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Commit b8c10bfc authored by Farid Alijani's avatar Farid Alijani
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Report and paper and plots

parent 3dea1dee
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Files_4_thesis/Different_controllers/docking_with_PID_controller.m
View file @ b8c10bfc
......@@ -335,16 +335,16 @@ Omega_Z_data_6 = Vel_Matrix_data_6(:,7);
%% Plots
% marker position
figure;
plot(t_P_sec_data_6,Pose_Y_data_6,'k','LineWidth',1.6);
xlabel('time');
ylabel('y');
figure;
plot(t_P_sec_data_6,Theta_data_6,'k','LineWidth',1.6);
xlabel('time');
ylabel('\theta');
% % marker position
% figure;
% plot(t_P_sec_data_6,Pose_Y_data_6,'k','LineWidth',1.6);
% xlabel('time');
% ylabel('y');
%
% figure;
% plot(t_P_sec_data_6,Theta_data_6,'k','LineWidth',1.6);
% xlabel('time');
% ylabel('\theta');
figure;
......@@ -526,93 +526,99 @@ set(l,'interpreter','latex','FontSize',11);
% legend('boxoff');
% sampling time
figure;
set(gcf,'color','white');
subplot(2,2,1);
plot(diff(TimeP_ros_data_3)/1e9,'r','LineWidth',1.4)
hold on
plot (diff(t_P_sec_data_3),'k--','LineWidth',1.8);
% % sampling time
% figure;
% set(gcf,'color','white');
%
% subplot(2,2,1);
% plot(diff(TimeP_ros_data_3)/1e9,'r','LineWidth',1.4)
% hold on
title({'USB Camera';'Position'});
ylabel('Sampling time [sec]','interpreter','latex','FontSize',11);
axis([0 450 .068 .11]);
l3 = legend('${Time_{ROS}}$','${Time_{Real}} [sec]$','Orientation','horizontal');
set(l3,'interpreter','latex','FontSize',13);
subplot(2,2,2);
plot(diff(TimeP_ros_data_5)/1e9,'g','LineWidth',1.4)
hold on;
plot (diff(t_P_sec_data_5),'b--','LineWidth',1.8);
title({'Android Camera';'Position'});
axis([0 234 .068 .3]);
l4 = legend('${Time_{ROS}}$','${Time_{Real}} [sec]$','Orientation','horizontal');
set(l4,'interpreter','latex','FontSize',13);
legend('boxoff');
subplot(2,2,3);
plot(diff(TimeV_ros_data_3)/1e9,'r','LineWidth',1.4);
hold on;
plot (diff(t_V_sec_data_3),'k--','LineWidth',1.8);
% hold on;
title('Velocity');
xlabel('samples','interpreter','latex','FontSize',13);
ylabel('Sampling time [sec]','interpreter','latex','FontSize',13);
axis([0 450 .068 .11]);
subplot(2,2,4);
plot(diff(TimeV_ros_data_5)/1e9,'g','LineWidth',1.4);
hold on;
plot (diff(t_V_sec_data_5),'b--','LineWidth',1.8);
title('Velocity');
xlabel('samples','interpreter','latex','FontSize',13);
% plot (diff(t_P_sec_data_3),'k--','LineWidth',1.8);
% % hold on
% title({'USB Camera';'Position'});
% ylabel('Sampling time [sec]','interpreter','latex','FontSize',11);
axis([0 234 .068 .3]);
% axis([0 450 .068 .11]);
% l3 = legend('${Time_{ROS}}$','${Time_{Real}} [sec]$','Orientation','horizontal');
% set(l3,'interpreter','latex','FontSize',13);
%
% subplot(2,2,2);
% plot(diff(TimeP_ros_data_5)/1e9,'g','LineWidth',1.4)
% hold on;
% plot (diff(t_P_sec_data_5),'b--','LineWidth',1.8);
%
% title({'Android Camera';'Position'});
% axis([0 234 .068 .3]);
%
% l4 = legend('${Time_{ROS}}$','${Time_{Real}} [sec]$','Orientation','horizontal');
% set(l4,'interpreter','latex','FontSize',13);
% legend('boxoff');
%
% subplot(2,2,3);
% plot(diff(TimeV_ros_data_3)/1e9,'r','LineWidth',1.4);
% hold on;
% plot (diff(t_V_sec_data_3),'k--','LineWidth',1.8);
% % hold on;
% title('Velocity');
% xlabel('samples','interpreter','latex','FontSize',13);
% ylabel('Sampling time [sec]','interpreter','latex','FontSize',13);
