53 lines
1.5 KiB
Python
53 lines
1.5 KiB
Python
import matplotlib.pyplot as plt
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import numpy as np
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fsend = open("send.info")
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frecv = open("recv.info")
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send_lines = fsend.readlines()[:-1]
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recv_lines = frecv.readlines()[:-1]
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send_infos = [line.split(" ") for line in send_lines]
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recv_infos = [line.split(" ") for line in recv_lines]
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send_times = [float(info[0]) for info in send_infos]
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recv_times = [float(info[0]) for info in recv_infos]
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send_yaw = [float(info[1]) for info in send_infos]
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TargetAngle= [float(info[1]) for info in recv_infos]
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RealAngle = [float(info[2]) for info in recv_infos]
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length = min(len(send_times), len(recv_times))
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send_times = send_times[:length]
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recv_times = recv_times[:length]
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send_yaw = send_yaw[:length]
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TargetAngle= TargetAngle[:length]
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RealAngle = RealAngle[:length]
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time_base = min(send_times[0], recv_times[0])
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send_times = np.array(send_times) - time_base
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recv_times = np.array(recv_times) - time_base
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TargetAngle = TargetAngle[:300]
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RealAngle = RealAngle[:300]
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send_times = send_times[:300]
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recv_times = recv_times[:300]
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send_yaw = send_yaw[:300]
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TargetAngle = np.array(TargetAngle)
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TargetAngle -= TargetAngle.mean()
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RealAngle = np.array(RealAngle)
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RealAngle -= RealAngle.mean()
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plt.plot(send_times, send_yaw, label="send-yaw")
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plt.plot(recv_times, TargetAngle,label="TargetAngle")
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plt.plot(recv_times, RealAngle, label="RealAngle")
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plt.scatter(send_times, send_yaw, label="send-yaw")
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plt.scatter(recv_times, TargetAngle,label="TargetAngle")
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plt.scatter(recv_times, RealAngle, label="RealAngle")
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plt.legend()
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plt.show()
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