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Commit e1e3f635 authored by Farid Alijani's avatar Farid Alijani
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Paper mmodified

parent 8ed2a64d
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Files_4_thesis/Different_angle/docking_different_angle.m
View file @ e1e3f635
......@@ -157,7 +157,7 @@ plot(t_P_sec_data_2,Pose_X_data_2,'r','LineWidth',1.7);
% plot(t_P_sec_data_3,Pose_X_data_3,'g','LineWidth',1.6);
ylabel('${x_{mar}}$ [m]','interpreter','latex','FontSize',20);
title('a) ${x_{mar}}$','interpreter','latex','FontSize',20);
set(gca,'fontsize',20);
% set(gca,'fontsize',20);
subplot(323);
plot(t_P_sec_data_1,Pose_Y_data_1,'LineWidth',3);
......@@ -167,7 +167,7 @@ plot(t_P_sec_data_2,Pose_Y_data_2,'r','LineWidth',1.7);
% plot(t_P_sec_data_3,Pose_Y_data_3,'g','LineWidth',1.6);
ylabel('${y_{mar}}$ [m]','interpreter','latex','FontSize',20);
title('b) ${y_{mar}}$','interpreter','latex','FontSize',20);
set(gca,'fontsize',20);
% set(gca,'fontsize',20);
subplot(325);
plot(t_P_sec_data_1,Theta_data_1,'LineWidth',3);
......@@ -179,7 +179,7 @@ plot(t_P_sec_data_2,Theta_data_2,'r','LineWidth',1.7);
title('c) ${\theta_{mar}}$','interpreter','latex','FontSize',20);
ylabel('${\theta_{mar}}$ [rad]','interpreter','latex','FontSize',20);
xlabel('$ time$ [s]','interpreter','latex','FontSize',20);
set(gca,'fontsize',20);
% set(gca,'fontsize',20);
% % control signals
% figure;
......@@ -200,7 +200,7 @@ l2 = legend('${Left}$', '${Right}$');
set(l2,'interpreter','latex','FontSize',14);
legend('boxoff')
axis ([0 40 -.01 .18]);
set(gca,'fontsize',20);
% set(gca,'fontsize',20);
subplot(324);
plot(t_V_sec_data_1,Vel_Y_data_1,'LineWidth',3);
......@@ -210,7 +210,7 @@ plot(t_V_sec_data_2,Vel_Y_data_2,'r','LineWidth',1.7);
% plot(t_V_sec_data_3,Vel_Y_data_3,'g','LineWidth',1.6);
ylabel('$\dot{y}_{Rob}$ [m/s]','interpreter','latex','FontSize',20);
title('e) $\dot{y}_{Rob}$','interpreter','latex','FontSize',20);
set(gca,'fontsize',20);
% set(gca,'fontsize',20);
subplot(326);
plot(t_V_sec_data_1,Omega_Z_data_1,'LineWidth',3);
......@@ -221,7 +221,7 @@ plot(t_V_sec_data_2,Omega_Z_data_2,'r','LineWidth',1.7);
xlabel('$ time$ [s]','interpreter','latex','FontSize',20);
ylabel('$\dot{\theta}_{Rob}$ [rad/s]','interpreter','latex','FontSize',20);
title('f) $\dot{\theta}_{Rob}$','interpreter','latex','FontSize',20);
set(gca,'fontsize',20);
% set(gca,'fontsize',20);
% Trajectory
......@@ -247,9 +247,9 @@ hold on
plot(y_circle,x_circle,'k--','LineWidth',3.4);
% axis([-.4 .4 .18 1.4]);
title('a) Approach zone + SM zone + Target area','FontSize',17);
title('${a) Approach + SM + Target}$','interpreter','latex','FontSize',20);
ylabel('${x}_{mar}$ [m]','interpreter','latex','FontSize',20);
set(gca,'fontsize',20);
% set(gca,'fontsize',20);
subplot(132);
plot(Pose_Y_data_1,Pose_X_data_1,'b','LineWidth',1.6);
......@@ -260,10 +260,10 @@ plot(Pose_Y_data_2,Pose_X_data_2,'r','LineWidth',1.6);
hold on
plot(y_circle,x_circle,'k--','LineWidth',3.4);
title('b) SM zone + Target area','FontSize',17);
title('$ {b) SM + Target}$','interpreter','latex','FontSize',20);
xlabel('${y}_{mar}$ [m]','interpreter','latex','FontSize',20);
axis([-.03 0.03 -.29 -.191]);
set(gca,'fontsize',20);
% set(gca,'fontsize',20);
