def plot_pd_compare(self,
traj_lst,
traj_names,
itr,
name='Full_State',
save_dir='full_state',
goals=None,
goalidx=None):
colors = ['magenta', 'green', 'black', 'yellow']
if goals is not None:
if goals.reshape((-1, 2)).shape[0] > len(colors):
import matplotlib.cm as cm
colors = cm.rainbow(np.linspace(0, 1, goals.shape[0]))
goals = goals[goalidx:]
colors = colors[goalidx:]
f, axarr = plt.subplots(1, len(traj_lst), sharex=True, sharey=True)
for ax, traj, traj_name in zip(axarr, traj_lst, traj_names):
self.plot_all_traj(traj, ax)
if goals is not None:
for pt, color in zip(goals.reshape((-1, 2)), colors):
ax.scatter(pt[0], pt[1], color=color, marker='x')
ax.set_xlim(-3, 3)
ax.set_ylim(-3, 3)
ax.set_title(traj_name)
record_fig(name, save_dir, itr)
def plot_pd_compare(self,
traj_lst,
traj_names,
itr,
name='Full_State',
save_dir='full_state'):
f, axarr = plt.subplots(1, len(traj_lst), sharex=True, sharey=True)
for ax, traj, traj_name in zip(axarr, traj_lst, traj_names):
self.plot_all_traj(traj, ax)
ax.set_title(traj_name)
record_fig(name, save_dir, itr)
def plot_pd_compare(self,
traj_lst,
traj_names,
itr,
name='Full_State',
save_dir='full_state'):
f, axarr = plt.subplots(1, len(traj_lst))
for ax, traj, traj_name in zip(axarr, traj_lst, traj_names):
#import pdb; pdb.set_trace()
ax.imshow(traj.reshape((-1, self.path_len)))
ax.set_title(traj_name)
#break
record_fig(name, save_dir, itr)
def plot_hard_samples(self,
hard_sd,
easy_sd,
hard_pd,
easy_pd,
itr,
name='hard_samples',
save_dir='hardveasy'):
f, axarr = plt.subplots(1, 2, sharex=True, sharey=True)
for traj in hard_sd:
self.plot_all_traj(traj, axarr[0], color='red')
for traj in easy_sd:
self.plot_all_traj(traj, axarr[0], color='blue')
for traj in hard_pd:
self.plot_all_traj(traj, axarr[1], color='red')
for traj in easy_pd:
self.plot_all_traj(traj, axarr[1], color='blue')
axarr[0].set_title('sd')
axarr[1].set_title('pd')
record_fig(name, save_dir, itr)