[py] Improved plots

python/LQR_infHor.py

@@ -92,7 +92,7 @@ reproducitons = []
 
 for i in range(param.nbRepros):
     xt = np.zeros(param.nbVar)
-    xt[:param.nbVarPos] = 1+np.random.uniform(param.nbVarPos)/2 
+    xt[:param.nbVarPos] = 1+np.random.uniform(param.nbVarPos)*2 
     xs = [copy.deepcopy(xt)]
     for t in range(param.nbData):
         u = L @ (param.Mu - xt)
@@ -111,4 +111,21 @@ for r in reproducitons:
 plot_gaussian(param.Mu[:param.nbVarPos],xCov)
 plt.axis("off")
 plt.gca().set_aspect('equal', adjustable='box')
+
+fig,axs = plt.subplots(5)
+
+for r in reproducitons:
+    axs[0].plot(r[:,0],c="black",alpha=.4,linestyle="dashed")
+    axs[1].plot(r[:,1],c="black",alpha=.4,linestyle="dashed")    
+    axs[2].plot(r[:,2],c="black",alpha=.4,linestyle="dashed")
+    axs[3].plot(r[:,3],c="black",alpha=.4,linestyle="dashed")
+    axs[4].plot(np.linalg.norm(r[:,2:4],axis=1),c="black",alpha=.4,linestyle="dashed")
+
+axs[0].set_ylabel("$x_1$")
+axs[1].set_ylabel("$x_2$")
+axs[2].set_ylabel("$\dot{x}_1$")
+axs[3].set_ylabel("$\dot{x}_2$")
+axs[4].set_ylabel("$| \dot{x} |$")
+plt.xlabel("T")
+
 plt.show()