コード例 #1
0
  def plot(self,trjs,fn='',dpi=None,pxh=None,pxw=None,
                     alpha=1.,lw=4,clf=True):
    """
    Plot trajectory

    Inputs:
      trjs - list - Hop trajectory

    Outputs:
      (T,Z,O,P) - observations
    """
    T,Z,O,P = rx.stack(trjs)
    Te,Ze,Oe,Pe = rx.trans(trjs)
    m,M,k,b,l0,a,om,ph,g = P[0].q

    fsz = (8.,4.)
    if pxh:
      dpi = fsz(1)/pxh
    elif pxw:
      dpi = fsz(0)/pxw


    fig = plt.figure(1,figsize=fsz)
    #fig = plt.figure(1)
    if clf:
      fig.clf()

    legprop = {'size':10};
    sc = 1.
    ms = 20.; mew = 2.; ma = 0.5

    t = np.hstack(T)
    o = np.vstack(O)
    te = np.hstack(Te)
    oe = np.vstack(Oe)

    x,y,dx,dy,leg,TT,V,L,Fn,Bn = o.T
    xe,ye,dxe,dye,lege,TTe,Ve,Le,Fne,Bne = oe.T

    Vm = V.min()
    V  = V - Vm
    E  = TT+V

    ax = plt.subplot(2,1,1); plt.grid('on')
    H = (ax.plot(t,sc*x,'r',label='$x(t)$',alpha=alpha),
         ax.plot(t,sc*y,'b',label='$y(t)$',alpha=alpha))
    [[hh.set_linewidth(lw) for hh in h] for h in H]
    #H = (ax.plot(t,0.5*np.sin(om*t+ph),label='$f(t) \\propto \\sin(\\omega t+\pi)$',color='k',zorder=-1,lw=2.,alpha=alpha))

    ylim = np.array(ax.get_ylim())#-0.25
    ylim = [-1.5,3.0]
    for te,pe in zip(Te,Pe):
      if pe.j == 2:
        ax.fill([te[0],te[0],te[1],te[1]],
                [ylim[1],ylim[0],ylim[0],ylim[1]],
                fc=np.array([1.,1.,1.])*0.75,ec='none',zorder=-1)
    ax.set_ylim(ylim)
    ax.set_ylabel('height')

    #leg = ax.legend(ncol=4,loc='lower center')
    if clf:
      leg = ax.legend(ncol=4,loc='lower left',prop=legprop)

    if clf:
      ax.set_xlim((t[0],t[-1]))

    ax = plt.subplot(2,1,2); plt.grid('on')
    H = (ax.plot(t,sc*dx,'r',label='$\\dot{x}(t)$',alpha=alpha),
         ax.plot(t,sc*dy,'b',label='$\\dot{y}(t)$',alpha=alpha))
    [[hh.set_linewidth(lw) for hh in h] for h in H]
    #H = (ax.plot(t,0.5*np.sin(om*t+ph),label='$f(t) \\propto \\sin(\\omega t+\pi)$',color='k',zorder=-1,lw=2.,alpha=alpha))

    ylim = np.array(ax.get_ylim())#-0.25
    #ylim = [-1.5,3.0]
    for te,pe in zip(Te,Pe):
      if pe.j == 2:
        ax.fill([te[0],te[0],te[1],te[1]],
                [ylim[1],ylim[0],ylim[0],ylim[1]],
                fc=np.array([1.,1.,1.])*0.75,ec='none',zorder=-1)
    ax.set_ylim(ylim)
    ax.set_xlabel('time (t)')
    ax.set_ylabel('velocity')

    if clf:
      leg = ax.legend(ncol=4,loc='lower left',prop=legprop)

    # nominal spring length
    #ax.plot([t[0],t[-1]],[l0,l0],'k--',lw=2)

    plt.subplot(2,1,1)

    if clf:
      ax.set_xlim((t[0],t[-1]))

    if not fn == '':
      plt.savefig(fn,bbox_inches='tight',pad_inches=0.1,dpi=dpi)
    
    #plt.show()
    return T,Z,O,P
コード例 #2
0
ファイル: poly.py プロジェクト: hgonzale/hssim
  def plot(self,trjs,fn=None,dpi=None,pxw=1000,pxh=600,offv=0,figN=1,
           plots=['pos','rot','eng'],
           alpha=1.,col=('b','g','r'),lp='',lw=4,slab='',
           clf=True,legend=True,fill=True,legloc='lower left'):
    """
    Plot trajectory

