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plotjuggler: add max torque layout 

old-commit-hash: 20c140b10e
This commit is contained in:
Adeeb Shihadeh 2022-07-31 15:36:37 -07:00
parent e215317cf0
commit ee0f5386a1
1 changed files with 98 additions and 0 deletions
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98
tools/plotjuggler/layouts/max-torque-debug.xml Normal file
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<?xml version='1.0' encoding='UTF-8'?>
<root>
<tabbed_widget name="Main Window" parent="main_window">
<Tab containers="1" tab_name="tab1">
<Container>
<DockSplitter orientation="-" count="4" sizes="0.249724;0.250829;0.249724;0.249724">
<DockArea name="...">
<plot flip_y="false" style="Lines" flip_x="false" mode="TimeSeries">
<range left="0.000450" top="6.050533" right="2483.624998" bottom="-7.599037"/>
<limitY/>
<curve color="#1ac938" name="Actual lateral accel (roll compensated)"/>
<curve color="#ff7f0e" name="Desired lateral accel (roll compensated)"/>
</plot>
</DockArea>
<DockArea name="...">
<plot flip_y="false" style="Lines" flip_x="false" mode="TimeSeries">
<range left="0.000450" top="5.384416" right="2483.624998" bottom="-7.503945"/>
<limitY/>
<curve color="#1ac938" name="roll compenstated lateral acceleration"/>
</plot>
</DockArea>
<DockArea name="...">
<plot flip_y="false" style="Lines" flip_x="false" mode="TimeSeries">
<range left="0.000450" top="1.050000" right="2483.624998" bottom="-1.050000"/>
<limitY/>
<curve color="#0097ff" name="/carState/steeringPressed"/>
<curve color="#d62728" name="/carControl/actuatorsOutput/steer"/>
</plot>
</DockArea>
<DockArea name="...">
<plot flip_y="false" style="Lines" flip_x="false" mode="TimeSeries">
<range left="0.000450" top="80.762969" right="2483.624998" bottom="-2.181837"/>
<limitY/>
<curve color="#f14cc1" name="/carState/vEgo">
<transform alias="/carState/vEgo[Scale/Offset]" name="Scale/Offset">
<options value_offset="0" time_offset="0" value_scale="2.23694"/>
</transform>
</curve>
</plot>
</DockArea>
</DockSplitter>
</Container>
</Tab>
<currentTabIndex index="0"/>
</tabbed_widget>
<use_relative_time_offset enabled="1"/>
<!-- - - - - - - - - - - - - - - -->
<!-- - - - - - - - - - - - - - - -->
<Plugins>
<plugin ID="DataLoad Rlog"/>
<plugin ID="Cereal Subscriber"/>
</Plugins>
<!-- - - - - - - - - - - - - - - -->
<previouslyLoaded_Datafiles>
<fileInfo filename="../tmp2db6nfa2.rlog" prefix="">
<selected_datasources value=""/>
<plugin ID="DataLoad Rlog"/>
</fileInfo>
</previouslyLoaded_Datafiles>
<!-- - - - - - - - - - - - - - - -->
<customMathEquations>
<snippet name="roll compenstated lateral acceleration">
<global></global>
<function>if (v3 == 0 and v4 == 1) then
return (value * v1 ^ 2) - (v2 * 9.81)
end
return 0</function>
<linked_source>/controlsState/curvature</linked_source>
<additional_sources>
<v1>/carState/vEgo</v1>
<v2>/liveParameters/roll</v2>
<v3>/carState/steeringPressed</v3>
<v4>/carControl/latActive</v4>
</additional_sources>
</snippet>
<snippet name="Desired lateral accel (roll compensated)">
<global></global>
<function>return (value * v1 ^ 2) - (v2 * 9.81)</function>
<linked_source>/controlsState/desiredCurvature</linked_source>
<additional_sources>
<v1>/carState/vEgo</v1>
<v2>/liveParameters/roll</v2>
</additional_sources>
</snippet>
<snippet name="Actual lateral accel (roll compensated)">
<global></global>
<function>return (value * v1 ^ 2) - (v2 * 9.81)</function>
<linked_source>/controlsState/curvature</linked_source>
<additional_sources>
<v1>/carState/vEgo</v1>
<v2>/liveParameters/roll</v2>
</additional_sources>
</snippet>
</customMathEquations>
<snippets/>
<!-- - - - - - - - - - - - - - - -->
</root>