Done formatting admittance controller plots

Estimation/plotHapticForceEstimate.m

-function [] = plotHapticForceEstimate(data, location)
+function [f] = plotHapticForceEstimate(data, location,lw,fs)
 %plotHapticForceEstimate
    %% 4) Plot Results
-    figure();
+    f = figure();
     dims = {'X','Y','Z'};
     for i=1:3
         subplot(3,1,i);
-        plot(data.tout,data.F_user_est(:,i));
+        plot(data.tout,data.F_user_est(:,i),'LineWidth',lw);
         hold on;
-        plot(data.tout,data.F_user(:,i));
+        plot(data.tout,data.F_user(:,i),'LineWidth',lw);
 %         plot(data.tout,data.F_user_est_unfilt(:,i),'--');
         hold off;
         legend('Estimate','Actual');
 %         legend('Estimate','Actual','Unfiltered Estimate');
         xlabel('Time (s)');
-        ylabel('Force (N)');
-        title([dims{i} ' Direction - Haptic Force Input']);
+        ylabel([dims{i} '-dir (N)']);
+%         title([dims{i} ' Direction - Haptic Force Input']);
+        ax = gca;
+        ax.FontSize = fs;
     end
     
     movegui(location);

Plotting/helper_functions/plot_position.m

-function [f] = plot_position(T,X,Xd,title_string,location)
+function [f] = plot_position(T,X,Xd,title_string,location,lw,fs)
 
     f = figure();
 
     subplot(3,1,1);
-    plot(T,X(:,1));
+    plot(T,X(:,1),'LineWidth',lw);
     hold on;
-    plot(T,Xd(:,1),'r--');
+    plot(T,Xd(:,1),'r--','LineWidth',lw);
     hold off;
     ylabel('x (m)');
     title(title_string);
     legend('Actual','Desired','Location','Best');
+    ax = gca;
+    ax.FontSize = fs;
 
     subplot(3,1,2);
-    plot(T,X(:,2));
+    plot(T,X(:,2),'LineWidth',lw);
     hold on;
-    plot(T,Xd(:,2),'r--');
+    plot(T,Xd(:,2),'r--','LineWidth',lw);
     hold off;
     ylabel('y (m)');
     legend('Actual','Desired','Location','Best');
+    ax = gca;
+    ax.FontSize = fs;
 
     subplot(3,1,3);
-    plot(T,X(:,3));
+    plot(T,X(:,3),'LineWidth',lw);
     hold on;
-    plot(T,Xd(:,3),'r--');
+    plot(T,Xd(:,3),'r--','LineWidth',lw);
     hold off;
     ylabel('z (m)');
     xlabel('Time (s)');
     legend('Actual','Desired','Location','Best');
+    ax = gca;
+    ax.FontSize = fs;
     
     movegui(location);
 

Plotting/helper_functions/plot_velocity.m

-function [] = plot_velocity(T,X,Xd,title_string,location)
+function [f] = plot_velocity(T,X,Xd,title_string,location,lw,fs)
 
-    figure();
+    f = figure();
 
     subplot(3,1,1);
-    plot(T,X(:,4));
+    plot(T,X(:,4),'LineWidth',lw);
     hold on;
-    plot(T,Xd(:,4),'r--');
+    plot(T,Xd(:,4),'r--','LineWidth',lw);
     hold off;
-    ylabel('x_{dot} (m/s)');
+%     ylabel('x_{dot} (m/s)');
+    ylabel('$\dot{x}$ (m/s)', 'Interpreter','latex');
     title(title_string);
     legend('Actual','Desired');
+    ax = gca;
+    ax.FontSize = fs;
 
     subplot(3,1,2);
-    plot(T,X(:,5));
+    plot(T,X(:,5),'LineWidth',lw);
     hold on;
-    plot(T,Xd(:,5),'r--');
+    plot(T,Xd(:,5),'r--','LineWidth',lw);
     hold off;
-    ylabel('y_{dot} (m/s)');
+%     ylabel('y_{dot} (m/s)');
+    ylabel('$\dot{y}$ (m/s)', 'Interpreter','latex');
     legend('Actual','Desired');
+    ax = gca;
+    ax.FontSize = fs;
 
