QPFit/plotStarTraj.m
3bfb25b5e70amaster

plotStarTraj.m
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			function plotStarTraj(x0, r, con, obj, sys, gnd)

			optimize([con, gnd.x(:,1) == x0, gnd.r == 9.8487], obj);

			t = sys.Ts*[0:gnd.N-1];
			plotBnd = @(bnd, col) patch([0;0;sys.Ts(gnd.N-1);sys.Ts(gnd.N-1)], ...
			[-bnd;bnd;bnd;-bnd], col, 'linestyle','none', 'facealpha',0.2);

			col = parula(5);

			figure(1); clf; grid on; hold on;

			toPlot(1).var = gnd.tableAngle;
			toPlot(1).bnd = sys.maxTableAngle;
			toPlot(1).name = 'Table Angle';

			toPlot(2).var = gnd.ballVel;
			toPlot(2).bnd = sys.maxBallVel;
			toPlot(2).name = 'Ball Velocity';

			toPlot(3).var = gnd.ballPos;
			toPlot(3).bnd = sys.maxBallPos;
			toPlot(3).name = 'Ball Position';

			toPlot(4).var = [gnd.u 0];
			toPlot(4).bnd = sys.maxTableAngle;
			toPlot(4).name = 'Input';

			for i = 1:length(toPlot)
			subplot(length(toPlot),1,i)
			plotBnd(toPlot(i).bnd, col(i,:));
			hold on;
			stairs(t, double(toPlot(i).var), 'linewidth', 2, 'color', col(i,:));
			legend(toPlot(i).name);
			axis([0,max(t),-toPlot(i).bnd1.5,toPlot(i).bnd1.5])
			end