    Inputs:
      trjs - list - Poly trajectory

    Outputs:
      (T,Z,O,P),(Te,Ze,Oe,Pe) - observations
    """

    def fill(Te,Pe,ylim):
      for te,pe in zip(Te,Pe):
        if fill:
          fc = 1 - .33*np.sum( pe.b ) / pe.n
          ax.fill([te[0],te[0],te[1],te[1]],
                  [ylim[1],ylim[0],ylim[0],ylim[1]],
                  fc=np.ones(3)*fc,ec='none',zorder=-1)
                  #fc=np.ones(3)*fc,ec='k',zorder=-1)
          #ax.text(.5*(te[0]+te[1]),.5*(ylim[0]+ylim[1]),np.sum( pe.b ),
          #        horizontalalignment='center',verticalalignment='center')

    Te,Xe,Oe,Pe = rx.trans(trjs)
    T,X,O,P = rx.stack(trjs)
    vars = O[0].keys()
    o = Struct(**dict([( v, np.vstack([oo[v] for oo in O]) ) for v in vars]))

    legprop = {'size':12};
    ms = 20.; mew = 2.; ma = 0.5

    t = np.hstack(T)
    xlim = (min(t),max(t))

    fig = plt.figure(figN)
    if clf:
      fig.clf()

    sps = len(plots); sp = 1;

    if 'pos' in plots:
      ax = plt.subplot(sps,1,sp); sp += 1; plt.grid('on')
      H = (ax.plot(t,o.q[:,0],col[0]+lp,label='$x'+slab+'$',alpha=alpha),
           ax.plot(t,o.q[:,1],col[1]+lp,label='$y'+slab+'$',alpha=alpha),
           ax.plot(t,o.q[:,2],col[2]+lp,label='$z'+slab+'$',alpha=alpha))
      [[hh.set_linewidth(lw) for hh in h] for h in H]
      ax.plot(t,o.hip[:,:,0],'k:')
      ax.plot(t,o.hip[:,:,1],'k:')
      ax.plot(t,o.hip[:,:,2],'k:')
      ax.plot(t,o.foot[:,:,0],'k--')
      ax.plot(t,o.foot[:,:,1],'k--')
      ax.plot(t,o.foot[:,:,2],'k--')

      ylim = np.array(ax.get_ylim())#-0.25
      fill(Te,Pe,ylim)
      if clf:
        ax.set_xlim(xlim)
        ax.set_ylim(ylim)
      ax.set_ylabel('position')

      if legend:
        leg = ax.legend(ncol=6,loc=legloc,prop=legprop)

    if 'rot' in plots:
      ax = plt.subplot(sps,1,sp); sp += 1; plt.grid('on')
      H = (ax.plot(t,o.q[:,3],col[0]+lp,label='$\\theta_x'+slab+'$',alpha=alpha),
           ax.plot(t,o.q[:,4],col[1]+lp,label='$\\theta_y'+slab+'$',alpha=alpha),
           ax.plot(t,o.q[:,5],col[2]+lp,label='$\\theta_z'+slab+'$',alpha=alpha))
      [[hh.set_linewidth(lw) for hh in h] for h in H]

      ylim = np.array(ax.get_ylim())#-0.25
      fill(Te,Pe,ylim)
      if clf:
        ax.set_xlim(xlim)
        ax.set_ylim(ylim)
      ax.set_ylabel('rotation')

      if legend:
        leg = ax.legend(ncol=6,loc=legloc,prop=legprop)

    if 'eng' in plots:
      ax = plt.subplot(sps,1,sp); sp += 1; plt.grid('on')
      H = (ax.plot(t,o.E[:,0],col[0]+lp,label='$T'+slab+'$',alpha=alpha),
           ax.plot(t,o.E[:,3],col[1]+lp,label='$V_k'+slab+'$',alpha=alpha),
           ax.plot(t,o.E[:,2],col[2]+lp,label='$V_g'+slab+'$',alpha=alpha),
           ax.plot(t,o.E[:,0]+o.E[:,1],'k'+lp,label='$L'+slab+'$',alpha=alpha))
      [[hh.set_linewidth(lw) for hh in h] for h in H]

      ylim = np.array(ax.get_ylim())#-0.25
      fill(Te,Pe,ylim)
      if clf:
        ax.set_xlim(xlim)
        ax.set_ylim(ylim)
      ax.set_ylabel('energy')

      if legend:
        leg = ax.legend(ncol=6,loc=legloc,prop=legprop)

    ax.set_xlabel('time (t)')

    if fn is not None:
      plt.savefig(fn,bbox_inches='tight',pad_inches=0.1,dpi=dpi)
    
    return o
コード例 #3
0
  def plot(self,trjs):
    """
    Plot double pendulum trajectory

