import matplotlib.pyplot as plt
import numpy as np
import os

from matplotlib import rc
#rc('font',**{'family':'sans-serif','sans-serif':['Helvetica']})
rc('text', usetex=True)


if 'Zion' in os.popen('hostname').read():
    user = 'yeye'
    np.set_printoptions(threshold=5)
if 'fwn-bborg-5-166' in os.popen('hostname').read():
    user = 'p283370'
    

Tf          = 0.9
masterpath  = '/home/'+user+'/Desktop/kalman/results/'
######################################################################
   
theta1     =   np.loadtxt( masterpath + 'theta.txt')
t           =   np.linspace(0,Tf,theta1.size)
theta_real  =   t*0 - 60 

#theta1      =   2**(theta1)
#theta2      =   2**(ltheta2)
#theta3      =   2**(ltheta3)

plt.figure(figsize=(10, 6), dpi=100)
plt.plot(t,theta1,'-',linewidth=2,label= r'$\theta_1 = $' + str(round(theta1[-1],2)) )
#plt.plot(t,theta1_s,'o-',linewidth=2,label= r'$\theta_1 stokes = $' + str(round(theta1_s[-1],2)) ) 
#plt.plot(t,theta2,'o-',linewidth=2,label= r'$\theta_2 = $' + str(round(theta2[-1],2)) ) 
#plt.plot(t,theta3,'o-',linewidth=2,label= r'$\theta_3 = $' + str(round(theta3[-1],2)) ) 

plt.plot(t,theta_real,'-k',linewidth=2,label= r'$real = $' + str( theta_real[-1] ) ) 


plt.xlabel(r'$time \ \ \ (s)$',fontsize=20)
plt.ylabel(r'$ \theta $',fontsize=20)
plt.legend(fontsize=14)
#plt.title(r'$\sigma = 0.101 $',fontsize =20 )
plt.show()