#!/bin/python

import matplotlib as mpl

import matplotlib.pyplot as plt

import matplotlib.cbook as cbook

import numpy as np

import math

data = np.genfromtxt('OptFlowFuse.txt', delimiter=' ', skip_header=1,

skip_footer=1, names=['time', 'ILOSX', 'VLOSX', 'ILOSY', 'VLOSY'])

figOptFlow = plt.figure()

ax1 = figOptFlow.add_subplot(211)

SLOSX = pow(data['VLOSX'],0.5)

ax1.set_title("Optical Flow Innovations")

ax1.set_xlabel('time (s)')

ax1.set_ylabel('X LOS rate (rad/sec)')

ax1.plot(data['time'], data['ILOSX'], color='b')

ax1.plot(data['time'], SLOSX, color='r')

ax1.plot(data['time'], -SLOSX, color='r')

ax2 = figOptFlow.add_subplot(212)

SLOSY = pow(data['VLOSY'],0.5)

ax2.set_xlabel('time (s)')

ax2.set_ylabel('Y LOS rate (rad/sec)')

ax2.plot(data['time'], data['ILOSY'], color='b')

ax2.plot(data['time'], SLOSY, color='r')

ax2.plot(data['time'], -SLOSY, color='r')

plt.show()