% axis([0 450 .068 .11]);
%
% subplot(2,2,4);
% plot(diff(TimeV_ros_data_5)/1e9,'g','LineWidth',1.4);
% hold on;
% plot (diff(t_V_sec_data_5),'b--','LineWidth',1.8);
%
% title('Velocity');
% xlabel('samples','interpreter','latex','FontSize',13);
% % ylabel('Sampling time [sec]','interpreter','latex','FontSize',11);
% axis([0 234 .068 .3]);
%
figure;
set(gcf,'color','white');
subplot(2,1,1);
pa1 = plot(diff(TimeP_ros_data_3)/1e9,'r','LineWidth',2.1);
%
% subplot(2,1,1);
pa1 = plot(diff(TimeP_ros_data_3)/1e9,'k','LineWidth',1.5);
hold on
pa2 = plot (diff(t_P_sec_data_3),'k--','LineWidth',1.5);
pa2 = plot (diff(t_P_sec_data_3),'g--','LineWidth',1.5);
hold on
pa3 = plot(diff(TimeP_ros_data_5)/1e9,'g','LineWidth',1.4);
pa3 = plot(diff(TimeP_ros_data_5)/1e9,'b','LineWidth',1.5);
hold on;
pa4 = plot (diff(t_P_sec_data_5),'b--','LineWidth',1.8);
pa4 = plot (diff(t_P_sec_data_5),'r--','LineWidth',1.8);
hold off;
axis([0 234 0 .3]);
title('Position');
% ylabel('Sampling time [sec]','interpreter','latex','FontSize',13);
axis([0 234 .05 .3]);
%
% title('Position');
ylabel('Sampling time [s]','interpreter','latex','FontSize',20);
xlabel('Sample number','interpreter','latex','FontSize',20);
%
% l5 = legend([pa1 pa2],'$USB Camera {Time_{ROS}}$','$ USB Camera {Time_{Real}} [sec]$','Orientation','horizontal');
% l5 = legend([pa1 pa2],'$USB Camera {Time_{ROS}}$','$ USB Camera {Time_{Real}} [s]$','Orientation','horizontal');
% set(l5,'interpreter','latex','FontSize',11);
% leg =
legend('ROS Time, USB camera','Real Time, USB camera [s]','ROS Time, IP camera','Real Time, IP camera [s]','Location','northwest');
% l6 = legend([pa3 pa4],'$ Android Camera {Time_{ROS}}$','$ Android Camera {Time_{Real}} [sec]$','Orientation','horizontal');
% set(l6,'interpreter','latex','FontSize',12);
%
set(gca,'fontsize',20);
leg = legend('ROS Time, USB camera','Real Time, USB camera [s]','ROS Time, IP camera','Real Time, IP camera [s]','Location','northwest');
set(leg,'FontSize',15);
legend('boxoff');
subplot(2,1,2);
p1 = plot(diff(TimeV_ros_data_3)/1e9,'r','LineWidth',2.1);
hold on;
p2 = plot (diff(t_V_sec_data_3),'k--','LineWidth',1.5);
hold on;
p3 = plot(diff(TimeV_ros_data_5)/1e9,'g','LineWidth',1.4);
hold on;
p4 = plot (diff(t_V_sec_data_5),'b--','LineWidth',1.8);
hold off;
axis([0 234 0 .3]);
title('Velocity');
% ylabel('Sampling time [sec]','interpreter','latex','FontSize',13);
%
% subplot(2,1,2);
% p1 = plot(diff(TimeV_ros_data_3)/1e9,'r','LineWidth',2.1);
% hold on;
% p2 = plot (diff(t_V_sec_data_3),'k--','LineWidth',1.5);
% hold on;
% p3 = plot(diff(TimeV_ros_data_5)/1e9,'g','LineWidth',1.4);
% hold on;
% p4 = plot (diff(t_V_sec_data_5),'b--','LineWidth',1.8);
% hold off;
% axis([0 234 0 .3]);
% title('Velocity');
% ylabel('Sampling time [s]','interpreter','latex','FontSize',13);
% xlabel('Sample','interpreter','latex','FontSize',13);
%
% l6 = legend([p3 p4],'$ Android Camera {Time_{ROS}}$','$ Android Camera {Time_{Real}} [sec]$','Orientation','horizontal');
% set(l6,'interpreter','latex','FontSize',12);
% set(gca,'fontsize',13);
MaxOvershoot_1 = -ref_y + min(Pose_Y_data_1)
MaxOvershoot_2 = -ref_y + min(Pose_Y_data_2)
......
Files_4_thesis/Finding_X_dot_with_Pcontroller/docking_with_P_controller.asv 0 → 100644
View file @ b8c10bfc
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:
% (010816_1718) best!!!
