diff --git a/Files_4_thesis/Finding_X_dot_with_Pcontroller/docking_with_P_controller.asv b/Files_4_thesis/Finding_X_dot_with_Pcontroller/docking_with_P_controller.asv
deleted file mode 100644
index a0c6227a8ce4e37e15df7c26ac530a0b1002aa05..0000000000000000000000000000000000000000
--- a/Files_4_thesis/Finding_X_dot_with_Pcontroller/docking_with_P_controller.asv
+++ /dev/null
@@ -1,398 +0,0 @@
-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) $\dot{x}_{Rob}$','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',18);
-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('b) $\dot{y}_{Rob}$','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('c) $\dot{\theta}_{Rob}$','interpreter','latex','FontSize',20);
-xlabel('$ time $ [s]','interpreter','latex','FontSize',20);
-ylabel('$\dot{\theta}_{Rob}$ [rad/s]','interpreter','latex','FontSize',20);
-% 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('${a) Approach zone + SM zone + Target area}$','interpreter','latex','FontSize',17);
-% xlabel('${y}_{mar}$ [m]','interpreter','latex','FontSize',14);
-ylabel('${x}_{mar}$ [m]','interpreter','latex','FontSize',20);
-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',15);
-legend('boxoff');
-
-subplot(132);
-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('$ {b) SM zone + Target area}$','interpreter','latex','FontSize',17);
-xlabel('${y}_{mar}$ [m]','interpreter','latex','FontSize',20);
-% 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('$ {c) Target area}$','interpreter','latex','FontSize',17);
-% xlabel('${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
diff --git a/Files_4_thesis/scanner_analysis.asv b/Files_4_thesis/scanner_analysis.asv
deleted file mode 100644
index b6482ef3ac1dc44f57bf9a9ba33a5e0eeabf3362..0000000000000000000000000000000000000000
--- a/Files_4_thesis/scanner_analysis.asv
+++ /dev/null
@@ -1,407 +0,0 @@
-clc;
-close all;
-clear all;
-
-upper_angle = 135; % deg.
-lower_angle = -135; % deg.
-dist_to_obst = .1; % m.
-
-%% docked robot for 5 different experiences...
-
-S_mat = csvread('Scan_Data_5_exp.csv');
-
-indx = S_mat(:,1);
-
-s_exp_1 = S_mat(:,2);
-s_exp_2 = S_mat(:,3);
-s_exp_3 = S_mat(:,4);
-s_exp_4 = S_mat(:,5);
-s_exp_5 = S_mat(:,6);
-
-
-points = size(indx,1); % to calculate the angle...
-laser_beam = points -1;
-
-angle = zeros(points,1);
-X_exp_1 = zeros(points,1);
-X_exp_2 = zeros(points,1);
-X_exp_3 = zeros(points,1);
-X_exp_4 = zeros(points,1);
-X_exp_5 = zeros(points,1);
-X_obst = zeros(points,1);
-
-Y_exp_1 = zeros(points,1);
-Y_exp_2 = zeros(points,1);
-Y_exp_3 = zeros(points,1);
-Y_exp_4 = zeros(points,1);
-Y_exp_5 = zeros(points,1);
-Y_obst = zeros(points,1);
-
-
-
-for i = 1:points
-    
-    angle(i) = (lower_angle + (indx(i)* ((upper_angle - lower_angle)/(laser_beam))))* pi/180;
-    
-    X_exp_1(i) = s_exp_1(i) * cos(angle(i));
-    X_exp_2(i) = s_exp_2(i) * cos(angle(i));
-    X_exp_3(i) = s_exp_3(i) * cos(angle(i));
-    X_exp_4(i) = s_exp_4(i) * cos(angle(i));
-    X_exp_5(i) = s_exp_5(i) * cos(angle(i));
-    X_obst(i) = dist_to_obst * cos(angle(i));
-    
-    Y_exp_1(i) = s_exp_1(i) * sin(angle(i));
-    Y_exp_2(i) = s_exp_2(i) * sin(angle(i));
-    Y_exp_3(i) = s_exp_3(i) * sin(angle(i));
-    Y_exp_4(i) = s_exp_4(i) * sin(angle(i));
-    Y_exp_5(i) = s_exp_5(i) * sin(angle(i));
-    Y_obst(i) = dist_to_obst * sin(angle(i));    
-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;
-plot(angle,s_exp_2,'m--','LineWidth',1.9);
-hold on;
-plot(angle,s_exp_3,'b--','LineWidth',1.9);
-hold on;
-plot(angle,s_exp_4,'g--','LineWidth',1.1);
-hold on;
-% plot(angle,s_exp_5,'b--','LineWidth',.8);
-% hold on;
-plot(angle,dist_to_obst,'rx','LineWidth',.05);
-title('');
-xlabel('${\theta_b}$ [rad]','interpreter','latex','FontSize',20);
-ylabel('${Distance}$ [m]','interpreter','latex','FontSize',20);
-axis([-.09 .42 .08 .2]);
-% set(gca,'box','off','fontsize',20);
-% legend('Experiment 1','Experiment 2','Experiment 3','Safety Curve');
-subplot(1,2,2);
-% plot(X_exp_1,Y_exp_1,'m--','LineWidth',.9);
-% hold on
-plot(X_exp_2,Y_exp_2,'m--','LineWidth',1.9);
-hold on
-plot(X_exp_3,Y_exp_3,'b--','LineWidth',1.9);
-hold on
-plot(X_exp_4,Y_exp_4,'g--','LineWidth',1.1);
-hold on
-% plot(X_exp_5,Y_exp_5,'b--','LineWidth',.1);
-% hold on
-plot(X_obst,Y_obst,'r','LineWidth',.05);
-title('');
-xlabel('${X}$ [m]','interpreter','latex','FontSize',20);
-ylabel('${Y}$ [m]','interpreter','latex','FontSize',20);
-axis([-.1 .16 -.18 .18]);
-% set(gca,'box','off','fontsize',20);
-l = legend('Trial 1','Trial 2','Trial 3','Safety Curve','Orientation','vertical');
-set(l,'interpreter','latex','FontSize',16);
-% legend('box','off')
-%% docked robot with marker vs. docked robot without marker!
