diff --git a/.gitignore b/.gitignore
index 9affd4a957ee4c1136af964d89983193cff2a1f4..d8fa1796da6d059c5f8a368017f5ec937f1614a3 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,2 +1,3 @@
*.asv
-
+**/*.avi
+**/*.pdf
diff --git a/RoccarasoFlight/postprocessing/GNC/configLaunch.m b/RoccarasoFlight/postprocessing/GNC/configLaunch.m
new file mode 100644
index 0000000000000000000000000000000000000000..c9f3393eb6206211d50a09e67bb006bb368e5c1a
--- /dev/null
+++ b/RoccarasoFlight/postprocessing/GNC/configLaunch.m
@@ -0,0 +1,8 @@
+% configuration file for roccaraso:
+
+settings.launchRail.elevation = deg2rad(79); % [rad] launchrail elevation angle
+settings.launchRail.azimuth = deg2rad(178); % [rad] launchrail azimuth angle
+settings.launchRail.lat0 = 41.8084579; % [deg] launchrail latitude
+settings.launchRail.lon0 = 14.0546408; % [deg] launchrail longitude
+
+settings.sensorBoard.board2rocket = deg2rad([0 0 -45]); % [deg] euler rotation angles between the sensorboard and the rocket
\ No newline at end of file
diff --git a/RoccarasoFlight/postprocessing/GNC/mainPP.m b/RoccarasoFlight/postprocessing/GNC/mainPP.m
index bf0333e7d87e61d29ee62f6991ef1681bd6b3e69..d843da6e6a415fe59dad7474efecbc23d4054c13 100644
--- a/RoccarasoFlight/postprocessing/GNC/mainPP.m
+++ b/RoccarasoFlight/postprocessing/GNC/mainPP.m
@@ -1,12 +1,12 @@
clear; close all; clc;
addpath(genpath('../commonFunctions/'))
-
+addpath('../RCS/Functions&Files/')
%% import data from logs
% import and parse data
[main,motor,COTS,RIG,GS] = importData('main','cots','motor','rig','gs');
-
+configLaunch;
% import algorithm configuration files
ABK.referenceTrajectory = readmatrix('softwareConfigurationFiles\ABK_references_Gemini_Roccaraso_September_2023.csv');
ABK.closedTrajectory = ABK.referenceTrajectory(:,[1,12]);
diff --git a/RoccarasoFlight/postprocessing/GNC/postProcess.m b/RoccarasoFlight/postprocessing/GNC/postProcess.m
index a0fa8e97a93587847f0406d2ef7e31b765d0fef7..88f9b13b84944283fd5da13246e8a6e1604dac91 100644
--- a/RoccarasoFlight/postprocessing/GNC/postProcess.m
+++ b/RoccarasoFlight/postprocessing/GNC/postProcess.m
@@ -35,38 +35,51 @@ xlabel('Time [s]')
%% ADA or COTS expulsion?
+textDim = 0.49;
figure
-sgtitle('Expulsion: ADA or COTS?')
-subplot(2,1,1)
+title('ADA vs COTS expulsion zoomed')
yyaxis left
-plot(main.ADAData(:,1),main.ADAData(:,3),'DisplayName','Altitude')
+plot(main.ADAData(:,1),main.ADAData(:,3),'DisplayName','Altitude','color','#4658A9')
ylabel('ADA Altitude')
hold on;
-xline(main.ADAEvents(main.ADAEvents(:,2)>5,1),'b--','ADA detection','HandleVisibility','off')
-xline(COTS.MainData{COTS.MainApogeeIndex,4},'r--','COTS detection','HandleVisibility','off')
-xline(COTS.MainData{COTS.MainDeploymentIndex,4},'r--','COTS deploy','HandleVisibility','off')
-
ylabel('ADA altitude')
+ylim([1300,1360])
+exportStandardizedFigure(gcf, 'Expulsion far',textDim, 'addMarkers',false,'changeColors',false,'exportPDF',false)
+set(gca,"YColor",'#4658A9')
yyaxis right
-xline(main.EVENTData{findEventIndex(main.EVENTData,2,'FLIGHT_DPL_ALT_DETECTED',main.EVENTNames),1},'b--','FLIGHT DPL ALT DETECTED',HandleVisibility='off')
-plot(main.RCS_PRESSURE(:,1),main.RCS_PRESSURE(:,2),'DisplayName','RCS bay pressure')
+xline(main.ADAEvents(main.ADAEvents(:,2)>5,1),'--','ADA detection','HandleVisibility','off','Color','#00A86B')
+hold on;
+xline(COTS.MainData{COTS.MainApogeeIndex,4},'--','COTS detection','HandleVisibility','off','Color','#FDAF00')
+xline(main.EVENTData{findEventIndex(main.EVENTData,2,'FLIGHT_DPL_ALT_DETECTED',main.EVENTNames),1},'--','FLIGHT DPL ALT DETECTED','HandleVisibility','off','Color','#00A86B')
+xline(COTS.MainData{COTS.MainDeploymentIndex,4},'--','COTS deploy','HandleVisibility','off','Color','#FDAF00')
+plot(main.RCS_PRESSURE(:,1),main.RCS_PRESSURE(:,2),'DisplayName','RCS bay pressure','Color','#D3212D')
legend
+set(gca,"YColor",'#D3212D')
+xlim([18,19])
-subplot(2,1,2)
+exportStandardizedFigure(gcf, 'Expulsion zoom',textDim, 'addMarkers',false,'changeColors',false)
+
+return
+
+
+
+
+figure
+title('ADA vs COTS expulsion')
yyaxis left
plot(main.ADAData(:,1),main.ADAData(:,3),'DisplayName','Altitude')
