{ "cells": [ { "cell_type": "markdown", "metadata": {}, "source": [ "# IMU Data\n", "\n", "blah ..." ] }, { "cell_type": "code", "execution_count": 1, "metadata": {}, "outputs": [], "source": [ "import cv2\n", "import numpy as np\n", "from collections import namedtuple\n", "import time\n", "import pickle\n", "from math import pi\n", "from ins_nav import AHRS\n", "from matplotlib import pyplot as plt\n", "from squaternion import quat2euler, Quaternion" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "### Get Data" ] }, { "cell_type": "code", "execution_count": 53, "metadata": {}, "outputs": [], "source": [ "Data_ts = namedtuple('Data_ts', 'data timestamp')\n", "data = pickle.load(open(\"data/imu-still.pickle\", \"rb\"))" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "# Still" ] }, { "cell_type": "code", "execution_count": 54, "metadata": {}, "outputs": [], "source": [ "accel = [x[0][0] for x in data['imu']]\n", "mags = [x[0][1] for x in data['imu']]\n", "gyros = [x[0][2] for x in data['imu']]\n", "imutime = [x[1] for x in data['imu']]" ] }, { "cell_type": "code", "execution_count": 55, "metadata": {}, "outputs": [], "source": [ "def std(data):\n", " x = [x[0] for x in data]\n", " y = [x[1] for x in data]\n", " z = [x[2] for x in data]\n", " plt.figure()\n", " plt.plot(data)\n", " plt.grid(True)\n", " print('Mean:')\n", " print(' x {}'.format(np.mean(x)))\n", " print(' y {}'.format(np.mean(y)))\n", " print(' z {}'.format(np.mean(z)))\n", " print('Standard Dev:')\n", " print(' x {}'.format(np.std(x)))\n", " print(' y {}'.format(np.std(y)))\n", " print(' z {}'.format(np.std(z)))" ] }, { "cell_type": "code", "execution_count": 56, "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "Accel -----------------\n", "Mean:\n", " x 0.028026083999999996\n", " y -0.024934116\n", " z 1.02393014\n", "Standard Dev:\n", " x 0.0008612778000993641\n", " y 0.000635959635939263\n", " z 0.0009841332493112874\n", "Mags ------------------\n", "Mean:\n", " x -32.6913\n", " y -9.921700000000001\n", " z 14.2512\n", "Standard Dev:\n", " x 0.5092684066383855\n", " y 0.541534034018177\n", " z 0.7351588671845019\n", "Gyros -----------------\n", "Mean:\n", " x 0.4826015625\n", " y -0.9850078125\n", " z -0.19296875\n", "Standard Dev:\n", " x 0.2811804895656922\n", " y 0.21360701412157232\n", " z 