-S_Mat_DockedwithMar = csvread('scanner_data_Docked_WITH_Marker.txt',0,0);
-S_Mat_DockedwithNOmar = csvread('scanner_data_no_cylinder.txt',0,0);
-
-indx_DockedwithMar = S_Mat_DockedwithMar(:,1);
-s_val_DockedwithMar = S_Mat_DockedwithMar(:,2);
-
-indx_DockedwithNOmar = S_Mat_DockedwithNOmar(:,1);
-s_val_DockedwithNOmar = S_Mat_DockedwithNOmar(:,2);
-
-points_DockedwithMar = size(indx_DockedwithMar,1);
-points_DockedwithNOmar = size(indx_DockedwithNOmar,1);
-
-laser_beam_DockedwithMar = points_DockedwithMar - 1;
-laser_beam_DockedwithNOmar = points_DockedwithNOmar - 1;
-
-s_angle_DockedwithMar = zeros(points_DockedwithMar,1);
-s_angle_DockedwithNOmar = zeros(points_DockedwithNOmar,1);
-
-X_DockedwithMar = zeros(points_DockedwithMar,1); Y_DockedwithMar = zeros(points_DockedwithMar,1);
-X_DockedwithNOmar = zeros(points_DockedwithNOmar,1); Y_DockedwithNOmar = zeros(points_DockedwithNOmar,1);
-
-X_obst_DockedwithMar = zeros(points_DockedwithMar,1); Y_obst_DockedwithMar = zeros(points_DockedwithMar,1);
-X_obst_DockedwithNOmar = zeros(points_DockedwithNOmar,1); Y_obst_DockedwithNOmar = zeros(points_DockedwithNOmar,1);
-
-
-for i = 1:points_DockedwithMar
-    s_angle_DockedwithMar(i) = (lower_angle + (indx_DockedwithMar(i)* ((upper_angle - lower_angle)/(laser_beam_DockedwithMar))))* pi/180;
-    X_DockedwithMar(i) = s_val_DockedwithMar(i) * cos(s_angle_DockedwithMar(i));
-    Y_DockedwithMar(i) = s_val_DockedwithMar(i) * sin(s_angle_DockedwithMar(i));
-    X_obst_DockedwithMar(i) = dist_to_obst * cos(s_angle_DockedwithMar(i));
-    Y_obst_DockedwithMar(i)= dist_to_obst * sin(s_angle_DockedwithMar(i));
-end
-
-
-for i = 1:points_DockedwithNOmar
-    s_angle_DockedwithNOmar(i) = (lower_angle + (indx_DockedwithNOmar(i)* ((upper_angle - lower_angle)/(laser_beam_DockedwithNOmar))))* pi/180;
-    X_DockedwithNOmar(i) = s_val_DockedwithNOmar(i) * cos(s_angle_DockedwithNOmar(i));
-    Y_DockedwithNOmar(i) = s_val_DockedwithNOmar(i) * sin(s_angle_DockedwithNOmar(i));
-    X_obst_DockedwithNOmar(i) = dist_to_obst * cos(s_angle_DockedwithNOmar(i));
-    Y_obst_DockedwithNOmar(i)= dist_to_obst * sin(s_angle_DockedwithNOmar(i));
-end
-
-
-
-% The robot is totally docked and a box is besides of laser scanner!
