Minor code refactor

 - Remove unnecessary imports
 - Minor plot changes
 - Minor spelling

Author: Nicholas Lawrance

Tools/parametric_model/configs/quadrotor_model.yaml

@@ -1,6 +1,6 @@
 ---
 # general information
-model_name: "Gazebo Standart Multirotor"
+model_name: "Gazebo Standard Multirotor"
 model_type: "Standard Multirotor"
 model_class: "MultiRotorModel"
 

Tools/parametric_model/generate_parametric_model.py

@@ -32,10 +32,6 @@
 """
 
 import os
-import sys
-import inspect
-from src.models import MultiRotorModel
-from src.models.model_config import ModelConfig
 import src.models as models
 from src.tools import DataHandler
 import argparse
@@ -55,13 +51,12 @@ def str2bool(v):
 
 
 def start_model_estimation(config, log_path, data_selection=False):
-    data_selection_enabled = data_selection
-    print("Visual Data selection enabled: ", data_selection_enabled)
+    print("Visual Data selection enabled: ", data_selection)
 
     data_handler = DataHandler(config)
     data_handler.loadLogs(log_path)
 
-    if data_selection_enabled:
+    if data_selection:
         data_handler.visually_select_data()
     data_handler.visualize_data()
 

Tools/parametric_model/src/models/dynamics_model.py

@@ -448,23 +448,23 @@ def plot_scatter(ax, title, dataframe_x, dataframe_y, dataframe_z, color='blue')
         if (self.estimate_forces and self.estimate_moments):
             y_forces_pred = y_pred[0:self.y_forces.shape[0]]
             y_moments_pred = y_pred[self.y_forces.shape[0]:]
-            model_plots.plot_force_predeictions(
+            model_plots.plot_force_predictions(
                 self.y_forces, y_forces_pred, self.data_df["timestamp"])
-            model_plots.plot_moment_predeictions(
+            model_plots.plot_moment_predictions(
                 self.y_moments, y_moments_pred, self.data_df["timestamp"])
             model_plots.plot_airspeed_and_AoA(
                 self.data_df[["V_air_body_x", "V_air_body_y", "V_air_body_z", "angle_of_attack"]], self.data_df["timestamp"])
 
         elif (self.estimate_forces):
             y_forces_pred = y_pred
-            model_plots.plot_force_predeictions(
+            model_plots.plot_force_predictions(
                 self.y_forces, y_forces_pred, self.data_df["timestamp"])
             model_plots.plot_airspeed_and_AoA(
                 self.data_df[["V_air_body_x", "V_air_body_y", "V_air_body_z", "angle_of_attack"]], self.data_df["timestamp"])
 
         elif (self.estimate_moments):
             y_moments_pred = y_pred
-            model_plots.plot_moment_predeictions(
+            model_plots.plot_moment_predictions(
                 self.y_moments, y_moments_pred, self.data_df["timestamp"])
             model_plots.plot_airspeed_and_AoA(
                 self.data_df[["V_air_body_x", "V_air_body_y", "V_air_body_z", "angle_of_attack"]], self.data_df["timestamp"])

Tools/parametric_model/src/models/model_plots/linear_model_plots.py

@@ -11,3 +11,4 @@ def plot_covariance_mat(X, coef_name_list):
     corrMatrix = df.corr()
     fig, ax = plt.subplots(1)
     ax = sns.heatmap(corrMatrix, annot=True)
+    ax.set_title('Coefficient covariance')

Tools/parametric_model/src/models/model_plots/model_plots.py

@@ -34,11 +34,12 @@
 import matplotlib.pyplot as plt
 import numpy as np
 import math
+plt.rcParams['mathtext.fontset']='cm'
 
 """The functions in this file can be used to plot data of any kind of model"""
 
 
-def plot_force_predeictions(stacked_force_vec, stacked_force_vec_pred, timestamp_array):
+def plot_force_predictions(stacked_force_vec, stacked_force_vec_pred, timestamp_array):
     """
     Input:
     stacked_force_vec: numpy array of shape (3*n,1) containing stacked accelerations [a_x_1, a_y_1, a_z_1, a_x_2, ...]^T in body frame
@@ -62,15 +63,15 @@ def plot_force_predeictions(stacked_force_vec, stacked_force_vec_pred, timestamp
     ax3.plot(timestamp_array, acc_mat[:, 2], label='measurement')
     ax3.plot(timestamp_array, acc_mat_pred[:, 2], label='prediction')
 
-    ax1.set_ylabel('x')
-    ax2.set_ylabel('y')
-    ax3.set_ylabel('z')
+    ax1.set_ylabel('$x$')
+    ax2.set_ylabel('$y$')
+    ax3.set_ylabel('$z$')
     ax3.set_xlabel('time [s]')
     plt.legend()
     return
 
 
-def plot_moment_predeictions(stacked_moment_vec, stacked_moment_vec_pred, timestamp_array):
+def plot_moment_predictions(stacked_moment_vec, stacked_moment_vec_pred, timestamp_array):
     """
     Input:
     stacked_moment_vec: numpy array of shape (3*n,1) containing stacked angular accelerations [w_x_1, w_y_1, w_z_1, w_x_2, ...]^T in body frame
@@ -94,9 +95,9 @@ def plot_moment_predeictions(stacked_moment_vec, stacked_moment_vec_pred, timest
     ax3.plot(timestamp_array, acc_mat[:, 2], label='measurement')
     ax3.plot(timestamp_array, acc_mat_pred[:, 2], label='prediction')
 
-    ax1.set_ylabel('x')
-    ax2.set_ylabel('y')
-    ax3.set_ylabel('z')
+    ax1.set_ylabel('$x$')
+    ax2.set_ylabel('$y$')
+    ax3.set_ylabel('$z$')
     ax3.set_xlabel('time [s]')
     plt.legend()
     return
@@ -119,10 +120,10 @@ def plot_airspeed_and_AoA(airspeed_mat, timestamp_array):
     ax2.plot(timestamp_array, airspeed_mat[:, 1], label='measurement')
     ax3.plot(timestamp_array, airspeed_mat[:, 2], label='measurement')
     ax4.plot(timestamp_array, airspeed_mat[:, 3], label='measurement')
-    ax1.set_title('airspeed in x direction of body frame [m/s^2]')
-    ax2.set_title('airspeed in y direction of body frame [m/s^2]')
-    ax3.set_title('airspeed in z direction of body frame [m/s^2]')
-    ax4.set_title("Aoa in body frame [radiants]")
+    ax1.set_title(r'Airspeed in body-$x$ [m/s^2]')
+    ax2.set_title(r'Airspeed in body-$y$ [m/s^2]')
+    ax3.set_title(r'Airspeed in body-$z$ [m/s^2]')
+    ax4.set_title("AoA in body frame [radians]")
     plt.legend()
     return