subplot(133);
plot(Pose_Y_data_1,Pose_X_data_1,'b','LineWidth',2);
......@@ -274,9 +274,9 @@ plot(Pose_Y_data_2,Pose_X_data_2,'r','LineWidth',2);
hold on
plot(y_circle,x_circle,'k--','LineWidth',3.4);
title('c) Target area','FontSize',17);
title('$ {c) Target}$','interpreter','latex','FontSize',20);
axis([-.0202 -.017 -.2054 -.199]);
set(gca,'fontsize',20);
% set(gca,'fontsize',20);
l = legend('${Left}$', '${Right}$','Target');
set(l,'interpreter','latex','FontSize',14);
......
Files_4_thesis/Different_controllers/docking_with_PID_controller.m
View file @ e1e3f635
......@@ -612,9 +612,9 @@ xlabel('Sample number','interpreter','latex','FontSize',20);
% l6 = legend([pa3 pa4],'$ Android Camera {Time_{ROS}}$','$ Android Camera {Time_{Real}} [sec]$','Orientation','horizontal');
% set(l6,'interpreter','latex','FontSize',12);
%
set(gca,'fontsize',20);
% 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);
set(leg,'FontSize',17);
legend('boxoff');
%
......
Files_4_thesis/Finding_X_dot_with_Pcontroller/docking_with_P_controller.asv 0 → 100644
View file @ e1e3f635
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
Files_4_thesis/Finding_X_dot_with_Pcontroller/docking_with_P_controller.m
View file @ e1e3f635
......@@ -22,12 +22,12 @@ clear all;
% 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('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);
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...
......@@ -52,13 +52,13 @@ t_V_sec_data_1(:,size(t_V_sec_data_1,2)) = [];
% 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('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);
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...
......@@ -80,12 +80,12 @@ 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('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);
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...
......@@ -222,7 +222,7 @@ Omega_Z_data_3 = Vel_Matrix_data_3(:,7);
figure;
set(gcf,'color','white');
subplot(3,1,1);
subplot(311);
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);
......@@ -234,12 +234,12 @@ title('a) $\dot{x}_{Rob}$','interpreter','latex','FontSize',20);
% xlabel('$ time [sec]$','interpreter','latex','FontSize',14);
ylabel('$\dot{x}_{Rob}$ [m/s]','interpreter','latex','FontSize',20);
% grid on
% axis([0 35 -.01 .2]);
axis([0 35 -.01 .18]);
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);
subplot(312);
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);
......@@ -250,10 +250,10 @@ ylabel('$\dot{y}_{Rob}$ [m/s]','interpreter','latex','FontSize',20);
% grid on
% axis([0 46 -.2 .1]);
subplot(3,1,3);
subplot(313);
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);
plot(t_V_sec_data_2,Omega_Z_data_2,'r','LineWidth',1.8);
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);
......@@ -304,16 +304,16 @@ 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','FontSize',17);
title('${a) Approach + SM + Target}$','interpreter','latex','FontSize',20);
% xlabel('${y}_{mar}$ [m]','interpreter','latex','FontSize',14);
ylabel('${x}_{mar}$ [m]','interpreter','latex','FontSize',20);
% axis([-.65 .01 -1.47 -.185]);
axis([-.65 .03 -1.47 -.16]);
% 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);
set(l2,'interpreter','latex','FontSize',15);
legend('boxoff');