plot_ft_calibration.xml

<?xml version='1.0' encoding='UTF-8'?>
<root>
 <tabbed_widget name="Main Window" parent="main_window">
  <plotmatrix rows="2" tab_name="plot" columns="3">
   <plot col="0" row="0">
    <range left="8.103000" bottom="-39.201206" right="13.093000" top="7.148976"/>
    <limitY/>
    <curve custom_transform="noTransform" name="/sot/ftc/left_foot_force_out/data.0" G="0" R="0" B="255"/>
    <curve custom_transform="noTransform" name="/sot/ftc/left_foot_force_out/data.1" G="128" R="0" B="0"/>
    <transform value="noTransform"/>
   </plot>
   <plot col="0" row="1">
    <range left="8.103000" bottom="-7.249820" right="13.093000" top="39.919489"/>
    <limitY/>
    <curve custom_transform="noTransform" name="/sot/ftc/right_foot_force_out/data.0" G="160" R="160" B="164"/>
    <curve custom_transform="noTransform" name="/sot/ftc/right_foot_force_out/data.1" G="128" R="128" B="0"/>
    <transform value="noTransform"/>
   </plot>
   <plot col="1" row="0">
    <range left="8.103000" bottom="342.449955" right="13.093000" top="516.668201"/>
    <limitY/>
    <curve custom_transform="noTransform" name="/sot/ftc/left_foot_force_out/data.2" G="0" R="255" B="0"/>
    <transform value="noTransform"/>
   </plot>
   <plot col="1" row="1">
    <range left="8.103000" bottom="346.673359" right="13.093000" top="520.738290"/>
    <limitY/>
    <curve custom_transform="noTransform" name="/sot/ftc/right_foot_force_out/data.2" G="0" R="128" B="0"/>
    <transform value="noTransform"/>
   </plot>
   <plot col="2" row="0">
    <range left="8.103000" bottom="-6.855350" right="13.093000" top="32.425163"/>
    <limitY/>
    <curve custom_transform="noTransform" name="/sot/ftc/left_foot_force_out/data.3" G="0" R="255" B="255"/>
    <curve custom_transform="noTransform" name="/sot/ftc/left_foot_force_out/data.4" G="0" R="0" B="128"/>
    <curve custom_transform="noTransform" name="/sot/ftc/left_foot_force_out/data.5" G="128" R="0" B="128"/>
    <transform value="noTransform"/>
   </plot>
   <plot col="2" row="1">
    <range left="8.103000" bottom="-24.716164" right="13.093000" top="13.917418"/>
    <limitY/>
    <curve custom_transform="noTransform" name="/sot/ftc/right_foot_force_out/data.3" G="0" R="0" B="255"/>
    <curve custom_transform="noTransform" name="/sot/ftc/right_foot_force_out/data.4" G="128" R="0" B="0"/>
    <curve custom_transform="noTransform" name="/sot/ftc/right_foot_force_out/data.5" G="0" R="255" B="0"/>
    <transform value="noTransform"/>
   </plot>
  </plotmatrix>
  <currentPlotMatrix index="0"/>
 </tabbed_widget>
 <use_relative_time_offset enabled="1"/>
 <Plugins>
  <DataLoad_CSV>
   <default time_axis=""/>
  </DataLoad_CSV>
  <DataLoad_ROS_bags>
   <selected_topics list=""/>
  </DataLoad_ROS_bags>
  <DataLoad_ULog>
   <no_params/>
  </DataLoad_ULog>
  <ROS_Topic_Streamer>
   <selected_topics list="/sot/ftc/left_foot_force_out;/sot/ftc/right_foot_force_out"/>
  </ROS_Topic_Streamer>
  <RosoutPublisherROS/>
  <TopicPublisherROS/>
 </Plugins>
 <previouslyLoadedStreamer name="ROS_Topic_Streamer"/>
 <customMathEquations/>
 <snippets>
  <snippet name="1st_derivative">
   <global>var prevX = 0
var prevY = 0</global>
   <equation>dx = time - prevX
dy = value - prevY
prevX = time
prevY = value

return dy/dx</equation>
  </snippet>
  <snippet name="1st_order_lowpass">
   <global>var prevY = 0
var alpha = 0.1</global>
   <equation>prevY = alpha * value + (1.-alpha) * prevY

return prevY</equation>
  </snippet>
  <snippet name="sum_A_B">
   <global></global>
   <equation>return $$PLOT_A$$ + $$PLOT_B$$</equation>
  </snippet>
  <snippet name="yaw_from_quaternion">
   <global>// source: https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles

function quaternionToYaw(x, y, z, w)
{
  // yaw (z-axis rotation)
  t1 = 2.0 * (w * z + x * y);
  t2 = 1.0 - 2.0 * (y * y + z * z);
  yaw = Math.atan2(t1, t2);

  return yaw
}</global>
   <equation>return quaternionToYaw(x, y, z, w);</equation>
  </snippet>
 </snippets>
</root>