[dq5,dq7] Added missing plot files to repository.

Author: Murilo Marinho

dqrobotics/lesson5/plot_td_dot_and_t_dot.py

@@ -0,0 +1,40 @@
+import matplotlib.pyplot as plt
+import numpy as np
+
+def plot_td_dot_and_t_dot(np_stored_td_dot: np.array, np_stored_t_dot: np.array, np_stored_time: np.array):
+    """
+    plot_td_dot_and_t_dot Example function to plot the task-space velocity
+    and desired task-space velocity for the open-loop velocity controller
+    """
+
+    # x-axis
+    ax1 = plt.subplot(1,3,1)
+    plt.plot(np_stored_time,np_stored_td_dot[:,0])
+    plt.plot(np_stored_time,np_stored_t_dot[:,0])
+    plt.title('x-axis velocity')
+    plt.ylabel('Velocity [m/s]')
+    plt.ylim([-5, 5])
+    plt.xlabel('Time [s]')
+    ax1.legend(['desired','actual','Location','southeast'])
+    
+    # y-axis
+    ax2 = plt.subplot(1,3,2)
+    plt.plot(np_stored_time,np_stored_td_dot[:,1])
+    plt.plot(np_stored_time,np_stored_t_dot[:,1])
+    plt.title('y-axis velocity')
+    plt.ylabel('Velocity [m/s]')
+    plt.ylim([-5, 5])
+    plt.xlabel('Time [s]')
+    ax2.legend(['desired','actual','Location','southeast'])
+    
+    # z-axis
+    ax3 = plt.subplot(1,3,3)
+    plt.plot(np_stored_time,np_stored_td_dot[:,2])
+    plt.plot(np_stored_time,np_stored_t_dot[:,2])
+    plt.title('z-axis velocity')
+    plt.ylabel('Velocity [m/s]')
+    plt.ylim([-5, 5])
+    plt.xlabel('Time [s]')
+    ax3.legend(['desired','actual','Location','southeast'])
+    
+