plotting more stuff

Author: FedeClaudi

proj/model/config.py

@@ -54,7 +54,7 @@ class Config:
     SPAWN_TYPE = "trajectory"
     LIVE_PLOT = False
 
-    mouse_type = "easy"
+    mouse_type = "realistic"
     model_type = "cart"
 
     dt = 0.005

proj/plotting/results.py

@@ -12,20 +12,23 @@
 
 
 def _make_figure():
-    f = plt.figure(figsize=(16, 8))
+    f = plt.figure(figsize=(20, 8))
 
-    gs = f.add_gridspec(2, 6)
+    gs = f.add_gridspec(2, 8)
 
     xy_ax = f.add_subplot(gs[:, :2])
     xy_ax.axis("equal")
     xy_ax.axis("off")
 
     tau_ax = f.add_subplot(gs[0, 2:4])
     sax = f.add_subplot(gs[1, 2:4])
-    accel_ax = f.add_subplot(gs[0, 4:])
-    cost_ax = f.add_subplot(gs[1, 4:])
+    accel_ax = f.add_subplot(gs[0, 4:6])
+    cost_ax = f.add_subplot(gs[1, 4:6])
 
-    return f, xy_ax, tau_ax, sax, accel_ax, cost_ax
+    tau_int_ax = f.add_subplot(gs[0, 6:])
+    acc_int_ax = f.add_subplot(gs[1, 6:])
+
+    return f, xy_ax, tau_ax, sax, accel_ax, cost_ax, tau_int_ax, acc_int_ax
 
 
 def _plot_xy(history, trajectory, plot_every, ax=None):
@@ -71,7 +74,6 @@ def _plot_control(history, ax=None):
         color=colors["tau_r"],
         label="$\\tau_R$",
         lw=2,
-        solid_joinstyle="round",
         solid_capstyle="round",
     )
     plot_line_outlined(
@@ -80,7 +82,6 @@ def _plot_control(history, ax=None):
         color=colors["tau_l"],
         label="$\\tau_L$",
         lw=2,
-        solid_joinstyle="round",
         solid_capstyle="round",
     )
     ax.legend()
@@ -133,18 +134,71 @@ def _plot_cost(cost_history, ax=None):
     ax.legend()
 
 
+def _plot_integrals(history, tax=None, aax=None):
+    R, L = history["tau_r"], history["tau_l"]
+
+    plot_line_outlined(
+        tax,
+        R,
+        color=desaturate_color(colors["tau_r"]),
+        label="R_wheel_speed",
+        lw=2,
+        solid_capstyle="round",
+    )
+    plot_line_outlined(
+        tax,
+        L,
+        color=desaturate_color(colors["tau_l"]),
+        label="L_wheel_speed",
+        lw=2,
+        solid_capstyle="round",
+    )
+    tax.legend()
+
+    # plot v and omega
+    v, omega = history["v"], history["omega"]
+
+    plot_line_outlined(
+        aax,
+        v,
+        color=desaturate_color(colors["v"]),
+        label="$v$",
+        lw=2,
+        solid_capstyle="round",
+    )
+    plot_line_outlined(
+        aax,
+        omega,
+        color=desaturate_color(colors["omega"]),
+        label="$\\omega$",
+        lw=2,
+        solid_capstyle="round",
+    )
+    aax.legend()
+
+
 def plot_results(results_folder, plot_every=20, save_path=None):
     config, trajectory, history, cost_history = load_results_from_folder(
         results_folder
     )
 
-    f, xy_ax, tau_ax, sax, accel_ax, cost_ax = _make_figure()
+    (
+        f,
+        xy_ax,
+        tau_ax,
+        sax,
+        accel_ax,
+        cost_ax,
+        tau_int_ax,
+        acc_int_ax,
+    ) = _make_figure()
 
     _plot_xy(history, trajectory, plot_every, ax=xy_ax)
     _plot_control(history, ax=tau_ax)
     _plot_v(history, trajectory, plot_every, ax=sax)
     _plot_accel(history, ax=accel_ax)
     _plot_cost(cost_history, ax=cost_ax)
+    _plot_integrals(history, tax=tau_int_ax, aax=acc_int_ax)
 
     clean_axes(f)