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Merged in state_plugin (pull request #1)
State plugin Approved-by: Davide Antonio Cucci
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120 changes: 90 additions & 30 deletions
120
_development/Matlab/PluginViewer/plugins/StateObserver.m
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,37 +1,97 @@ | ||
| function StateObserver(area, globalConfig, pluginConfig) | ||
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| edgef = sprintf('%s%s.log',globalConfig.logPath, pluginConfig.sensorName); | ||
| edgef = sprintf('%s%s.log',globalConfig.logPath, pluginConfig.sensorName); | ||
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| if exist(edgef, 'file') | ||
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| [edge, outcome] = stubbornLoad(edgef); | ||
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| if outcome == 1 | ||
| if exist(edgef, 'file') | ||
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| subplot('Position', squeezeArea(area,0.02)) | ||
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| if strcmp(pluginConfig.stateComponent, 'x') | ||
| range = 4:6; | ||
| elseif strcmp(pluginConfig.stateComponent, 'q') | ||
| range = 7:10; | ||
| elseif strcmp(pluginConfig.stateComponent, 'v') | ||
| range = 11:13; | ||
| elseif strcmp(pluginConfig.stateComponent, 'w') | ||
| range = 14:16; | ||
| elseif strcmp(pluginConfig.stateComponent, 'a') | ||
| range = 17:19; | ||
| elseif strcmp(pluginConfig.stateComponent, 'alpha') | ||
| range = 20:22; | ||
| end | ||
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| plot(edge(:,1) - edge(1,1),[edge(:,range)]) | ||
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| axis tight | ||
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| title(sprintf('%s %s',pluginConfig.sensorName, pluginConfig.stateComponent)); | ||
| end | ||
| end | ||
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| [edge, outcome] = stubbornLoad(edgef); | ||
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| if outcome == 1 | ||
| isQuaternion = false; | ||
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| subplot('Position', squeezeArea(area,0.05)) | ||
| grid on | ||
| hold on | ||
| x_axis = 'Time [s]'; | ||
| plot_legend = {}; | ||
| if strcmp(pluginConfig.stateComponent, 'x') | ||
| range = 4:6; | ||
| state_name = 'Position'; | ||
| y_axis = 'Position [m]'; | ||
| plot_legend = {'x', 'y', 'z'}; | ||
| elseif strcmp(pluginConfig.stateComponent, 'q') | ||
| range = 7:10; | ||
| isQuaternion = true; | ||
| state_name = 'Orientation'; | ||
| y_axis = 'Orientation [rad]'; | ||
| plot_legend = {'roll', 'pitch', 'yaw'}; | ||
| elseif strcmp(pluginConfig.stateComponent, 'v') | ||
| range = 11:13; | ||
| state_name = 'Velocity'; | ||
| y_axis = 'Velocity [m.s^{-1}]'; | ||
| plot_legend = {'v_x', 'v_y', 'v_z'}; | ||
| elseif strcmp(pluginConfig.stateComponent, 'w') | ||
| range = 14:16; | ||
| state_name = 'Angular Velocity'; | ||
| y_axis = 'Angular Velocity [rad.s^{-1}]'; | ||
| plot_legend = {'{\omega}_x', '{\omega}_y', '{\omega}_z'}; | ||
| elseif strcmp(pluginConfig.stateComponent, 'a') | ||
| range = 17:19; | ||
| state_name = 'Acceleration'; | ||
| y_axis = 'Acceleration [m.s^{-2}]'; | ||
| plot_legend = {'a_x', 'a_y', 'a_z'}; | ||
| elseif strcmp(pluginConfig.stateComponent, 'alpha') | ||
| range = 20:22; | ||
| y_axis = ''; | ||
| end | ||
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| if (isfield(pluginConfig', 'referenceFile') && exist(pluginConfig.referenceFile, 'file')) | ||
| if strcmp(pluginConfig.stateComponent, 'x') | ||
| range_gt = 2:4; | ||
| elseif strcmp(pluginConfig.stateComponent, 'q') | ||
| range_gt = 5:8; | ||
| isQuaternion = true; | ||
| elseif strcmp(pluginConfig.stateComponent, 'v') | ||
| range_gt = 9:11; | ||
| elseif strcmp(pluginConfig.stateComponent, 'w') | ||
| range_gt = 12:14; | ||
| elseif strcmp(pluginConfig.stateComponent, 'a') | ||
| range_gt = 15:17; | ||
| elseif strcmp(pluginConfig.stateComponent, 'alpha') | ||
| range_gt = 18:20; | ||
| end | ||
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| [ground_truth, ~] = stubbornLoad(pluginConfig.referenceFile); | ||
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| % get values of groundtruth when at the same timesteps than the measurements | ||
| reference = interp1(ground_truth(:,1), ground_truth(:,range_gt), edge(:,1)); | ||
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| if isQuaternion | ||
| quat_rot_error = quatprod(quatinv(edge(:,range)), reference); | ||
| state_error = rad2deg(quat2euler(quat_rot_error)); | ||
| else | ||
| state_error = edge(:,range) - reference; | ||
| end | ||
| plot(edge(:,1) - edge(1,1), state_error) | ||
| title(sprintf('%s: error on estimated %s',pluginConfig.sensorName, state_name), 'interpreter', 'none'); | ||
| else | ||
| if isQuaternion | ||
| rpy_from_quat = rad2deg(quat2euler(edge(:,range))); | ||
| plot(edge(:,1) - edge(1,1),rpy_from_quat) | ||
| else | ||
| plot(edge(:,1) - edge(1,1),edge(:,range)) | ||
| end | ||
| title(sprintf('%s: estimated %s',pluginConfig.sensorName, state_name), 'interpreter', 'none'); | ||
| end | ||
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| axis tight | ||
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| xlabel(x_axis); | ||
| ylabel([y_axis]); | ||
| legend(plot_legend); | ||
| hold off | ||
| end | ||
| end | ||
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| end | ||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,10 +1,12 @@ | ||
| function ret = quatprod(q1, q2) | ||
| ret = [ | ||
| q1(1)*q2(1) - q1(2)*q2(2) - q1(3)*q2(3) - q1(4)*q2(4); | ||
| q1(1)*q2(2) + q1(2)*q2(1) + q1(3)*q2(4) - q1(4)*q2(3); | ||
| q1(1)*q2(3) - q1(2)*q2(4) + q1(3)*q2(1) + q1(4)*q2(2); | ||
| q1(1)*q2(4) + q1(2)*q2(3) - q1(3)*q2(2) + q1(4)*q2(1); | ||
| q1(:,1).*q2(:,1) - q1(:,2).*q2(:,2) - q1(:,3).*q2(:,3) - q1(:,4).*q2(:,4), ... | ||
| q1(:,1).*q2(:,2) + q1(:,2).*q2(:,1) + q1(:,3).*q2(:,4) - q1(:,4).*q2(:,3), ... | ||
| q1(:,1).*q2(:,3) - q1(:,2).*q2(:,4) + q1(:,3).*q2(:,1) + q1(:,4).*q2(:,2), ... | ||
| q1(:,1).*q2(:,4) + q1(:,2).*q2(:,3) - q1(:,3).*q2(:,2) + q1(:,4).*q2(:,1) | ||
| ]; | ||
| a=q1(:,1).*q2(:,1) - q1(:,2).*q2(:,2) - q1(:,3).*q2(:,3) - q1(:,4).*q2(:,4); | ||
| b=q1(:,1).*q2(:,2) + q1(:,2).*q2(:,1) + q1(:,3).*q2(:,4) - q1(:,4).*q2(:,3); | ||
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| end | ||
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