From c30079b64d19e8b46b111fb2110dbebf9ed32c37 Mon Sep 17 00:00:00 2001
From: YanzhenXiangRobotics <xyz000327@gmail.com>
Date: Tue, 25 Apr 2023 20:41:27 +0200
Subject: ADD: .gitignore

---
 templates/plot_trajectory.m | 126 --------------------------------------------
 1 file changed, 126 deletions(-)
 delete mode 100644 templates/plot_trajectory.m

(limited to 'templates/plot_trajectory.m')

diff --git a/templates/plot_trajectory.m b/templates/plot_trajectory.m
deleted file mode 100644
index 9bcb696..0000000
--- a/templates/plot_trajectory.m
+++ /dev/null
@@ -1,126 +0,0 @@
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-% Copyright (c) 2023, Amon Lahr, Simon Muntwiler, Antoine Leeman & Fabian Flürenbrock Institute for Dynamic Systems and Control, ETH Zurich.
-%
-% All rights reserved.
-%
-% Please see the LICENSE file that has been included as part of this package.
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-function [fig_time,axes_time,fig_pos,axes_pos] = plot_trajectory(x,u,ctrl_info,params)
-    fig_time = figure;
-    
-    % check if input is 3-dimensional
-    n_traj = size(x,3);
-    assert(size(u,3) == n_traj);
-    assert(size(ctrl_info,3) == n_traj);
-
-    nx = params.model.nx;
-    assert(nx == size(x,1));
-
-    t = 0:params.model.TimeStep:params.model.TimeStep*params.model.HorizonLength;
-
-    % plot
-    axes_time = cell(5,1);
-    axes_time{1} = subplot(5,1,1);
-    hold on;
-
-    for i = 1:n_traj
-        plot(axes_time{1},t,x(1,:,i),'DisplayName',sprintf('x_%d',i));
-        plot(axes_time{1},t,x(3,:,i),'DisplayName',sprintf('z_%d',i));
-    end
-    legend('Location','EastOutside')
-
-    % max position
-    x_max = params.constraints.MaxAbsPositionXZ;
-    plot(axes_time{1}, [t(1); t(end)],[x_max; x_max],'k--','HandleVisibility','off');
-    plot(axes_time{1}, [t(1); t(end)],[-x_max; -x_max],'k--','HandleVisibility','off');
-    ylabel('Position [Mm]')
-
-    axes_time{2} = subplot(5,1,2);
-    hold on;
-    for i = 1:n_traj
-        plot(axes_time{2},t,x(2,:,i),'DisplayName',sprintf('y_%d',i));
-    end
-
-    % max position
-    y_max = params.constraints.MaxAbsPositionY;
-    plot(axes_time{2},[t(1); t(end)],[y_max; y_max],'k--','HandleVisibility','off');
-    plot(axes_time{2},[t(1); t(end)],[-y_max; -y_max],'k--','HandleVisibility','off');
-
-    legend('Location','EastOutside')
-    ylabel('Position [Mm]')
-
-    axes_time{3} = subplot(5,1,3);
-    hold on;
-    for i = 1:n_traj
-        plot(axes_time{3},t,x(4,:,i),'DisplayName',sprintf('v_{x%d}',i));
-        plot(axes_time{3},t,x(5,:,i),'DisplayName',sprintf('v_{y%d}',i));
-        plot(axes_time{3},t,x(6,:,i),'DisplayName',sprintf('v_{z%d}',i));
-    end
-
-    legend('Location','EastOutside')
-    ylabel('Velocity [km/s]')
-
-    axes_time{4} = subplot(5,1,4);
-    hold on;
-    % append one input value for plotting
-    u(:,length(t),:) = u(:,length(t)-1,:);
-    for i = 1:n_traj
-        stairs(axes_time{4},t,u(1,:,i)','DisplayName',sprintf('u_{x%d}',i));
-        stairs(axes_time{4},t,u(2,:,i)','DisplayName',sprintf('u_{y%d}',i));
-        stairs(axes_time{4},t,u(3,:,i)','DisplayName',sprintf('u_{z%d}',i));
-    end
-
-    % max thrust
-    thrust_max = params.constraints.MaxAbsThrust;
-    plot([t(1); t(end)],[thrust_max; thrust_max],'k--','HandleVisibility','off');
-    plot([t(1); t(end)],[-thrust_max; -thrust_max],'k--','HandleVisibility','off');
-    legend('Location','EastOutside')
-    ylabel('Thrust [N]')
-
-    % feasibility
-    axes_time{5} = subplot(5,1,5);
-    hold on;
-    for i = 1:n_traj
-        % append one input value for plotting
-        ctrl_feas = [ctrl_info(:,:,i).ctrl_feas];
-        ctrl_feas(length(t)) = ctrl_feas(length(t) - 1);
-        stairs(axes_time{5},t,ctrl_feas','DisplayName',sprintf('feas_%d',i));
-    end
-    legend('Location','EastOutside')
-    ylabel('Controller feasible [0/1]')
-
-    % link axes
-    axes_time = [axes_time{:}];
-    linkaxes(axes_time,'x');
-    xlabel('Time [s]')
-
-    % plot without time
-    % YX-plane
-    fig_pos = figure;
-    axes_pos = cell(2,1);
-    axes_pos{1} = subplot(2,1,1);
-    hold on
-    colormap('hsv')
-
-    for i = 1:n_traj
-        plot(axes_pos{1},x(2,:,i),x(1,:,i));
-    end
-
-    axis equal
-    xlabel('Y-Position [m]')
-    ylabel('X-Position [Mm]')
-
-    % YZ plane
-    axes_pos{2} = subplot(2,1,2);
-    hold on
-    for i = 1:n_traj
-        plot(axes_pos{2},x(2,:,i),x(3,:,i))
-    end
-    axis equal
-    xlabel('Y-Position [Mm]')
-    ylabel('Z-Position [Mm]')
-
-    axes_pos = [axes_pos{:}];
-    linkaxes(axes_pos,'x');
-end
\ No newline at end of file
-- 
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