% P = .4; I = 0; D = 0;
% 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('Pose01_08_16_1718.txt',1,0);
% Vel_Matrix_data_1 = csvread('Velocity01_08_16_1718.txt',1,0);
Pose_Matrix_data_1 = csvread('CAM_x_dot_.1.txt',1,0);
Vel_Matrix_data_1 = csvread('x_dot_.1.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:
% py = .25; ptheta = .25;
% iy = 0; itheta = 0;
% dy = 0; dtheta = 0;
% Pose_Matrix_data_2 = csvread('Pose01_08_16_1749.txt',1,0);
% Vel_Matrix_data_2 = csvread('Velocity01_08_16_1749.txt',1,0);
Pose_Matrix_data_2 = csvread('CAM_x_dot_.15.txt',1,0);
Vel_Matrix_data_2 = csvread('x_dot_.15.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:
% Pose_Matrix_data_3 = csvread('Pose01_08_16_1831.txt',1,0);
% Vel_Matrix_data_3 = csvread('Velocity01_08_16_1831.txt',1,0);
Pose_Matrix_data_3 = csvread('CAM_x_dot_.16.txt',1,0);
Vel_Matrix_data_3 = csvread('x_dot_.16.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(:,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(:,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(:,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 = -.203;
ref_y = -.019;
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
%
%
% % 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','Color','r');
% % 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 [s]');
% ylabel('\theta [rad]');
% grid on
% control signals
figure;
set(gcf,'color','white');
subplot(3,1,1);
plot(t_V_sec_data_1,Vel_X_data_1,'LineWidth',2);
hold on
plot(t_V_sec_data_2,Vel_X_data_2,'r','LineWidth',1.6);
hold on
plot(t_V_sec_data_3,Vel_X_data_3,'g','LineWidth',2);
title('a) $\dot{x}_{Rob}$ [m/s]','interpreter','latex','FontSize',20);
% set(get(gca,'title'),'Position',([17 5]));
% xlabel('$ time [sec]$','interpreter','latex','FontSize',14);
ylabel('$\dot{x}_{Rob}$ [m/s]','interpreter','latex','FontSize',20);
% grid on
axis([0 35 -.01 .2]);
l = legend('$\dot{x}_{Rob}$ = 0.1 [m/s]','$\dot{x}_{Rob}$ = 0.15[m/s]','$\dot{x}_{Rob}$ = 0.16[m/s]');
set(l,'interpreter','latex','FontSize',12);
legend('boxoff');
subplot(3,1,2);
plot(t_V_sec_data_1,Vel_Y_data_1,'LineWidth',2.5);
hold on
plot(t_V_sec_data_2,Vel_Y_data_2,'r','LineWidth',1.5);
hold on
plot(t_V_sec_data_3,Vel_Y_data_3,'g','LineWidth',2.1);
title('a) $\dot{y}_{Rob}$ [m/s]','interpreter','latex','FontSize',20);
ylabel('$\dot{y}_{Rob}$ [m/s]','interpreter','latex','FontSize',20);
% grid on
% axis([0 46 -.2 .1]);
subplot(3,1,3);
plot(t_V_sec_data_1,Omega_Z_data_1,'LineWidth',2.5);
hold on
plot(t_V_sec_data_2,Omega_Z_data_2,'r','LineWidth',1.45);
hold on
plot(t_V_sec_data_3,Omega_Z_data_3,'g','LineWidth',2.1);
title('a) $\dot{x}_{Rob}$ [m/s]','interpreter','latex','FontSize',20);
xlabel('$ time $ [s]','interpreter','latex','FontSize',14);
ylabel('$\dot{\theta}_{Rob}$ [rad/s]','interpreter','latex','FontSize',14);
% 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;
set(gcf,'color','white');
subplot(131);
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('Approach zone + SM zone + Target area');
% xlabel('${y}_{mar}$ [m]','interpreter','latex','FontSize',14);
ylabel('${x}_{mar}$ [m]','interpreter','latex','FontSize',16);
axis([-.65 .01 -1.47 -.185]);
% grid on
l2 = legend('$\dot{x}_{Rob}$ = 0.1[m/s]','$\dot{x}_{Rob}$ = 0.15[m/s]','$\dot{x}_{Rob}$ = 0.16[m/s]','Target','Location','northwest');
set(l2,'interpreter','latex','FontSize',14);
legend('boxoff');
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('SM zone + Target area');
xlabel('${y}_{mar}$ [m]','interpreter','latex','FontSize',16);
% ylabel('${X}$ [m]','interpreter','latex');
axis([-.033 -.01 -.26 -.195]);
% grid on
subplot(133);
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('Target area');
% xlabel('${y}_{mar}$ [m]','interpreter','latex','FontSize',14);
% ylabel('${X}$ [m]','interpreter','latex');
axis([-.0205 -.0175 -.206 -.20]);
% grid on
% l2 = legend('x_dot = 0.15','x_dot = 0.1','x_dot = 0.16','Reference Position');
figure;
set(gcf,'color','white');
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;
% set(gcf,'color','white');
%
% 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
Files_4_thesis/Finding_X_dot_with_Pcontroller/docking_with_P_controller.m
View file @ b8c10bfc
......@@ -176,45 +176,45 @@ Omega_Z_data_3 = Vel_Matrix_data_3(:,7);