From 3ab6c67376dc23911872269f2ba840a3703b5353 Mon Sep 17 00:00:00 2001
From: jmaceiras <jeremy.maceiras@idiap.ch>
Date: Mon, 16 May 2022 08:35:33 +0200
Subject: [PATCH] [py] Improved plots
---
python/LQR_infHor.py | 19 ++++++++++++++++++-
1 file changed, 18 insertions(+), 1 deletion(-)
diff --git a/python/LQR_infHor.py b/python/LQR_infHor.py
index 52781ee..e0e53fb 100644
--- a/python/LQR_infHor.py
+++ b/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()
--
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