-S_Mat_DockedwithBOX = csvread('scanner_data_box.txt',0,0);
-indx_DockedwithBOX = S_Mat_DockedwithBOX(:,1);
-s_val_DockedwithBOX = S_Mat_DockedwithBOX(:,2);
-
-points_DockedwithBOX = size(indx_DockedwithBOX,1);
-laser_beam_DockedwithBOX = points_DockedwithBOX - 1;
-s_angle_DockedwithBOX = zeros(points_DockedwithBOX,1);
-
-X_DockedwithBOX = zeros(points_DockedwithBOX,1); Y_DockedwithBOX = zeros(points_DockedwithBOX,1);
-X_obst_DockedwithBOX = zeros(points_DockedwithBOX,1); Y_obst_DockedwithBOX = zeros(points_DockedwithBOX,1);
-
-for i = 1:points_DockedwithBOX
-    s_angle_DockedwithBOX(i) = (lower_angle + (indx_DockedwithBOX(i)* ((upper_angle - lower_angle)/(laser_beam_DockedwithBOX))))* pi/180;
-    X_DockedwithBOX(i) = s_val_DockedwithBOX(i) * cos(s_angle_DockedwithBOX(i));
-    Y_DockedwithBOX(i) = s_val_DockedwithBOX(i) * sin(s_angle_DockedwithBOX(i));
-    
-    
-    X_obst_DockedwithBOX(i) = dist_to_obst * cos(s_angle_DockedwithBOX(i));
-    Y_obst_DockedwithBOX(i)= dist_to_obst * sin(s_angle_DockedwithBOX(i));
-end
-
-
-% checking accuracy in robot coordinate system
-figure;
-set(gcf,'color','white');
-
-subplot(3,2,1);
-plot(s_angle_DockedwithNOmar,s_val_DockedwithNOmar);
-hold on
-plot(s_angle_DockedwithNOmar,dist_to_obst,'r','LineWidth',.2);
-% title('No marker on docking platform');
-axis([-2.2 2.2 -.5 10]);
-% set(gca,'box','off','fontsize',20);
-set(gca,'box','off');
-
-subplot(3,2,2);
-plot(X_DockedwithNOmar,Y_DockedwithNOmar);
-hold on;
-plot(X_obst_DockedwithNOmar,Y_obst_DockedwithNOmar,'r','LineWidth',3);
-% title('No marker on docking platform, TOP VIEW');
-% legend('Obstacles','Laser scanner safety curve (r = 10 cm)');
-% grid on
-axis([-2 4.5 -4 1.5]);
-% set(gca,'box','off','fontsize',20);
-set(gca,'box','off');
-
-subplot(3,2,3);
-orig_coordinate_cir = gca; % create axes
-plot(orig_coordinate_cir,s_angle_DockedwithMar,s_val_DockedwithMar,'b','LineWidth',2.7);
-hold on
-plot(orig_coordinate_cir,s_angle_DockedwithMar,dist_to_obst,'r','LineWidth',2.7);
-ylabel('$ {Distance} $ [m]','interpreter','latex','FontSize',20);
-axis([-2.3 2.3 -.5 10]);
-% set(orig_coordinate_cir,'box','off','fontsize',20);
-set(orig_coordinate_cir,'box','off');
-
-% ----- Zoomed in ------
-hkids_cir = get(orig_coordinate_cir, 'child'); % get original coordinate properties
-
-set(hkids_cir(1),'marker','o','Color','r')
-set(hkids_cir(2),'marker','.')
-
-zoomed_coordinate_cir = axes('Position',get(orig_coordinate_cir,'Position'),...
-           'XAxisLocation','bottom',...
-           'YAxisLocation','left',...
-           'fontsize',10,...
-           'Color','none',...
-           'XColor','k','YColor','k', 'NextPlot', 'add'); % make ax2. Use nexplot to maintain your settings
-
-plot(zoomed_coordinate_cir,s_angle_DockedwithMar,s_val_DockedwithMar,'b','LineWidth',2.7);
-hold on;
-plot(zoomed_coordinate_cir,s_angle_DockedwithMar,dist_to_obst,'r-','LineWidth',2.7);
-
-set(zoomed_coordinate_cir,'xlim',[-.15 .32])% axes limit for zoom out,
-set(zoomed_coordinate_cir,'ylim',[.08 .2])% axes limit for zoom out,
-set(zoomed_coordinate_cir, 'Units', 'normalized', 'Position', [.35 0.48 0.15 0.18])
-% ----- Zoomed in ------
-
-subplot(3,2,4);
-orig_coordinate_cir_T = gca; % create axes
-plot(orig_coordinate_cir_T,X_DockedwithMar,Y_DockedwithMar,'b','LineWidth',2.7);
-hold on;
-plot(orig_coordinate_cir_T,X_obst_DockedwithMar,Y_obst_DockedwithMar,'r','LineWidth',3);
-ylabel('$ {Y} $ [m]','interpreter','latex','FontSize',20);
-axis([-2 4.5 -4 1.5]);
-% set(orig_coordinate_cir_T,'box','off','fontsize',20);
-set(orig_coordinate_cir_T,'box','off');
-
-% ----- Zoomed in ------
-hkids_cir_T = get(orig_coordinate_cir_T, 'child'); % get original coordinate properties
-% 
-% set(hkids_cir_T(1),'marker','.','Color','r')
-% set(hkids_cir_T(2),'marker','*')
-
-set(hkids_cir_T(1),'Color','r')
-set(hkids_cir_T(2),'Color','b')
-
-
-zoomed_coordinate_cir_T = axes('Position',get(orig_coordinate_cir_T,'Position'),...
-           'XAxisLocation','bottom',...
-           'YAxisLocation','left',...
-           'fontsize',13,...
-           'Color','none',...
