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Update simAndObserve.m #1

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16 changes: 10 additions & 6 deletions MPC virtual lab/helperfunctions/simAndObserve.m
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Original file line number Diff line number Diff line change
Expand Up @@ -4,20 +4,24 @@ function simAndObserve(Vx, out, reference)
XRef = out.simout.time*Vx;
waypoints = [XRef YRef zeros(length(YRef),1)];
simulationTime = 10;
%figure(1)
figure
simulateScenario(simulationTime,waypoints,Vx);


%figure;
%add labels and fix not having own figure issue
figure
subplot(2,1,1)
hold on
plot(reference(:,1),reference(:,2))
plot(out.tout,YRef);
legend('Ref. 1 vc 2','YRef vs tout sim.')
xlabel('Time (s)')
ylabel('Position (m)')
hold off
subplot(2,1,2)
hold on
plot(reference(:,1),reference(:,3))
plot(out.tout,yawRef);
legend('Ref. 1 vs 3','yawRef vs tout sim.')
xlabel('Time (s)')
ylabel('Yaw (rad)')
hold off
end
set(gcf, 'Visible','on')
end