svo_auv_animation_all_states.m

% Use n-gons with dimension dim at each interaction
HULL_N = 2^5;

DURATION = 200;
TS = 0.1;
MEASUREMENT_TIME = 1;
PLOT_TIME = 0.1;

t = (0:TS:DURATION-TS);

% frames = struct('cdata',cell(1,length(t)),'colormap',cell(1,length(t)));

for i = 1:length(t)
    svo = svo_history(i);
    measurement = measurement_history(i);
    intersection = intersection_history(i);
    propagation = propagation_history(i);
    real = real_history(i);

    P_TRAIL = p_history(:,1:i);
    if(mod(i-1,round(PLOT_TIME/TS))==0)
        plot_all(real,svo,measurement,intersection,propagation,P_TRAIL,t(i));
%         frames(i) = getframe(gcf);
    end
    pause(0);
end

% writerObj = VideoWriter('all_states.avi');
% writerObj.FrameRate = 30;
% open(writerObj);
% writeVideo(writerObj, frames);
% close (writerObj);


function plot_all(real,svo,measurement,intersection,propagation,P_TRAIL,t)
    clf

    subplot(2,2,1)

    r_in = measurement.radius(1);
    r_out = measurement.radius(2);

    s = linspace(0,2*pi,100)';
    c_in = r_in*[sin(s), cos(s)];
    c_out = r_out*[sin(s), cos(s)];

    plot(svo.p, 'color', 'yellow')
    hold on 
    plot(measurement.p, 'color', 'green')
    plot(propagation.p, 'color', 'blue')
    plot(intersection.p, 'color', 'red')

    plot(c_in(:,1), c_in(:,2))
    plot(c_out(:,1), c_out(:,2))
    
    scatter(0, 0,30,'*g')
    scatter(real.p(1), real.p(2),30,'*c')

    plot(P_TRAIL(1,:),P_TRAIL(2,:))

    axis equal
    xlim([-120,120])
    ylim([-120,120])

    xlabel('x (m)')
    ylabel('y (m)')
    title(['Position   -   t = ' + string(t) + ' s'])

    subplot(2,2,2)
    
    plot(svo.v, 'color', 'yellow')
    hold on 
    plot(measurement.v, 'color', 'green')
    plot(propagation.v, 'color', 'blue')
    plot(intersection.v, 'color', 'red')

    scatter(real.v(1), real.v(2), 30, '*c')


    axis equal
%     xlim([-1,3])
%     ylim([-2,2])
    
    xlabel('v_x (m/s)')
    ylabel('v_y (m/s)')
    title(['Velocity'])

    subplot(2,2,3)
    
    plot(svo.psi, 'color', 'yellow', 'linewidth', 50)
    hold on
    plot(measurement.psi, 'color', 'green', 'linewidth', 40)
    plot(propagation.psi, 'color', 'blue', 'linewidth', 30)
    plot(intersection.psi, 'color', 'red', 'linewidth', 20)
    
    scatter(real.psi, 0.0, 30, '*c')

    axis normal
%     xlim([-1,1])
    ylim([-1,1])

    xlabel('psi (rad)')
    title(['Orientation'])
    
    subplot(2,2,4)
    
    plot(svo.r, 'color', 'yellow', 'linewidth', 50)
    hold on 
    plot(measurement.r, 'color', 'green', 'linewidth', 40)
    plot(propagation.r, 'color', 'blue', 'linewidth', 30)
    plot(intersection.r, 'color', 'red', 'linewidth', 20)
    
    scatter(real.r, 0.0,  30, '*c')

    axis normal
%     xlim([-1,1])
    ylim([-1,1])

    xlabel('r (rad/s)')
    title(['Angular velocity'])
end