Commit 915be57f authored by Farid Alijani's avatar Farid Alijani
Browse files

Rep LUT

parent 50a339d5
......@@ -60,6 +60,7 @@ end
% theta vs. scanner_value & reference
figure;
set(gcf,'color','white');
subplot(1,2,1);
% plot(angle,s_exp_1,'m--','LineWidth',1.1);
% hold on;
......@@ -73,8 +74,8 @@ hold on;
% hold on;
plot(angle,dist_to_obst,'rx','LineWidth',.05);
title('');
xlabel('${Angle}$ [rad]','interpreter','latex','FontSize',14);
ylabel('${Distance [m]}$','interpreter','latex','FontSize',14);
% xlabel('${Angle}$ [rad]','interpreter','latex','FontSize',14);
% ylabel('${Distance [m]}$','interpreter','latex','FontSize',14);
axis([-.09 .42 .08 .2]);
% legend('Experiment 1','Experiment 2','Experiment 3','Safety Curve');
subplot(1,2,2);
......@@ -141,6 +142,7 @@ end
% checking accuracy in robot coordinate system
figure;
set(gcf,'color','white');
subplot(3,1,1);
plot(X_DockedwithNOmar,Y_DockedwithNOmar);
hold on;
......@@ -173,6 +175,7 @@ axis([.04 .16 -.12 .12]);
%
figure;
set(gcf,'color','white');
subplot(3,1,1);
plot(s_angle_DockedwithNOmar,s_val_DockedwithNOmar);
hold on
......@@ -192,7 +195,7 @@ plot(s_angle_DockedwithMar,s_val_DockedwithMar);
hold on
plot(s_angle_DockedwithMar,dist_to_obst,'r','LineWidth',.2);
% xlabel('Angle [rad]');
ylabel('Distance to objects [m]');
% ylabel('Distance to objects [m]');
title('Marker circular bottle in docking platform');
axis([-2.2 2.2 -.5 5]);
......@@ -201,7 +204,7 @@ plot(s_angle_DockedwithMar,s_val_DockedwithMar);
hold on
plot(s_angle_DockedwithMar,dist_to_obst,'r','LineWidth',10);
title('Detected marker');
xlabel('Angle [rad]');
% xlabel('Angle [rad]');
% ylabel('Distance to Obstacle [m]');
axis([-.15 .35 .08 .15]);
......@@ -245,12 +248,13 @@ for i = 1:points_out
end
figure;
set(gcf,'color','white');
subplot(1,2,1);
plot(s_angle_out,s_val_out,'b','LineWidth',2);
hold on
plot(s_angle_out,dist_to_obst,'r','LineWidth',10);
xlabel('$Angle [rad]$','interpreter','latex','FontSize',14);
ylabel('$Obstacle [m]$','interpreter','latex','FontSize',14);
% xlabel('$Angle [rad]$','interpreter','latex','FontSize',14);
% ylabel('$Obstacle [m]$','interpreter','latex','FontSize',14);
grid on;
axis([-2.23 2.23 -1 10]);
......
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