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remove gitignore

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This commit is contained in:
Alexander Schaefer
2025-04-22 17:10:24 +02:00
parent 97cd67a008
commit 33f21d3096
519 changed files with 18046 additions and 0 deletions
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43
MATLAB/log_plot.m Normal file
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clear
close all
clc
folder_path = './samples/sample4/joint_states_logs';
files = dir(fullfile(folder_path, '*.csv'));
folder_path_trajectroy = './samples/sample4/joint_trajectories';
files_trajectroy = dir(fullfile(folder_path_trajectroy, '*.csv'));
l = 2.5;
u = 3.5;
for k = 1:length(files)
figure(k)
grid on
file_name = files(k).name;
file_path = fullfile(folder_path, file_name);
% Example: Read the file
state = readtable(file_path);
if k == 1
offset = state.timestamp(1);
end
for i = 1:length(state.timestamp)
state.timestamp(i)=state.timestamp(i)-offset;
end
hold on
for s = 1:length(files_trajectroy)
file_name_trajectroy = files_trajectroy(s).name;
file_path_trajectroy = fullfile(folder_path_trajectroy, file_name_trajectroy);
% Example: Read the file
T = readtable(file_path_trajectroy);
for i=1:length(T.timestamp)
T.timestamp(i)=T.timestamp(i)-offset;
end
plot(T.timestamp, T.(file_name(1:end-4)), 'Color', [0 0 0])
dy = diff(T.(file_name(1:end-4))) ./ diff(T.timestamp);
x_mid = T.timestamp(1:end-1) + diff(T.timestamp)/2; % midpoints between x-values
plot(x_mid,dy,'Color',[1 0 0])
end
end

43
MATLAB/log_plot_cart.m Normal file
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clear
close all
clc
file = './samples/sample13/joint_states_cart_logs/cartesian.csv';
folder_path_trajectroy = './samples/sample13/joint_trajectories_cart';
files_trajectroy = dir(fullfile(folder_path_trajectroy, '*.csv'));
l = 0;
u = 60;
state = readtable(file);
offset = state.timestamp(1);
for i = 1:length(state.timestamp)
state.timestamp(i)=state.timestamp(i)-offset;
end
val = ["x","y","z","roll", "pitch", "yaw"];
for k = 1:6
figure(k)
grid on
hold on
plot(state.timestamp(state.timestamp >=l & state.timestamp <=u), state.(val(k))(state.timestamp >=l & state.timestamp <=u), 'Color',[1 0 0],'LineWidth',4, 'DisplayName','Transform');
title(val(k), 'FontSize',16)
xlabel('Time [s]', 'FontSize',30)
ylabel('Pos [m]', 'FontSize',30)
legend('FontSize',30)
legend show
for s = 1:length(files_trajectroy)
file_name_trajectroy = files_trajectroy(s).name;
file_path_trajectroy = fullfile(folder_path_trajectroy, file_name_trajectroy);
% Example: Read the file
T = readtable(file_path_trajectroy);
for i=1:length(T.timestamp)
T.timestamp(i)=T.timestamp(i)-offset;
end
plot(T.timestamp(T.timestamp >=l & T.timestamp <=u), T.(val(k))(T.timestamp >=l & T.timestamp <=u), 'Color', [0 0 0], 'HandleVisibility','off', 'LineWidth',2);
end
plot(T.timestamp(T.timestamp >=l & T.timestamp <=u), T.(val(k))(T.timestamp >=l & T.timestamp <=u), 'Color', [0 0 0], 'DisplayName','Trajectories', 'LineWidth',2);
end

53
MATLAB/log_plot_subplots.m Normal file
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clear
close all
clc
folder_path = './samples/sample13/joint_states_logs';
files = dir(fullfile(folder_path, '*.csv'));
folder_path_trajectroy = './samples/sample13/joint_trajectories';
files_trajectroy = dir(fullfile(folder_path_trajectroy, '*.csv'));
l = 0;
u = 60;
for k = 1:length(files)
figure(k)
grid on
file_name = files(k).name;
file_path = fullfile(folder_path, file_name);
% Example: Read the file
state = readtable(file_path);
if k == 1
offset = state.timestamp(1);
end
for i = 1:length(state.timestamp)
state.timestamp(i)=state.timestamp(i)-offset;
end
hold on
plot(state.timestamp(state.timestamp >=l & state.timestamp <=u), state.position(state.timestamp >=l & state.timestamp <=u), 'Color',[1 0 0], 'DisplayName', 'Position','LineWidth',4);
%plot(state.timestamp(state.timestamp >=l & state.timestamp <=u), state.velocity(state.timestamp >=l & state.timestamp <=u), 'Color',[0 1 0], 'DisplayName','Velocity')
%plot(state.timestamp(state.timestamp >=l & state.timestamp <=u), state.effort(state.timestamp >=l & state.timestamp <=u), 'Color',[0 0 1], 'DisplayName','Effort')
title(replace(file_name(1:end-4),'_',' '), 'FontSize',16)
xlabel('Time [s]', 'FontSize',30)
ylabel('Joint Angle [rad]', 'FontSize',30)
legend('FontSize',30)
legend show
for s = 1:length(files_trajectroy)
file_name_trajectroy = files_trajectroy(s).name;
file_path_trajectroy = fullfile(folder_path_trajectroy, file_name_trajectroy);
% Example: Read the file
T = readtable(file_path_trajectroy);
for i=1:length(T.timestamp)
T.timestamp(i)=T.timestamp(i)-offset;
end
if s == 1
plot(T.timestamp(T.timestamp >=l & T.timestamp <=u), T.(file_name(1:end-4))(T.timestamp >=l & T.timestamp <=u), 'Color', [0 0 0], 'DisplayName','Trajectories', 'LineWidth',2);
else
plot(T.timestamp(T.timestamp >=l & T.timestamp <=u), T.(file_name(1:end-4))(T.timestamp >=l & T.timestamp <=u), 'Color', [0 0 0], 'HandleVisibility','off', 'LineWidth',2);
end
end
plot(T.timestamp(T.timestamp >=l & T.timestamp <=u), T.(file_name(1:end-4))(T.timestamp >=l & T.timestamp <=u), 'Color', [0 0 0], 'DisplayName','Trajectories', 'LineWidth',2);
end