-           'XColor','k','YColor','k', 'NextPlot', 'add'); % make ax2. Use nexplot to maintain your settings
-
-plot(zoomed_coordinate_cir_T,X_DockedwithMar,Y_DockedwithMar,'b','LineWidth',2.7);
-hold on;
-plot(zoomed_coordinate_cir_T,X_obst_DockedwithMar,Y_obst_DockedwithMar,'r','LineWidth',3);
-
-set(zoomed_coordinate_cir_T,'xlim',[.08 .13])% axes limit for zoom out,
-set(zoomed_coordinate_cir_T,'ylim',[-.06 .06])% axes limit for zoom out,
-set(zoomed_coordinate_cir_T, 'Units', 'normalized', 'Position', [.84 0.485 0.15 0.18])
-% ----- Zoomed in ------
-
-
-
-subplot(3,2,5);
-orig_coordinate_box = gca; % create axes
-plot(orig_coordinate_box,s_angle_DockedwithBOX,s_val_DockedwithBOX,'b','LineWidth',2.7);
-hold on
-plot(orig_coordinate_box,s_angle_DockedwithBOX,dist_to_obst, 'r','LineWidth',3);
-xlabel('$ {\theta_b} $ [rad]','interpreter','latex','FontSize',20);
-axis([-2.3 2.3 -.15 5]);
-% set(orig_coordinate_box,'box','off','fontsize',20);
-set(orig_coordinate_box,'box','off');
-
-% ----- Zoomed in BOX------
-hkids_box = get(orig_coordinate_box, 'child'); % get original coordinate properties
-
-set(hkids_box(1),'marker','o','Color','r')
-set(hkids_box(2),'marker','.')
-
-zoomed_coordinate_box = axes('Position',get(orig_coordinate_box,'Position'),...
-           'XAxisLocation','bottom',...
-           'YAxisLocation','left',...
-           'fontsize',13,...
-           'Color','none',...
-           'XColor','k','YColor','k', 'NextPlot', 'add'); % make ax2. Use nexplot to maintain your settings
-
-plot(zoomed_coordinate_box,s_angle_DockedwithBOX,s_val_DockedwithBOX);
-hold on;
-plot(zoomed_coordinate_box,s_angle_DockedwithBOX,dist_to_obst,'Color','r');
-
-set(zoomed_coordinate_box,'xlim',[-1.6 -.3])% axes limit for zoom out,
-set(zoomed_coordinate_box,'ylim',[.08 .2])% axes limit for zoom out,
-set(zoomed_coordinate_box, 'Units', 'normalized', 'Position', [.35 0.18 0.15 0.18])
-% ----- Zoomed in BOX------
-
-
-subplot(3,2,6);
-orig_coordinate_box_T = gca; % create axes
-plot(orig_coordinate_box_T,X_DockedwithBOX,Y_DockedwithBOX,'b','LineWidth',.01);
-hold on
-plot(orig_coordinate_box_T,X_obst_DockedwithMar,Y_obst_DockedwithMar, 'r','LineWidth',5);
-xlabel('$ {X} $ [m]','interpreter','latex','FontSize',20);
-axis([-.53 .9 -.8 1.5]);
-% set(orig_coordinate_box_T,'box','off','fontsize',20);
-set(orig_coordinate_box_T,'box','off');
-
-% ----- Zoomed in BOX_T------
-hkids_box_T = get(orig_coordinate_box_T, 'child'); % get original coordinate properties
-
-set(hkids_box_T(1),'Color','r')
-set(hkids_box_T(2),'Color','b')
-
-zoomed_coordinate_box_T = axes('Position',get(orig_coordinate_box_T,'Position'),...
-           'XAxisLocation','bottom',...
-           'YAxisLocation','left',...
-           'fontsize',13,...
-           'Color','none',...
-           'XColor','k','YColor','k', 'NextPlot', 'add'); % make ax2. Use nexplot to maintain your settings
-
-plot(zoomed_coordinate_box_T,X_DockedwithBOX,Y_DockedwithBOX);
-hold on;
-plot(zoomed_coordinate_box_T,X_obst_DockedwithMar,Y_obst_DockedwithMar,'Color','r');
-
-set(zoomed_coordinate_box_T,'xlim',[-.16 .2])% axes limit for zoom out,
-set(zoomed_coordinate_box_T,'ylim',[-.22 .22])% axes limit for zoom out,
-set(zoomed_coordinate_box_T, 'Units', 'normalized', 'Position', [.84 0.2 .15 .18])
-% ----- Zoomed in BOX_T------
-
-
-%% The robot is moving Towards docking...!
-Scanner_Matrix_Moving = csvread('scanner_data_Moving_Towards_Docking_WITH_Marker.txt',0,0);
-
-index_Moving = Scanner_Matrix_Moving(:,1);
-scanner_value_Moving = Scanner_Matrix_Moving(:,2);
-
-index_Moving_Final = Scanner_Matrix_Moving(size(Scanner_Matrix_Moving,1),1);
-scanner_value_Moving_Final = Scanner_Matrix_Moving(size(Scanner_Matrix_Moving,1),2);
-
-% figure;
-% plot(index_Moving,scanner_value_Moving,'m',index_Moving_Final,scanner_value_Moving_Final,'k*');
-% legend('Distance to obstacle','Reference Position');
-% grid on;
-% xlabel('Index');
-% ylabel('Distance to Obstacle [m]');
-% title('Scanner Analysis for a moving robot!');
-% axis([0 540 0 31]);
-
-
-%% The robot is in the docking area, while NOT docked!
