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Guilhem Saurel authoredGuilhem Saurel authored
plot_wrench_distrib.xml 6.06 KiB
<?xml version='1.0' encoding='UTF-8'?>
<root version="2.3.0">
<tabbed_widget parent="main_window" name="Main Window">
<plotmatrix rows="2" columns="3" tab_name="plot">
<plot row="0" col="0">
<range bottom="-64.965137" top="117.614916" left="-21.733000" right="-11.738000"/>
<limitY/>
<curve R="20" B="160" G="100" name="/sot/dcmCtrl/wrenchRef/data.0" custom_transform="noTransform"/>
<curve R="247" B="247" G="0" name="/sot/distribute/wrenchRef/data.0" custom_transform="noTransform"/>
<transform value="noTransform"/>
</plot>
<plot row="1" col="0">
<range bottom="-64.965137" top="117.614916" left="-21.733000" right="-11.738000"/>
<limitY/>
<curve R="80" B="127" G="180" name="/sot/distribute/wrenchLeft/data.0" custom_transform="noTransform"/>
<curve R="20" B="160" G="100" name="/sot/distribute/wrenchRight/data.0" custom_transform="noTransform"/>
<transform value="noTransform"/>
</plot>
<plot row="0" col="1">
<range bottom="-70.960893" top="83.557378" left="-21.733000" right="-11.738000"/>
<limitY/>
<curve R="5" B="13" G="116" name="/sot/dcmCtrl/wrenchRef/data.1" custom_transform="noTransform"/>
<curve R="0" B="238" G="51" name="/sot/distribute/wrenchRef/data.1" custom_transform="noTransform"/>
<transform value="noTransform"/>
</plot>
<plot row="1" col="1">
<range bottom="-70.960893" top="83.557378" left="-21.733000" right="-11.738000"/>
<limitY/>
<curve R="244" B="29" G="83" name="/sot/distribute/wrenchLeft/data.1" custom_transform="noTransform"/>
<curve R="5" B="13" G="116" name="/sot/distribute/wrenchRight/data.1" custom_transform="noTransform"/>
<transform value="noTransform"/>
</plot>
<plot row="0" col="2">
<range bottom="885.570204" top="885.570204" left="-21.733000" right="-11.738000"/>
<limitY/>
<curve R="255" B="24" G="19" name="/sot/dcmCtrl/wrenchRef/data.2" custom_transform="noTransform"/>
<curve R="0" B="119" G="119" name="/sot/distribute/wrenchRef/data.2" custom_transform="noTransform"/>
<transform value="noTransform"/>
</plot>
<plot row="1" col="2">
<range bottom="-22.139255" top="907.709459" left="-21.733000" right="-11.738000"/>
<limitY/>
<curve R="142" B="136" G="52" name="/sot/distribute/wrenchLeft/data.2" custom_transform="noTransform"/>
<curve R="255" B="24" G="19" name="/sot/distribute/wrenchRight/data.2" custom_transform="noTransform"/>
<transform value="noTransform"/>
</plot>
</plotmatrix>
<plotmatrix rows="2" columns="3" tab_name="plot">
<plot row="0" col="0">
<range bottom="58.812999" top="59.369892" left="24.225000" right="34.222000"/>
<limitY/>
<curve R="241" B="193" G="76" name="/sot/ftc/left_foot_force_out/data.0" custom_transform="noTransform"/>
<transform value="noTransform"/>
</plot>
<plot row="1" col="0">
<range bottom="-59.654389" top="-59.188734" left="24.225000" right="34.222000"/>
<limitY/>
<curve R="188" B="34" G="189" name="/sot/ftc/right_foot_force_out/data.0" custom_transform="noTransform"/>
<transform value="noTransform"/>
</plot>
<plot row="0" col="1">
<range bottom="-46.926824" top="-45.127294" left="24.225000" right="34.222000"/>
<limitY/>
<curve R="148" B="189" G="103" name="/sot/ftc/left_foot_force_out/data.1" custom_transform="noTransform"/>
<transform value="noTransform"/>
</plot>
<plot row="1" col="1">
<range bottom="45.588683" top="47.350587" left="24.225000" right="34.222000"/>
<limitY/>
<curve R="31" B="180" G="119" name="/sot/ftc/right_foot_force_out/data.1" custom_transform="noTransform"/> <transform value="noTransform"/>
</plot>
<plot row="0" col="2">
<range bottom="416.204087" top="417.069832" left="24.225000" right="34.222000"/>
<limitY/>
<curve R="23" B="207" G="190" name="/sot/ftc/left_foot_force_out/data.2" custom_transform="noTransform"/>
<transform value="noTransform"/>
</plot>
<plot row="1" col="2">
<range bottom="445.899472" top="446.756994" left="24.225000" right="34.222000"/>
<limitY/>
<curve R="214" B="40" G="39" name="/sot/ftc/right_foot_force_out/data.2" custom_transform="noTransform"/>
<transform value="noTransform"/>
</plot>
</plotmatrix>
<currentPlotMatrix index="1"/>
</tabbed_widget>
<use_relative_time_offset enabled="1"/>
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<Plugins>
<plugin ID="DataLoad_CSV">
<default time_axis=""/>
</plugin>
<plugin ID="DataLoad_ROS_bags">
<use_header_stamp value="false"/>
<use_renaming_rules value="true"/>
<discard_large_arrays value="true"/>
<max_array_size value="100"/>
</plugin>
<plugin ID="DataLoad_ULog"/>
<plugin ID="ROS_Topic_Streamer">
<use_header_stamp value="false"/>
<use_renaming_rules value="true"/>
<discard_large_arrays value="true"/>
<max_array_size value="100"/>
</plugin>
<plugin status="idle" ID="RosoutPublisherROS"/>
<plugin status="idle" ID="TopicPublisherROS"/>
</Plugins>
<!-- - - - - - - - - - - - - - - -->
<previouslyLoaded_Datafiles/>
<previouslyLoaded_Streamer name="ROS_Topic_Streamer"/>
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<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>
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</root>