xline(COTS.MainData{COTS.MainApogeeIndex,4},'r--','COTS detection','HandleVisibility','off')
xline(COTS.MainData{COTS.MainDeploymentIndex,4},'r--','COTS deploy','HandleVisibility','off')
-
ylabel('ADA Altitude')
hold on;
xline(main.ADAEvents(main.ADAEvents(:,2)>5,1),'b--','ADA detection','HandleVisibility','off')
xline(main.EVENTData{findEventIndex(main.EVENTData,2,'FLIGHT_DPL_ALT_DETECTED',main.EVENTNames),1},'b--','FLIGHT DPL ALT DETECTED',HandleVisibility='off')
-
ylabel('ADA altitude')
yyaxis right
plot(main.IMU(:,1),vecnorm(main.IMU(:,2:4),2,2),'DisplayName','Accelerometer')
legend
+
+
% % % commento: sembra proprio che abbiamo espulso noi siummmmm e anche il
% % % deployment noi, GODO
@@ -109,7 +122,9 @@ title('Mass finite difference 1HZ vs venting valve')
%% NAS obsw vs NAS risimulato
% build sensors
sensorTot.nas.time = main.NASData(:,1);
-sensorTot.nas.states = [main.NASData(1,2:end)];
+q_init = eul2quat([settings.launchRail.azimuth,settings.launchRail.elevation,0]);
+bias_init = zeros(1,3);
+sensorTot.nas.states = [main.NASData(1,2:7), q_init ,bias_init];% pos vel quat bias
sensorTot.nas.n_old = 2;
sensorTot.nas.P = eye(12);
sensorTot.nas.P(3,3) = 10;
@@ -139,6 +154,10 @@ sensorTot.pitot.speed = main.PITOT(:,3);
%%% magnetometer calibration:
center_offset = [+0.3, -0.3, 0.46];
sensorTot.imu.magnetometerMeasuresCalib = sensorTot.imu.magnetometerMeasures - center_offset;
+R_b2r = quat2dcm(eul2quat(settings.sensorBoard.board2rocket));
+% R_calib = findRotationMatrix(sensorTot.imu.magnetometerMeasures(1,:),[1 0 0]);
+%
+sensorTot.imu.magnetometerMeasuresCalib = (R_b2r*sensorTot.imu.magnetometerMeasuresCalib')';
% set configuration parameters ( equal to OBSW )
nas.dt_k = 0.02; % [s] nas time step
@@ -260,7 +279,8 @@ sgtitle('NAS OBSW vs NAS SIMULATORE - Velocity norm')
% velocity vs pitot
plot(main.NASData(:,1),vecnorm(main.NASData(:,5:7),2,2),'DisplayName','OBSW')
hold on;
-plot(sensorTot_NoPitot.nas.time,vecnorm(sensorTot_NoPitot.nas.states(:,4:6),2,2),'DisplayName','Simulatore')
+plot(sensorTot_NoPitot.nas.time,vecnorm(sensorTot_NoPitot.nas.states(:,4:6),2,2),'DisplayName','Simulator No Pitot')
+plot(sensorTot_WithPitot.nas.time,vecnorm(sensorTot_WithPitot.nas.states(:,4:6),2,2),'DisplayName','Simulator With Pitot')
plot(main.PITOT(:,1),main.PITOT(:,3),'DisplayName','Pitot OBSW')
legend
xline(main.NASData(main.NASApogeeIndex,1),'--','APOGEE','HandleVisibility','off')
@@ -532,4 +552,11 @@ title('ABK vs References')
% % % Il pitot anticipa tanto come si è visto anche nel volo di
% % % euroc di pyxis, il che potrebbe portare a un comportamento
% % % del controllore inaspettato. Sicuramente però, se è tarato è la migliore
-% % % stima della velocità xbody che abbiamo
\ No newline at end of file
+% % % stima della velocità xbody che abbiamo
+
+
+%% rocket animation
+for i = 1:length(main.NASData(:,1))
+ dcm(:,:,i) = quat2dcm(sensorTot_NoPitot.nas.states(i,[10,7:9]));
+end
+animateOrientation(dcm, sensorTot_NoPitot.nas.time, 'prova1')
\ No newline at end of file
diff --git a/RoccarasoFlight/postprocessing/commonFunctions/graphics/BaseZoom.m b/RoccarasoFlight/postprocessing/commonFunctions/graphics/BaseZoom.m
new file mode 100644
index 0000000000000000000000000000000000000000..78a039cf56f8079b68609610b51752b01a4f0d43
--- /dev/null
+++ b/RoccarasoFlight/postprocessing/commonFunctions/graphics/BaseZoom.m
@@ -0,0 +1,885 @@
+classdef BaseZoom < handle
+ %{
+
+ Interactive Magnification of Customized Regions.
+
+ Email: iqiukp@outlook.com
+
+ -------------------------------------------------------------
+
+ Version 1.3.1, 24-JAN-2022
+ -- Fixed bugs when applied to logarithmic-scale coordinates.
+
+ Version 1.3, 17-JAN-2022
+ -- Fixed minor bugs.
+ -- Added support for image class.
+
+ Version 1.2, 4-OCT-2021
+ -- Added support for interaction
+
+ Version 1.1, 1-SEP-2021
+ -- Fixed minor bugs.
+ -- Added description of parameters.
+
+ Version 1.0, 10-JUN-2021
+ -- Magnification of Customized Regions.
+
+ -------------------------------------------------------------
+
+ BSD 3-Clause License
+ Copyright (c) 2022, Kepeng Qiu
+ All rights reserved.
