Add the joint tracking error plot in joint-position-tracking script (#…

…775)

CHANGELOG.md

@@ -26,6 +26,10 @@ All notable changes to this project are documented in this file.
 - Change use of dynamics name for fts, contacts, accelerometers, gyroscopes in `RobotDynamicsEstimator` (https://github.com/ami-iit/bipedal-locomotion-framework/pull/759)
 - 🤖 Modify the `YarpRobotLoggerDevice` of `ergoCubSN001` to be compliant with the latest [robots-configuration files](https://github.com/robotology/robots-configuration/pull/598) (https://github.com/ami-iit/bipedal-locomotion-framework/pull/772)
 - Modify the `balancing-position-control` application to be compliant with the new implementation of the spline and the `VectorsCollectionServer` (https://github.com/ami-iit/bipedal-locomotion-framework/pull/776)
+- Add the joint tracking error plot in joint-position-tracking script (https://github.com/ami-iit/bipedal-locomotion-framework/pull/775/)
+
+### Removed
+- Remove the latex dependency in the joint-position-tracking script (https://github.com/ami-iit/bipedal-locomotion-framework/pull/775/)
 
 ### Fixed
 

utilities/joint-position-tracking/script/blf_joint_position_tracking_plot_dataset.py

@@ -10,10 +10,6 @@
 import matplotlib
 import matplotlib.pyplot as plt
 
-from matplotlib import rc
-rc('font',**{'family':'sans-serif','sans-serif':['Helvetica']})
-rc('text', usetex=True)
-
 def read_data(file_name):
  data = []
 
@@ -47,27 +43,35 @@ def plot_data(axes, x_data, y_data, color, linewidth = 1.0):
  return axes.plot(x_data, y_data, color = col, linewidth = linewidth)
 
 def plot_and_save(data):
- fig, ax = plt.subplots(1)
+ fig, ax = plt.subplots(1,2)
 
  channel_0 = data[:, 0]
  channel_1 = data[:, 1]
 
- plot_0, = plot_data(ax, times(channel_0), channel_0, "red")
- plot_1, = plot_data(ax, times(channel_1), channel_1, "blue")
+ plot_0, = plot_data(ax[0], times(channel_0), channel_0, "red")
+ plot_1, = plot_data(ax[0], times(channel_1), channel_1, "blue")
 
  legend = [plot_0, plot_1]
- legend = fig.legend(legend, labels = ["$\mathrm{Reference}$", "$\mathrm{Actual}$"], ncol = 2, loc = "upper center", frameon=False)
+ legend = fig.legend(legend, labels = ["Reference", "Actual"], ncol = 2, loc = "upper center", frameon=False)
 
  for line in legend.get_lines():
  line.set_linewidth(2.0)
 
  label_font_size = 10
- ax.grid()
- ax.set_xlabel('time [s]', fontsize = label_font_size)
- ax.set_ylabel('position [rad]', fontsize = label_font_size)
- ax.set_title('joint position', fontsize = label_font_size)
+ ax[0].grid()
+ ax[0].set_xlabel('time [s]', fontsize = label_font_size)
+ ax[0].set_ylabel('position [rad]', fontsize = label_font_size)
+ ax[0].set_title('joint position', fontsize = label_font_size)
+
+ error = channel_1 - channel_0
+ plot_error, = ax[1].plot(times(channel_0), error, color="green")
+ ax[1].grid()
+ ax[1].set_xlabel('time [s]', fontsize=label_font_size)
+ ax[1].set_ylabel('error [rad]', fontsize=label_font_size)
+ ax[1].set_title('Error Plot', fontsize=label_font_size)
 
  figure = plt.gcf()
+ plt.tight_layout()
  plt.savefig("./figure.png", bbox_inches='tight', dpi = 150)
 
  # plt.show()
@@ -81,5 +85,3 @@ def plot_and_save(data):
  data = read_data(args.dataset)
 
  plot_and_save(data)
-
-