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% Usage: viewPTG('./reactivenav.logs/PTGs',1)
function [] = viewPTG(dir, nPTG)
% Load data
xs=load(sprintf('%s/PTG%i_x.txt',dir,nPTG));
ys=load(sprintf('%s/PTG%i_y.txt',dir,nPTG));
phis=load(sprintf('%s/PTG%i_phi.txt',dir,nPTG));
ds=load(sprintf('%s/PTG%i_d.txt',dir,nPTG));
% Dims:
nTrajs = size(xs,1);
nPoints = size(xs,2);
% Check sizes:
assert(size(ys,1)==nTrajs);
assert(size(phis,1)==nTrajs);
assert(size(ds,1)==nTrajs);
% Draw paths:
DECIM = 1; % Decimation (dont draw all)
figure(1);
clf;
for alpha=1:DECIM:nTrajs,
x=xs(alpha,:);
y=ys(alpha,:);
plot(x,y,'-k'); hold on;
end
axis equal;
title('Paths (x,y)');
figure(2);
clf;
for alpha=1:50:nTrajs,
plot(ds(alpha,:)); hold on;
end
title('distance over timesteps for each path');
end
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