+
+ %}
+
+ % main properties
+ properties
+ % main handles
+ mainFigure
+ subFigure
+ mainAxes
+ subAxes
+ roi
+ rectangleZoomedZone
+
+ % image-related properties
+ uPixels
+ vPixels
+ vuRatio
+ CData_
+ Colormap_
+ imageDim
+ imagePosition = [0.1, 0.1, 0.8, 0.6]
+ imageRectangleEdgePosition
+ imageArrow
+
+ % figure-related properties
+ mappingParams
+ figureRectangleEdgePosition
+ lineDirection
+ axesPosition
+ figureArrow
+
+ % others
+ drawFunc
+ axesClass
+ axesDone = 'off'
+ rectangleDone = 'off'
+ pauseTime = 0.2
+ textDisplay = 'on'
+ axesScale
+ end
+
+ % theme of inserted axes (sub-axes)
+ properties
+ subAxesBox = 'on'
+ subAxesinsertedLineWidth = 1.2
+ subAxesTickDirection = 'in'
+ subAxesBackgroundColor = 'w'
+ end
+
+ % theme of the zoomed zone (figures)
+ properties
+ rectangleColor = 'k'
+ rectangleFaceColor = 'none'
+ rectangleFaceAlpha = 0
+ rectangleLineStyle = '-'
+ rectangleLineWidth = 1.2
+ rectangleInteractionsAllowed = 'none'
+ end
+
+ % theme of the zoomed zone (images)
+ properties
+ imageRectangleColor = [0, 114, 189]/255
+ imageRectangleFaceColor = [0, 114, 189]/255
+ imageRectangleFaceAlpha = 0.2
+ imageRectangleLineStyle = '-'
+ imageRectangleLineWidth = 2
+ imageRectangleInteractionsAllowed = 'none'
+ end
+
+ % theme of the connected lines (images)
+ properties
+ % setting of lines between arrows
+ imageConnectedLineStyle = ':'
+ imageConnectedLineColor = 'r'
+ imageConnectedLineWidth = 1.2
+ % setting of start arrow
+ imageConnectedLineStartHeadStyle = 'ellipse' % shape of start arrow
+ imageConnectedLineStartHeadLength = 3
+ imageConnectedLineStartHeadWidth = 3
+ % setting of end arrow
+ imageConnectedLineEndHeadStyle = 'cback2' % shape of ending arrow
+ imageConnectedLineEndHeadLength = 7
+ imageConnectedLineEndHeadWidth = 7
+
+ end
+
+ % theme of the connected lines (figures)
+ properties
+ % setting of lines between arrows
+ figureConnectedLineStyle = ':'
+ figureConnectedLineColor = 'k'
+ figureConnectedLineWidth = 1.2
+ % setting of start arrow
+ figureConnectedLineStartHeadStyle = 'ellipse' % shape of start arrow
+ figureConnectedLineStartHeadLength = 3
+ figureConnectedLineStartHeadWidth = 3
+ % setting of end arrow
+ figureConnectedLineEndHeadStyle = 'cback2' % shape of ending arrow
+ figureConnectedLineEndHeadLength = 7
+ figureConnectedLineEndHeadWidth = 7
+ end
+
+ % theme of the dynamic rectangle
+ properties(Constant)
+ dynamicRectFaceColor = [0, 114, 189]/255
+ dynamicRectFaceAspect = 0.2
+ dynamicRectFacAngleMarker = 's'
+ dynamicRectFacAngleMarkerSize = 12
+ dynamicRectLineWidth = 2.5
+ dynamicRectLineColor = [0, 114, 189]/255
+ end
+
+ % dynamic properties
+ properties(Dependent)
+ XLimNew
+ YLimNew
+ affinePosition
+ dynamicPosition
+ newCData_
+ newCData
+ newCMap
+ newCMap_
+ end
+
+ methods
+ function plot(obj)
+ % main steps
+ obj.checkVersion;
+ obj.mainAxes = gca;
+ obj.axesScale.XScale = obj.mainAxes.XScale;
+ obj.axesScale.YScale = obj.mainAxes.YScale;
+ obj.mainFigure = gcf;
+
+ if size(imhandles(obj.mainAxes),1) ~= 0
+ obj.axesClass = 'image';
+ % information about the image
+ obj.CData_ = get(obj.mainAxes.Children, 'CData');
+ %
+ obj.Colormap_ = colormap(gca);
+ if size(obj.Colormap_, 1) == 64
+ obj.Colormap_ = colormap(gcf);
+ end
+ [obj.vPixels, obj.uPixels, ~] = size(obj.CData_);
+ obj.vuRatio = obj.vPixels/obj.uPixels;
+ obj.imageDim = length(size(obj.CData_));
+ else
+ obj.axesClass = 'figure';
+ end
+
+ switch obj.axesClass
+ case 'image'
+ obj.insertSubAxes;
+ obj.axesDone = 'off';
+ fprintf('Use the left mouse button to draw a rectangle\n')
+ fprintf('for the magnification zone...\n')
+ obj.insertRectangle;
+ obj.rectangleDone = 'off';
+
+ case 'figure'
+ fprintf('Use the left mouse botton to draw a rectangle\n')
+ fprintf('for the sub-coordinate system...\n')
+ obj.insertSubAxes;
+ obj.axesDone = 'off';
+ fprintf('Use the left mouse button to draw a rectangle\n')
+ fprintf('for the magnification zone...\n')
+ obj.insertRectangle;
+ obj.rectangleDone = 'off';
+ end
+ end
+
+ function checkVersion(obj)
+ % check the MATLAB version
+ version_ = version('-release');
+ year_ = str2double(version_(1:4));
+ if year_ < 2014 || (year_ == 2014 && version_(5) == 'a')
+ error('ZoomPlot V1.2 is not compatible with the versions lower than R2014b.')
+ end
+
+ if year_ >= 2017
+ set(findobj(gcf, 'type', 'Legend'), 'AutoUpdate', 'off');
+ end
+
+ if year_ > 2018 || (year_ == 2018 && version_(5) == 'b')
+ obj.drawFunc = 'drawrectangle';
+ else
+ obj.drawFunc = 'imrect';
+ end
+ end
+
+ function insertSubAxes(obj)
+ % insert an axes
+ switch obj.axesClass
+ case 'image' %
+ % close(obj.mainFigure)
+ obj.subFigure = figure;
+ obj.imagePosition(4) = obj.imagePosition(3)*obj.vuRatio;
+ set(obj.subFigure, 'Units', 'Normalized', 'OuterPosition', obj.imagePosition);
+ %
+ subplot(1, 2, 1, 'Parent', obj.subFigure);
+ image(obj.CData_);
+ obj.mainAxes = gca;
+ if obj.imageDim == 2
+ colormap(obj.mainAxes, obj.Colormap_);
+ end
+ axis off
+ subplot(1, 2, 2, 'Parent', obj.subFigure);
+ image((ones(obj.vPixels, obj.uPixels)));
+ obj.subAxes = gca;
+ colormap(obj.subAxes, [240, 240, 240]/255);
+ axis off
+
+ case 'figure' %
+ switch obj.drawFunc
+ case 'drawrectangle'
+ obj.roi = drawrectangle(obj.mainAxes);
+ obj.setTheme;
+ obj.creatSubAxes;
+ addlistener(obj.roi, 'MovingROI', @obj.allEventsForSubAxesNew);
+ addlistener(obj.roi, 'ROIMoved', @obj.allEventsForSubAxesNew);
+ set(gcf, 'WindowButtonDownFcn', @obj.clickEventsForSubAxes)
+ while strcmp(obj.axesDone, 'off')
+ pause(obj.pauseTime)
+ end
+
+ case 'imrect'
+ obj.roi = imrect;
+ obj.setTheme;
+ func_ = makeConstrainToRectFcn('imrect',...
