53 lines
2.3 KiB
Matlab
53 lines
2.3 KiB
Matlab
clear
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close all
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clc
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folder_path = './samples/sample13/joint_states_logs';
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files = dir(fullfile(folder_path, '*.csv'));
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folder_path_trajectroy = './samples/sample13/joint_trajectories';
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files_trajectroy = dir(fullfile(folder_path_trajectroy, '*.csv'));
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l = 0;
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u = 60;
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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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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);
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%plot(state.timestamp(state.timestamp >=l & state.timestamp <=u), state.velocity(state.timestamp >=l & state.timestamp <=u), 'Color',[0 1 0], 'DisplayName','Velocity')
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%plot(state.timestamp(state.timestamp >=l & state.timestamp <=u), state.effort(state.timestamp >=l & state.timestamp <=u), 'Color',[0 0 1], 'DisplayName','Effort')
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title(replace(file_name(1:end-4),'_',' '), 'FontSize',16)
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xlabel('Time [s]', 'FontSize',30)
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ylabel('Joint Angle [rad]', 'FontSize',30)
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legend('FontSize',30)
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legend show
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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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if s == 1
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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);
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else
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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);
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end
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end
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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);
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end |