0.17664371749283217\n" ] }, { "data": { "image/png": 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PnLPsS4tuO+Dz9R8REbnO9A1VEZEAUriLiASQwl1EJIAU7iIiAaRwFxEJIIW7iEgAKdxFRAJI4S4iEkAKdxGRAFK4i4gEkMJdRCSAFO4iIgGkcBcRCSCFu4hIACncRUQCSOEuIhJACncRkQBSuIuIBJDCXUQkgBTuIiIBpHAXEQkghbuISAAp3EVEAkjhLiISQAp3EZEAUriLiASQwl1EJIAU7iIiAbSkcDezB8zsqJn1m9kXLtLuJ83MmdmeleuiiIhcrkuGu5mFgSeATwA7gUfMbOd52qWAXwJeWulOiojI5VnKzP0uoN85d9w5VwKeAh46T7v/APwGUFjB/omIyDIsJdw3AIOL7g/Vly0wszuBTc65b6xg30REZJkiV7oBMwsBvwX87BLaPgo8CtDd3c3+/fuXtc9MJrPsdVcr1bw2qOa14ZrU7Jy76A9wL/DsovtfBL646H4LMAGcrP8UgBFgz8W2u3v3brdc+/btW/a6q5VqXhtU89pwJTUDB9wlcts5t6S3ZV4GdphZn5nFgIeBpxe9OMw65zqdc1udc1uB7wOfcs4dWIkXHxERuXyXDHfnXAV4DHgWOAJ8xTn3ppk9bmafutodFBGRy7ek99ydc88Az5yz7EsXaLv3yrslIiJXQt9QFREJIIW7iEgAKdxFRAJI4S4iEkAKdxGRAFK4i4gEkMJdRCSAFO4iIgGkcBcRCSCFu4hIACncRUQCSOEuIhJACncRkQBSuIuIBJDCXUQkgBTuIiIBpHAXEQkghbuISAAp3EVEAkjhLiISQAp3EZEAUriLiASQwl1EJIAU7iIiAaRwFxEJIIW7iEgAKdxFRAJI4S4iEkAKdxGRAFpSuJvZA2Z21Mz6zewL53n882Z22MxeN7PnzGzLyndVRESW6pLhbmZh4AngE8BO4BEz23lOsx8Ce5xzu4CvAv9ppTsqIiJLt5SZ+11Av3PuuHOuBDwFPLS4gXNun3MuV7/7fWDjynZTREQuhznnLt7A7NPAA865n6/f/xngbufcYxdo/9+AM865/3iexx4FHgXo7u7e/dRTTy2r05lMhmQyuax1VyvVvDao5rXhSmq+7777Djrn9lyqXWRZW78AM/tpYA/wofM97px7EngSYM+ePW7v3r3L2s/+/ftZ7rqrlWpeG1Tz2nAtal5KuA8Dmxbd31hfdhYzux/4FeBDzrniynRPRESWYynvub8M7DCzPjOLAQ8DTy9uYGZ3AL8PfMo5N7by3RQRkctxyXB3zlWAx4BngSPAV5xzb5rZ42b2qXqz/wwkgb8ws1fN7OkLbE5ERK6BJb3n7px7BnjmnGVfWnT7/hXul4iIXAF9Q1VEJIAU7iIiAaRwFxEJIIW7iEgAKdxFRAJI4S4iEkAKdxGRAFK4i4gEkMJdRCSAFO4iIgGkcBcRCSCFu4hIACncRUQCSOEuIhJACncRkQBSuIuIBJDCXUQkgBTuIiIBpHAXEQkghbuISAAp3EVEAkjhLiISQAp3EZEAUriLiASQwl1EJIAi17sDl+vYaJrfPFDgy4MH6G1poFCuAtDdnKC3JUEoZBw7k6a7OUFPS4KBqRyb2xvJlSrkS1VOTubY3pXEDHqaE0TCIUIGJydzHB6ZY1tnE+OZIjf3pJjNl0nGI3zjjdPc0tvM7s1tTGSKbFuX5MCpKbpTCaZzJTa2NVJzjoGpHLP5MifGs9zcm2I8XaQjGWdzeyPlao10oUy+VCMRDZEtVVnfkqClIcroXIFCpcaJ8Sx/c+g0/+6TO5nKlugfy9C3rgmAw8dK5DtOE4uEaG2MMjZX5PhEFuccb51J89Gd3WxqbyRbrFBzUK7U+LMfDHDr+mZuXd/Cmdk8jbEIkbBxeGSOH9vUSjIR4ZVT02xqb6RQrnJ6tsC2ziZ6WhKUKjVmcmWefm2Ef3jnBg4Nz/LCO5N8cHsnLY1RKlVHNBwiW6zQkYxxajLH+2/oIGTGoZFZOppifLd/gvtv6ebw6Tm2djRxeGSOjW0NTGZL3NidoiEWon8sQyISZkNbA5WqY0NbA9lihb89dIbCTImB+EkqVce3joyyvStJX2cTqUSUAyenmCuUCZmxobUBDP7+jnWUKjWGpnNMZcuMZwrEI2FaG6JMZIrM5svs6E4RCRmvDc3Q2hijWK5xS2+K7uYEwzN5cqUq5WqNpliYSDjE60Mz9LY0cPuGFqo1R7XmMIO5QoVbelJ8