Wallfollowing improvements

Doxyfile

@@ -51,7 +51,8 @@ PROJECT_BRIEF          = "f1tenth Project Group of Technical University Dortmund
 # pixels and the maximum width should not exceed 200 pixels. Doxygen will copy
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-PROJECT_LOGO           = $(TRAVIS_BUILD_DIR)/doc/logo.png
+PROJECT_LOGO           = doc/logo.png
+#PROJECT_LOGO           = $(TRAVIS_BUILD_DIR)/doc/logo.png
 
 # The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute) path
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@@ -790,7 +791,8 @@ WARN_LOGFILE           =
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 # Note: If this tag is empty the current directory is searched.
 
-INPUT                  = $(TRAVIS_BUILD_DIR)/docs/master
+#INPUT                  = $(TRAVIS_BUILD_DIR)/docs/master
+INPUT                  = ros_ws
 
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doc/results/report/README.md

@@ -0,0 +1,158 @@
+# Final report data
+
+This directory contains the data used for the final report:
++ laptimes-gazebo-wf2.txt - Lap times of ten laps running Wallfollowing 2 in Gazebo
++ laptimes-gazebo-wf5.txt - Lap times of ten laps running Wallfollowing 5 in Gazebo
++ laptimes-gazebo-ql.txt - Lap times of ten laps running QL in Gazebo
+* latex-data-QL-gazebo-1000.dat - This test was done after some changes on speed calculation, please loot at the latex template for simulation QL to get the right correction factors
+* latex-data-WF2-1000.dat - This data was recorded during a simulation based test with Wallfollowing 2
+* latex-data-WF5-1000.dat - This data was recorded during a simulation based test with Wallfollowing 5
+* latex-data-WF2-500-real.dat - This data was recorded during a real racing test with Wallfollowing 2
+* latex-data-WF5-500-real.dat - This data was recorded during a real racing test with Wallfollowing 5
+
+## Latex/PGFPlot Code
+
+### Simulation WF2/WF5
+
+```
+\begin{figure}
+\label{fig:results-sim-wf-plot}
+\center
+    \begin{tikzpicture}
+        \begin{axis}[width=1\textwidth, height=0.3\paperheight, scaled ticks=true, tick label style={/pgf/number format/fixed, font=\footnotesize}, 
+        %axis lines=middle, 
+        %ymode=log,
+        ymin=0, 
+        xmin=0, 
+        xmax=250,
+        xlabel=\footnotesize $m$, ylabel=\footnotesize $\frac{m}{s}$,
+        xtick distance=25,
+        ]
+
+            \addplot[smooth,red,solid,each nth point=5, filter discard warning=false, unbounded coords=discard] table [y=speed,x=distance]{data/latex-data-WF2-1000.dat};
+            \addplot[smooth,blue,solid,each nth point=5, filter discard warning=false, unbounded coords=discard] table [y=speed,x=distance]{data/latex-data-WF5-1000.dat};
+            \addlegendentry{\footnotesize WF2 $v_{cur}(d)$}
+            \addlegendentry{\footnotesize WF5 $v_{cur}(d)$}
+        \end{axis}
+    \end{tikzpicture}
+    \caption{Vergleich Geschwindigkeit $v$ nach gefahrener Distanz $d$, geglättet über 5 Werte (Simulation, Softwarestand v0.42g1)}
+\end{figure}
+```
+
+### Simulation QL
+```
+\begin{figure}
+\label{fig:results_ql}
+\center
+    \begin{tikzpicture}
+        \begin{axis}[width=1\textwidth, height=0.3\paperheight, scaled ticks=true, tick label style={/pgf/number format/fixed, font=\footnotesize}, 
+        %axis lines=middle, 
+        %ymode=log,
+        ymin=0, 
+        xmin=0,
+        xmax=250,
+        xlabel=\footnotesize $m$, ylabel=\footnotesize $\frac{m}{s}$,
+        xtick distance=25,
+        ]
+            \addplot[smooth,red,solid,each nth point=5, filter discard warning=false, unbounded coords=discard] table [y=speed,x=distance]{data/latex-data-WF2-1000.dat};
+            \addplot[smooth,blue,solid,each nth point=5, filter discard warning=false, unbounded coords=discard] table [y=speed,x=distance]{data/latex-data-WF5-1000.dat};
+            \addplot[smooth,green,solid,each nth point=5, filter discard warning=false, unbounded coords=discard] table [y expr=\thisrow{speed}*1.1111,x expr=(\thisrow{distance}*1.1111)+2.778]{data/latex-data-QL-gazebo-1000.dat};
+            \addlegendentry{\footnotesize WF2 $v_{cur}(d)$}
+            \addlegendentry{\footnotesize WF5 $v_{cur}(d)$}
+            \addlegendentry{\footnotesize QL $v_{cur}(d)$}
