scripts/plot_psp.py

   1 """Plot psp results."""
   2 import matplotlib.pyplot as plt
   3
   4 def plot_graph():
   5     plt.rcParams["font.size"] = 22
   6     plt.rcParams["font.family"] = "sans-serif"
   7     plt.rcParams["figure.figsize"] = [6, 4]
   8     f, ax = plt.subplots()
   9     ax.set_title(TITLE)
  10
  11     if GRID:
  12         ax.minorticks_on()
  13         ax.grid(which="major", linestyle="-", linewidth="0.1", color="gray")
  14         #ax.grid(which="minor", linestyle=":", linewidth="0.1", color="gray")
  15     if YLOG:
  16         ax.set_yscale("log")
  17     if YLIM:
  18         ax.set_ylim(YLIM)
  19
  20     ax.set_xlabel(XLABEL)
  21     ax.set_ylabel(YLABEL)
  22
  23     for i in PLOT:
  24         plt.plot(i[0], i[1])
  25
  26     plt.legend(LEGEND)
  27     plt.savefig(FILE, bbox_inches="tight")
  28     plt.close()
  29
  30 # cusp
  31 TITLE = "Number of direction changes"
  32 XLABEL = "Free space [m]"
  33 YLABEL = "Number of changes [-]"
  34 LEGEND = [
  35     "Reversed",
  36     "BFS",
  37 ]
  38 FILE = "/home/jiri/phd/j1/figs/psp_cusp.eps"
  39 GRID = True
  40 YLOG = False
  41 YLIM = False
  42
  43 PLOT = []
  44 PLOT.append([
  45     [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],
  46 # use ``for i in `cat stats | cut -d, -f2`; do echo $i,; done`` to generate
  47 [
  48 16,
  49 8,
  50 6,
  51 4,
  52 4,
  53 2,
  54 2,
  55 2,
  56 2,
  57 2,
  58 2,
  59 2,
  60 2,
  61 0,
  62 ],
  63 ])
  64 PLOT.append([
  65     [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],
  66 [
  67 16,
  68 8,
  69 5,
  70 3,
  71 3,
  72 2,
  73 2,
  74 1,
  75 1,
  76 1,
  77 1,
  78 0,
  79 0,
  80 0,
  81 ],
  82 ])
  83 plot_graph()
  84
  85 # time
  86 TITLE = "Elapsed time of search"
  87 XLABEL = "Free space [m]"
  88 YLABEL = "Elapsed time [s]"
  89 LEGEND = [
  90     "Reversed",
  91     "BFS",
  92 ]
  93 FILE = "/home/jiri/phd/j1/figs/psp_time.eps"
  94 GRID = False
  95 YLOG = False
  96 YLIM = [0, 0.008]
  97
  98 PLOT = []
  99 PLOT.append([
 100     [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],
 101 [
 102 0.000265486,
 103 0.000227139,
 104 0.000185683,
 105 0.000164569,
 106 0.000159377,
 107 0.000150449,
 108 0.000156013,
 109 0.000162367,
 110 0.000170662,
 111 0.000180358,
 112 0.000190428,
 113 0.000164781,
 114 0.000143604,
 115 0.000126686,
 116 ],
 117
 118 ])
 119 PLOT.append([
 120     [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],
 121 [
 122 0.00744224,
 123 0.00442855,
 124 0.00324742,
 125 0.00195541,
 126 0.00177623,
 127 0.0016829,
 128 0.0016006,
 129 0.0011417,
 130 0.00106993,
 131 0.00103785,
 132 0.000948079,
 133 0.00072849,
 134 0.000691348,
 135 0.000705111,
 136 ],
 137
 138 ])
 139
 140 plot_graph()