plot_joint_data

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   PLOT_JOINT_DATA(robot)

   Plots the position, velocity and acceleration of each joint.
   The movement in joint coordinates must be stored in the variables
   robot.q_vector: joint position
   robot.qd_vector: joint speeds
   robot.qdd_vector: joint accelerations.

   The variables are plotted in the figures specified by configuration.figure.q,
   configuration.figure.qd and configuration.figure.qdd, for position, 
   speed and acceleration respectively.
   
   Author: Arturo Gil. Universidad Miguel Hernández de Elche. 
   email: arturo.gil@umh.es date:   25/02/2012
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0001 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
0002 %   PLOT_JOINT_DATA(robot)
0003 %
0004 %   Plots the position, velocity and acceleration of each joint.
0005 %   The movement in joint coordinates must be stored in the variables
0006 %   robot.q_vector: joint position
0007 %   robot.qd_vector: joint speeds
0008 %   robot.qdd_vector: joint accelerations.
0009 %
0010 %   The variables are plotted in the figures specified by configuration.figure.q,
0011 %   configuration.figure.qd and configuration.figure.qdd, for position,
0012 %   speed and acceleration respectively.
0013 %
0014 %   Author: Arturo Gil. Universidad Miguel Hernández de Elche.
0015 %   email: arturo.gil@umh.es date:   25/02/2012
0016 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
0017 
0018 % Copyright (C) 2012, by Arturo Gil Aparicio
0019 %
0020 % This file is part of ARTE (A Robotics Toolbox for Education).
0021 %
0022 % ARTE is free software: you can redistribute it and/or modify
0023 % it under the terms of the GNU Lesser General Public License as published by
0024 % the Free Software Foundation, either version 3 of the License, or
0025 % (at your option) any later version.
0026 %
0027 % ARTE is distributed in the hope that it will be useful,
0028 % but WITHOUT ANY WARRANTY; without even the implied warranty of
0029 % MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
0030 % GNU Lesser General Public License for more details.
0031 %
0032 % You should have received a copy of the GNU Leser General Public License
0033 % along with ARTE.  If not, see <http://www.gnu.org/licenses/>.
0034 function plot_joint_data(robot)
0035 global configuration
0036 
0037 t = robot.time;
0038 q = robot.q_vector;
0039 qd = robot.qd_vector;
0040 qdd = robot.qdd_vector;
0041 
0042 figure(configuration.figure.q)
0043 
0044 plot(t, q), grid, title('Position vs. time')
0045 xlabel('time (s)'), ylabel('Position (rad, m)')
0046 legend(make_legend('q', robot.DOF));
0047 
0048 figure(configuration.figure.qd)
0049 plot(t,qd), grid, title('Velocity vs. time')
0050 xlabel('time (s)'), ylabel('Velocity (rad/s, m/s)')
0051 legend(make_legend('qd', robot.DOF));
0052 
0053 figure(configuration.figure.qdd)
0054 plot(t,qdd), grid, title('Acceleration vs. time')
0055 xlabel('time (s)'), ylabel('Acceleration (rad/s^2, m/s^2)')
0056 legend(make_legend('qdd', robot.DOF));
0057 
0058 
0059 %make a matrix legend of joint coordinates
0060 function leg=make_legend(tag, DOF)
0061 
0062 leg =[];
0063 for i=1:DOF,
0064    leg=[leg; [tag sprintf('_%d',i)]]; 
0065 end