scripts/plot_psp.py

   1 """Plot psp results."""
   2 import matplotlib.pyplot as plt
   3
   4 RESULTS = [
   5 [4.210000,10,10],
   6 [4.220000,10,9],
   7 [4.230000,9,9],
   8 [4.240000,8,8],
   9 [4.250000,8,8],
  10 [4.260000,8,7],
  11 [4.270000,8,7],
  12 [4.280000,7,7],
  13 [4.290000,6,6],
  14 [4.300000,6,6],
  15 [4.310000,6,6],
  16 [4.320000,6,6],
  17 [4.330000,6,5],
  18 [4.340000,6,5],
  19 [4.350000,6,5],
  20 [4.360000,5,5],
  21 [4.370000,5,5],
  22 [4.380000,4,4],
  23 [4.390000,4,4],
  24 [4.400000,4,4],
  25 [4.410000,4,4],
  26 [4.420000,4,4],
  27 [4.430000,4,4],
  28 [4.440000,4,4],
  29 [4.450000,4,4],
  30 [4.460000,4,3],
  31 [4.470000,4,3],
  32 [4.480000,4,3],
  33 [4.490000,4,3],
  34 [4.500000,4,3],
  35 [4.510000,4,3],
  36 [4.520000,4,3],
  37 [4.530000,4,3],
  38 [4.540000,3,3],
  39 [4.550000,3,3],
  40 [4.560000,3,2],
  41 [4.570000,3,2],
  42 [4.580000,2,2],
  43 [4.590000,2,2],
  44 [4.600000,2,2],
  45 [4.610000,2,2],
  46 [4.620000,2,2],
  47 [4.630000,2,2],
  48 [4.640000,2,2],
  49 [4.650000,2,2],
  50 [4.660000,2,2],
  51 [4.670000,2,2],
  52 [4.680000,2,2],
  53 [4.690000,2,2],
  54 [4.700000,2,2],
  55 [4.710000,2,2],
  56 [4.720000,2,2],
  57 [4.730000,2,2],
  58 [4.740000,2,2],
  59 [4.750000,2,2],
  60 [4.760000,2,2],
  61 [4.770000,2,2],
  62 [4.780000,2,2],
  63 [4.790000,2,2],
  64 [4.800000,2,2],
  65 [4.810000,2,2],
  66 [4.820000,2,1],
  67 [4.830000,2,1],
  68 [4.840000,2,1],
  69 [4.850000,2,1],
  70 [4.860000,2,1],
  71 [4.870000,2,1],
  72 [4.880000,2,1],
  73 [4.890000,2,1],
  74 [4.900000,2,1],
  75 [4.910000,2,1],
  76 [4.920000,2,1],
  77 [4.930000,2,1],
  78 [4.940000,2,1],
  79 [4.950000,2,1],
  80 [4.960000,2,1],
  81 [4.970000,2,1],
  82 [4.980000,2,1],
  83 [4.990000,2,1],
  84 [5.000000,2,1],
  85 [5.010000,2,1],
  86 [5.020000,2,1],
  87 [5.030000,2,1],
  88 [5.040000,2,1],
  89 [5.050000,2,1],
  90 [5.060000,2,1],
  91 [5.070000,2,1],
  92 [5.080000,2,1],
  93 [5.090000,2,1],
  94 [5.100000,2,1],
  95 [5.110000,2,1],
  96 [5.120000,2,1],
  97 [5.130000,2,1],
  98 [5.140000,2,1],
  99 [5.150000,2,1],
 100 [5.160000,1,1],
 101 [5.170000,1,1],
 102 [5.180000,1,1],
 103 [5.190000,1,1],
 104 [5.200000,1,1],
 105 [5.210000,1,1],
 106 [5.220000,1,1],
 107 [5.230000,1,0],
 108 [5.240000,1,0],
 109 [5.250000,1,0],
 110 [5.260000,1,0],
 111 [5.270000,1,0],
 112 [5.280000,1,0],
 113 [5.290000,1,0],
 114 [5.300000,1,0],
 115 [5.310000,1,0],
 116 [5.320000,1,0],
 117 [5.330000,1,0],
 118 [5.340000,1,0],
 119 [5.350000,1,0],
 120 [5.360000,1,0],
 121 [5.370000,1,0],
 122 [5.380000,1,0],
 123 [5.390000,1,0],
 124 [5.400000,1,0],
 125 [5.410000,1,0],
 126 [5.420000,0,0],
