from beluga.visualization import BelugaPlot
plots = BelugaPlot('./fpa.dill', default_sol=-1, default_step=-1)
plots.add_plot().line('theta*180/3.14','h/1000') \
.xlabel('theta (deg)').ylabel('h (km)') \
.title('Altitude vs. Downrange')
plots.add_plot().line('t','alfa*180/3.14') \
.xlabel('t (s)').ylabel('alfa (degrees)') \
.title('Angle of attack vs. Time')
plots.add_plot().line('t','k*sqrt(rho0*exp(-h/H)/rn)*v**3/1e4') \
.xlabel('t (s)').ylabel('Heat-rate (W/cm^2)') \
.title('Stagnation point heat rate vs. Time')
rho = 'rho0*exp(-h/H)'
Cl = '(1.5658*alfa + -0.0000)'
Cd = '(1.6537*alfa**2 + 0.0612)'
D = '(0.5*' + rho + '*v**2*' + Cd + '*Aref)'
L = '(0.5*' + rho + '*v**2*' + Cl + '*Aref)'
plots.add_plot().line('t','sqrt('+D+'**2+'+L+'**2)/(mass*g0)') \
.xlabel('t (s)').ylabel('G-Loading') \
.title('G-Loading vs. Time')
# plots.add_plot().line('theta*re/1000','h/1000',label='Foo') \
# .line('theta*re/1000','h/1000',label='Bar',step=1,sol=5) \
# .xlabel('Downrange (km)') \
# .ylabel('h (km)') \
from beluga.visualization import BelugaPlot
plots = BelugaPlot('./data_dubin.dill',
default_sol=-1,
default_step=-1,
renderer='matplotlib')
plots.add_plot().line('x','y') \
.xlabel('x [m]').ylabel('y [m]') \
.title('Trajectory')
plots.add_plot().line('t','delta') \
.xlabel('t (s)').ylabel('delta (m/s)') \
.title('Control history')
plots.render()
from beluga.visualization import BelugaPlot
plots = BelugaPlot('./cart120.dill', default_sol=-1, default_step=-1)
plots.add_plot().line('x_n*x_s','y_n*y_s') \
# .xlabel('t (s)').ylabel('h (km)') \
# .title('Altitude vs. Time')
plots.add_plot().line('t', 'sin(w)') \
# .xlabel('t (s)').ylabel('h (km)') \
# .title('Altitude vs. Time')
plots.add_plot().line('t', 'theta_n') \
plots.add_plot().line('t', 'p22_n*p22_s') \
plots.add_plot().line('t', 'p11_n*p11_s') \
# plots.add_plot().line('t','alfa*180/3.14') \
# .xlabel('t (s)').ylabel('alfa (degrees)') \
# .title('Angle of attack vs. Time')
# plots.add_plot().line('theta*re/1000','h/1000',legend='Foo') \
# .line('theta*re/1000','h/1000',legend='Bar',step=1,sol=5) \
# .xlabel('Downrange (km)') \
# .ylabel('h (km)') \
# .title('Altitude vs. Downrange')
plots.render()
from beluga.visualization import BelugaPlot
from beluga.visualization.datasources import Dill
# from beluga.visualization.renderers import ToyPlot
ds_constraint = Dill('./data-1k2-eps4-eps4.dill') # 26 steps
ds_epsHR = Dill('./data-1k2-eps6-eps4.dill') # 36 steps
ds_epsAlfa = Dill('./data-1k2-eps6-eps7.dill') # 36 steps
# toyplot = ToyPlot(backend = 'png')
# plots = BelugaPlot(datasource=ds_constraint,default_sol=-1,default_step=-1,renderer='bokeh')
plots = BelugaPlot('./data-1k2-eps4-eps4.dill',default_sol=-1,default_step=-1,renderer='matplotlib')
qdot = 'k*v**3*sqrt(rho0*exp(-h/H)/rn)'
# 90
plots.add_plot(mesh_size=512).line_series('theta*re/1000','h/1000', skip=5, datasource=ds_constraint) \
.xlabel('Downrange (km)').ylabel('Altitude (km)') \
.title('Altitude vs. Downrange')
plots.add_plot(mesh_size=512).line_series('t','qdot/1e4', skip=5, datasource=ds_constraint) \
.xlabel('t (s)').ylabel('Heat Rate (W/cm^2)') \
.title('Heat Rate vs. Time')
