| function sm_wheel_loader_plot5steer(simlog_WL,logsout_str)
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| figString = ['h1_' mfilename];
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| figExist = 0;
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| fig_hExist = evalin('base',['exist(''' figString ''')']);
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| if (fig_hExist)
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| figExist = evalin('base',['ishandle(' figString ') && strcmp(get(' figString ', ''type''), ''figure'')']);
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| end
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| if ~figExist
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| fig_h = figure('Name',figString);
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| assignin('base',figString,fig_h);
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| else
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| fig_h = evalin('base',figString);
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| end
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| figure(fig_h)
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| clf(fig_h)
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| simlog_t = squeeze(logsout_str.Steer.p.Time);
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| simlog_pSteer = squeeze(logsout_str.Steer.p.Data);
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| simlog_fSteer = squeeze(logsout_str.Steer.force.Data);
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| simlog_qCha = simlog_WL.Vehicle.Revolute_Front_Rear.Rz.q.series.values('deg');
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| simlog_vx = simlog_WL.Body_to_World.Px.v.series.values('km/hr');
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| simlog_vy = simlog_WL.Body_to_World.Py.v.series.values('km/hr');
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| simlog_vveh = sqrt(simlog_vx.^2+simlog_vy.^2);
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| ah(1) = subplot(2,1,1);
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| yyaxis left
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| plot(simlog_t, simlog_qCha,'LineWidth', 1,'DisplayName','Chassis Angle')
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| ylabel('Position (m) ')
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| grid on
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| yyaxis right
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| plot(simlog_t, simlog_vveh,'LineWidth', 1,'DisplayName','Vehicle Speed')
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| ylabel('Speed (km/h) ')
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| title('Actuator Positions')
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| legend('Location','Best');
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| ah(2) = subplot(2,1,2);
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| plot(simlog_t, simlog_fSteer,'LineWidth', 1,'DisplayName','Force')
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| grid on
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| title('Actuator Forces')
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| ylabel('Force (N)')
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| xlabel('Time (s)')
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| linkaxes(ah,'x')
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