visualizeResults.m

function [] = visualizeResults(solutionL, solutionH, solution, solutionPIDlow, solutionPIDhigh, solutionPID, desiredAngle, timeL, timeH, time)
%visualizeResults This function allows to show the result of the
%simulation (headings and trajectories) with and without the uncertainties
%and with and without the PID controller.
%   This function is part of the visualization (or presentation) part.

[minShaftSpeed, maxShaftSpeed] = getShaftSpeedLimits();
[kp, kn] = getKpKn();

% Plot T0
plotForceAgainstShaftSpeed(minShaftSpeed, maxShaftSpeed, 0.1, kp, kn, 1);

%Heading
figure(4)

title('Heading with respect to time')
xlabel('Time [s]')
ylabel('Heading [rad]')


hold on
plot(time, (solution(3,:)));


hold on
plot(time, (solutionH(3,:)));

hold on
plot(time, (solutionL(3,:)));


grid on
hold on
plot(time, solutionPID(3,:));

hold on
plot(timeL, solutionPIDlow(3,:));

hold on
plot(timeH, solutionPIDhigh(3,:));

hold on
fplot(desiredAngle, 'k.')
fplot(desiredAngle-2*pi, 'k.')


legend('Without PID (average)', 'Without PID (low)', 'Without PID (high)', 'With PID (average)','With PID (low)','With PID (high)','Objective heading')

hold off


% Trajectory
figure(5);
axis equal tight
hold on
plot(solution(2,:), solution(1,:));
title('Ship trajectory')
xlabel('y_W [m]')
ylabel('x_W [m]')
grid on

hold on
plot(solutionL(2,:), solutionL(1,:));

grid on

hold on
plot(solutionH(2,:), solutionH(1,:));

hold on
plot(solutionPID(2,:), solutionPID(1,:));

hold on
plot(solutionPIDlow(2,:), solutionPIDlow(1,:));

hold on
plot(solutionPIDhigh(2,:), solutionPIDhigh(1,:));

hold on
fplot(@(t) tan(pi/2 - desiredAngle)*t, 'k.')
legend( 'Without PID (average)', 'Without PID (low)', 'Without PID (high)', 'With PID (average)', 'With PID (low)', 'With PID (high)', 'Objective trajectory')

hold off

[abs_err, rel_err_perc] = calculateAbsoluteAndRelativeError(solutionPID(3,end), desiredAngle);
showErrorsMessage(abs_err, rel_err_perc, "average");

[abs_err_low, rel_err_perc_low] = calculateAbsoluteAndRelativeError(solutionPIDlow(3, end), desiredAngle);
showErrorsMessage(abs_err_low, rel_err_perc_low, "low");

[abs_err_high, rel_err_perc_high] = calculateAbsoluteAndRelativeError(solutionPIDhigh(3, end), desiredAngle);
showErrorsMessage(abs_err_high, rel_err_perc_high, "high");

end