Update psp plot with recent results

diff --git a/scripts/plot_psp.py b/scripts/plot_psp.py
index 37d4dd0fdf3be30970f537f7e9b49fe8cd18a624..eed42fcafe0cb7e5d63a7c3d8c5aa049dffd865a 100644 (file)
--- a/scripts/plot_psp.py
+++ b/scripts/plot_psp.py
@@ -1,17 +1,143 @@
 """Plot psp results."""
 import matplotlib.pyplot as plt
 
+RESULTS = [
+[4.210000,10,10],
+[4.220000,10,9],
+[4.230000,9,9],
+[4.240000,8,8],
+[4.250000,8,8],
+[4.260000,8,7],
+[4.270000,8,7],
+[4.280000,7,7],
+[4.290000,6,6],
+[4.300000,6,6],
+[4.310000,6,6],
+[4.320000,6,6],
+[4.330000,6,5],
+[4.340000,6,5],
+[4.350000,6,5],
+[4.360000,5,5],
+[4.370000,5,5],
+[4.380000,4,4],
+[4.390000,4,4],
+[4.400000,4,4],
+[4.410000,4,4],
+[4.420000,4,4],
+[4.430000,4,4],
+[4.440000,4,4],
+[4.450000,4,4],
+[4.460000,4,3],
+[4.470000,4,3],
+[4.480000,4,3],
+[4.490000,4,3],
+[4.500000,4,3],
+[4.510000,4,3],
+[4.520000,4,3],
+[4.530000,4,3],
+[4.540000,3,3],
+[4.550000,3,3],
+[4.560000,3,2],
+[4.570000,3,2],
+[4.580000,2,2],
+[4.590000,2,2],
+[4.600000,2,2],
+[4.610000,2,2],
+[4.620000,2,2],
+[4.630000,2,2],
+[4.640000,2,2],
+[4.650000,2,2],
+[4.660000,2,2],
+[4.670000,2,2],
+[4.680000,2,2],
+[4.690000,2,2],
+[4.700000,2,2],
+[4.710000,2,2],
+[4.720000,2,2],
+[4.730000,2,2],
+[4.740000,2,2],
+[4.750000,2,2],
+[4.760000,2,2],
+[4.770000,2,2],
+[4.780000,2,2],
+[4.790000,2,2],
+[4.800000,2,2],
+[4.810000,2,2],
+[4.820000,2,1],
+[4.830000,2,1],
+[4.840000,2,1],
+[4.850000,2,1],
+[4.860000,2,1],
+[4.870000,2,1],
+[4.880000,2,1],
+[4.890000,2,1],
+[4.900000,2,1],
+[4.910000,2,1],
+[4.920000,2,1],
+[4.930000,2,1],
+[4.940000,2,1],
+[4.950000,2,1],
+[4.960000,2,1],
+[4.970000,2,1],
+[4.980000,2,1],
+[4.990000,2,1],
+[5.000000,2,1],
+[5.010000,2,1],
+[5.020000,2,1],
+[5.030000,2,1],
+[5.040000,2,1],
+[5.050000,2,1],
+[5.060000,2,1],
+[5.070000,2,1],
+[5.080000,2,1],
+[5.090000,2,1],
+[5.100000,2,1],
+[5.110000,2,1],
+[5.120000,2,1],
+[5.130000,2,1],
+[5.140000,2,1],
+[5.150000,2,1],
+[5.160000,1,1],
+[5.170000,1,1],
+[5.180000,1,1],
+[5.190000,1,1],
+[5.200000,1,1],
+[5.210000,1,1],
+[5.220000,1,1],
+[5.230000,1,0],
+[5.240000,1,0],
+[5.250000,1,0],
+[5.260000,1,0],
+[5.270000,1,0],
+[5.280000,1,0],
+[5.290000,1,0],
+[5.300000,1,0],
+[5.310000,1,0],
+[5.320000,1,0],
+[5.330000,1,0],
+[5.340000,1,0],
+[5.350000,1,0],
+[5.360000,1,0],
+[5.370000,1,0],
+[5.380000,1,0],
+[5.390000,1,0],
+[5.400000,1,0],
+[5.410000,1,0],
+[5.420000,0,0],
+]
+
 def plot_graph():
+    plt.rcParams["font.family"] = "cmr10"
     plt.rcParams["font.size"] = 22
-    plt.rcParams["font.family"] = "sans-serif"
-    plt.rcParams["figure.figsize"] = [6, 4]
+    plt.rcParams['lines.linewidth'] = 2.0
+    plt.rcParams["figure.figsize"] = [12, 5]
     f, ax = plt.subplots()
     ax.set_title(TITLE)
 
     if GRID:
         ax.minorticks_on()
-        ax.grid(which="major", linestyle="-", linewidth="0.1", color="gray")
-        #ax.grid(which="minor", linestyle=":", linewidth="0.1", color="gray")
+        ax.grid(which="major", linestyle="-", linewidth="0.5", color="gray")
+        ax.grid(which="minor", linestyle=":", linewidth="0.5", color="gray")
     if YLOG:
         ax.set_yscale("log")
     if YLIM:
@@ -21,67 +147,36 @@ def plot_graph():
     ax.set_ylabel(YLABEL)
 
     for i in PLOT:
-        plt.plot(i[0], i[1])
+        lstyle = "-"
+        lcolor = "blue"
+        if PLOT.index(i) == 0:
+            lstyle = "--"
+            lcolor = "orange"
+        plt.plot(i[0], i[1], linestyle=lstyle, color=lcolor)
 
     plt.legend(LEGEND)
     plt.savefig(FILE, bbox_inches="tight")
     plt.close()
 
 # cusp
-TITLE = "Number of direction changes"
-XLABEL = "Free space [m]"
-YLABEL = "Number of changes [-]"
+TITLE = "``Several reversed trials'' planner"
+XLABEL = "Parking slot length [m]"
+YLABEL = "Backward-forward changes [-]"
 LEGEND = [
-    "Reversed",
-    "BFS",
+    "Naive guess for goal configuration",
+    "Goal configuration by in-slot planner",
 ]
-FILE = "/home/jiri/phd/j1/figs/psp_cusp.eps"
+FILE = "/home/jiri/phd/j1/figs/psp_cusp.pdf"
 GRID = True
 YLOG = False
 YLIM = False
 
 PLOT = []
-PLOT.append([
-    [0.4,0.5,0.6,0.7,0.8,0.9,1,1.1,1.2,1.3,1.4,1.5,1.6,1.7],
-# use ``for i in `cat stats | cut -d, -f2`; do echo $i,; done`` to generate
-[
-16,
-8,
-6,
-4,
-4,
-2,
-2,
-2,
-2,
-2,
-2,
-2,
-2,
-0,
-],
-])
-PLOT.append([
-    [0.4,0.5,0.6,0.7,0.8,0.9,1,1.1,1.2,1.3,1.4,1.5,1.6,1.7],
-[
-16,
-8,
-5,
-3,
-3,
-2,
-2,
-1,
-1,
-1,
-1,
-0,
-0,
-0,
-],
-])
+PLOT.append([[i for (i, j, k) in RESULTS], [j for (i, j, k) in RESULTS]])
+PLOT.append([[i for (i, j, k) in RESULTS], [k for (i, j, k) in RESULTS]])
 plot_graph()
 
+""" SKIP
 # time
 TITLE = "Elapsed time of search"
 XLABEL = "Free space [m]"
@@ -138,3 +233,4 @@ PLOT.append([
 ])
 
 plot_graph()
+"""