test_dataset.py 文件源码

def test_step(self):
        # Step
        a_B_history = self.dataset.a_B
        w_B_history = self.dataset.w_B

        for i in range(30):
            (a_B, w_B) = self.dataset.step()
            a_B_history = np.hstack((a_B_history, a_B))
            w_B_history = np.hstack((w_B_history, w_B))

        # Plot
        debug = False
        # debug = True
        if debug:
            plt.subplot(211)
            plt.plot(self.dataset.time_true, a_B_history[0, :], label="ax")
            plt.plot(self.dataset.time_true, a_B_history[1, :], label="ay")
            plt.plot(self.dataset.time_true, a_B_history[2, :], label="az")
            plt.legend(loc=0)

            plt.subplot(212)
            plt.plot(self.dataset.time_true, w_B_history[0, :], label="wx")
            plt.plot(self.dataset.time_true, w_B_history[1, :], label="wy")
            plt.plot(self.dataset.time_true, w_B_history[2, :], label="wz")
            plt.legend(loc=0)
            plt.show()