-S_Mat_Out = csvread('scanner_data_outside.txt',0,0);
-indx_out = S_Mat_Out(:,1);
-s_val_out = S_Mat_Out(:,2);
-
-points_out = size(indx_out,1);
-laser_beam_out = points_out - 1;
-s_angle_out = zeros(points_out,1);
-X_out = zeros(points_out,1); Y_out = zeros(points_out,1);
-X_obst_out = zeros(points_out,1); Y_obst_out = zeros(points_out,1);
-
-for i = 1:points_out
-    s_angle_out(i) = (lower_angle + (indx_out(i)* ((upper_angle - lower_angle)/(laser_beam_out))))* pi/180;
-    X_out(i) = s_val_out(i) * cos(s_angle_out(i));
-    Y_out(i) = s_val_out(i) * sin(s_angle_out(i));
-    
-    X_obst_out(i) = dist_to_obst * cos(s_angle_out(i));
-    Y_obst_out(i)= dist_to_obst * sin(s_angle_out(i));
-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('${\theta_b}$ [rad]','interpreter','latex','FontSize',14);
-% ylabel('$ {Distance} $ [m]','interpreter','latex','FontSize',14);
-% grid on;
-% % axis([-2.23 2.23 -1 10]);
-% 
-% subplot(1,2,2)
-% plot(X_out,Y_out,'b','LineWidth',2);
-% hold on
-% plot(X_obst_out,Y_obst_out,'r-','LineWidth',4)
-% xlabel('$X$ [m] ','interpreter','latex','FontSize',14);
-% ylabel('$Y$ [m]','interpreter','latex','FontSize',14);
-% 
-% l2 = legend('${Obstacles}$', '${Safety Margin (r = 10 cm)}$');
-% set(l2,'interpreter','latex','FontSize',12);
-% % legend('boxoff');
-% grid on;
-% % axis([-1.2 5 -3.5 1.5]);
-
-
-
-% figure;
-% plot(X_DockedwithMar,Y_DockedwithMar,'b');
-% hold on;
-% plot(X_obst_DockedwithMar,Y_obst_DockedwithMar,'r','LineWidth',.3);
-% xlabel('${X}$ [m]','interpreter','latex','FontSize',14);
-% % ylabel('$ Y [m] $','interpreter','latex','FontSize',14);
-% % grid on
-% title('Detected marker (zoomed area from middle plot), TOP VIEW');
-% axis([.04 .16 -.12 .12]);
-
-
-
diff --git a/Files_4_thesis/scanner_analysis.m b/Files_4_thesis/scanner_analysis.m
index 054182bd834821a80132574d7d65d0277e79ba90..cfa8e40e88a3d9cade2d43d3edbbde5042690868 100644
--- a/Files_4_thesis/scanner_analysis.m
+++ b/Files_4_thesis/scanner_analysis.m
@@ -73,7 +73,7 @@ plot(angle,s_exp_4,'g--','LineWidth',1.1);
 hold on;
 % plot(angle,s_exp_5,'b--','LineWidth',.8);
 % hold on;
-plot(angle,dist_to_obst,'rx','LineWidth',.05);
+plot(angle,dist_to_obst,'rx','LineWidth',1.05);
 title('');
 xlabel('${\theta_b}$ [rad]','interpreter','latex','FontSize',20);
 ylabel('${Distance}$ [m]','interpreter','latex','FontSize',20);
@@ -91,7 +91,7 @@ plot(X_exp_4,Y_exp_4,'g--','LineWidth',1.1);
 hold on
 % plot(X_exp_5,Y_exp_5,'b--','LineWidth',.1);
 % hold on
-plot(X_obst,Y_obst,'r','LineWidth',.05);
+plot(X_obst,Y_obst,'r','LineWidth',2.05);
 title('');
 xlabel('${X}$ [m]','interpreter','latex','FontSize',20);
 ylabel('${Y}$ [m]','interpreter','latex','FontSize',20);
diff --git a/Files_4_thesis/x_tANDy_t/y_tANDx_t.asv b/Files_4_thesis/x_tANDy_t/y_tANDx_t.asv
deleted file mode 100644
index ad84239387c699b6046535506a6d62727bee6519..0000000000000000000000000000000000000000
--- a/Files_4_thesis/x_tANDy_t/y_tANDx_t.asv
+++ /dev/null
@@ -1,437 +0,0 @@
-clc;
-close all;
-clear all;
-
-%% Import Data 
-
-% data 1: 
-Pose_Matrix_data_1 = csvread('CAM_PID_.266_.0003_.014.txt',1,0);
-Vel_Matrix_data_1 = csvread('vel_PID_.266_.0003_.014.txt',1,0);
-Raw_meas_1 = csvread('Trans_PID_.266_.0003_.014.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 RAW MEASUREMENT
-T_Raw_ros_1 = Raw_meas_1(:,1); % ros time, needs to be converted to sec...
