Commenting code

Author: lucasrm25

SingleTrackAnimation.m

@@ -1,8 +1,18 @@
+%------------------------------------------------------------------
+% Programed by: 
+%   - Lucas Rath ([email protected])
+%   - 
+%   -
+
+%   Generate Animation for the main_singletrack.m script
+%------------------------------------------------------------------
+
+
 classdef SingleTrackAnimation < handle
 
     properties
         % object that contains track coordinates
-        racetrack @RaceTrack
+        racetrack @ RaceTrack
 
         % variables that contain history of vehicle states and inputs to be ploted
         mu_x_pred_opt
@@ -50,7 +60,7 @@ function initTrackAnimation(obj)
         %   updateTrackAnimation(k) to move forward with the animation.
         % -----------------------------------------------------------------
             obj.h_fig = figure('Color','w','Position',[468 128 872 633]);
-            title('Stochastic Gaussian-Process MPC')
+            title('Adaptive Gaussian-Process MPC')
             hold on;
             grid on;
             axis equal;
@@ -115,6 +125,10 @@ function initTrackAnimation(obj)
             c = colorbar;
             c.Label.String = 'Vehicle predicted velocity [m/s]';
             caxis([5 25])
+            
+            % lock up axis limits
+            xlim('manual')
+            ylim('manual')
             drawnow
         end
 

fp.m

@@ -0,0 +1,67 @@
+%------------------------------------------------------------------
+% Programed by: 
+%   - Lucas Rath ([email protected], https://github.com/lucasrm25)
+%   - 
+%   -
+
+%   Generate fancy plots (fp)
+%------------------------------------------------------------------
+
+classdef fp
+    properties
+    end
+    
+    methods(Static)
+        
+        function savefig(fname,varargin)
+            
+            p = inputParser;
+          
+            defaultFormat  = 'epsc';
+            expectedFormat = {'epsc','svg','png','jpg'};
+            addParameter(p,'format',defaultFormat, @(x) any(validatestring(x,expectedFormat)));
+            addParameter(p,'fighandle',gcf, @(x) isa(x,'matlab.ui.Figure'));
+            addParameter(p,'folder',fullfile(pwd,'images'), @(x) isa(x,'char'));      
+            parse(p,varargin{:});
+            
+            if ~ exist(p.Results.folder,'dir'), mkdir(p.Results.folder); end
+            % set(p.Results.fighandle.CurrentAxes,'LooseInset',p.Results.fighandle.CurrentAxes.TightInset)
+            saveas(p.Results.fighandle, fullfile(p.Results.folder,fname), p.Results.format)
+        end
+        
+        function fig = f()
+            fig = figure('Color','white');
+            hold on, grid on;
+        end
+        
+        function latexcode = m2latex(matrix)
+            if ~isa(matrix,'sym')
+                matrix = sym(matrix);
+            end
+            latexcode = latex(vpa(simplify(matrix)));
+            if numel(latexcode)>=6 && strcmp(latexcode(6),'(') && strcmp(latexcode(end),')')
+                latexcode(6) = '[';
+                latexcode(end) = ']';
+            end
+            clipboard('copy',latexcode);
+        end
+        
+        function str = figpos()
+            a = gcf;
+            pos = a.Position;
+            str = ['figure(''Color'',''white'',''Position'',[' num2str(pos) ']);'];
+            clipboard('copy',str);
+        end
+        
+        % varargin{1}: line opacity
+        function cl = getColor(n, varargin)
+            colrs = lines(max(n));
+            if nargin >= 2
+                opacity = varargin{1};
+            else
+                opacity = [];
+            end
+            cl = [colrs(n,:), repmat(opacity,numel(n),1)];
+        end
+    end
+end

genFigs.m

@@ -0,0 +1,36 @@
+close all; clear all
+
+imgname = 'trace-without-GP';
+outfile = fullfile(pwd,'/simresults/20-01-15-out-GP-without-GP.mat');
+kplot = 558;
+
+imgname = 'trace-with-GP';
+outfile = fullfile(pwd,'/simresults/20-01-15-out-GP-with-GP-optimized.mat');
+kplot = 412
+
+load(outfile)
+
+
+[trackdata, x0, th0, w] = RaceTrack.loadTrack_02();
+track = RaceTrack(trackdata, x0, th0, w);
+
+trackAnim = SingleTrackAnimation(track, out.mu_x_pred_opt, out.var_x_pred_opt, out.u_pred_opt, out.x_ref);
+trackAnim.initTrackAnimation();
+drawnow;
+
+% k = find(~isnan(out.xhat(1,:)), 1, 'last' ) - 1;
+
+trackAnim.mu_x_pred_opt  = out.mu_x_pred_opt;
+trackAnim.var_x_pred_opt = out.var_x_pred_opt;
+trackAnim.u_pred_opt     = out.u_pred_opt;
+trackAnim.x_ref          = out.x_ref;
+trackAnim.updateTrackAnimation(kplot); % 558
+
+
+delete(trackAnim.h_car)
+delete(trackAnim.h_x_ref)
+delete(trackAnim.h_mu_x_pred_opt)
+cellfun( @(h) delete(h), trackAnim.h_var_x_pred_opt )
+legend('off')
+title('')
+fp.savefig(imgname,'format','epsc')