+ get(obj.mainAxes, 'XLim'), get(obj.mainAxes, 'YLim'));
+ setPositionConstraintFcn(obj.roi, func_);
+ obj.creatSubAxes;
+ addNewPositionCallback(obj.roi, @obj.allEventsForSubAxesOld);
+ set(gcf, 'WindowButtonDownFcn', @obj.clickEventsForSubAxes);
+ wait(obj.roi);
+ while strcmp(obj.axesDone, 'off')
+ pause(obj.pauseTime)
+ end
+ end
+ end
+
+ end
+
+ function insertRectangle(obj)
+ % insert an rectangle
+ switch obj.axesClass
+ case 'image' %
+ switch obj.drawFunc
+ case 'drawrectangle'
+ obj.roi = drawrectangle(obj.mainAxes);
+ obj.setTheme;
+ obj.creatSubAxes;
+ if strcmp(obj.subAxesBox, 'on')
+ obj.connectAxesAndBox;
+ end
+ set(gcf, 'WindowButtonDownFcn', @obj.clickEventForRectangle);
+ addlistener(obj.roi, 'MovingROI', @obj.allEventsForRectangleNew);
+ addlistener(obj.roi, 'ROIMoved', @obj.allEventsForRectangleNew);
+ while strcmp(obj.rectangleDone, 'off')
+ pause(obj.pauseTime)
+ end
+
+ case 'imrect'
+ obj.roi = imrect(obj.mainAxes);
+ obj.setTheme;
+ obj.creatSubAxes;
+ func_ = makeConstrainToRectFcn('imrect',...
+ get(obj.mainAxes, 'XLim'), get(obj.mainAxes, 'YLim'));
+ setPositionConstraintFcn(obj.roi, func_);
+ if strcmp(obj.subAxesBox, 'on')
+ obj.connectAxesAndBox;
+ end
+ addNewPositionCallback(obj.roi, @obj.allEventsForRectangleOld);
+ set(gcf, 'WindowButtonDownFcn', @obj.clickEventForRectangle);
+ wait(obj.roi);
+ while strcmp(obj.rectangleDone, 'off')
+ pause(obj.pauseTime)
+ end
+ end
+ %
+ for iArrow = 1:length(obj.imageArrow)
+ obj.imageArrow{iArrow}.Tag = 'ZoomPlot';
+ end
+
+ case 'figure' %
+ switch obj.drawFunc
+ case 'drawrectangle'
+ obj.roi = drawrectangle(obj.mainAxes);
+ obj.setTheme;
+ if strcmp(obj.subAxesBox, 'on')
+ obj.connectAxesAndBox;
+ end
+ set(obj.subAxes, 'XLim', obj.XLimNew, 'YLim', obj.YLimNew);
+ set(gcf, 'WindowButtonDownFcn', @obj.clickEventForRectangle);
+ addlistener(obj.roi, 'MovingROI', @obj.allEventsForRectangleNew);
+ addlistener(obj.roi, 'ROIMoved', @obj.allEventsForRectangleNew);
+ while strcmp(obj.rectangleDone, 'off')
+ pause(obj.pauseTime)
+ end
+
+ case 'imrect'
+ obj.roi = imrect;
+ obj.setTheme;
+ func_ = makeConstrainToRectFcn('imrect',...
+ get(obj.mainAxes, 'XLim'), get(obj.mainAxes, 'YLim'));
+ setPositionConstraintFcn(obj.roi, func_);
+ if strcmp(obj.subAxesBox, 'on')
+ obj.connectAxesAndBox;
+ end
+ set(obj.subAxes, 'XLim', obj.XLimNew, 'YLim', obj.YLimNew);
+ addNewPositionCallback(obj.roi, @obj.allEventsForRectangleOld);
+ set(gcf, 'WindowButtonDownFcn', @obj.clickEventForRectangle);
+ wait(obj.roi);
+ while strcmp(obj.rectangleDone, 'off')
+ pause(obj.pauseTime)
+ end
+ end
+ %
+ for iArrow = 1:length(obj.figureArrow)
+ obj.figureArrow{iArrow}.Tag = 'ZoomPlot';
+ end
+
+ end
+ end
+
+ function allEventsForSubAxesOld(obj, ~)
+ % callback funcion for inserted subAxes when using 'imrect'
+ if strcmp(obj.textDisplay, 'on')
+ fprintf('adjust the inserted subAxes...\n')
+ end
+ delete(obj.subAxes);
+ obj.creatSubAxes;
+ obj.subAxes.Color = obj.subAxesBackgroundColor;
+ end
+
+ function allEventsForSubAxesNew(obj, ~, evt)
+ % callback funcion for inserted subAxes when using 'drawrectangle'
+ eventName = evt.EventName;
+ if ismember(eventName, {'MovingROI', 'ROIMoved'})
+ if strcmp(obj.textDisplay, 'on')
+ fprintf('adjust the inserted subAxes...\n')
+ end
+ delete(obj.subAxes);
+ obj.creatSubAxes;
+ obj.subAxes.Color = obj.subAxesBackgroundColor;
+ end
+ end
+
+ function clickEventsForSubAxes(obj, ~, ~)
+ % callback funcion for inserted subAxes
+ switch get(gcf, 'SelectionType')
+ % right-click
+ case 'alt'
+ obj.axesDone = 'on';
+ set(obj.subAxes, 'Visible', 'on');
+ set(gcf, 'WindowButtonDownFcn', []);
+ if strcmp(obj.textDisplay, 'on')
+ fprintf('Inserted subAxes adjustment is done.\n\n')
+ end
+ delete(obj.roi);
+ obj.subAxes.Color = obj.subAxesBackgroundColor;
+ % left-click
+
+ case 'normal'
+ obj.axesDone = 'off';
+ if strcmp(obj.textDisplay, 'on')
