%%
tg = slrt;

f = SimulinkRealTime.openFTP(tg);
mget(f, 'data/data.dat');
close(f);

%% And we load the data on the Workspace:
data = SimulinkRealTime.utils.getFileScopeData('data/data.dat').data;

de = data(:, 1:6);   % Measurment displacement (encoder) [m]
Vs = data(:, 7:12);  % Force Sensor [V]
u  = data(:, 13:18); % Control Output [V]
Va = data(:, 19); % Excitation Signal [V]
Rx = data(:, 20:25); % Excitation Signal [V]
t  = data(:, end);   % Time [s]

%%
load('sim_data/Khac_iff_struts.mat', 'Khac_iff_struts');
load('sim_data/Kiff.mat', 'Kiff');

%%
save('mat/T_S_meas_Rz_3m_hac_svd_iff.mat', 't', 'de', 'Vs', 'u', 'Va', 'Rx', 'Kiff', 'Khac_iff_struts');

% save('mat/hac_iff_more_lead_nass_scan', 't', 'de', 'Vs', 'u', 'Va');

% %%
% load('mat/jacobian.mat', 'J');
% 
% X = inv(J)*de';
% X = X';
% 
% %%
% figure;
% plot3(X(:,1), X(:,2), X(:,3))