gnmsPlot.m File Reference

Functions
	figure () subplot(2
	plot (t, x(1,:), 'kx', 'MarkerSize', 1) hold on
	plot (t, xShot(1,:), 'bx', 'MarkerSize', 1) legend('x *'
	xlabel ('t [sec]') ylabel('x [m]') title('positions')
	subplot (2, 2, 2) plot(t
	x (2,:)
	plot (t, xShot(2,:), 'b') legend('v *'
subplot(2, 2, 3) plot(t(1 hold on	plot (t, lx(2,:))
hold on	title ('state update') xlabel('t [sec]') ylabel('dx [m]') legend('x update'
	plot (t(1:end-1), d(1,:))

Variables
clear all close all load ct GNMSLog0 mat reformat	t = squeeze(t)
	lv = squeeze(lv)
x	init
k hold	on

Function Documentation

figure()

hold on v update figure

(

)

plot() [1/5]

plot	(	t	,
		x(1,:)	,
		'kx'	,
		'MarkerSize'	,
		1
	)

plot() [2/5]

plot	(	t	,
		xShot(1,:)	,
		'bx'	,
		'MarkerSize'	,
		1
	)

xlabel()

xlabel

(

't '

[sec]

)

subplot()

subplot	(	2	,
		2	,
		2
	)

x()

x	(	2	,
		:
	)

plot() [3/5]

plot	(	t	,
		xShot(2,:)	,
		'b'
	)

plot() [4/5]

subplot (2,2,3) plot(t(1 hold on plot	(	t	,
		lx(2,:)
	)

title()

hold on title

(

'state update'

)

plot() [5/5]

plot	(	t(1:end-1)	,
		d(1,:)
	)

Variable Documentation

t

clear all close all load ct GNMSLog0 mat reformat t = squeeze(t)

Examples:

ConstraintComparison.h, ConstraintTest.h, KalmanDisturbanceFiltering.cpp, LQR.cpp, NLOC_generalConstrained.cpp, NLOC_MPC.cpp, and SymplecticTest.h.

Referenced by ct::optcon::CTSystemModel< STATE_DIM, CONTROL_DIM, SCALAR >::computeDerivativeState(), ct::optcon::CTSystemModel< STATE_DIM, CONTROL_DIM, SCALAR >::computeDynamics(), ct::optcon::UnscentedKalmanFilter< STATE_DIM, CONTROL_DIM, OUTPUT_DIM, SCALAR >::computeSigmaPointMeasurements(), ct::optcon::UnscentedKalmanFilter< STATE_DIM, CONTROL_DIM, OUTPUT_DIM, SCALAR >::computeSigmaPointTransition(), ct::optcon::UnscentedKalmanFilter< STATE_DIM, CONTROL_DIM, OUTPUT_DIM, SCALAR >::computeStatePrediction(), ct::optcon::EstimatorBase< STATE_DIM, CONTROL_DIM, OUTPUT_DIM, SCALAR >::EstimatorBase(), ct::optcon::TermBase< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::eval(), ct::optcon::example::TestTerm< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::evalLocal(), ct::optcon::TermLinear< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::evaluate(), ct::optcon::TermStateBarrier< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::evaluate(), ct::optcon::TermSmoothAbs< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::evaluate(), ct::optcon::TerminalConstraint< STATE_DIM, CONTROL_DIM, SCALAR >::evaluate(), ct::optcon::TermQuadTracking< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::evaluate(), ct::optcon::TermMixed< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::evaluate(), ct::optcon::TermQuadMult< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::evaluate(), ct::optcon::ControlInputConstraint< STATE_DIM, CONTROL_DIM, SCALAR >::evaluate(), ct::optcon::StateConstraint< STATE_DIM, CONTROL_DIM, SCALAR >::evaluate(), ct::optcon::TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::evaluate(), ct::optcon::example::TestTerm< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::evaluate(), ct::optcon::example::TestTerm< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::evaluateCppadCg(), ct::optcon::ShotContainer< STATE_DIM, CONTROL_DIM, SCALAR >::getUHistory(), main(), ct::optcon::ExtendedKalmanFilter< STATE_DIM, CONTROL_DIM, OUTPUT_DIM, SCALAR >::predict(), ct::optcon::SteadyStateKalmanFilter< STATE_DIM, CONTROL_DIM, OUTPUT_DIM, SCALAR >::predict(), ct::optcon::UnscentedKalmanFilter< STATE_DIM, CONTROL_DIM, OUTPUT_DIM, SCALAR >::predict(), ct::optcon::SensitivityIntegratorCT< STATE_DIM, CONTROL_DIM, SCALAR >::setControlledSystem(), ct::optcon::SensitivityIntegratorCT< STATE_DIM, CONTROL_DIM, SCALAR >::setCostFunction(), ct::optcon::CostFunctionQuadraticSimple< STATE_DIM, CONTROL_DIM, SCALAR >::setCurrentStateAndControl(), ct::optcon::ConstraintContainerBase< STATE_DIM, CONTROL_DIM, SCALAR >::setCurrentStateAndControl(), ct::optcon::SensitivityIntegratorCT< STATE_DIM, CONTROL_DIM, SCALAR >::setLinearSystem(), ct::optcon::CostFunction< STATE_DIM, CONTROL_DIM, SCALAR >::shiftTime(), ct::optcon::example::TEST(), ct::optcon::ExtendedKalmanFilter< STATE_DIM, CONTROL_DIM, OUTPUT_DIM, SCALAR >::update(), ct::optcon::SteadyStateKalmanFilter< STATE_DIM, CONTROL_DIM, OUTPUT_DIM, SCALAR >::update(), ct::optcon::UnscentedKalmanFilter< STATE_DIM, CONTROL_DIM, OUTPUT_DIM, SCALAR >::update(), ct::optcon::ConstraintBase< 2, 1 >::~ConstraintBase(), and ct::optcon::MeasurementModelBase< OUTPUT_DIM, STATE_DIM, SCALAR >::~MeasurementModelBase().

lv

lv = squeeze(lv)

Referenced by ct::optcon::NLOCBackendBase< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR, CONTINUOUS >::acceptStep().

init

v init

on

hold on