+ fprintf('Right-click to stop adjusting.\n')
+ end
+ obj.subAxes.Color = obj.subAxesBackgroundColor;
+
+ otherwise
+ obj.axesDone = 'off';
+ if strcmp(obj.textDisplay, 'on')
+ fprintf('Right-click to stop adjusting.\n')
+ end
+ obj.subAxes.Color = obj.subAxesBackgroundColor;
+ end
+ end
+
+ function allEventsForRectangleOld(obj, ~)
+ % callback funcion for inserted rectangle when using 'imrect'
+ fprintf('adjust the inserted rectangle...\n')
+ delete(findall(gcf, 'Tag', 'ZoomPlot_'))
+ if strcmp(obj.subAxesBox, 'on')
+ obj.connectAxesAndBox;
+ end
+
+ switch obj.axesClass
+ case 'image'
+ obj.creatSubAxes;
+ case 'figure'
+ set(obj.subAxes, 'XLim', obj.XLimNew, 'YLim', obj.YLimNew);
+ end
+
+ end
+
+ function allEventsForRectangleNew(obj, ~, evt)
+ % callback funcion for inserted rectangle when using 'drawrectangle'
+ eventName = evt.EventName;
+ switch obj.axesClass
+ case 'image' %
+ obj.creatSubAxes;
+ if ismember(eventName, {'MovingROI', 'ROIMoved'})
+ if strcmp(obj.textDisplay, 'on')
+ fprintf('adjust the zoomed zone...\n')
+ end
+ delete(findall(gcf, 'Tag', 'ZoomPlot_'))
+ if strcmp(obj.subAxesBox, 'on')
+ obj.connectAxesAndBox;
+ end
+ end
+
+ case 'figure' %
+ if ismember(eventName, {'MovingROI', 'ROIMoved'})
+ if strcmp(obj.textDisplay, 'on')
+ fprintf('adjust the zoomed zone...\n')
+ end
+ delete(findall(gcf, 'Tag', 'ZoomPlot_'))
+ if strcmp(obj.subAxesBox, 'on')
+ obj.connectAxesAndBox;
+ end
+ set(obj.subAxes,'XLim', obj.XLimNew, 'YLim', obj.YLimNew);
+ end
+ end
+ end
+
+ function clickEventForRectangle(obj, ~, ~)
+ % callback funcion for inserted rectangle
+ switch get(gcf, 'SelectionType')
+ % right-click
+ case 'alt'
+ obj.rectangleDone = 'on';
+ obj.creatRectangle;
+ set(gcf, 'WindowButtonDownFcn', []);
+ delete(obj.roi);
+ if strcmp(obj.textDisplay, 'on')
+ fprintf('Inserted rectangle adjustment is done.\n\n')
+ end
+
+ % left-click
+ case 'normal'
+ obj.rectangleDone = 'off';
+ if strcmp(obj.textDisplay, 'on')
+ fprintf('Right-click to stop adjusting.\n')
+ end
+
+ otherwise
+ obj.rectangleDone = 'off';
+ if strcmp(obj.textDisplay, 'on')
+ fprintf('Right-click to stop adjusting.\n')
+ end
+ end
+ end
+
+ function creatSubAxes(obj)
+ % creat sub-axes
+ switch obj.axesClass
+ case 'image' %
+ set(obj.subAxes.Children, 'CData', obj.newCData);
+ if obj.imageDim == 2
+ colormap(obj.subAxes, obj.newCMap)
+ end
+
+ case 'figure'
+ obj.subAxes = axes('Position', obj.affinePosition,...
+ 'XScale', obj.axesScale.XScale,...
+ 'YScale', obj.axesScale.YScale);
+ children_ = get(obj.mainAxes, 'children');
+ numChildren_ = 1:length(children_);
+ for ii = 1:length(children_)
+ if strcmp(children_(ii, 1).Type, 'images.roi.rectangle') ||...
+ strcmp(children_(ii, 1).Type, 'hggroup')
+ numChildren_(ii) = [];
+ end
+ end
+ copyobj(children_(numChildren_), obj.subAxes);
+ hold(obj.subAxes, 'on');
+ set(obj.subAxes, 'LineWidth', obj.subAxesinsertedLineWidth,...
+ 'TickDir', obj.subAxesTickDirection,...
+ 'Box', obj.subAxesBox,...
+ 'Color', obj.subAxesBackgroundColor,...
+ 'XLim', get(obj.mainAxes, 'XLim'),...
+ 'YLim', get(obj.mainAxes, 'YLim'),...
+ 'XScale', obj.axesScale.XScale,...
+ 'YScale', obj.axesScale.YScale);
+ set(obj.subAxes, 'Visible', 'off');
+ end
+ end
+
+ function creatRectangle(obj)
+ % creat rectangle
+ switch obj.axesClass
+ case 'image' %
+ obj.rectangleZoomedZone = annotation( ...
+ 'rectangle', obj.imageRectangleEdgePosition, ...
+ 'LineWidth', obj.imageRectangleLineWidth,...
+ 'LineStyle', obj.imageRectangleLineStyle,...
+ 'FaceAlpha', obj.imageRectangleFaceAlpha,...
+ 'FaceColor', obj.imageRectangleFaceColor,...
+ 'Color', obj.imageRectangleColor);
+
+ case 'figure'
+ obj.rectangleZoomedZone = annotation( ...
+ 'rectangle', obj.affinePosition, ...
+ 'LineWidth', obj.rectangleLineWidth,...
+ 'LineStyle', obj.rectangleLineStyle,...
+ 'FaceAlpha', obj.rectangleFaceAlpha,...
+ 'FaceColor', obj.rectangleFaceColor,...