plots.add_plot(mesh_size=512).line_series('t','alfa*180/3.14', skip=5, datasource=ds_constraint) \
.line('t','alfaMax*180/3.14', datasource=ds_epsAlfa) \
.xlabel('t (s)').ylabel('Alpha (deg)') \
.title('Control History')
plots.add_plot(mesh_size=512).line_series('v/1000','h/1000', skip=5, datasource=ds_constraint) \
.xlabel('Velocity (km/s)').ylabel('Altitude (km)') \
.title('Altitude vs. Velocity')
from beluga.visualization import BelugaPlot
from beluga.visualization.datasources import Dill
# plots = BelugaPlot('./data.dill',default_sol=-1,default_step=0)
unc_ds = Dill('../../mpbvp/boundedBrachistochrone/data.dill')
plots = BelugaPlot('./data.dill',
default_sol=-1,
default_step=-1,
renderer='matplotlib')
plots.add_plot().line('x','y',label='Solution', sol=-1, step=-1,style={'lw':2.0}) \
.line('x','y',label='Unconstrained Solution', datasource=unc_ds, step=0, sol=-1,style={'lw':2.0})\
.line('x','xlim-x',label='Constraint1',step=-1,sol=-1) \
.xlabel('x(t)').ylabel('y(t)') \
.title('Trajectory')
# .line('x','-2-0.75*x',label='Constraint2',step=-1,sol=-1) \
plots.add_plot().line('t','theta*180/3.14') \
.xlabel('t (s)').ylabel('theta (degrees)') \
.title('Control history')
plots.add_plot().line('t','lamX') \
.xlabel('t (s)').ylabel('lamX') \
.title('lamX')
plots.render()
from beluga.visualization import BelugaPlot
plots = BelugaPlot('./data.dill',
default_sol=-1,
default_step=-1,
renderer='matplotlib')
plot1 = plots.add_plot()
plot1.line_series('x', 'y')
plot1.xlabel('x(t)')
plot1.ylabel('y(t)')
plot1.title('Trajectory time history')
plot2 = plots.add_plot()
plot2.line('t', '180/pi*theta')
plot2.xlabel('t (s)')
plot2.ylabel('theta (degrees)')
plot2.title('Control time history')
plots.render()
import matplotlib as mpl
mpl.rcParams['axes.labelsize'] = 'x-large'
mpl.rcParams['legend.fontsize'] = 'x-large'
mpl.rcParams['xtick.labelsize'] = 'x-large'
mpl.rcParams['ytick.labelsize'] = 'x-large'
output_dir = './plots/'
def save_pic(renderer, fig, p, suffix):
fh = renderer._get_figure(fig);
plt.tight_layout()
plt.savefig(f'{output_dir}/planarHypersonic_{suffix}.eps')
# mpbvp_ds = Dill('../../mpbvp/boundedBrachistochrone/data.dill')
icrm_ds = Dill('../planarHypersonic/data_thesis.dill')
plots = BelugaPlot('./data.dill',default_sol=-1,default_step=-1, renderer='matplotlib')
plots.add_plot().line('theta*re/1000','h/1000',label='QCPI', sol=-1, step=-1, style={'lw':0.0, 'marker':'o'})\
.line('theta*re/1000','h/1000',label='Shooting', sol=-1, step=-1, style={'lw':2.0})\
.xlabel('Downrange distance [km]').ylabel('$h$ [km]') \
.postprocess(ft.partial(save_pic,suffix='qcpi_ht'))
plots.add_plot().line('t','alfa*180/3.14',label='QCPI', style={'lw':0.0, 'marker':'o'})\
.line('t','alfa*180/3.14',label='Shooting', datasource=icrm_ds, step=-1, sol=-1, style={'lw':2.0})\
.xlabel('$t$ [s]').ylabel('$\\theta$ [deg]') \
.postprocess(ft.partial(save_pic,suffix='qcpi_alfa'))
plots.add_plot(colormap=cmx.viridis).line_series('theta*re/1000','h/1000',step=-1,skip=5, style={'lw':1.5})\
.xlabel('Downrange distance [km]').ylabel('$h$ [km]') \
.postprocess(ft.partial(save_pic,suffix='qcpi_evol_ht'))
def save_pic(renderer, fig, p, suffix):
fh = renderer._get_figure(fig)
