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TomokiMochizuki
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Jun 5, 2024
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# | ||
# Plot Angular Velocity Observer | ||
# | ||
# arg[1] : read_file_tag : time tag for default CSV output log file. ex. 220627_142946 | ||
# | ||
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# | ||
# Import | ||
# | ||
# plots | ||
import matplotlib.pyplot as plt | ||
# local function | ||
from common import find_latest_log_tag | ||
from common import add_log_file_arguments | ||
from common import read_3d_vector_from_csv | ||
from common import read_scalar_from_csv | ||
# arguments | ||
import argparse | ||
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# Arguments | ||
aparser = argparse.ArgumentParser() | ||
aparser = add_log_file_arguments(aparser) | ||
aparser.add_argument('--no-gui', action='store_true') | ||
args = aparser.parse_args() | ||
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# | ||
# Read Arguments | ||
# | ||
# log file path | ||
path_to_logs = args.logs_dir | ||
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read_file_tag = args.file_tag | ||
if read_file_tag == None: | ||
print("file tag does not found. use latest.") | ||
read_file_tag = find_latest_log_tag(path_to_logs) | ||
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print("log: " + read_file_tag) | ||
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# | ||
# CSV file name | ||
# | ||
read_file_name = path_to_logs + '/' + 'logs_' + read_file_tag + '/' + read_file_tag + '_default.csv' | ||
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# | ||
# Data read and edit | ||
# | ||
# Read S2E CSV | ||
time = read_scalar_from_csv(read_file_name, 'elapsed_time[s]') | ||
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euler_angle_cantilever_rad = read_3d_vector_from_csv(read_file_name, 'euler_angular_cantilever_c', 'rad') | ||
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# | ||
# Plot | ||
# | ||
unit = ' rad' | ||
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fig, axis = plt.subplots(3, 1, squeeze = False, tight_layout = True, sharex = True) | ||
axis[0, 0].plot(time[0][0:1200], euler_angle_cantilever_rad[0][0:1200], c="orange", label="TRUE-X") | ||
axis[0, 0].legend(loc = 'upper right') | ||
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axis[1, 0].plot(time[0][0:1200], euler_angle_cantilever_rad[1][0:1200], c="green", label="TRUE-Y") | ||
axis[1, 0].legend(loc = 'upper right') | ||
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axis[2, 0].plot(time[0][0:1200], euler_angle_cantilever_rad[2][0:1200], c="blue", label="TRUE-Z") | ||
axis[2, 0].legend(loc = 'upper right') | ||
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fig.suptitle("Euler Angle Observer") | ||
fig.supylabel("Euler Angle [" + unit + "]") | ||
fig.supxlabel("Time [s]") | ||
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# Data save | ||
if args.no_gui: | ||
plt.savefig(read_file_tag + "_angular_velocity_observer.png") # save last figure only | ||
else: | ||
plt.show() |