-
Notifications
You must be signed in to change notification settings - Fork 32
/
Copy pathplot_all.m
82 lines (62 loc) · 2.82 KB
/
plot_all.m
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
close all
% % setup
for nr= 1%1:nRuns
figure
plot(xR_true(1,:,nr), xR_true(2,:,nr), 'b-.','Linewidth',1), hold on
plot(xL_true(1,:,nr), xL_true(2,:,nr), 'b*','Linewidth',1)
title('Robot trajectory and landmarks')
legend('True Trajectory','True Landmarks')
xlabel('x (m)','FontWeight','bold'), ylabel('y (m)','FontWeight','bold')
axis equal
print('-dpng','setup_sim')
end
% % robot % %
start= 1; incr= 5;
% Robot NEES
figure, hold on
plot([start:incr:nSteps],neesR_avg_id(start:incr:end)','g:','Linewidth',3);
plot([start:incr:nSteps],neesR_avg_std(start:incr:end)','b-o','Linewidth',1);
plot([start:incr:nSteps],neesR_avg_fej(start:incr:end)','m-.','Linewidth',2);
plot([start:incr:nSteps],neesR_avg_ocekf_1(start:incr:end)','k--','Linewidth',2);
xlabel('Time (sec)','FontWeight','bold'), ylabel('Robot pose NEES','FontWeight','bold')
legend( 'Ideal-EKF','Std-EKF','FEJ-EKF','OC-EKF')%,'OC-EKF3','Robocentric')
print('-dpng','slam_robot_nees_oc3_sim')
% Robot RMSE
figure
subplot(2,1,1), hold on
plot([start:incr:nSteps],rmsRp_avg_id(start:incr:end)','g:','Linewidth',3);
plot([start:incr:nSteps],rmsRp_avg_std(start:incr:end)','b-o','Linewidth',1);
plot([start:incr:nSteps],rmsRp_avg_fej(start:incr:end)','m-.','Linewidth',2);
plot([start:incr:nSteps],rmsRp_avg_ocekf_1(start:incr:end)','k--','Linewidth',2);
ylabel('Position RMSE (m)','FontWeight','bold')
legend( 'Ideal-EKF','Std-EKF','FEJ-EKF','OC-EKF')%,'OC-EKF3','Robocentric') %#ok<*LEGINTPAR>
subplot(2,1,2), hold on
plot([start:incr:nSteps],rmsRth_avg_id(start:incr:end)','g:','Linewidth',3);
plot([start:incr:nSteps],rmsRth_avg_std(start:incr:end)','b-o','Linewidth',1);
plot([start:incr:nSteps],rmsRth_avg_fej(start:incr:end)','m-.','Linewidth',2);
plot([start:incr:nSteps],rmsRth_avg_ocekf_1(start:incr:end)','k--','Linewidth',2);
xlabel('Time (sec)','FontWeight','bold'),
ylabel('Heading RMSE (rad)','FontWeight','bold')
print('-dpng','slam_robot_rms_oc3_sim')
NEES_Robot = [mean(neesR_avg_id(1:end)),mean(neesR_avg_std(1:end)), mean(neesR_avg_fej(1:end)), mean(neesR_avg_ocekf_1(1:end)) ]
RMS_Position = [mean(rmsRp_avg_id(1:end)),mean(rmsRp_avg_std(1:end)), mean(rmsRp_avg_fej(1:end)), mean(rmsRp_avg_ocekf_1(1:end)) ]
RMS_Heading = [mean(rmsRth_avg_id(1:end)),mean(rmsRth_avg_std(1:end)), mean(rmsRth_avg_fej(1:end)), mean(rmsRth_avg_ocekf_1(1:end))]
% % landmarks % %
% NEES
figure
bar([neesL_avg_id,...
neesL_avg_std,...
neesL_avg_fej,...
neesL_avg_ocekf_1 ]);
ylabel('Avg. Landmark NEES','FontWeight','bold')
print('-dpng','lm_nees')
% RMSE
figure
bar([rmsL_avg_id,...
rmsL_avg_std,...
rmsL_avg_fej,...
rmsL_avg_ocekf_1 ]);
ylabel('Avg. Landmark RMSE','FontWeight','bold')
print('-dpng','lm_rms')
NEES_L = [neesL_avg_id,neesL_avg_std,neesL_avg_fej, neesL_avg_ocekf_1]
RMS_L = [rmsL_avg_id,rmsL_avg_std,rmsL_avg_fej, rmsL_avg_ocekf_1 ]