# tikz_save(f'{output_dir}/brachisto_{suffix}.tex', figureheight='\\figureheight', figurewidth='\\figurewidth')
plt.tight_layout()
plt.savefig(f'{output_dir}/brachisto_{suffix}.eps')
def postprocess_ham(r, f, p):
plt.ticklabel_format(style='sci', axis='y', scilimits=(0, 0))
save_pic(r, f, p, 'qcpi_ham')
mpbvp_ds = Dill('../../1-brachistochrone/data.dill')
plots = BelugaPlot('./data.dill',
default_sol=-1,
default_step=-1,
renderer='matplotlib')
plots.add_plot(mesh_size=None).line('x','y',label='QCPI', sol=-1, step=-1, style={'lw': 0.0, 'marker':'o'}) \
.line('x','y',label='Multiple Shooting', datasource=mpbvp_ds, step=-1, sol=-1, style={'lw': 2.0})\
.xlabel('$x(t)$ [m]').ylabel('$y(t)$ [m]') \
.postprocess(ft.partial(save_pic, suffix='qcpi_xy'))
plots.add_plot(mesh_size=None).line('abs(t)','theta*180/3.14',label='QCPI', style={'lw': 0.0, 'marker':'o'}) \
.line('abs(t)','theta*180/3.14',label='Multiple Shooting', datasource=mpbvp_ds, step=-1, sol=-1, style={'lw': 2.0})\
.xlabel('$t$ [s]').ylabel('$\\theta$ [deg]') \
.postprocess(ft.partial(save_pic, suffix='qcpi_theta'))
plots.add_plot(mesh_size=None)\
.line('abs(t)','lamX',label='$\\lambda_x(t)$', style={'lw': 2.0})\
.line('abs(t)','lamY',label='$\\lambda_y(t)$', style={'lw': 2.0})\
from beluga.visualization import BelugaPlot
import matplotlib.pyplot as plt
plots = BelugaPlot('./data.dill',
default_sol=-1,
default_step=-1,
renderer='matplotlib')
# plots.add_plot().line('xbar*V*tfreal','ybar*V*tfreal') \
# .xlabel('x(t)').ylabel('y(t)') \
# .title('Trajectory')
plots.add_plot().line('e','n',label='traj1') \
.xlabel('x(t)').ylabel('y(t)') \
.title('Trajectory') \
.postprocess(lambda a,b,c: plt.axis('equal'))
plots.add_plot().line('t','psi*180/3.14') \
.xlabel('t (s)').ylabel('psi (deg)') \
.title('Heading')
plots.add_plot().line('t','gam*180/3.14',label='FPA') \
.line('t','bank*180/3.14',label='Bank angle') \
.xlabel('t [s]').ylabel('Control [deg]') \
.title('Control history')
# plots.add_plot().line('t','sqrt((xbar - xbar2)**2 + (ybar - ybar2)**2)*(V*tfreal)') \
# .xlabel('t').ylabel('Separation (m)') \
# .title('Separation')
plots.render()
# a, b = '{:.0e}'.format(x).split('e')
# b = int(b)
# return r'${} \times 10^{{{}}}$'.format(a, b)
formatter = ticker.FuncFormatter(fmt)
else:
formatter = None
cb = mpl.colorbar.ColorbarBase(cax,
cmap=cmap,
norm=norm,
orientation=orient,
format=formatter)
cb.set_label(label)
plots = BelugaPlot('./data_fpa60.dill', default_sol=-1, default_step=-1)
mpbvp_ds = Dill('../../mpbvp/planarHypersonicWithHeatRate/data_1200.dill')
const_ds = Dill('./data_1200_5k_1deg_ep6.dill')
qdot_ds = Dill('./data_1200_ep4.dill')
# Remove \addlegendimage lines from tex file for dot plots
plots.add_plot(colormap=cmx.viridis_r).line_series('theta*re/1000','h/1000',step=1,skip=0,style={'lw':2.0}) \
.xlabel('Downrange [km]').ylabel('$h$ [km]')\
.postprocess(ft.partial(save_pic, suffix='evol1_htheta'))
plots.add_plot(colormap=cmx.viridis_r).line_series('t','gam*180/3.14159',step=1,skip=0,style={'lw':2.0}) \
.xlabel('$t$ [s]').ylabel('$\\gamma$ [deg]')\
.postprocess(ft.partial(save_pic, suffix='evol1_fpa'))
rho = 'rho0*exp(-h/H)'
from beluga.visualization import BelugaPlot
