%% Script Description
% Compare the plan when on top of a rigid support
% and on top of the micro-station (flexible support)

%%
clear; close all; clc;

%% Load Transfer Functions
load('./mat/G_nass.mat',                  'G_nass_1', 'G_nass_20', 'G_nass_50');
load('./stewart-simscape/mat/G_cart.mat', 'G_cart_1', 'G_cart_20', 'G_cart_50')
load('./mat/G_f_to_d.mat',                'G_1',      'G_20',       'G_50')

%% Compare NASS alone and NASS on top of the Station
freqs = logspace(1, 4, 1000);

bodeFig({G_nass_50(1, 1), G_cart_50(1, 1)}, freqs, struct('phase', true))
legend({'$F_{n_x} \rightarrow D_{n_x}$ - $\mu$-station', '$F_{n_x} \rightarrow D_{n_x}$ - Rigid support'})
legend('location', 'southwest')

bodeFig({G_nass_50(2, 2), G_cart_50(2, 2)}, freqs, struct('phase', true))
legend({'$F_{n_y} \rightarrow D_{n_y}$ - $\mu$-station', '$F_{n_y} \rightarrow D_{n_y}$ - rigid support'})
legend('location', 'southwest')

bodeFig({G_nass_50(3, 3), G_cart_50(3, 3)}, freqs, struct('phase', true))
legend({'$F_{n_z} \rightarrow D_{n_z}$ - $\mu$-station', '$F_{n_z} \rightarrow D_{n_z}$ - rigid support'})
legend('location', 'southwest')

%% Compare Displacement of the NASS with Displacement of the Sample
freqs = logspace(1, 3, 1000);

bodeFig({G_nass_50(1, 1), G_50(1, 1)}, freqs, struct('phase', true))
legend({'$F_{n_x} \rightarrow D_{n_x}$', '$F_{n_x} \rightarrow D_{s_x}$'})
legend('location', 'southwest')

bodeFig({G_nass_50(2, 2), G_50(2, 2)}, freqs, struct('phase', true))
legend({'$F_{n_y} \rightarrow D_{n_y}$', '$F_{n_y} \rightarrow D_{s_y}$'})
legend('location', 'southwest')

bodeFig({G_nass_50(3, 3), G_50(3, 3)}, freqs, struct('phase', true))
legend({'$F_{n_z} \rightarrow D_{n_z}$', '$F_{n_z} \rightarrow D_{s_z}$'})
legend('location', 'southwest')