public static Plotter createPlotter(String frameTitle) {
PlotterPanel plotterPanel = new PlotterPanel();
Plotter plotter = plotterPanel.getPlotter();
plotter.setRangeLimit(1, 2, -.2, .2, .2, -.2);
if (frameTitle == null) {
frameTitle = "Plotter Panel " + plotterPanelId;
}
JFrame f = new JFrame(frameTitle);
f.getContentPane().add(new JScrollPane(plotterPanel), BorderLayout.CENTER);
f.pack();
f.setVisible(true);
return plotter;
}
// Plot model-pred - measurement on a 2d graph
public void showSample(int numPlotSample, String frameTitle) {
Plotter plotter = createPlotter(frameTitle);
// filter out zero velocity region
int nSamples = getNumSamples();
ArrayList<Point3d> com = new ArrayList<>(nSamples);
ArrayList<Point3d> cop = new ArrayList<>(nSamples);
packRobotComCopSeries(com, cop);
for (int i = 0; i < nSamples; i += nSamples / numPlotSample) {
plotter.addArtifact(
new CircleArtifact("sensedCoP" + i, cop.get(i).x, cop.get(i).y, 0.005, true, Color.RED));
plotter.addArtifact(
new CircleArtifact("modelCoM" + i, com.get(i).x, com.get(i).y, 0.01, false, Color.RED));
}
}