plots = BelugaPlot('./data.dill', default_sol=-1, default_step=-1)
plots.add_plot().line('y','x') \
.xlabel('y (m)').ylabel('x (m)') \
.title('Boat Trajectory') \
plots.add_plot().line('t','hdg*57.3') \
.xlabel('time (s)').ylabel('hdg (rad)') \
.title('Boat Heading')
plots.render()
from beluga.visualization import BelugaPlot
import matplotlib.pyplot as plt
import sys
if len(sys.argv) < 2:
print('Usage: python plot.py <n>')
# plots = BelugaPlot('./data-3v-s15.dill',default_sol=-1,default_step=-1, renderer='matplotlib')
plots = BelugaPlot('./data.dill',
default_sol=-1,
default_step=-1,
renderer='matplotlib')
# 872
# plots.add_plot().line('xbar*V*tfreal','ybar*V*tfreal')\
# .xlabel('x(t)').ylabel('y(t)')\
# .title('Trajectory')
plot1 = plots.add_plot().line('xbar', 'ybar', label='traj1')
n = 10
for i in range(2, n + 1):
plot1.line(f'xbar{i}', f'ybar{i}', label=f'traj{i}')
# plots.add_plot().line('t','psi*180/3.14')\
# .line('t','psi2*180/3.14')\
# .line('t','psi3*180/3.14')\
# .line('t','psi4*180/3.14')\
# # .line('t','psi5*180/3.14')\
# # .xlabel('t (s)').ylabel('psi (deg)')\
# # .title('Heading')
#
# plots.add_plot().line('t','abar')\
# .line('t','abar2')\
# .line('t','abar3')\
from beluga.visualization import BelugaPlot
plots = BelugaPlot('./data.dill',default_sol=-1,default_step=-1, renderer='matplotlib')
plots.add_plot().line('t','x') \
.xlabel('t').ylabel('x [m]') \
.title('Trajectory')
plots.add_plot().line('t','v') \
.xlabel('t (s)').ylabel('v (m/s)') \
.title('Velocity history')
plots.add_plot().line('t','a') \
.xlabel('t (s)').ylabel('a (m/s^2)') \
.title('Control history')
plots.render()
divider = make_axes_locatable(ax)
cax = divider.append_axes(pos, size="5%", pad=0.05)
cb = mpl.colorbar.ColorbarBase(cax, cmap=cmap, norm=norm, orientation=orient)
cb.set_label(label)
def add_vehicle_labels(r,f,p):
y0 = np.array([-0.05, 0.1, 0.15, -0.1,-0.15])*scale
yf = np.array([0.0, 0.0, 0.0, -0.05,-0.05])*scale
x0 = np.ones_like(y0)*-0.8*scale
for i,(x,y) in enumerate(zip(x0,y0),1):
plt.text(x-0.45,y+0.05,str(i))
# plots = BelugaPlot('data-qcpi-ulim-5v.dill',default_sol=-1,default_step=0, renderer='matplotlib')
plots = BelugaPlot('data-5v-nominal.dill',default_sol=-1,default_step=-1, renderer='matplotlib')
V = 300
scale = V*50/1e3
Zone1 = np.array([-0.6, 0.0, 0.1])*scale
Zone1a = np.array([-0.6, 0.15, 0.1])*scale
def add_circle(r,f,p,pos,rad):
ax = plt.gca()
ax.add_patch(Circle(pos, radius=rad, fill=False, hatch='/', color='r'))
#
# plots.add_plot()\
# .line('xbar*V*tfreal/1e3','ybar*V*tfreal/1e3',step=0,sol=-1,label='Vehicle 1',style={'lw':2.0})\
# .line('xbar2*V*tfreal/1e3','ybar2*V*tfreal/1e3',step=0,sol=-1,label='Vehicle 2',style={'lw':2.0})\
# .line('xbar3*V*tfreal/1e3','ybar3*V*tfreal/1e3',step=0,sol=-1,label='Vehicle 3',style={'lw':2.0})\
from beluga.visualization import BelugaPlot
plots = BelugaPlot('./data.dill',default_sol=-1,default_step=-1)
plots.add_plot().line('theta*re/1000','h/1000') \
.xlabel('Downrange (km)').ylabel('h (km)') \
.title('Altitude vs. Downrange')
plots.add_plot().line('t','alfa*180/3.14') \
.xlabel('t (s)').ylabel('alfa (degrees)') \
.title('Angle of attack vs. Time')
