Changed the plot_gains function some.

moorepants · Dec 29, 2011 · 15fe52f · 15fe52f
1 parent c6c010e
commit 15fe52f
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Showing 3 changed files with 19 additions and 7 deletions.
diff --git a/gains/BenchmarkSteerGains.txt b/gains/BenchmarkSteerGains.txt
@@ -5,4 +5,5 @@ speed,kDelta,kPhiDot,kPhi,kPsi,kY
 4.800,44.6406,-0.0529,13.2253,0.1720,0.1001
 5.000,46.5457,-0.0522,12.6611,0.1480,0.0767
 8.000,74.9880,-0.0400,9.3510,0.4340,0.0600
+8.340,78.2238,-0.0388,9.2493,0.4676,0.0571
 12.000,115.3790,-0.0290,9.2800,0.8550,0.0400
diff --git a/gains/RigidJasonSteerGains.txt b/gains/RigidJasonSteerGains.txt
@@ -30,7 +30,6 @@ speed,kDelta,kPhiDot,kPhi,kPsi,kY
 3.636,34.8024,-0.0761,13.9754,0.1000,0.1390
 3.712,35.6191,-0.0757,13.5977,0.1029,0.1362
 3.788,36.4436,-0.0754,13.2236,0.1059,0.1336
-3.807,37.5000,-0.0800,47.2000,0.0951,0.7475
 3.850,37.1241,-0.0751,12.9317,0.1083,0.1314
 3.852,37.1407,-0.0751,12.9256,0.1084,0.1314
 3.864,37.2730,-0.0750,12.8769,0.1088,0.1310

diff --git a/plot_gains.m b/plot_gains.m
@@ -10,9 +10,21 @@ function plot_gains(pathToGainFile)
 
 [numSpeeds, numCols] = size(data.data);
 
-for i=2:numCols
-    subplot(numCols - 1, 1, i - 1)
-    plot(data.data(:, 1), data.data(:, i), '.')
-    ylabel(data.colheaders{i})
-    xlabel('Speed [m/s]')
-end
+figure()
+subplot(2, 1, 1)
+hold all
+plot(data.data(:, 1), data.data(:, 2), '-')
+plot(data.data(:, 1), data.data(:, 4), '-')
+hold off
+ylabel('Gain')
+legend('k_\delta', 'k_\phi')
+
+subplot(2, 1, 2)
+hold all
+plot(data.data(:, 1), data.data(:, 3), '-')
+plot(data.data(:, 1), data.data(:, 5), '-')
+plot(data.data(:, 1), data.data(:, 6), '-')
+hold off
+legend('$\dot{\phi}$', 'k_\psi', 'k_{y_d}', 'Interpreter', 'latex')
+ylabel('Gain')
+xlabel('Speed [m/s]')