-
-% duriation =         end_time        -     start_time
-  duRAW_1 = (T_Raw_ros_1(size(T_Raw_ros_1,1),:) - T_Raw_ros_1(1,:))*10^(-9); 
-  
-t_Raw_ave_1 = 0:duRAW_1/size(T_Raw_ros_1,1):duRAW_1;
-t_Raw_ave_1(:,size(t_Raw_ave_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: 
-
-Pose_Matrix_data_2 = csvread('CAM_PID_.28_0_.006.txt',1,0);
-Vel_Matrix_data_2 = csvread('vel_PID_.28_0_.006.txt',1,0);
-RAW_meas_2 = csvread('Trans_PID_.28_0_.006.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 RAW MEASUREMEMT
-T_RAW_ros_2 = RAW_meas_2(:,1); % ros time, needs to be converted to sec...
-
-% duriation =         end_time        -     start_time
-  duRAW_2 = (T_RAW_ros_2(size(T_RAW_ros_2,1),:) - T_RAW_ros_2(1,:))*10^(-9); 
-  
-t_RAW_ave_2 = 0:duRAW_2/size(T_RAW_ros_2,1):duRAW_2;
-t_RAW_ave_2(:,size(t_RAW_ave_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('CAM_PID_.29_.00026_.015.txt',1,0);
-Vel_Matrix_data_3 = csvread('vel_PID_.29_.00026_.015.txt',1,0);
-RAW_meas_3 = csvread('Trans_PID_.29_.00026_.015.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 RAW MEASUREMENT
-T_RAW_ros_3 = RAW_meas_3(:,1); % ros time, needs to be converted to sec...
-
-% duriation =         end_time        -     start_time
-  duRaw_3 = (T_RAW_ros_3(size(T_RAW_ros_3,1),:) - T_RAW_ros_3(1,:))*10^(-9); 
-  
-t_Raw_real_3 = 0:duRaw_3/size(T_RAW_ros_3,1):duRaw_3;
-t_Raw_real_3(:,size(t_Raw_real_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)) = [];
-
-% -----------------------------------------------------------------------------------------------------
-% data 4: 
-Pose_Matrix_data_4 = csvread('CAM_PID_.3_.0004_.02.txt',1,0);
-Vel_Matrix_data_4 = csvread('vel_PID_.3_.0004_.02.txt',1,0);
-Raw_Meas_4 = csvread('Trans_PID_.3_.0004_.02.txt',1,0);
-
-% time in position
-TimeP_ros_data_4 = Pose_Matrix_data_4(:,1); % ros time, needs to be converted to sec...
-
-% duriation =         end_time        -     start_time
-  durationP_data_4 = (TimeP_ros_data_4(size(TimeP_ros_data_4,1),:) - TimeP_ros_data_4(1,:))*10^(-9); 
-  
-t_P_sec_data_4 = 0:durationP_data_4/size(TimeP_ros_data_4,1):durationP_data_4;
-t_P_sec_data_4(:,size(t_P_sec_data_4,2)) = [];
-
-% time in RAW_MEASUREMENT
-T_Raw_ros_4 = Raw_Meas_4(:,1); % ros time, needs to be converted to sec...
-
-% duriation =         end_time        -     start_time
-  duRaw_4 = (T_Raw_ros_4(size(T_Raw_ros_4,1),:) - T_Raw_ros_4(1,:))*10^(-9); 
-  
-t_Raw_real_4 = 0:duRaw_4/size(T_Raw_ros_4,1):duRaw_4;
-t_Raw_real_4(:,size(t_Raw_real_4,2)) = [];
-
-% time in vel
-TimeV_ros_data_4 = Vel_Matrix_data_4(:,1); % ros time, needs to be converted to sec...
-
-% duriation =         end_time        -     start_time
-  durationV_data_4 = (TimeV_ros_data_4(size(TimeV_ros_data_4,1),:) - TimeV_ros_data_4(1,:))*10^(-9);
-
-t_V_sec_data_4 = 0:durationV_data_4/size(TimeV_ros_data_4,1):durationV_data_4;
-t_V_sec_data_4(:,size(t_V_sec_data_4,2)) = [];
-
-%% Pose estimation
-
-%data 1:
-x_raw_1 = Raw_meas_1(:,4); % x_t
-y_raw_1 = Raw_meas_1(:,3); % y_t
-theta_raw_1 = Raw_meas_1(:,7); % yaw
-
-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);
-
-%data 2:
-x_raw_2 = RAW_meas_2(:,4); % x_t
-y_raw_2 = RAW_meas_2(:,3); % y_t
-theta_raw_2 = RAW_meas_2(:,7); % yaw
-
-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);
-
-%data 3:
-x_raw_3 = RAW_meas_3(:,4); % x_t
-y_raw_3 = RAW_meas_3(:,3); % y_t
-theta_raw_3 = RAW_meas_3(:,7); % yaw
-
-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);
-
-
-%data 4:
-x_raw_4 = Raw_Meas_4(:,4); % x_t
-y_raw_4 = Raw_Meas_4(:,3); % y_t
-theta_raw_4 = Raw_Meas_4(:,7); % yaw
-
-Pose_X_data_4 = Pose_Matrix_data_4(:,4);
-Pose_Y_data_4 = Pose_Matrix_data_4(:,3);
-Theta_data_4 = Pose_Matrix_data_4(:,7);
-
-
-% Reference Circle 
-thresh_X = .0013;
-theta = 0:.001:2*pi;
-
-% needs to be adjusted manually if docking platform is replaced!
