def chooseFunction(choix):
if choix == 1:
plotVelocityProfile("Brent")
elif choix == 2:
plotArticularPositions("Brent")
elif choix == 3:
plotXYPositions("Brent")
elif choix == 4:
plotMuscularActivations("Brent")
#------------------------------------------- RBFN
elif choix == 5:
name = raw_input('Name of file to save the RBFN controller: ')
c = Chrono()
# runRBFN(name,True)
runRBFN(name,False)
c.stop()
elif choix == 6:
name = raw_input('Name of the RBFN controller file: ')
fname = raw_input('Folder where you want to save the results: ')
nbret = input("Number of repeat for each trajectory (int): ")
c = Chrono()
generateFromRBFN(nbret, name, fname)
c.stop()
elif choix == 7:
nameF = raw_input('Folder where the results are saved: ')
plotVelocityProfile("RBFN",nameF)
elif choix == 8:
nameF = raw_input('Folder where the results are saved: ')
rorc = input("enter 1 if XY or 2 if Joint results: ")
rorc = int(rorc)
if rorc == 1:
plotXYPositions("RBFN",nameF,"All",True)#False)#
else:
plotArticularPositions("RBFN",nameF)
elif choix == 9:
nameF = raw_input('Folder where the results are saved: ')
plotMuscularActivations("RBFN",nameF)
elif choix == 10:
nameF = raw_input('Folder where the results are saved: ')
plotCostColorMap("RBFN",nameF)
elif choix == 28:
nameF = raw_input('Folder where the results are saved: ')
plotXYEstimError("RBFN",nameF,"All")
elif choix == 29:
nameF = raw_input('Folder where the results are saved: ')
plotXYEstimErrorOfSpeed("RBFN",nameF,"All")
#------------------------------------------- CMAES
elif choix == 11:
rorc = input("enter 1 if from RBFN, anything if from previous CMAES: ")
save = False
rorc = int(rorc)
if rorc == 1:
save = True
name = raw_input('Name of the controller file: ')
c = Chrono()
launchCMAESForAllTargetSizes(name,save)
c.stop()
elif choix == 12:
nameTheta = raw_input('Name of the controller file: ')
name = raw_input('Folder where you want to save the results: ')
nbret = input("Number of repeat for each trajectory (int): ")
nbret = int(nbret)
generateFromCMAES(nbret, nameTheta, name)
elif choix == 13:
nameF = raw_input('Folder where the results are saved: ')
plotVelocityProfile("CMAES",nameF)
elif choix == 14:
nameF = raw_input('Folder where the results are saved: ')
rorc = input("enter 1 if XY or 2 if Joint results: ")
rorc = int(rorc)
if rorc == 1:
plotXYPositions("CMAES",nameF,"All",False)
else:
tSize = raw_input('Target Size: ')
plotArticularPositions("CMAES",nameF,tSize)
elif choix == 15:
nameF = raw_input('Folder where the results are saved: ')
tSize = raw_input('Target Size: ')
plotMuscularActivations("CMAES",nameF,tSize)
elif choix == 16:
nameF = raw_input('Folder where the results are saved: ')
#tSize = raw_input('Target Size: ')
#plotCostColorMap("CMAES",nameF,tSize)
plotCostColorMap("CMAES",nameF)
elif choix == 17:
nameF = raw_input('Folder where the results are saved: ')
plotTimeDistanceTarget(nameF)
elif choix == 18:
nameF = raw_input('Folder where the results are saved: ')
plotPerfSizeDist(nameF)
elif choix == 19:
nameF = raw_input('Folder where the results are saved: ')
plotFittsLaw(nameF)
elif choix == 20:
nameF = raw_input('Folder where the results are saved: ')
plotTimeColorMap("CMAES",nameF)
elif choix == 21:
rorc = input("enter 0 if Brent, 1 if RBFN or 2 if CMAES results: ")
rorc = int(rorc)
if rorc == 0:
trajectoriesAnimation("Brent")
elif rorc == 1:
nameF = raw_input('Folder where the results are saved: ')
trajectoriesAnimation("RBFN",nameF)
elif rorc == 2:
nameF = raw_input('Folder where the results are saved: ')
tSize = raw_input('Target Size: ')
trajectoriesAnimation("CMAES",nameF, tSize)
elif choix == 22:
nameF = raw_input('Folder where the results are saved: ')
rorc = input("enter 1 if RBFN or 2 if CMAES results: ")
#plotHitDispersion(nameF,"0.05")
rorc = int(rorc)
if rorc == 1:
plotScattergram("RBFN",nameF)
elif rorc == 2:
plotScattergram("CMAES",nameF)
elif choix == 23:
name = raw_input('Name of the controller file: ')
rorc = input("enter 1 if from RBFN, anything if from previous CMAES: ")
save = False
rorc = int(rorc)
if rorc == 1:
save = True
tSize = raw_input('Target Size: ')
c = Chrono()
launchCMAESForSpecificTargetSize(float(tSize),name,save)
c.stop()
elif choix == 24:
plotCMAESProgress()
elif choix == 25:
name = raw_input('Name of the RBFN controller file: ')
fname = raw_input('Folder where you want to save the results: ')
nbret = input("Number of repeat for each trajectory (int): ")
c = Chrono()
generateRichDataFromRBFN(nbret, name, fname)
c.stop()
elif choix == 26:
nameTheta = raw_input('Name of the controller file: ')
name = raw_input('Folder where you want to save the results: ')
nbret = input("Number of repeat for each trajectory (int): ")
nbret = int(nbret)
c = Chrono()
generateRichDataFromCMAES(nbret, nameTheta, name)
c.stop()
elif choix == 27:
plotTrajsInRepo()
elif choix == 30:
nameF = raw_input('Folder where the results are saved: ')
plotXYEstimError("CMAES",nameF,"All")
elif choix == 31:
nameF = raw_input('Folder where the results are saved: ')
plotXYEstimErrorOfSpeed("CMAES",nameF,"All")
elif choix == 32:
plotExperimentSetup()
elif choix == 33:
plotManipulability()
elif choix == 34:
plotManipulability2()
def generateRBFNs():
for i in range(20):
c = Chrono()
runRBFN("X"+str(i),True)
c.stop()
