2021-04-01

Author: rodralez

performance_analysis/imu_test_normality.m

@@ -1,4 +1,4 @@
-function pd = imu_test_normality(imu_sta, cdf)
+function pd = imu_test_normality(imu_sta, dec, cdf)
 % imu_test_normality: performs normality analysis on static inertial
 % measurements.
 %
@@ -8,6 +8,7 @@
 %       wb: Nx3 turn rates [X Y Z] (rad/s).
 %       t: Nx1 time vector (s).
 %
+%   dec, decimation factor (integer)
 %   cdf, 'ON' or 'OFF' (string)
 %
 % OUTPUT
@@ -34,23 +35,26 @@
 % References:
 %
 %
-% Version: 001
-% Date:    2021/03/05
+% Version: 002
+% Date:    2021/04/01
 % Author:  Rodrigo Gonzalez <[email protected]>
 % URL:     https://github.com/rodralez/navego
 
-if nargin < 2, cdf = 'OFF', end
+if nargin < 2, dec = 100; end
+
+if nargin < 3, cdf = 'OFF'; end
+
+fprintf('imu_test_normality: CDF test is %s.\n', cdf );
 
 %% Test of normality for inertial sensors
 %%
 
-% Decimation or downsampling
-DEC = 100;
+dec = floor(dec);       % Force dec to be integer
 
-fprintf('imu_test_normality: downsampling ratio is %d.\n', DEC );
+fprintf('imu_test_normality: downsampling ratio is %d.\n', dec );
 
-imu_ds.fb = imu_sta.fb(1:DEC:end, :);
-imu_ds.wb = imu_sta.wb(1:DEC:end, :);
+imu_ds.fb = imu_sta.fb(1:dec:end, :);
+imu_ds.wb = imu_sta.wb(1:dec:end, :);
 
 for i=1:3
 
@@ -60,12 +64,12 @@
 
     x_label = sprintf('FB %d SAMPLES', i);
     x_title = sprintf('FB %d HISTOGRAM', i);
-    plot_histogram (data, pd, x_label, x_title);
+    plot_histogram (data, pd(i), x_label, x_title);
 
     if ( strcmp(cdf, 'ON') )
         x_label = sprintf('FB %d SAMPLES', i);
         x_title = sprintf('FB %d NORMAL CUMULATIVE DISTRIBUTION', i);
-        plot_cdf (data, pd_imu_fb(i), x_label, x_title);
+        plot_cdf (data, pd(i), x_label, x_title);
     end
 end
 
@@ -77,11 +81,11 @@
 
     x_label = sprintf('WB %d SAMPLES', i);
     x_title = sprintf('WB %d HISTOGRAM', i);
-    plot_histogram (data, pd, x_label, x_title);
+    plot_histogram (data, pd(i+3), x_label, x_title);
 
     if ( strcmp(cdf, 'ON') )
-        x_label = sprintf('FB %d SAMPLES', i);
+        x_label = sprintf('WB %d SAMPLES', i);
         x_title = sprintf('WB %d NORMAL CUMULATIVE DISTRIBUTION', i);
-        plot_cdf (data, pd_imu_wb(i), x_label, x_title);
+        plot_cdf (data, pd(i+3), x_label, x_title);
     end
 end

performance_analysis/plot_histogram.m

@@ -36,7 +36,7 @@ function plot_histogram (samples, pd, x_label, x_title)
 % Version: 004
 % Date:    2021/03/02
 % Author:  Rodrigo Gonzalez <[email protected]>
-% URL:     https://github.com/rodralez/navego
+% URL:     https://github.com/rodralez/navego`
 
 N = length(samples);