t3+CpniEeCTEiYks7U0xBqZyfHLXel4dnObomTQbWhvY1N5IuerXbU5EaWmIkkpEOHJ6js5knKpzxMIhjp2p8PzXDjGZLXF3XzvhkNEUi1Cq1BjPFBmZyXNsNM3Hb+2hWKkRDhmb2xv9fidzbO1sIl0o09oYo1KtMZYukkxESBcqnJnNU6k5OpNxOppiZEtVssUKLQ1R5vJlXjoxxW0bWuhMxqjWHK8NzpBKRHnfplZ2dCd56cQUs7kyDkdvSwOnZ/PEI2EAZnJltnY2Eg2HKFVqRMLG8HSeWCREJGRUao6QGTO5MtO5Ep3JGH2dSV4bmuFQf5EX80doikVIxiO8OjhDZzLOjd1JwiEjW6xgZgA0RMPkShV6Wxs4MZHl1GSWW9e3MJ4ukoiGaWmIcmY2z9B0nlt6m1mXijM4laO1McrAVI7OZJy2phhhMwqVKjO5Mo2xMEPTeW7qSdGciNIQC/P2aJp1qTipRITj41l+6++O8VN7NnH/Ld1kSxX6xzJs70oSi4Q4MZ6l5hwA2WKVm3tTNETDfPPwGdYlE2ztbCQeCTGXr1Cq1uhoipHL1656Vpqrd+pa27Nnjztw4MBlr/dH3zvBv//rwzTGwuRK1avQMxGRq+szO2M8/pmPLmtdMzvonNtzqXarbub+s+/fyrrsST75sfvIFCs8d2SUG9YlGUsX6EolODNb4CsHBrmlt5lo2MiXqzxway+HRma5sTtFNGwkomFGZvJMZkpUajVikRANUX8ovnVklK5UnE/uWg/AwFSOYqVKW2MMMzgxkSURCdPbmmAyU6KnJcE3Xj/NTT0pHrith7AZB05Nk0pEODQ8y5HTafo6G+lKJdjU3sipySz5cpWbulM0xSMMz+R5fWiWbeuauLE7xcBUjmjIWJeK09OSIFOs8OrADEePHWVz33a6UgnCISMWMW7f0Mqzb54hW6xw4NQ0P3nnBtqb4szkSkTDIeYKZdYl48SjIXKlKh1NccYzRcbTRdal4gxMZrmhK8l0tkw4BGBs70oykSkCMJ0t0dWc4Hv9E4RDxo6uJN3NCZriYfa9Nc4NXU00RCOMZ4oMTGa5Y3Mb+VKVdLFMX2eSZDzCiYksb52eoz0Zoyvl193WmeTgqWk2tzdSrPgX6Hy5yvHxLANTOe7Z1oEBbx85RMfmG0nEwiTjYcKhEFvaG3nrTJqXTkwyNlfkJ3b1MjKTZ31rAxOZIj8cmOHjt/Ywni5wc28zPzgxxbpUnB/f2s5LxyeZypXoaU7UrxzC7D86zqa2BsIhoyEa5q0zaZLxCKlEhGKlhhkMTefZ0tFYv/LLEg2HuLE7xf6jYxTKNXaub+a+m7r41pFR7tjUSltTjOHpPF3NcSazJapVx1S2RGcqRjQc4uRElv6xDDf1NBMOwdhckXfGM/zUnk0ceuM17rzjDs7MFehtSWBmREJGuVpjMlPiu/0TbGprZPfWNpxzpAsVXh+apVJzVKo1bultpr0pRqZYoVSpkStVaG2MkStV2NjWSMiMw6fnqFRrC7Pu2ze0kC1VGJjMsa45TqZQAXzdfZ2NnJjI8RcHBnnkrs1sW9fElo5GskV/pVeq1tjY1kD/aIZoxGhORDk0PMcNXU00xSM0xSJsW9dEsVLjyMgcPS0JNrQ20D+e4Y2hWWbyZWx6gJtvuZXhmTzVmluYgSfjEbqbEzTEfD/NYCZX4sxskalciZ29zYTMz5ZfGZjm3hs6eHVghnSxAs5x97YOBqdyhELGvds6GJnJc+T0HDf2pIiEQnzzzTOkCxU+9/f6ODaaJhIyQmZ85+0JUokIH7u1h3fGMgtXQtFwiLbGKJlihbamGCEDM19za2OUkZk8JydzDE7l2LWxhW8fG2c6V+YndvUyly8zV6hw+4YWIiHjnUOvXP2wdM5d8gd4ADgK9ANfOM/jceDP64+/BGy91DZ3797tlmvfvn3LXne1Us1rg2peG66kZuCAW0JuX/IDVTMLA08AnwB2Ao+Y2c5zmn0OmHbObQd+G/iNlXjhERGR5VnKb8vcBfQ7544750rAU8BD57R5CPhf9dtfBT5i85+AiIjINbeUcN8ADC66P1Rfdt42zrkKMAt0rEQHRUTk8l3TD1TN7FHgUYDu7m7279+/rO1kMpllr7taqea1QTWvDdei5qWE+zCwadH9jfVl52szZGYRoAWYPHdDzrkngSfB/yrk3r17l9Fl2L9/P8tdd7VSzWuDal4brkXNS3lb5mVgh5n1mVkMeBh4+pw2TwOfrd/+NPB8/VNdERG5Di45c3fOVczsMeBZIAz8oXPuTTN7HP8rOU8DfwD8qZn1A1P4