47 lines
1.1 KiB
Python
Executable File
47 lines
1.1 KiB
Python
Executable File
# import matplotlib
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# matplotlib.use('Agg')
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import numpy as np
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import matplotlib.pyplot as plt
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a_out=np.loadtxt('mat_out.txt')
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#######for normal#######
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fig, axs = plt.subplots(3,2)
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lab_out = ['', 'out-x', 'out-y', 'out-z']
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plot_ind = range(7,10)
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time=a_out[:,0]
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axs[0,0].set_title('Attitude')
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axs[1,0].set_title('Translation')
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axs[2,0].set_title('Velocity')
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axs[0,1].set_title('bg')
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axs[1,1].set_title('ba')
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axs[2,1].set_title('Gravity')
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for i in range(1,4):
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for j in range(6):
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axs[j%3, j//3].plot(time, a_out[:,i+j*3],'.-', label=lab_out[i])
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for j in range(6):
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axs[j%3, j//3].grid()
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axs[j%3, j//3].legend()
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plt.grid()
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#######for normal#######
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#### Draw IMU data
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#fig, axs = plt.subplots(2)
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#imu=np.loadtxt('imu_pbp.txt')
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#time=imu[:,0]
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#axs[0].set_title('Gyroscope')
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#axs[1].set_title('Accelerameter')
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#lab_1 = ['gyr-x', 'gyr-y', 'gyr-z']
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#lab_2 = ['acc-x', 'acc-y', 'acc-z']
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#for i in range(3):
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#if i==1:
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# axs[0].plot(time, imu[:,i+1],'.-', label=lab_1[i])
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# axs[1].plot(time, imu[:,i+4],'.-', label=lab_2[i])
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#for i in range(2):
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#axs[i].set_xlim(386,389)
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# axs[i].grid()
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# axs[i].legend()
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#plt.grid()
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plt.show()
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