OSC_ROS2/MATLAB/log_plot.m
Alexander Schaefer 33f21d3096 remove gitignore
2025-04-22 17:10:24 +02:00

43 lines
1.2 KiB
Matlab

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