-ref_x = -.2025;
-ref_y = -.0185;
-
-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);
-
-% data 4:
-Vel_X_data_4 = Vel_Matrix_data_4(:,2);
-Vel_Y_data_4 = Vel_Matrix_data_4(:,3);
-Omega_Z_data_4 = Vel_Matrix_data_4(:,7);
-%% Plot
-
-
-figure;
-set(gcf,'color','white');
-
-% % raw measurement
-% subplot(331);
-% 
-% plot(t_Raw_ave_1,x_raw_1,'b','LineWidth',1.5);
-% hold on;
-% plot(t_RAW_ave_2,x_raw_2,'k','LineWidth',1.5);
-% hold on;
-% plot(t_Raw_real_3,x_raw_3,'g','LineWidth',1.5);
-% hold on;
-% plot(t_Raw_real_4,x_raw_4,'r','LineWidth',1.5);
-% ylabel('x_{raw}');
-% title('Raw Measurement');
-% 
-% subplot(334);
-% plot(t_Raw_ave_1,y_raw_1,'b','LineWidth',1.5);
-% hold on;
-% plot(t_RAW_ave_2,y_raw_2,'k','LineWidth',1.5);
-% hold on;
-% plot(t_Raw_real_3,y_raw_3,'g','LineWidth',1.5);
-% hold on;
-% plot(t_Raw_real_4,y_raw_4,'r','LineWidth',1.5);
-% 
-% ylabel('y_{raw}');
-% 
-% subplot(337);
-% 
-% plot(t_Raw_ave_1,theta_raw_1,'b','LineWidth',1.5);
-% hold on;
-% plot(t_RAW_ave_2,theta_raw_2,'k','LineWidth',1.5);
-% hold on;
-% plot(t_Raw_real_3,theta_raw_3,'g','LineWidth',1.5);
-% hold on;
-% plot(t_Raw_real_4,theta_raw_4,'r','LineWidth',1.5);
-% xlabel('time');
-% ylabel('\theta_{raw}');
-
-% subplot(332);
-subplot(321);
-plot(t_P_sec_data_1,Pose_X_data_1,'LineWidth',2.1);
-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',1.8);
-hold on
-plot(t_P_sec_data_4,Pose_X_data_4,'m','LineWidth',1.3);
-% set(gca,'fontsize',20);
-ylabel('${x_{mar}}$ [m]','interpreter','latex','FontSize',20);
-title('a) ${x_{mar}}$','interpreter','latex','FontSize',20);
-% 
-% l2 = legend('${P_y = 0.266, I_y = 0.0003, D_y = 0.014}$', '${P_y = 0.28, I_y = 0, D_y = 0.006}$','${P_y = 0.29, I_y = 0.00026, D_y = 0.015}$','${P_y = 0.3, I_y = 0.0004, D_y = 0.02}$');
-% set(l2,'interpreter','latex','FontSize',9);
-% legend('boxoff');
-
-% subplot(335);
-subplot(323);
-
-plot(t_P_sec_data_1,Pose_Y_data_1,'LineWidth',1.8);
-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',1.6);
-hold on
-plot(t_P_sec_data_4,Pose_Y_data_4,'m','LineWidth',1.4);
-% set(gca,'fontsize',20);
-ylabel('${y_{mar}}$ [m]','interpreter','latex','FontSize',20);
-title('b) ${y_{mar}}$','interpreter','latex','FontSize',20);
-
-% subplot(338);
-subplot(325);
-
-plot(t_P_sec_data_1,Theta_data_1,'LineWidth',1.8);
-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',1.6);
-hold on
-plot(t_P_sec_data_4,Theta_data_4,'m','LineWidth',1.4);
-% set(gca,'fontsize',20);
-title('c) ${\theta_{mar}}$','interpreter','latex','FontSize',20);
-xlabel('$ time [s]$','interpreter','latex','FontSize',20);
-ylabel('${\theta_{mar}}$ [rad]','interpreter','latex','FontSize',20);
-
-
-% Control Signals
-
-% % control signals
-% figure;
-% set(gcf,'color','white');
-
-% subplot(333);
-subplot(322);
-
-plot(t_V_sec_data_1,Vel_X_data_1,'LineWidth',1.8);
-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',1.6);
-hold on
-plot(t_V_sec_data_4,Vel_X_data_4,'m','LineWidth',1.4);
-% set(gca,'fontsize',20);
-title('d) $\dot{x}_{Rob}$','interpreter','latex','FontSize',20);
-ylabel('$\dot{x}_{Rob}$ [m/s]','interpreter','latex','FontSize',20);
-% 
-% l2 = legend('${P_y = 0.266, I_y = 0.0003, D_y = 0.014}$', '${P_y = 0.28, I_y = 0, D_y = 0.006}$','${P_y = 0.29, I_y = 0.00026, D_y = 0.015}$','${P_y = 0.3, I_y = 0.0004, D_y = 0.02}$');
-% set(l2,'interpreter','latex','FontSize',13);
-% legend('boxoff');
-axis([0 60 -.01 .17]);
-
-% subplot(336);
-subplot(324);
-
-plot(t_V_sec_data_1,Vel_Y_data_1,'LineWidth',1.8);