+        \end{axis}
+    \end{tikzpicture}
+    \caption{Vergleich Geschwindigkeit $v$ nach gefahrener Distanz $d$, geglättet über 5 Werte (Simulation, Softwarestand v0.42q1)}
+\end{figure}
+```
+
+### Racing Test WF2/WF5
+```
+\begin{figure}
+\label{fig:results_wf2_plot}
+\center
+    \begin{tikzpicture}
+        \begin{axis}[width=1\textwidth, height=0.3\paperheight, scaled ticks=true, tick label style={/pgf/number format/fixed, font=\footnotesize}, 
+        %axis lines=middle, 
+        %ymode=log,
+        %ymin=0, 
+        xmin=0, 
+        xmax=75,
+        xlabel=\footnotesize $m$, ylabel=\footnotesize $\frac{m}{s}$,
+        xtick distance=10,
+        ]
+
+            \addplot[smooth,red,solid,each nth point=5, filter discard warning=false, unbounded coords=discard] table [y expr=\thisrow{speed}*0.9,x=distance]{data/latex-data-WF2-500-real.dat};
+            \addlegendentry{\footnotesize WF2 $v_{cur}(d)$}
+        \end{axis}
+    \end{tikzpicture}
+    \caption{WF2: Geschwindigkeit $v$ nach gefahrener Distanz $d$, geglättet über 5 Werte (Softwarestand v0.42r1)}
+\end{figure}
+
+\begin{figure}
+\label{fig:results_wf5_plot}
+\center
+    \begin{tikzpicture}
+        \begin{axis}[width=1\textwidth, height=0.3\paperheight, scaled ticks=true, tick label style={/pgf/number format/fixed, font=\footnotesize}, 
+        %axis lines=middle, 
+        %ymode=log,
+        %ymin=0, 
+        xmin=0, 
+        xmax=90,
+        xlabel=\footnotesize $m$, ylabel=\footnotesize $\frac{m}{s}$,
+        xtick distance=10,
+        ]
+
+            \addplot[smooth,red,solid,each nth point=5, filter discard warning=false, unbounded coords=discard] table [y=speed,x=distance]{data/latex-data-WF5-500-real.dat};
+            \addlegendentry{\footnotesize WF5 $v_{cur}(d)$}
+        \end{axis}
+    \end{tikzpicture}
+    \caption{WF5: Geschwindigkeit $v$ nach gefahrener Distanz $d$, geglättet über 5 Werte (Softwarestand v0.42r2)}
+\end{figure}
+
+\begin{figure}
+\label{fig:results_wf2_plot_vmax}
+\center
+    \begin{tikzpicture}
+        \begin{axis}[width=1\textwidth, height=0.3\paperheight, scaled ticks=true, tick label style={/pgf/number format/fixed, font=\footnotesize}, 
+        %axis lines=middle, 
+        ymode=log,
+        %ymin=0, 
+        xmin=0, 
+        xmax=75,
+        xlabel=\footnotesize $m$, ylabel=\footnotesize $\frac{m}{s}$,
+        xtick distance=10,
+        ]
+
+            \addplot[smooth,red,solid,each nth point=5, filter discard warning=false, unbounded coords=discard] table [y expr=\thisrow{speed}*0.9,x=distance]{data/latex-data-WF2-500-real.dat};
+            \addplot[smooth,blue,solid,each nth point=5, filter discard warning=false, unbounded coords=discard] table [y=maxspeed,x=distance]{data/latex-data-WF2-500-real.dat};
+            \addlegendentry{\footnotesize WF2 $v_{cur}(d)$}
+            \addlegendentry{\footnotesize WF2 $v_{max}(d)$}
+        \end{axis}
+    \end{tikzpicture}
+    \caption{WF2: Geschwindigkeiten $v_{cur} und v_{max}$ nach gefahrener Distanz $d$, geglättet über 5 Werte (Softwarestand v0.42r1)}
+\end{figure}
+
+\begin{figure}
+\label{fig:results_wf5_plot_vmax}
+\center
+    \begin{tikzpicture}
+        \begin{axis}[width=1\textwidth, height=0.3\paperheight, scaled ticks=true, tick label style={/pgf/number format/fixed, font=\footnotesize}, 
+        %axis lines=middle, 
+        ymode=log,
+        %ymin=0, 
+        xmin=0, 
+        xmax=90,
+        xlabel=\footnotesize $m$, ylabel=\footnotesize $\frac{m}{s}$,
+        xtick distance=10,
+        ]
+
+            \addplot[smooth,red,solid,each nth point=5, filter discard warning=false, unbounded coords=discard] table [y=speed,x=distance]{data/latex-data-WF5-500-real.dat};
+            \addplot[smooth,blue,solid,each nth point=5, filter discard warning=false, unbounded coords=discard] table [y=maxspeed,x=distance]{data/latex-data-WF5-500-real.dat};
+            \addlegendentry{\footnotesize WF5 $v_{cur}(d)$}
+            \addlegendentry{\footnotesize WF5 $v_{max}(d)$}
+        \end{axis}
+    \end{tikzpicture}
+    \caption{WF5: Geschwindigkeiten $v_{cur} und v_{max}$ nach gefahrener Distanz $d$, geglättet über 5 Werte (Softwarestand v0.42r2)}
+\end{figure}
+```