F4CrY/RNNp/6Khw8BakeCIVhdghyU9BzO2THoVaF3CScegG6bobmjRBPQSQOxTTMDECiGVo2wunXoVaBcg4qJXBVsDA0dcL0Cdh0DxRmoOsWv72O7X6fGGRGwUL+Ng4a2vzteBIqRZg+Cfkpf3vHxyA/7dtM9kMo4te1kN/3qRd8HzfshmoZ5oZg7rTf3/r3sWHoIHxrP8SboTgHbX2Qm6jvH7+9/ueg4wa/j7nTsO4miCQgOwadN0JjOwy/AtFGSLRArQxjR/x+482+f43tvv5QBEppmDwO7dv88ShlIH3G19Pc67edPu0fB5g+Bc3rfd2tm6Gxwx/rZJffZ3bC972U9XXOnIJQ1K/b2O6PZzHj+9O0jvXDr8C+F/zxKM7B6Juw7T6/7UoB5kZ8XTMnYaLfL9vyfn8+xJr8WFeK0PtjUC35xwuzfrz7n4PtH4Fw3B/DUgY6d8DwQUh2++MTjkK54Md2dhiaOiDe4rcRbfDbLMz67UYS/pyKN/v+vvMc9H3o3XbxFEyd8HVWitDQCtWK33c8CXPD0LKJ1ulxeH3Mt40n4cwb0Ps+3y475s+HuRHfx8Lsu3VGE/74zAzADR/xxzjV7Y9nUydMvuPbhKJ+3BvaYOgAtG7xYxlt8OMTSfh1T78KqV5o3uD7PDsI5TyMH4X174NEqz8ukQaoFuHEt2HdLf7YmkHbVn9Mx4/5+6kef15lx6CpC1zNH4dYIxsHj8OB4zB13G8vfdqv032br6e9z58/9ec/4Zh/XlkINv64f+6fesHvo/NGmHwbkj0QCkEsCYU5v99Y0tcXT/majv8/f141tL5b68Qxf45vutu3ef0rvq8b90DHjvpz3/l+jL4JPbt8f2sV39/chN+3hXwNyW7/vDr1AnRuh9atcPQbNDXcd9Uict6q+4YqLz4Bz/7ble+QiMg1YRy+5fPs/EdfWt7aQf2GKnf8NC/M9fD+27fBzKCfFTW0+RnI1HE/W2lo96+wtYqfjU+941+twzH/yh1teHemUi1B0zo/28LVX8nb/GygmPavulveD5kx/6revN7PEPIzfnbiav5VeuBFP6O64cN+JlfK+VfqyeN+ZlDK+v6Hwn6fyW6/jUjc7zM9CrFGPxOLper7mPZXEsU0P3jlNe768D/wNZx6AUYPwW2f9rOw3JSfdcwM+NnvDR/2M/KGVr/tYtr3MxT1s8tY0s9uWzb62zh/9ZCf8fudGQDMX/WEIjD0sp+RlrK+1uKcn0E2dvjjmJ/2fWjd5Oso5/w2Y8l3ZzBzp31tjR1+1gV+bMz8LLBW8TPV0cP+iqNa4uALz7P74//YzxgzY352FY7Cmdf9jLqxzY9nY6c/TrWKnw2memDgJUiu88d5dsjPctv7/PY33Q39f+ev9Aqzvl7noHeXb7v+Dr+dYrq+/XZf8+ywv0qJNfmxdlVf4/QJP2uLNfmZ8vQJePP/wt3/DDLjkB7xs9pYk78KDEX8+LRv89svzPjzr5Tl0GsHuW33vf6KMTMK42/5q4hES/1qKuNvZyf8TLha8lepXbf4utNn/P38jJ+pF+b8MW7sgO5b68+H437bsSa/31rF325a58+vUsafp8nVxNyWAAAFX0lEQVQePxMtzPltNW/wxysU9vuxkD/XGzv9lUfHdn/OzZ32M+VSrj6uKd/3+SuneKretg2mT/LKgR9w570f8o/lpvw52r7Nn1dtW/2YJVrqV+mD0LLJnxPVom+f7Pb7rVX8Op03+nGcGfTb7N7p92lhP9bVor96mBvxx61W9uMG/hjm6h8X5qd9jakev59oo38egT8es8P+mDW2+7aJlvqV8vi7V+TlvO9380aYOFq/6l3P2OFRzv2y0EpbfTN39AHMWqGa1wbVfHmWOnPXf/krIhJACncRkQBSuIuIBJDCXUQkgBTuIiIBpHAXEQkghbuISAAp3EVEAui6fYnJzMaBU8tcvROYWMHurAaqeW1QzWvDldS8xTm37lKNrlu4XwkzO7CUb2gFiWpeG1Tz2nAtatbbMiIiAaRwFxEJoNUa7k9e7w5cB6p5bVDNa8NVr3lVvucuIiIXt1pn7iIichGrLtzN7AEzO2pm/Wb2hevdn5ViZpvMbJ+ZHTazN83sl+rL283s78zs7fq/bfXlZma/Wz8Or5vZnde3guUxs7CZ/dDMvl6/32dmL9Xr+vP63+3FzOL1+/31x7dez34vl5m1mtlXzewtMztiZveugTH+V/Vz+pCZfdnMEkEcZzP7QzMbM7NDi5Zd9tia2Wfr7d82s8+eb19LsarC3czCwBPAJ4CdwCNmdrX/oMm1UgF+2Tm3E7gH+MV6bV8AnnPO7QCeq98Hfwx21H8eBX7v2nd5RfwScGTR/d8Afts5tx2YBj5XX/45YLq+/Lfr7Vaj3wH+1jl3M/Bj+NoDO8ZmtgH4F8Ae59xt+L/D/DDBHOc/Bh44Z9llja2ZtQO/BtwN3AX82vwLwmVzzq2aH+Be4NlF978IfPF69+sq1fo14KPAUaC3vqwXOFq//fvAI4vaL7RbLT/AxvoJ/2Hg6/i/ND4BRM4db/wfaL+3fjtSb2fXu4bLrLcFOHFuvwM+xhuAQaC9Pm5fBz4e1HEGtgKHlju2wCPA7y9afla7y/lZVTN33j1R5g3VlwVK/VL0DuAloNs5d7r+0Bmgu347CMfivwL/Bqj/YUo6gBnnXKV+f3FNC/XWH5+tt19N+oBx4I/qb0X9TzNrIsBj7JwbBv4LMACcxo/bQYI9zotd7tiu2JivtnAPPDNLAv8H+JfOubnFjzn/Uh6IX28ys08CY865g9e7L9dQBLgT+D3n3B1Alncv04FgjTFA/S2Fh/AvbOuBJt771sWacK3HdrWF+zCwadH9jfVlgWBmUXyw/2/n3F/WF4+aWW/98V5grL58tR+LDwCfMrOTwFP4t2Z+B2g1s0i9zeKaFuqtP94CTF7LDq+AIWDIOfdS/f5X8WEf1DEGuB844Zwbd86Vgb/Ej32Qx3mxyx3bFRvz1RbuLwM76p+0x/AfzDx9nfu0IszMgD8AjjjnfmvRQ08D85+Yfxb/Xvz88s/UP3W/B5hddPn3I88590Xn3Ebn3Fb8OD7vnPsnwD7g0/Vm59Y7fxw+XW+/qma4zrkzwKCZ3VRf9BHgMAEd47oB4B4za6yf4/M1B3acz3G5Y/ss8DEza6tf9XysvuzyXe8PIJbxgcWDwDHgHeBXrnd/VrCuD+Iv2V4HXq3/PIh/v/E54G3gW0B7vb3hf3PoHeAN/G8jXPc6lln7XuDr9dvbgB8A/cBfAPH68kT9fn/98W3Xu9/LrPV9wIH6OP8V0Bb0MQb+PfAWcAj4UyAexHEGvoz/XKGMv0r73HLGFvin9fr7gZ9bbn/0DVURkQBabW/LiIjIEijcRUQCSOEuIhJACncRkQBSuIuIBJDCXUQkgBTuIiIBpHAXEQmg/w9+wxy0Yu9zpAAAAABJRU5ErkJggg==\n", 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\n", 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\n", "text/plain": [ "
" ] }, "metadata": { "needs_background": "light" }, "output_type": "display_data" } ], "source": [ "print('Accel -----------------')\n", "std(accel)\n", "print('Mags ------------------')\n", "std(mags)\n", "print('Gyros -----------------')\n", "std(gyros)" ] }, { "cell_type": "code", "execution_count": 45, "metadata": {}, "outputs": [ { "data": { "text/plain": [ "0.00416666664" ] }, "execution_count": 45, "metadata": {}, "output_type": "execute_result" } ], "source": [ "hz=11.5740740e-6 # Hz, earth rotation\n", "hz*2*pi/pi*180" ] }, { "cell_type": "code", "execution_count": 11, "metadata": {}, "outputs": [], "source": [ "ahrs = AHRS()" ] }, { "cell_type": "code", "execution_count": 18, "metadata": {}, "outputs": [], "source": [ "save = []\n", "ot = 0\n", "q = Quaternion(1,0,0,0)\n", "\n", "for a,m,g,t in zip(accel, mags, gyros,imutime):\n", " #q = ahrs.updateAGM(a,m,g,1,t-ot)\n", " q = ahrs.updateAG(a,g,.1,t-ot)\n", " o = quat2euler(*q, degrees=True)\n", " save.append(o)\n", " ot = t" ] }, { "cell_type": "code", "execution_count": 