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plot_trajectory.m
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plot_trajectory.m
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function plot_trajectory(x, y, z, u, v, w, ...
u_dot, v_dot, w_dot, ...
u_dot_dot, v_dot_dot, w_dot_dot, ...
V, V_dot, gamma, psi, ...
psi_dot, psi_dot_dot, ...
gamma_dot, gamma_dot_dot, ...
phi, n, T, t_array, ...
past_x, past_y, past_z, ...
past_x_d, past_y_d, past_z_d, ...
past_u, past_v, past_w, ...
past_phi, past_gamma, past_T,...
x_d, y_d, z_d, ...
m, x_obs, y_obs, z_obs, R_obs, ...
gif_flag)
% Plot position, acceleration, jerk, angles, load factor, drag and
% thrust on each step of the trajectory
fig_num = 0;
%% Two Dimensional Position
fig_num = fig_num + 1;
figure(fig_num)
subplot(2,1,1);
plot(x, y, 'color','k','marker','.','markersize',16)
for i = 1 : m
viscircles([x_obs(i) y_obs(i)], R_obs(i));
end
grid on
axis equal
xlabel("x")
ylabel("y")
subplot(2,1,2);
plot(x, z, 'color','k','marker','.','markersize',16)
for i = 1 : m
viscircles([x_obs(i) z_obs(i)], R_obs(i));
end
grid on
axis equal
xlabel("x")
ylabel("z")
%% Two Dimensional velocities
fig_num = fig_num + 1;
figure(fig_num)
subplot(3,1,1);
plot(t_array, u, 'color','k','marker','.','markersize',16)
grid on
xlabel("t")
ylabel("u")
subplot(3,1,2);
plot(t_array, v, 'color','k','marker','.','markersize',16)
grid on
xlabel("t")
ylabel("v")
subplot(3,1,3);
plot(t_array, w, 'color','k','marker','.','markersize',16)
grid on
xlabel("t")
ylabel("w")
fig_num = fig_num + 1;
figure(fig_num)
plot(t_array, V, 'color','k','marker','.','markersize',16)
xlabel("t")
ylabel("V")
%% Two Dimensional acceleration
fig_num = fig_num + 1;
figure(fig_num)
subplot(3,1,1);
plot(t_array, u_dot, 'color','k','marker','.','markersize',16)
grid on
xlabel("t")
ylabel("$\dot{u}$",'interpreter','latex')
subplot(3,1,2);
plot(t_array, v_dot, 'color','k','marker','.','markersize',16)
grid on
xlabel("t")
ylabel("$\dot{v}$",'interpreter','latex')
subplot(3,1,3);
plot(t_array, w_dot, 'color','k','marker','.','markersize',16)
grid on
xlabel("t")
ylabel("$\dot{w}$",'interpreter','latex')
fig_num = fig_num + 1;
figure(fig_num)
plot(t_array, sqrt(u_dot.^2 + v_dot.^2 + w_dot.^2), 'color','k','marker','.','markersize',16)
xlabel("t")
ylabel("$\dot{V}$",'interpreter','latex')
%% Two Dimensional Historical Position
fig_num = fig_num + 1;
figure(fig_num)
subplot(2,1,1);
plot([past_x x], [past_y y], 'color','k','marker','.','markersize',16)
for i = 1 : m
viscircles([x_obs(i) y_obs(i)], R_obs(i));
end
set(gcf,'color','w');
grid on
axis equal
xlabel("x [m]")
ylabel("y [m]")
subplot(2,1,2);
plot([past_x x], [past_z z], 'color','k','marker','.','markersize',16)
for i = 1 : m
viscircles([x_obs(i) z_obs(i)], R_obs(i));
end
set(gcf,'color','w');
grid on
axis equal
xlabel("x [m]")
ylabel("z [m]")
%% Two Dimensional Historical Velocities
fig_num = fig_num + 1;
figure(fig_num)
subplot(3,1,1);
plot([past_x x], [past_u u], 'color','k','marker','.','markersize',16)
set(gcf,'color','w');
grid on
xlabel("x [m]")
ylabel("u [m/s]")
subplot(3,1,2);
plot([past_x x], [past_v v], 'color','k','marker','.','markersize',16)
set(gcf,'color','w');
grid on
xlabel("x [m]")
ylabel("v [m/s]")
subplot(3,1,3);
plot([past_x x], [past_w w], 'color','k','marker','.','markersize',16)
set(gcf,'color','w');
grid on
xlabel("x [m]")
ylabel("w [m/s]")
%% 3D Trajectory
% Convert color code to 1-by-3 RGB array (0~1 each)
str = '#D9FFFF';
color = sscanf(str(2:end),'%2x%2x%2x',[1 3])/255;
str = '#fbd9d3';
prev_color = sscanf(str(2:end),'%2x%2x%2x',[1 3])/255;
fig_num = fig_num + 1;
fig = figure(fig_num);
h1 = plot3(x, y, z, '-o','Color','b','MarkerSize',10, 'MarkerFaceColor', color, 'DisplayName', 'Trajetória local otimizada');
hold on
h2 = plot3(past_x, past_y, past_z,'-o','Color','r','MarkerSize',10, 'MarkerFaceColor', prev_color, 'DisplayName', 'Trajetória já percorrida');
h3 = plot3([x_d, past_x_d], [y_d, past_y_d], [z_d, past_z_d],'--','Color', [100, 100, 100]/255, 'DisplayName', 'Trajetória global');
plot_obstacle(m, x_obs, y_obs, z_obs, R_obs)
legend([h1 h2 h3])
grid on
axis equal
set(gcf,'color','w');
xlabel("x [m]")
ylabel("y [m]")
zlabel("z [m]")
% view(-101.9, 1.2) % Different point of view
hold off
if gif_flag
frame = getframe(fig);
image = frame2im(frame);
[indexed_image, color_map] = rgb2ind(image, 256);
filename = "figs/trajectory.gif";
if x(1) == 0
imwrite(indexed_image, color_map, filename, 'gif', 'Loopcount', inf);
else
imwrite(indexed_image, color_map, filename, 'gif', 'WriteMode', 'append');
end
end
%% Performance and Control Limits
fig_num = fig_num + 1;
figure(fig_num)
plot(t_array(2:end), T, 'color','k','marker','.','markersize',16)
xlabel("t")
ylabel("T")
set(gcf,'color','w');
fig_num = fig_num + 1;
figure(fig_num)
plot(t_array, rad2deg(gamma), 'color','k','marker','.','markersize',16)
xlabel("t")
ylabel("\gamma")
set(gcf,'color','w');
fig_num = fig_num + 1;
figure(fig_num)
plot(t_array(2:end), rad2deg(phi), 'color','k','marker','.','markersize',16)
xlabel("t")
ylabel("\phi")
set(gcf,'color','w');
%% Historical Performance and Control Limits
fig_num = fig_num + 1;
figure(fig_num)
subplot(3,1,1);
plot([past_x x(1:end-1)], [past_T T], 'color','k','marker','.','markersize',16)
xlabel("x [m]")
ylabel("T [N]")
grid on
subplot(3,1,2);
plot([past_x x], [rad2deg(past_gamma) rad2deg(gamma)], 'color','k','marker','.','markersize',16)
xlabel("x [m]")
ylabel("\gamma [º]")
grid on
subplot(3,1,3);
plot([past_x x(1:end-1)], [rad2deg(past_phi) rad2deg(phi)], 'color','k','marker','.','markersize',16)
xlabel("x [m]")
ylabel("\phi [°]")
grid on
set(gcf,'color','w');