+ 'Color', obj.rectangleColor);
+ end
+ end
+
+ function mappingParams = computeMappingParams(obj)
+ % compute the mapping parameters
+
+ switch obj.axesScale.XScale
+ case 'linear'
+ rangeXLim = obj.mainAxes.XLim(1, 2)-obj.mainAxes.XLim(1, 1);
+ case 'log'
+ rangeXLim = log10(obj.mainAxes.XLim(1, 2))-log10(obj.mainAxes.XLim(1, 1));
+ end
+ map_k_x = rangeXLim/obj.mainAxes.Position(3);
+
+ switch obj.axesScale.YScale
+ case 'linear'
+ rangeYLim = obj.mainAxes.YLim(1, 2)-obj.mainAxes.YLim(1, 1);
+ case 'log'
+ rangeYLim = log10(obj.mainAxes.YLim(1, 2))-log10(obj.mainAxes.YLim(1, 1));
+ end
+ map_k_y = rangeYLim/obj.mainAxes.Position(4);
+
+ switch obj.axesScale.XScale
+ case 'linear'
+ map_b_x = obj.mainAxes.XLim(1)-obj.mainAxes.Position(1)*map_k_x;
+ case 'log'
+ map_b_x = log10(obj.mainAxes.XLim(1))-obj.mainAxes.Position(1)*map_k_x;
+ end
+
+ switch obj.axesScale.YScale
+ case 'linear'
+ map_b_y = obj.mainAxes.YLim(1)-obj.mainAxes.Position(2)*map_k_y;
+ case 'log'
+ map_b_y = log10(obj.mainAxes.YLim(1))-obj.mainAxes.Position(2)*map_k_y;
+ end
+ mappingParams = [map_k_x, map_b_x; map_k_y, map_b_y];
+ end
+
+ function connectAxesAndBox(obj)
+ % insert lines between the inserted axes and rectangle
+
+ % Rectangle subAxes
+ % 2----1 2----1
+ % 3----4 3----4
+
+ switch obj.axesClass
+ case 'image' %
+ uPixelsAll = obj.uPixels/obj.mainAxes.Position(3);
+ vPixelsAll = obj.vPixels/obj.mainAxes.Position(4);
+ switch obj.drawFunc
+ case 'drawrectangle'
+ Position_ = obj.roi.Position;
+
+ case 'imrect'
+ Position_ = getPosition(obj.roi);
+ end
+
+ obj.imageRectangleEdgePosition(1) = Position_(1)/uPixelsAll+obj.mainAxes.Position(1);
+ obj.imageRectangleEdgePosition(2) = (obj.vPixels-Position_(2)-Position_(4))/...
+ vPixelsAll+obj.subAxes.Position(2);
+ obj.imageRectangleEdgePosition(3) = Position_(3)/uPixelsAll;
+ obj.imageRectangleEdgePosition(4) = Position_(4)/vPixelsAll;
+
+ % annotation position 1
+ annotationPosX_1(1) = obj.imageRectangleEdgePosition(1)+obj.imageRectangleEdgePosition(3);
+ annotationPosX_1(2) = obj.subAxes.Position(1);
+ annotationPosY_1(1) = obj.imageRectangleEdgePosition(2);
+ annotationPosY_1(2) = obj.subAxes.Position(2);
+ obj.imageArrow{1} = annotation(gcf, 'doublearrow',...
+ annotationPosX_1, annotationPosY_1,...
+ 'Color', obj.imageConnectedLineColor,...
+ 'LineWidth', obj.imageConnectedLineWidth,...
+ 'LineStyle', obj.imageConnectedLineStyle,...
+ 'Head1Style', obj.imageConnectedLineStartHeadStyle,...
+ 'Head1Length', obj.imageConnectedLineStartHeadLength,...
+ 'Head1Width', obj.imageConnectedLineStartHeadWidth,...
+ 'Head2Style', obj.imageConnectedLineEndHeadStyle,...
+ 'Head2Length', obj.imageConnectedLineEndHeadLength,...
+ 'Head2Width', obj.imageConnectedLineEndHeadWidth,...
+ 'Tag', 'ZoomPlot_');
+
+ % annotation position 2
+ annotationPosX_2(1) = obj.imageRectangleEdgePosition(1)+obj.imageRectangleEdgePosition(3);
+ annotationPosX_2(2) = obj.subAxes.Position(1);
+ annotationPosY_2(1) = obj.imageRectangleEdgePosition(2)+obj.imageRectangleEdgePosition(4);
+ annotationPosY_2(2) = obj.subAxes.Position(2)+obj.subAxes.Position(4);
+ obj.imageArrow{2} = annotation(gcf, 'doublearrow',...
+ annotationPosX_2, annotationPosY_2,...
+ 'Color', obj.imageConnectedLineColor,...
+ 'LineWidth', obj.imageConnectedLineWidth,...
+ 'LineStyle', obj.imageConnectedLineStyle,...
+ 'Head1Style', obj.imageConnectedLineStartHeadStyle,...
+ 'Head1Length', obj.imageConnectedLineStartHeadLength,...
+ 'Head1Width', obj.imageConnectedLineStartHeadWidth,...
+ 'Head2Style', obj.imageConnectedLineEndHeadStyle,...
+ 'Head2Length', obj.imageConnectedLineEndHeadLength,...
+ 'Head2Width', obj.imageConnectedLineEndHeadWidth,...
+ 'Tag', 'ZoomPlot_');
+
+ case 'figure'
+ % real coordinates of the inserted rectangle and axes
+ obj.getAxesAndBoxPosition;
+ % get the line direction
+ obj.getLineDirection;
+ % insert lines
+ numLine = size(obj.lineDirection, 1);
+ for i = 1:numLine
+ tmp1 = [obj.figureRectangleEdgePosition(obj.lineDirection(i, 1), 1),...
+ obj.figureRectangleEdgePosition(obj.lineDirection(i, 1), 2)];
+ tmp2 = [obj.axesPosition(obj.lineDirection(i, 2), 1),...
+ obj.axesPosition(obj.lineDirection(i, 2), 2)];
+ pos1 = obj.transformCoordinate(tmp1, 'a2n');
+ pos2 = obj.transformCoordinate(tmp2, 'a2n');
+ obj.figureArrow{i} = annotation(gcf, 'doublearrow',...
+ [pos1(1, 1), pos2(1, 1)], [pos1(1, 2), pos2(1, 2)],...