19, "metadata": {}, "outputs": [ { "data": { "image/png": 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\n", 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" ] }, "metadata": { "needs_background": "light" }, "output_type": "display_data" } ], "source": [ "plt.plot(imutime, [x[0] for x in save], label='x')\n", "plt.plot(imutime, [x[1] for x in save], label='y')\n", "plt.plot(imutime, [x[2] for x in save], label='z')\n", "plt.legend()\n", "plt.grid(True)\n", "plt.show()" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "# Move" ] }, { "cell_type": "code", "execution_count": 20, "metadata": {}, "outputs": [], "source": [ "data = pickle.load(open(\"data/imu-move.pickle\", \"rb\"))" ] }, { "cell_type": "code", "execution_count": 21, "metadata": {}, "outputs": [], "source": [ "accel = [x[0][0] for x in data['imu']]\n", "mags = [x[0][1] for x in data['imu']]\n", "gyros = [x[0][2] for x in data['imu']]\n", "imutime = [x[1] for x in data['imu']]" ] }, { "cell_type": "code", "execution_count": 36, "metadata": {}, "outputs": [], "source": [ "save = []\n", "ot = 0\n", "q = Quaternion(1,0,0,0)\n", "\n", "for a,m,g,t in zip(accel, mags, gyros,imutime):\n", " #q = ahrs.updateAGM(a,m,g,.01,t-ot)\n", " q = ahrs.updateAG(a,g,.1,t-ot)\n", " o = quat2euler(*q, degrees=True)\n", " save.append(o)\n", " ot = t" ] }, { "cell_type": "code", "execution_count": 37, "metadata": {}, "outputs": [ { "data": { "image/png": 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\n", 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" ] }, "metadata": { "needs_background": "light" }, "output_type": "display_data" } ], "source": [ "plt.plot(imutime, [x[0] for x in save], label='x')\n", "plt.plot(imutime, [x[1] for x in save], label='y')\n", "plt.plot(imutime, [x[2] for x in save], label='z')\n", "plt.legend()\n", "plt.grid(True)\n", "plt.show()" ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [] } ], "metadata": { "kernelspec": { "display_name": "Python 3", "language": "python", "name": "python3" }, "language_info": { "codemirror_mode": { "name": "ipython", "version": 3 }, "file_extension": ".py", "mimetype": "text/x-python", "name": "python", "nbconvert_exporter": "python", "pygments_lexer": "ipython3", "version": "3.7.0" } }, "nbformat": 4, "nbformat_minor": 2 }