43 lines
1.2 KiB
Matlab
43 lines
1.2 KiB
Matlab
clear
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close all
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clc
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folder_path = './samples/sample4/joint_states_logs';
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files = dir(fullfile(folder_path, '*.csv'));
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folder_path_trajectroy = './samples/sample4/joint_trajectories';
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files_trajectroy = dir(fullfile(folder_path_trajectroy, '*.csv'));
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l = 2.5;
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u = 3.5;
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for k = 1:length(files)
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figure(k)
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grid on
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file_name = files(k).name;
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file_path = fullfile(folder_path, file_name);
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% Example: Read the file
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state = readtable(file_path);
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if k == 1
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offset = state.timestamp(1);
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end
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for i = 1:length(state.timestamp)
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state.timestamp(i)=state.timestamp(i)-offset;
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end
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hold on
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for s = 1:length(files_trajectroy)
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file_name_trajectroy = files_trajectroy(s).name;
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file_path_trajectroy = fullfile(folder_path_trajectroy, file_name_trajectroy);
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% Example: Read the file
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T = readtable(file_path_trajectroy);
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for i=1:length(T.timestamp)
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T.timestamp(i)=T.timestamp(i)-offset;
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end
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plot(T.timestamp, T.(file_name(1:end-4)), 'Color', [0 0 0])
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dy = diff(T.(file_name(1:end-4))) ./ diff(T.timestamp);
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x_mid = T.timestamp(1:end-1) + diff(T.timestamp)/2; % midpoints between x-values
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plot(x_mid,dy,'Color',[1 0 0])
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end
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end |