/**
* The constructor.
*
* @param logFileName The experiment log file to analyze.
* @param samplingInterval The interval at which to calculate the heading error in milliseconds.
* @param saveToFile whether to save the error calculations to a file.
*/
public VisualizeHeadingError(String logFileName, long samplingInterval, boolean saveToFile) {
this.logFileName = logFileName;
robotData = new RobotExpData(logFileName);
long startTime = robotData.getExpStartTime();
// Calculate heading divergence every sampling interval
for (long time = startTime; time < robotData.getExpStopTime(); time += samplingInterval) {
// Only do the calculation if the robot has started to move.
if (time >= robotData.getPathEdge(0).getStartTime())
divergenceData.add(getHeadingError(time));
}
if (saveToFile) saveToFile();
showPlot();
}