-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',1.6);
-hold on
-plot(t_V_sec_data_4,Vel_Y_data_4,'m','LineWidth',1.4);
-% set(gca,'fontsize',20);
-ylabel('$\dot{y}_{Rob}$ [m/s]','interpreter','latex','FontSize',20);
-title('e) $\dot{y}_{Rob}$','interpreter','latex','FontSize',20);
-
-% subplot(339);
-subplot(326);
-
-plot(t_V_sec_data_1,Omega_Z_data_1,'LineWidth',1.8);
-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',1.6);
-hold on
-plot(t_V_sec_data_4,Omega_Z_data_4,'m','LineWidth',1.4);
-% set(gca,'fontsize',20);
-title('f) $\dot{\theta}_{Rob}$','interpreter','latex','FontSize',20);
-xlabel('$ time [s]$','interpreter','latex','FontSize',20);
-ylabel('$\dot{\theta}_{Rob}$ [rad/s]','interpreter','latex','FontSize',20);
-
-% Trajectory
-
-figure;
-set(gcf,'color','white');
-subplot(131);
-plot(Pose_Y_data_1,Pose_X_data_1,'b','LineWidth',2);
-% hold on
-% quiver(abs(Pose_Y_data_1),Pose_X_data_1,gradient(Pose_Y_data_1),gradient(Pose_X_data_1),'r--','LineWidth',.1);
-
-hold on
-plot(Pose_Y_data_2,Pose_X_data_2,'r','LineWidth',2);
-% hold on
-% quiver(abs(Pose_Y_data_2),Pose_X_data_2,gradient(Pose_Y_data_2),gradient(Pose_X_data_2),'m--','LineWidth',.1);
-
-hold on
-plot(Pose_Y_data_3,Pose_X_data_3,'g','LineWidth',2);
-% hold on
-% quiver(abs(Pose_Y_data_3),Pose_X_data_3,gradient(Pose_Y_data_3),gradient(Pose_X_data_3),'k--','LineWidth',.1);
-
-hold on
-plot(Pose_Y_data_4,Pose_X_data_4,'m','LineWidth',2);
-% hold on
-% quiver(abs(Pose_Y_data_4),Pose_X_data_4,gradient(Pose_Y_data_4),gradient(Pose_X_data_4),'b--','LineWidth',.1);
-
-hold on
-plot(y_circle,x_circle,'k--','LineWidth',3.4);
-set(gca,'fontsize',20);
-title('a) Approach zone + SM zone + Target area','FontSize',17);
-ylabel('${x}_{mar}$ [m]','interpreter','latex','FontSize',20);
-axis([-.65 .05 -1.6 -.19]);
-
-subplot(132);
-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(Pose_Y_data_4,Pose_X_data_4,'m','LineWidth',2);
-hold on
-plot(y_circle,x_circle,'k--','LineWidth',3.4);
-set(gca,'fontsize',20);
-title('b) SM zone + Target area','FontSize',17);
-xlabel('${y}_{mar}$ [m]','interpreter','latex','FontSize',20);
-axis([-.025 0.005 -.29 -.19]);
-
-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(Pose_Y_data_4,Pose_X_data_4,'m','LineWidth',2);
-hold on
-plot(y_circle,x_circle,'--','LineWidth',3.4);
-set(gca,'fontsize',20);
-title('c) Target area','FontSize',17);
-axis([-.0205 -.0168 -.2054 -.199]);
-l = legend('${P_y = .266, I_y = .0003, D_y = .014}$', '${P_y = .28, I_y = 0, D_y = .006}$','${P_y = .29, I_y = .00026, D_y = .015}$','${P_y = .3, I_y = .0004, D_y = .02}$','${Target}$');
-set(l,'interpreter','latex','FontSize',12);
-
-
-
-
-
-% no transformation
-figure;
-set(gcf,'color','white');
-plot(y_raw_1,x_raw_1,'b','LineWidth',2);
-hold on;
-plot(y_raw_2,x_raw_2,'k','LineWidth',2);
-hold on;
-plot(y_raw_3,x_raw_3,'g','LineWidth',2);
-hold on;
-plot(y_raw_4,x_raw_4,'r','LineWidth',2);
-
-
-xlabel('y_t');
-ylabel('x_t');
-% axis([-.1 .1 .19 1.55]);
diff --git a/Paper/ifacconf_office/Paper.docx b/Paper/ifacconf_office/Paper.docx
index 074e1b640b01a8f424c9551aab1fd4cebc5ee09d..807d5e6f948206fdde431fda29ae0c2c4b74cf63 100644
Binary files a/Paper/ifacconf_office/Paper.docx and b/Paper/ifacconf_office/Paper.docx differ
diff --git a/Paper/ifacconf_office/Paper.pdf b/Paper/ifacconf_office/Paper.pdf
index dca5ceeb053de8104fbb53a0127a2552b256a5a0..c2becad8029ba4523ff580129ba0d9c901faad5c 100644
Binary files a/Paper/ifacconf_office/Paper.pdf and b/Paper/ifacconf_office/Paper.pdf differ