Commit c0665aee authored by flforget's avatar flforget
Browse files

add python viewer (simple)

parent 3f117e72
import matplotlib.pyplot as pl
import csv
tauList = []
tauDotList = []
qList = []
qDotList = []
uList = []
''' position '''
path = '../_build/cpp/results.csv'
with open(path,'r') as dataFile:
reader = csv.reader(dataFile)
i = 0
for row in reader:
if i ==1:
tauList.append(float(row[0]))
tauDotList.append(float(row[1]))
qList.append(float(row[2]))
qDotList.append(float(row[3]))
uList.append((float(row[4])))
if i==0:
i = 1
fig1 = pl.figure()
fig2 = pl.figure()
ax1 = fig1.add_subplot(221)
ax1.plot(tauList)
ax1.grid()
bx1 = fig1.add_subplot(222)
bx1.plot(tauDotList)
bx1.grid()
cx1 = fig1.add_subplot(223)
cx1.plot(qList)
cx1.grid()
dx1 = fig1.add_subplot(224)
dx1.plot(qDotList)
dx1.grid()
ax2 = fig2.add_subplot(111)
ax2.plot(uList)
ax2.grid()
pl.show()
import matplotlib.pyplot as pl
import csv
tauList = []
tauDotList = []
qList = []
qDotList = []
uList = []
finaltauList = []
finaltauDotList = []
finalqList = []
finalqDotList = []
finaluList = []
tauListList = []
tauDotListList = []
qListList = []
qDotListList = []
uListList = []
''' position '''
path = '../_build/cpp/resultsMPC.csv'
T=5;
N = 30;
with open(path,'r') as dataFile:
reader = csv.reader(dataFile)
i = 0
j = -1
for row in reader:
if i ==2:
if(j<T):
tauList.append(float(row[0]))
tauDotList.append(float(row[1]))
qList.append(float(row[2]))
qDotList.append(float(row[3]))
uList.append((float(row[4])))
j+=1
else:
tauListList.append(tauList)
tauDotListList.append(tauDotList)
qListList.append(qList)
qDotListList.append(qDotList)
uListList.append(uList)
tauList = [float(row[0])]
tauDotList = [float(row[1])]
qList = [float(row[2])]
qDotList = [float(row[3])]
uList = [float(row[4])]
j = 0
if i==1:
i = 2
if i==0:
T = int(row[0])
N = int(row[1]) - 1
i = 1
for i in range(N):
finaltauList.append(tauListList[i][0])
finaltauDotList.append(tauDotListList[i][0])
finalqList.append(qListList[i][0])
finalqDotList.append(qDotListList[i][0])
finaluList.append(uListList[i][0])
#~ print len(tauListList[0])
#~ print len(tauListList[1])
#~ print len(tauListList[2])
#~ print len(tauListList[3])
#~ print tauListList[0]
#~ print tauListList[1]
#~ print tauListList[2]
#~ print tauListList[3]
fig1 = pl.figure()
fig2 = pl.figure()
ax1 = fig1.add_subplot(221)
bx1 = fig1.add_subplot(222)
cx1 = fig1.add_subplot(223)
dx1 = fig1.add_subplot(224)
ax2 = fig2.add_subplot(111)
for i in range(N):
ax1.plot(range(i,i+T+1,1),tauListList[i])
bx1.plot(range(i,i+T+1,1),tauDotListList[i])
cx1.plot(range(i,i+T+1,1),qListList[i])
dx1.plot(range(i,i+T+1,1),qDotListList[i])
ax2.plot(range(i,i+T+1,1),uListList[i])
ax1.plot(finaltauList,'g')
bx1.plot(finaltauDotList,'g')
cx1.plot(finalqList,'g')
dx1.plot(finalqDotList,'g')
ax2.plot(finaluList,'g')
ax1.grid()
bx1.grid()
cx1.grid()
dx1.grid()
ax2.grid()
pl.show()
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