+ 'Color', obj.figureConnectedLineColor,...
+ 'LineWidth', obj.figureConnectedLineWidth,...
+ 'LineStyle', obj.figureConnectedLineStyle,...
+ 'Head1Style', obj.figureConnectedLineStartHeadStyle,...
+ 'Head1Length', obj.figureConnectedLineStartHeadLength,...
+ 'Head1Width', obj.figureConnectedLineStartHeadWidth,...
+ 'Head2Style', obj.figureConnectedLineEndHeadStyle,...
+ 'Head2Length', obj.figureConnectedLineEndHeadLength,...
+ 'Head2Width', obj.figureConnectedLineEndHeadWidth,...
+ 'Tag', 'ZoomPlot_');
+ end
+ end
+ end
+
+ function getAxesAndBoxPosition(obj)
+ % real coordinates of the inserted rectangle
+ box1_1 = [obj.XLimNew(1, 2), obj.YLimNew(1, 2)];
+ box1_2 = [obj.XLimNew(1, 1), obj.YLimNew(1, 2)];
+ box1_3 = [obj.XLimNew(1, 1), obj.YLimNew(1, 1)];
+ box1_4 = [obj.XLimNew(1, 2), obj.YLimNew(1, 1)];
+ box1 = [box1_1; box1_2; box1_3; box1_4];
+ % real coordinates of the inserted axes
+ tmp1 = [obj.subAxes.Position(1)+obj.subAxes.Position(3),...
+ obj.subAxes.Position(2)+obj.subAxes.Position(4)];
+ box2_1 = obj.transformCoordinate(tmp1, 'n2a');
+ tmp2 = [obj.subAxes.Position(1),...
+ obj.subAxes.Position(2)+obj.subAxes.Position(4)];
+ box2_2 = obj.transformCoordinate(tmp2, 'n2a');
+ tmp3 = [obj.subAxes.Position(1), obj.subAxes.Position(2)];
+ box2_3 = obj.transformCoordinate(tmp3, 'n2a');
+ tmp4 = [obj.subAxes.Position(1)+obj.subAxes.Position(3),...
+ obj.subAxes.Position(2)];
+ box2_4 = obj.transformCoordinate(tmp4, 'n2a');
+ box2 = [box2_1; box2_2; box2_3; box2_4];
+ obj.figureRectangleEdgePosition = box1;
+ obj.axesPosition = box2;
+ end
+
+ function getLineDirection(obj)
+ % get the line direction
+ % left-upper
+ if (obj.figureRectangleEdgePosition(4, 1) < obj.axesPosition(1, 1) &&...
+ obj.figureRectangleEdgePosition(4, 2) > obj.axesPosition(2, 2))
+ obj.lineDirection = [3, 3; 1, 1];
+ end
+ % middle-upper
+ if (obj.figureRectangleEdgePosition(4, 1) > obj.axesPosition(2, 1) &&...
+ obj.figureRectangleEdgePosition(4, 2) > obj.axesPosition(2, 2)) &&...
+ obj.figureRectangleEdgePosition(3, 1) < obj.axesPosition(1, 1)
+ obj.lineDirection = [4, 1; 3, 2];
+ end
+ % right-upper
+ if (obj.figureRectangleEdgePosition(3, 1) > obj.axesPosition(1, 1) &&...
+ obj.figureRectangleEdgePosition(3, 2) > obj.axesPosition(1, 2))
+ obj.lineDirection = [2, 2; 4, 4];
+ end
+ % right-middle
+ if (obj.figureRectangleEdgePosition(3, 1) > obj.axesPosition(1, 1) &&...
+ obj.figureRectangleEdgePosition(3, 2) < obj.axesPosition(1, 2)) &&...
+ obj.figureRectangleEdgePosition(2, 2) > obj.axesPosition(4, 2)
+ obj.lineDirection = [2, 1; 3, 4];
+ end
+ % right-down
+ if (obj.figureRectangleEdgePosition(2, 1) > obj.axesPosition(4, 1) &&...
+ obj.figureRectangleEdgePosition(2, 2) < obj.axesPosition(4, 2))
+ obj.lineDirection = [1, 1; 3, 3];
+ end
+ % down-middle
+ if (obj.figureRectangleEdgePosition(1, 1) > obj.axesPosition(3, 1) &&...
+ obj.figureRectangleEdgePosition(1, 2) < obj.axesPosition(3, 2) &&...
+ obj.figureRectangleEdgePosition(2, 1) < obj.axesPosition(4, 1))
+ obj.lineDirection = [2, 3; 1, 4];
+ end
+ % left-down
+ if (obj.figureRectangleEdgePosition(1, 1) < obj.axesPosition(3, 1) &&...
+ obj.figureRectangleEdgePosition(1, 2) < obj.axesPosition(3, 2))
+ obj.lineDirection = [2, 2; 4, 4];
+ end
+ % left-middle
+ if (obj.figureRectangleEdgePosition(4, 1) <obj.axesPosition(2, 1) &&...
+ obj.figureRectangleEdgePosition(4, 2) < obj.axesPosition(2, 2)) &&...
+ obj.figureRectangleEdgePosition(1, 2) > obj.axesPosition(3, 2)
+ obj.lineDirection = [1, 2; 4, 3];
+ end
+ end
+
+ function setTheme(obj)
+ % set the theme of the dynamic rectangle
+ switch obj.drawFunc
+ case 'drawrectangle'
+ try
+ obj.roi.MarkerSize = obj.dynamicRectFacAngleMarkerSize;
+ catch
+
+ end
+ obj.roi.Color = obj.dynamicRectFaceColor;
+ obj.roi.FaceAlpha = obj.dynamicRectFaceAspect;
+ obj.roi.LineWidth = obj.dynamicRectLineWidth;
+ case 'imrect'
+ children_ = get(findobj(gca, 'type', 'hggroup'), 'children');
+ % 8 angles
+ for i = [1:4, 6:2:12]
+ children_(i).LineWidth = obj.dynamicRectLineWidth*0.6;
+ children_(i).Color = obj.dynamicRectLineColor;
+ children_(i).MarkerSize = obj.dynamicRectFacAngleMarkerSize;
+ children_(i).Marker = obj.dynamicRectFacAngleMarker;
+ children_(i).MarkerEdgeColor = 'k';
+ children_(i).MarkerFaceColor = obj.dynamicRectFaceColor;
+ end
+ % 4 lines
+ for i = 5:2:11
+ children_(i).Color = obj.dynamicRectFaceColor;
+ children_(i).LineWidth = obj.dynamicRectLineWidth;
+ children_(i).Marker = 'none';
+ end
+ % dynamic rectangle
+ children_(13).FaceAlpha = obj.dynamicRectFaceAspect;
+ children_(13).FaceColor = obj.dynamicRectFaceColor;
+ end
+ end
+
+ function coordinate = transformCoordinate(obj, coordinate, type)
+ % coordinate transformation
+ switch type
+ % absolute coordinates to normalized coordinates
+ case 'a2n'
+ switch obj.axesScale.XScale
+ case 'linear'
+ coordinate(1, 1) = (coordinate(1, 1)-obj.mappingParams(1, 2))...