     subplot(3,1,3);
-    plot(T,X(:,6));
+    plot(T,X(:,6),'LineWidth',lw);
     hold on;
-    plot(T,Xd(:,6),'r--');
+    plot(T,Xd(:,6),'r--','LineWidth',lw);
     hold off;
-    ylabel('z_{dot} (m/s)');
+%     ylabel('z_{dot} (m/s)');
+    ylabel('$\dot{z}$ (m/s)', 'Interpreter','latex');
     xlabel('Time (s)');
     legend('Actual','Desired');
+    ax = gca;
+    ax.FontSize = fs;
 
     movegui(location);
 end

Plotting/paper_plot_functions/paper_plot_admittance_control.m

 function [] = paper_plot_admittance_control(d)
 %PAPER_PLOT_ADMITTANCE_CONTROL
 
+    lw = 2; %line width
+    fs = 12; %font size
+
     %% 1) Payload Position
-    f = plot_position(d.tout, d.payload_X, d.Xd_load,'','northwest');
+    f = plot_position(d.tout, d.payload_X, d.Xd_load,'','northwest',lw,fs);
     
     % Adjust ylims
-    extra_ylims = [-0.05, 0.05];
-    f.Children(6).YLim = f.Children(6).YLim + extra_ylims; %x
-    f.Children(4).YLim = f.Children(4).YLim + extra_ylims; %y
-    f.Children(2).YLim = f.Children(2).YLim + extra_ylims; %z
+    f.Children(6).YLim = [-0.1, 0.6]; %x
+    f.Children(4).YLim = [-0.1, 0.1]; %y
+    f.Children(2).YLim = [1.4, 1.6]; %z
+%     extra_ylims = [-0.05, 0.05];
+%     f.Children(6).YLim = f.Children(6).YLim + extra_ylims; %x
+%     f.Children(4).YLim = f.Children(4).YLim + extra_ylims; %y
+%     f.Children(2).YLim = f.Children(2).YLim + extra_ylims; %z
     
     % Adjust font size and boldness
     
     % Adjust line widths
     
     % Save the plot
+    saveas(f,'Plotting/saved_plots/sim_payload_position.png')
+    saveas(f,'Plotting/saved_plots/sim_payload_position.eps')
     
     %% 2) Payload Velocity
-    plot_velocity(d.tout, d.payload_X, d.Xd_load,'','northeast');
+    f = plot_velocity(d.tout, d.payload_X, d.Xd_load,'','northeast',lw,fs);
+    
+    % Adjust ylims
+    f.Children(6).YLim = [-0.1, 0.2]; %x
+    f.Children(4).YLim = [-0.1, 0.1]; %y
+    f.Children(2).YLim = [-0.1, 0.1]; %z
+    
+    % Adjust font size and boldness
+    
+    % Adjust line widths
+    
+    % Save the plot
+    saveas(f,'Plotting/saved_plots/sim_payload_velocity.png')
+    saveas(f,'Plotting/saved_plots/sim_payload_velocity.eps')
 
     %% 3) Haptic Force Estimate
-    plotHapticForceEstimate(d,'southwest');
-
+    f = plotHapticForceEstimate(d,'southwest',lw,fs);
+    
+        % Adjust ylims
+    f.Children(6).YLim = [-0.1, 0.6]; %x
+    f.Children(4).YLim = [-0.1, 0.1]; %y
+    f.Children(2).YLim = [-0.1, 0.1]; %z
+    
+    % Adjust font size and boldness
+    
+    % Adjust line widths
+    
+    % Save the plot
+    saveas(f,'Plotting/saved_plots/sim_haptic_force_estimate.png')
+    saveas(f,'Plotting/saved_plots/sim_haptic_force_estimate.eps')
 
 end