68 lines
2.0 KiB
Matlab
68 lines
2.0 KiB
Matlab
function f = plotParameters(obj, f)
|
|
arguments (Input)
|
|
obj (1, 1) {mustBeA(obj, "sigmoidSensor")};
|
|
f (1, 1) {mustBeA(f, "matlab.ui.Figure")} = figure;
|
|
end
|
|
arguments (Output)
|
|
f (1, 1) {mustBeA(f, "matlab.ui.Figure")};
|
|
end
|
|
|
|
% Distance and tilt sample points
|
|
d = 0:(obj.alphaDist / 200):(2*obj.alphaDist);
|
|
t = -90:0.5:90;
|
|
|
|
% Sample membership functions
|
|
d_x = obj.distanceMembership(d);
|
|
t_x = obj.tiltMembership(t);
|
|
|
|
% pad ends of sampled results with zeros at +/- some big number
|
|
big = 1e6 * max(d);
|
|
d = [-big, d, big];
|
|
t = [-big, t, big];
|
|
d_x = [0, d_x', 0];
|
|
t_x = [0, t_x', 0];
|
|
|
|
% Plot resultant sigmoid curves
|
|
hold(gca(f), "on");
|
|
if isempty(gca(f).Children)
|
|
tiledlayout(f, 2, 1, "TileSpacing", "tight", "Padding", "compact");
|
|
end
|
|
|
|
% Distance
|
|
nexttile(1, [1, 1]);
|
|
grid("on");
|
|
title("Distance Membership Sigmoid");
|
|
xlabel("Distance (m)");
|
|
ylabel("Membership");
|
|
ld = legend();
|
|
hold("on");
|
|
plot(d, d_x, "LineWidth", 2);
|
|
hold("off");
|
|
xData = cell2mat(arrayfun(@(x) x.XData(2:(end - 1)), f.Children.Children(end).Children, 'UniformOutput', false));
|
|
xlim([min(xData, [], "all"), max(xData, [], "all")]);
|
|
ylim([0, 1]);
|
|
|
|
% Tilt
|
|
nexttile(2, [1, 1]);
|
|
grid("on");
|
|
title("Tilt Membership Sigmoid");
|
|
xlabel("Tilt ($^\circ$)");
|
|
ylabel("Membership");
|
|
lt = legend();
|
|
hold("on");
|
|
plot(t, t_x, "LineWidth", 2);
|
|
hold("off");
|
|
xlim([-90, 90]);
|
|
ylim([0, 1]);
|
|
|
|
% add legends
|
|
nexttile(1, [1, 1]);
|
|
f.Children.Children(3).String{end} = sprintf("Sensor %d", length(f.Children.Children(end).Children));
|
|
f.Children.Children(1).String{end} = sprintf("Sensor %d", length(f.Children.Children(end).Children));
|
|
|
|
nexttile(2, [1, 1]);
|
|
f.Children.Children(3).String{end} = sprintf("Sensor %d", length(f.Children.Children(end).Children));
|
|
f.Children.Children(1).String{end} = sprintf("Sensor %d", length(f.Children.Children(end).Children));
|
|
|
|
hold(gca(f), "off");
|
|
end |