 127 ]
 128
 129 def plot_graph():
 130     plt.rcParams["font.family"] = "cmr10"
 131     plt.rcParams["font.size"] = 22
 132     plt.rcParams['lines.linewidth'] = 2.0
 133     plt.rcParams["figure.figsize"] = [12, 5]
 134     f, ax = plt.subplots()
 135     ax.set_title(TITLE)
 136
 137     if GRID:
 138         ax.minorticks_on()
 139         ax.grid(which="major", linestyle="-", linewidth="0.5", color="gray")
 140         ax.grid(which="minor", linestyle=":", linewidth="0.5", color="gray")
 141     if YLOG:
 142         ax.set_yscale("log")
 143     if YLIM:
 144         ax.set_ylim(YLIM)
 145
 146     ax.set_xlabel(XLABEL)
 147     ax.set_ylabel(YLABEL)
 148
 149     for i in PLOT:
 150         lstyle = "-"
 151         lcolor = "blue"
 152         if PLOT.index(i) == 0:
 153             lstyle = "--"
 154             lcolor = "orange"
 155         plt.plot(i[0], i[1], linestyle=lstyle, color=lcolor)
 156
 157     plt.legend(LEGEND)
 158     plt.savefig(FILE, bbox_inches="tight")
 159     plt.close()
 160
 161 # cusp
 162 TITLE = "``Several reversed trials'' planner"
 163 XLABEL = "Parking slot length [m]"
 164 YLABEL = "Backward-forward changes [-]"
 165 LEGEND = [
 166     "Naive guess for goal configuration",
 167     "Goal configuration by in-slot planner",
 168 ]
 169 FILE = "/home/jiri/phd/j1/figs/psp_cusp.pdf"
 170 GRID = True
 171 YLOG = False
 172 YLIM = False
 173
 174 PLOT = []
 175 PLOT.append([[i for (i, j, k) in RESULTS], [j for (i, j, k) in RESULTS]])
 176 PLOT.append([[i for (i, j, k) in RESULTS], [k for (i, j, k) in RESULTS]])
 177 plot_graph()
 178
 179 """ SKIP
 180 # time
 181 TITLE = "Elapsed time of search"
 182 XLABEL = "Free space [m]"
 183 YLABEL = "Elapsed time [s]"
 184 LEGEND = [
 185     "Reversed",
 186     "BFS",
 187 ]
 188 FILE = "/home/jiri/phd/j1/figs/psp_time.eps"
 189 GRID = False
 190 YLOG = False
 191 YLIM = [0, 0.008]
 192
 193 PLOT = []
 194 PLOT.append([
 195     [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],
 196 [
 197 0.000265486,
 198 0.000227139,
 199 0.000185683,
 200 0.000164569,
 201 0.000159377,
 202 0.000150449,
 203 0.000156013,
 204 0.000162367,
 205 0.000170662,
 206 0.000180358,
 207 0.000190428,
 208 0.000164781,
 209 0.000143604,
 210 0.000126686,
 211 ],
 212
 213 ])
 214 PLOT.append([
 215     [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],
 216 [
 217 0.00744224,
 218 0.00442855,
 219 0.00324742,
 220 0.00195541,
 221 0.00177623,
 222 0.0016829,
 223 0.0016006,
 224 0.0011417,
 225 0.00106993,
 226 0.00103785,
 227 0.000948079,
 228 0.00072849,
 229 0.000691348,
 230 0.000705111,
 231 ],
 232
 233 ])
 234
 235 plot_graph()
 236 """