradient(y_arrow,.01);
+%
+% figure;
+% plot(y_arrow,x_arrow,'b--','LineWidth',.5);
+% % hold on
+% % quiver(y_arrow,x_arrow,Vy,Vx,'r--','LineWidth',1.5);
+%
+
figure;
subplot(1,3,1);
@@ -304,7 +320,7 @@ plot(y_circle,x_circle,'k--','LineWidth',3.4)
title('Docking Trajectroy (Whole area)');
xlabel('Y [m]');
ylabel('X [m]');
-axis([-.3 .05 .23 1.1]);
+axis([-.3 .2 .18 1.3]);
% legend('Trajectory 1','Reference Position 1', 'Trajectory 2','Reference Position 2','Trajectory 3','Reference Position 3');
grid on
@@ -319,7 +335,7 @@ plot(y_circle,x_circle,'k--','LineWidth',3.4);
title('Docking Trajectroy (SM zone)');
xlabel('Y [m]');
ylabel('X [m]');
-axis([-.08 0 .265 .355]);
+% axis([-.08 0 .265 .355]);
grid on
subplot(1,3,3);
@@ -333,7 +349,7 @@ plot(y_circle,x_circle,'k--','LineWidth',3.4);
title('Docking Trajectroy (reference area)');
xlabel('Y [m]');
ylabel('X [m]');
-axis([-.04 -.03 .266 .269]);
+% axis([-.04 -.03 .266 .269]);
grid on
figure;
@@ -341,20 +357,19 @@ subplot(2,1,1);
plot(diff(TimeP_ros_data_1)/1e9,'g')
hold on
plot (diff(t_P_sec_data_1),'k--')
-title('Position time step');
-xlabel('samples');
-ylabel('time step');
-legend('ROS calc.','Ordinary calc.','Orientation','horizontal');
+title('Position sampling time');
+ylabel('Sampling time');
+legend('ROS calc.','Real time calc. [sec]','Orientation','horizontal');
% grid on
% axis([0 428 .05 .15]);
subplot(2,1,2);
-plot(diff(TimeV_ros_data_1)/1e9,'g')
+plot(diff(TimeV_ros_data_1)/1e9,'g');
hold on
plot (diff(t_V_sec_data_1),'k--')
-title('Velocity time step');
+title('Velocity sampling time');
xlabel('samples');
-ylabel('time step');
+ylabel('Sampling time');
% legend('ROS calc.','Ordinary calc.','Orientation','horizontal');
% grid on
% axis([0 428 -.005 .025]);
diff --git a/Files_4_thesis/import_data_test.m b/Files_4_thesis/import_data_test.m
index 848fdb2a..a5e1bd87 100644
--- a/Files_4_thesis/import_data_test.m
+++ b/Files_4_thesis/import_data_test.m
@@ -1,8 +1,49 @@
close all;
clear all;
clc;
+%
+%
+% % S_mat = csvread('Scan_Data_5_exp.csv');
+% QL_Matrix = csvread('QL_Matrix.csv');
+% QL_Matrix(:,size(QL_Matrix,2)) = [];
+%
+% %
+% [x,y] = meshgrid(0:.2:2,0:.1:2);
+%
+% u = cos(x).*y;
+% v = sin(x).*y;
+% figure;
+% hold on
+% quiver(x,y,u,v)
+% grid on
+% % axis([-1 3 -1 2.5])
+%
+x = linspace(0,2*pi,15);
+x_prime = gradient(x,.2);
+y = sin(x);
+y_prime = gradient(y,.2);
+figure;
+plot(x,y,'r--','LineWidth',1.8)
+hold on
+quiver(x,y,x_prime,y_prime,'g','LineWidth',2.2)
+%
+% R
-
-% S_mat = csvread('Scan_Data_5_exp.csv');
-QL_Matrix = csvread('QL_Matrix.csv');
-QL_Matrix(:,size(QL_Matrix,2)) = [];
\ No newline at end of file
+% [px_2,py_2] = gradient(z_mesh,.6,.5);
+% figure;
+% % contour(x2,y2,z,'ShowText','on')
+% contour(x_mesh,y_mesh,z_mesh)
+% hold on
+% quiver(x_mesh,y_mesh,px_2,py_2)
+% hold off
+% axis image
+% %
+% v = gradient(z,.1);
+% figure;
+% plot(z,'r')
+% hold on
+% % plot3(x_mesh,y_mesh,z_mesh)
+% % hold on
+% quiver(x,y,vx,vy)
+% % figure;
+% % plot(px,py)
\ No newline at end of file
--
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