From be61d9fa629fdca7abf6b3bfd67c7f8ebae60040 Mon Sep 17 00:00:00 2001
From: michinarikake <>
Date: Fri, 20 Sep 2024 17:41:21 +0900
Subject: [PATCH 1/2] add plot code

---
 .../Plot/plot_relative_position_error_rtn.py  | 97 +++++++++++++++++++
 1 file changed, 97 insertions(+)
 create mode 100644 s2e-ff/scripts/Plot/plot_relative_position_error_rtn.py

diff --git a/s2e-ff/scripts/Plot/plot_relative_position_error_rtn.py b/s2e-ff/scripts/Plot/plot_relative_position_error_rtn.py
new file mode 100644
index 0000000..5a1a08c
--- /dev/null
+++ b/s2e-ff/scripts/Plot/plot_relative_position_error_rtn.py
@@ -0,0 +1,97 @@
+#
+# Import
+#
+import numpy as np
+import matplotlib.pyplot as plt
+from mpl_toolkits.mplot3d import Axes3D
+# local function
+from common import find_latest_log_tag, read_3d_vector_from_csv, read_scalar_from_csv
+# csv read
+import pandas
+# arguments
+import argparse
+
+#
+# Read Arguments
+#
+aparser = argparse.ArgumentParser()
+
+aparser.add_argument('--logs-dir', type=str, help='logs directory like "../../data/logs"', default='../../data/logs')
+aparser.add_argument('--file-tag', type=str, nargs='+', help='log file tag(s) like 220627_142946')  # Allow multiple file-tags
+aparser.add_argument('--reference-file', type=str, help='reference log file tag')
+aparser.add_argument('--no-gui', action='store_true')
+
+args = aparser.parse_args()
+
+# log file path
+path_to_logs = args.logs_dir
+
+# Check if file-tags are provided, otherwise find the latest log file
+read_file_tags = args.file_tag
+if read_file_tags is None:
+    print("file tag does not found. Using the latest log file.")
+    latest_tag = find_latest_log_tag(path_to_logs)
+    read_file_tags = [latest_tag]  # Wrap it in a list to keep consistency
+
+ref_file_tag = args.reference_file
+if ref_file_tag is None:
+    print("reference file tag not found. Exiting.")
+    exit(1)
+
+print("logs: " + ', '.join(read_file_tags))
+print("reference log: " + ref_file_tag)
+
+#
+# CSV file name for reference
+#
+ref_file_name = path_to_logs + '/' + 'logs_' + ref_file_tag + '/' + ref_file_tag + '_default.csv'
+
+#
+# Data read and edit
+#
+# Read reference file data
+ref_d1 = read_3d_vector_from_csv(ref_file_name, 'satellite1_position_from_satellite0_rtn', 'm')
+
+# Prepare to plot for each file
+all_errors = []
+time = None  # Assuming time is the same for all files
+
+# Iterate over each file-tag provided
+for read_file_tag in read_file_tags:
+    # Construct file path for each file-tag
+    read_file_name = path_to_logs + '/' + 'logs_' + read_file_tag + '/' + read_file_tag + '_default.csv'
+    
+    # Read S2E CSV for the current file
+    d1 = read_3d_vector_from_csv(read_file_name, 'satellite1_position_from_satellite0_rtn', 'm')
+    
+    # Read time data (assuming time is the same for all files)
+    if time is None:
+        time = read_scalar_from_csv(read_file_name, 'elapsed_time[s]')[0]
+    
+    # Calculate error between reference and target
+    error = np.array(d1) - np.array(ref_d1)
+    all_errors.append((read_file_tag, error))  # Store error along with the file tag
+
+#
+# Plot
+#
+fig = plt.figure(figsize=(5, 5))
+ax = fig.add_subplot(111)
+ax.set_title("Relative Position Error Over Time")
+ax.set_xlabel("Time [s]")
+ax.set_ylabel("Error [m]")
+
+# Plot error magnitude for each file-tag
+for file_tag, error in all_errors:
+    error_magnitude = np.linalg.norm(error, axis=0)
+    ax.plot(time, error_magnitude, label=f"File {file_tag}")
+
+# Add grid and legend for better readability
+ax.grid(True)
+ax.legend()
+
+# Save or show the plot based on args
+if args.no_gui:
+    plt.savefig('_'.join(read_file_tags) + "_position_error_over_time.png")
+else:
+    plt.show()

From 211885b2daf0b332106be327e55e5849f832f1ac Mon Sep 17 00:00:00 2001
From: michinarikake <>
Date: Fri, 20 Sep 2024 17:56:48 +0900
Subject: [PATCH 2/2] change submodule commit hash

---
 s2e-core | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/s2e-core b/s2e-core
index 5d273de..b917e40 160000
--- a/s2e-core
+++ b/s2e-core
@@ -1 +1 @@
-Subproject commit 5d273de563053699d1b61a2ef6b17c37ceb82879
+Subproject commit b917e403798b3f4d3d0ff68e95788c3676287e73