7575aee987
Lot's of new things: - try to use less .mat files - computation of setpoint and error in the cartesian frame fixed to the granite - change of base to have the errors w.r.t. the NASS base - add script to plot setpoint, position and error
57 lines
1.3 KiB
Matlab
57 lines
1.3 KiB
Matlab
%%
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figure;
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%% Tx
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subaxis(2, 3, 1);
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hold on;
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plot(pos.Time, pos.Data(:, 1), 'k-');
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plot(setpoint.Time, setpoint.Data(:, 1), 'k--');
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legend({'x - pos', 'x - setpoint'});
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hold off;
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xlabel('Time (s)'); ylabel('Position (m)');
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%% Ty
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subaxis(2, 3, 2);
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hold on;
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plot(pos.Time, pos.Data(:, 2), 'k-');
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plot(setpoint.Time, setpoint.Data(:, 2), 'k--');
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legend({'y - pos', 'y - setpoint'});
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hold off;
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xlabel('Time (s)'); ylabel('Position (m)');
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%% Tz
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subaxis(2, 3, 3);
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hold on;
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plot(pos.Time, pos.Data(:, 3), 'k-');
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plot(setpoint.Time, setpoint.Data(:, 3), 'k--');
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legend({'z - pos', 'z - setpoint'});
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hold off;
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xlabel('Time (s)'); ylabel('Position (m)');
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%% Rx
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subaxis(2, 3, 4);
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hold on;
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plot(pos.Time, pos.Data(:, 4), 'k-');
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plot(setpoint.Time, setpoint.Data(:, 4), 'k--');
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legend({'$\theta_x$ - pos', '$\theta_x$ - setpoint'});
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hold off;
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xlabel('Time (s)'); ylabel('Rotation (rad)');
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%% Ry
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subaxis(2, 3, 5);
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hold on;
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plot(pos.Time, pos.Data(:, 5), 'k-');
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plot(setpoint.Time, setpoint.Data(:, 5), 'k--');
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legend({'$\theta_y$ - pos', '$\theta_y$ - setpoint'});
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hold off;
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xlabel('Time (s)'); ylabel('Rotation (rad)');
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%% Rz
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subaxis(2, 3, 6);
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hold on;
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plot(pos.Time, pos.Data(:, 6), 'k-');
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plot(setpoint.Time, setpoint.Data(:, 6), 'k--');
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legend({'$\theta_z$ - pos', '$\theta_z$ - setpoint'});
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hold off;
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xlabel('Time (s)'); ylabel('Rotation (rad)');
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