    Inputs:
      trjs - list - DP trajectory

    Outputs:
      (T,X,O,P) - observations
    """
    T,X,O,P = stack(trjs)
    Te,Xe,Oe,Pe = trans(trjs)
    m1,m2,L1,L2,b1,b2,a,om,c,g = P[0].q

    fig = plt.figure(1, figsize=(6,4))
    fig.clf()

    legprop = {'size':16};
    sc = 180/np.pi
    lw = 2.; 
    ms = 20.; mew = 2.; ma = 0.5

    t = np.hstack(T)
    o = np.vstack(O)
    te = np.hstack(Te)
    oe = np.vstack(Oe)

    t1,t2,dt1,dt2,lam,TT,V,L,Fn,Bn = o.T
    t1e,t2e,dt1e,dt2e,lame,TTe,Ve,Le,Fne,Bne = oe.T

    Vm = V.min()
    V  = V - Vm
    E  = TT+V

    ax = plt.subplot(1,1,1);
    H = (ax.plot(t,sc*t1,'r',label='$\\theta_1$'),
         ax.plot(t,sc*t2,'b',label='$\\theta_2$'))
    [[hh.set_linewidth(lw) for hh in h] for h in H]
    dy = np.diff(ax.get_ylim())
    H = (ax.plot(t,0.25*dy*np.sin(om*t),label='$\\tau$',color='gray',
                 zorder=-1))
    [h.set_linewidth(2*lw) for h in H]
    H = (ax.plot(t,0.25*dy*lam/lam.max(),label='$\\lambda$',color='green',
                 zorder=-1))
    [h.set_linewidth(2*lw) for h in H]

    ylim = ax.get_ylim()
    for te,pe in zip(Te,Pe):
      if pe.j == 1:
        ax.plot([te[-1],te[-1]],ylim,'k')
      elif pe.j == 2:
        ax.plot([te[-1],te[-1]],ylim,'k--')
    M = (np.diff(1*(dt1 >= 0)) == -1).nonzero()
    for m in M:
      ax.plot([t[m],t[m]],ylim,'k:')
    ax.set_ylim(ylim)

    #H = (ax.plot(t,sc*dt1,'r-.',label='$\\dot{\\theta}_1$'),
    #     ax.plot(t,sc*dt2,'b--',label='$\\dot{\\theta}_2$'))
    #[[hh.set_linewidth(lw) for hh in h] for h in H]
    #H = (ax.plot(te,sc*t1e,'g.'),
    #     ax.plot(te,sc*t2e,'g.'))
    #for h in H:
    #  for hh in h:
    #    hh.set_ms(ms); hh.set_mew(mew); hh.set_alpha(ma)
    ax.set_xlim((t[0],t[-1]))

    ax.set_xlabel('Time (sec)')
    ax.set_ylabel('State')
    #leg = ax.legend(prop=legprop,ncol=4,loc='lower center')
    leg = ax.legend(ncol=4,loc='lower center')

    if 0:
      ax = plt.subplot(2,1,2)
      lw = 1.; al=0.1
      ms = 5.; mew = 2.; ma = 0.5

      for jj,(t,o,te,oe) in enumerate(zip(T,O,Te,Oe)):
        if jj == 0:
          continue

        t1,t2,dt1,dt2,lam,TT,V,L,Fn,Bn = o.T
        t1e,t2e,dt1e,dt2e,lame,TTe,Ve,Le,Fne,Bne = oe.T

        H = (ax.plot(t-t[0],sc*t1,'r.',label='$\\theta_1$',alpha=al),
             ax.plot(t-t[0],sc*t2,'b.',label='$\\theta_2$',alpha=al))
        [[hh.set_linewidth(lw) for hh in h] for h in H]
        [[hh.set_ms(2.) for hh in h] for h in H]
        H = (ax.plot(te-t[0],sc*t1e,'g.'),
             ax.plot(te-t[0],sc*t2e,'g.'))
        for h in H:
          for hh in h:
            hh.set_ms(ms); hh.set_mew(mew); hh.set_alpha(ma)

      ax.set_xlabel('Time (sec)')
      ax.set_ylabel('State')

    #plt.show()
    return T,X,O,P