+ /obj.mappingParams(1, 1);
+ case 'log'
+ coordinate(1, 1) = (log10(coordinate(1, 1))-obj.mappingParams(1, 2))...
+ /obj.mappingParams(1, 1);
+ end
+
+ switch obj.axesScale.YScale
+ case 'linear'
+ coordinate(1, 2) = (coordinate(1, 2)-obj.mappingParams(2, 2))...
+ /obj.mappingParams(2, 1);
+ case 'log'
+ coordinate(1, 2) = (log10(coordinate(1, 2))-obj.mappingParams(2, 2))...
+ /obj.mappingParams(2, 1);
+ end
+
+ % normalized coordinates to absolute coordinates
+ case 'n2a'
+ switch obj.axesScale.XScale
+ case 'linear'
+ coordinate(1, 1) = coordinate(1, 1)*obj.mappingParams(1, 1)...
+ +obj.mappingParams(1, 2);
+ case 'log'
+ coordinate(1, 1) = 10^(coordinate(1, 1)*obj.mappingParams(1, 1)...
+ +obj.mappingParams(1, 2));
+ end
+
+ switch obj.axesScale.YScale
+ case 'linear'
+ coordinate(1, 2) = coordinate(1, 2)*obj.mappingParams(2, 1)...
+ +obj.mappingParams(2, 2);
+ case 'log'
+ coordinate(1, 2) = 10^(coordinate(1, 2)*obj.mappingParams(2, 1)...
+ +obj.mappingParams(2, 2));
+ end
+ end
+ end
+
+ % dependent properties
+ function dynamicPosition = get.dynamicPosition(obj)
+ switch obj.drawFunc
+ case 'drawrectangle'
+ dynamicPosition = obj.roi.Position;
+ case 'imrect'
+ dynamicPosition = getPosition(obj.roi);
+ end
+ end
+
+ % dependent properties
+ function XLimNew = get.XLimNew(obj)
+ XLimNew = [obj.dynamicPosition(1), obj.dynamicPosition(1)+obj.dynamicPosition(3)];
+ end
+
+ % dependent properties
+ function YLimNew = get.YLimNew(obj)
+ YLimNew = [obj.dynamicPosition(2), obj.dynamicPosition(2)+obj.dynamicPosition(4)];
+ end
+
+ % dependent properties
+ function affinePosition = get.affinePosition(obj)
+ obj.mappingParams = obj.computeMappingParams;
+ tmp1 = obj.transformCoordinate([obj.XLimNew(1, 1), obj.YLimNew(1, 1)], 'a2n');
+ tmp2 = obj.transformCoordinate([obj.XLimNew(1, 2), obj.YLimNew(1, 2)], 'a2n');
+ affinePosition(1, 1) = tmp1(1, 1);
+ affinePosition(1, 2) = tmp1(1, 2);
+ affinePosition(1, 3) = tmp2(1, 1)-tmp1(1, 1);
+ affinePosition(1, 4) = tmp2(1, 2)-tmp1(1, 2);
+ end
+
+ % dependent properties
+ function newCData_ = get.newCData_(obj)
+ switch obj.drawFunc
+ case 'drawrectangle'
+ Position_ = obj.roi.Position;
+ case 'imrect'
+ Position_ = getPosition(obj.roi);
+ end
+ newCData_ = imcrop(obj.CData_,obj.Colormap_, Position_);
+ end
+
+ % dependent properties
+ function newCData = get.newCData(obj)
+ switch obj.imageDim
+ case 2
+ [newCData, ~] = imresize(obj.newCData_, obj.Colormap_, [obj.vPixels, obj.uPixels]);
+ % [~, newCMap] = imresize(obj.newCData_, obj.newCMap_, [obj.vPixels, obj.uPixels]);
+ case 3
+ newCData = imresize(obj.newCData_, [obj.vPixels, obj.uPixels]);
+ end
+ end
+
+ % dependent properties
+ function newCMap = get.newCMap(obj)
+ switch obj.imageDim
+ case 2
+ [~, newCMap] = imresize(obj.newCData_, obj.Colormap_, [obj.vPixels, obj.uPixels]);
+ case 3
+ newCMap=[];
+ end
+ end
+ end
+end
+
diff --git a/RoccarasoFlight/postprocessing/commonFunctions/miscellaneous/findRotationMatrix.m b/RoccarasoFlight/postprocessing/commonFunctions/miscellaneous/findRotationMatrix.m
new file mode 100644
index 0000000000000000000000000000000000000000..93e196757e7f3a1cfa0423773047e5f9ee5b94a9
--- /dev/null
+++ b/RoccarasoFlight/postprocessing/commonFunctions/miscellaneous/findRotationMatrix.m
@@ -0,0 +1,12 @@
+function R = findRotationMatrix(a,b)
+
+% finds the rotation matrix to apply to rotate a into b
+v = cross(a,b);
+s = norm(v);
+c = dot(a,b);
+
+if size(v,2)> size(v,1)
+ v = v';
+end
+skew = cross([v,v,v],eye(length(v)));
+R = eye(length(a)) + skew + skew^2 * (1-c)/s^2;
\ No newline at end of file