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scope.xml
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<?xml version="1.0" encoding="UTF-8" ?>
<portscope rows="4" columns="1" carrier="tcp">
<plot gridx="0"
gridy="0"
hspan="1"
vspan="1"
title="Position [deg]"
size="1000"
minval="0"
maxval="80"
bgcolor="White">
<graph remote="/yarpMinJerk/data:o"
index="0"
color="Red"
title="Reference"
type="lines"
size="1" />
<graph remote="/yarpMinJerk/data:o"
index="1"
color="Green"
title="Plant-Reference"
type="lines"
size="1" />
<graph remote="/yarpMinJerk/data:o"
index="2"
color="Blue"
title="Plant-Output"
type="lines"
size="1" />
</plot>
<plot gridx="0"
gridy="1"
hspan="1"
vspan="1"
title="Velocity [deg/s]"
size="1000"
minval="-80"
maxval="80"
bgcolor="White">
<graph remote="/yarpMinJerk/data:o"
index="3"
color="Green"
title="Controller-Reference"
type="lines"
size="1" />
<graph remote="/yarpMinJerk/data:o"
index="4"
color="Blue"
title="Controller-Output"
type="lines"
size="1" />
</plot>
<plot gridx="0"
gridy="2"
hspan="1"
vspan="1"
title="Error Statistics"
size="1000"
minval="-0.1"
maxval="2.0"
bgcolor="White">
<graph remote="/yarpMinJerk/data:o"
index="5"
color="Blue"
title="Error-Statistics"
type="lines"
size="1" />
</plot>
<plot gridx="0"
gridy="3"
hspan="1"
vspan="1"
title="Compensator State"
size="1000"
minval="-1"
maxval="2"
bgcolor="White">
<graph remote="/yarpMinJerk/data:o"
index="6"
color="Blue"
title="Compensator-State"
type="lines"
size="1" />
</plot>
</portscope>