68 lines
1.6 KiB
Julia
68 lines
1.6 KiB
Julia
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using Plots
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using DSP
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using CSV
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pyplot()
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# Parameters
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filename = "walk.csv" # input file
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h = 1/22 # sample time
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orders = [
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(title="quadratique", order=2, sizes=5:2:11),
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(title="cubique", order=3, sizes=5:2:11)
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]
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function savgol(size::Int64, poly_order::Int64, deriv::Int64=0, delta::Float64=1.0, conv::Bool=false)
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half_size, rem = divrem(size, 2)
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if rem == 0
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throw(ArgumentError("size must be odd."))
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end
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M = [-half_size:half_size;] .^ [0:poly_order;]';
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y = zeros(poly_order+1)';
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y[deriv+1] = factorial(deriv) / delta^deriv;
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scal = y*inv(M'*M)*M'
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if conv
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scal = scal[end:-1:1]
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end
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scal
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end
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error = (CSV.read(filename, header=false) |> Matrix{Float64})[:,2]
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for order in orders
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plot(
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0:h:(length(error)-1)*h,
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error,
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label="erreur mesurée",
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layout=(2,1),
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subplot=1,
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title="Position",
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xrotation=60,
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xlabel="Temps (s)",
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ylabel="Position (m)",
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reuse=false,
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size=(1000, 600)
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)
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plot!(
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subplot=2,
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title="Vitesse mesurée",
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xrotation=60,
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xlabel="Temps (s)",
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ylabel="Vitesse (\$m.s^{-1}\$)"
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)
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for size in order.sizes
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filter = savgol(size, order.order, 1, h, true)
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speed = conv(filter, error)[size:end-size]
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plot!(
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size*h/2:h:size*h/2+(length(speed)-1)*h,
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speed,
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label=string(order.title, " ", size, " points"),
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subplot=2
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)
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end
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savefig(string("mesure_vitesse_", order.title, ".eps"))
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end
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show()
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