Added new coursework, cleaned up structure

OSU Coursework/ROB 456 - Intelligent Robotics/Homework 3 - Part 2 - Error Plots/part2.py

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+import csv
+import matplotlib.pyplot as plotter
+
+base_path = "/home/caperren/catkin_ws/src/rob456_hw3/logging_outputs"
+odom_path = base_path + "/" + "odomlogfile.txt"
+slam_path = base_path + "/" + "slamlogfile.txt"
+
+if __name__ == '__main__':
+    odom_file = open(odom_path, "r")
+    slam_path = open(slam_path, "r")
+
+    odom_csv = csv.reader(odom_file, delimiter=',')
+    slam_csv = csv.reader(slam_path, delimiter=',')
+
+    odom_time = []
+    odom_x_error = []
+    odom_y_error = []
+    odom_theta_error = []
+
+    for line in odom_csv:
+        odom_time.append(line[0])
+        odom_x_error.append(line[1])
+        odom_y_error.append(line[2])
+        odom_theta_error.append(line[3])
+
+    slam_time = []
+    slam_x_error = []
+    slam_y_error = []
+    slam_theta_error = []
+
+    for line in slam_csv:
+        slam_time.append(line[0])
+        slam_x_error.append(line[1])
+        slam_y_error.append(line[2])
+        slam_theta_error.append(line[3])
+
+    # Plot for odometry
+    figure_object_odom, axes_object_odom = plotter.subplots()
+    axes_object_odom.plot(odom_time, odom_x_error, label="X Error")
+    axes_object_odom.plot(odom_time, odom_y_error, label="Y Error")
+
+    axes_theta = axes_object_odom.twinx()
+    axes_theta.plot(odom_time, odom_theta_error, label="Theta Error", color="r")
+    axes_theta.legend()
+
+    axes_object_odom.set_title("Odometery Error Graphs")
+    axes_object_odom.set_xlabel("Time")
+    axes_object_odom.set_ylabel("Error")
+    axes_object_odom.legend(loc=4)
+    axes_object_odom.autoscale(enable=True, axis='x', tight=True)
+
+    figure_object_odom.savefig("odom_error_graphs.pdf", bbox_inches="tight")
+
+    # Plot for slam
+    figure_object_slam, axes_object_slam = plotter.subplots()
+    axes_object_slam.plot(slam_time, slam_x_error, label="X Error")
+    axes_object_slam.plot(slam_time, slam_y_error, label="Y Error")
+
+    axes_theta = axes_object_slam.twinx()
+    axes_theta.plot(slam_time, slam_theta_error, label="Theta Error", color="r")
+    axes_theta.legend()
+    # axes_theta.plot(slam_time, slam_theta_error, label="Theta Error")
+
+    axes_object_slam.set_title("Slam Error Graphs")
+    axes_object_slam.set_xlabel("Time")
+    axes_object_slam.set_ylabel("Error")
+    axes_object_slam.legend(loc=4)
+    axes_object_slam.autoscale(enable=True, axis='x', tight=True)
+
+    figure_object_slam.savefig("slam_error_graphs.pdf", bbox_inches="tight")
+
+    plotter.show()