rho = 'rho0*exp(-h/H)'
Cl = '(1.5658*alfa + -0.0000)'
Cd = '(1.6537*alfa**2 + 0.0612)'
D = '(0.5*'+rho+'*v**2*'+Cd+'*Aref)'
L = '(0.5*'+rho+'*v**2*'+Cl+'*Aref)'
plots.add_plot().line('t','sqrt('+D+'**2+'+L+'**2)/(mass*g0)') \
.xlabel('t (s)').ylabel('G-Loading') \
.title('G-Loading vs. Time')
# plots.add_plot().line('theta*re/1000','h/1000',label='Foo') \
# .line('theta*re/1000','h/1000',label='Bar',step=1,sol=5) \
# .xlabel('Downrange (km)') \
# .ylabel('h (km)') \
# .title('Altitude vs. Downrange')
plots.render()
from beluga.visualization import BelugaPlot
plots = BelugaPlot('./data.dill', default_sol=-1, default_step=-1)
plots.add_plot().line('t','x') \
.xlabel('t (s)').ylabel('x(t)') \
.title('Position vs. Time')
#
# plots.add_plot().line('t','(_xlim - (2*_xlim/(1+exp((2/_xlim)*xi11))))') \
# .xlabel('t (s)').ylabel('psi(t)') \
# .title('psi1 vs. Time')
plots.add_plot().line('t','u') \
.xlabel('t (s)').ylabel('u(t)') \
.title('Control history')
plots.add_plot().line('t','v') \
.xlabel('t (s)').ylabel('v(t)') \
.title('v vs. t')
plots.add_plot().line('t','xi12') \
.xlabel('t (s)').ylabel('xi12(t)') \
.title('xi12 vs. t')
plots.render()
from beluga.visualization import BelugaPlot
# plots = BelugaPlot('./data_2500_ep4.dill',default_sol=-1,default_step=-1, renderer='matplotlib')
# plots = BelugaPlot('./data-flydown.dill',default_sol=-1,default_step=-1, renderer='matplotlib')
plots = BelugaPlot('./data-1k2-eps6-eps7.dill',
default_sol=-1,
default_step=-1,
renderer='matplotlib')
# plots = BelugaPlot('./data_1200_5k_1deg_ep6.dill',default_sol=-1,default_step=-1, renderer='matplotlib')
plots.add_plot().line('theta*180/3.14','h/1000') \
.xlabel('Downrange (deg)').ylabel('h (km)') \
.title('Altitude vs. Downrange')
plots.add_plot().line('t','k*sqrt(rho0*exp(-h/H)/rn)*v**3/1e4') \
.line('t','qdotMax/1e4') \
.xlabel('t (s)').ylabel('Heat Rate (W/cm^2)') \
.title('Heat Rate vs. Time')
# plots.add_plot().line('t','sqrt(D^2+L^2)/(mass*9.81)') \
# .xlabel('t (s)').ylabel('G-Loading') \
# .title('G-Loading vs. Time')
plots.add_plot().line('t','v/1e3') \
.xlabel('t (s)').ylabel('Heat rate') \
.title('Heatrate vs. Time')
plots.add_plot().line('t','gam*180/pi') \
.xlabel('t (s)').ylabel('FPA (deg)') \
.title('FPA')
plots.render()
resolution = 20
x = np.linspace(x_center - radius, x_center + radius, resolution)
z = np.linspace(elevation, elevation + height, resolution)
X, Z = np.meshgrid(x, z)
Y = np.sqrt(radius**2 -
(X - x_center)**2) + y_center # Pythagorean theorem
ax.plot_surface(X, Y, Z, linewidth=0)
ax.plot_surface(X, (2 * y_center - Y), Z, linewidth=0)
plt.axis('equal')
# plots = BelugaPlot('./data-3s3-202.dill',default_sol=-1,default_step=-1, renderer='matplotlib')
plots = BelugaPlot(filename,
default_sol=-1,
default_step=-1,
renderer='matplotlib')
plots.add_plot(colormap=cmx.viridis).line('xbar2*V*tfreal/1e3','ybar2*V*tfreal/1e3',label='Vehicle 2',style={'color':'red'})\
.line_series('xbar*V*tfreal/1e3','ybar*V*tfreal/1e3',skip=2)\
.line('xc*V*tfreal/1e3+rc*V*tfreal/1e3*cos(2*pi*t/tf)','yc*V*tfreal/1e3+rc*V*tfreal/1e3*sin(2*pi*t/tf)')\
.xlabel('x(t) [km]').ylabel('y(t) [km]')\
.title('Trajectory') \
.postprocess(lambda a,b,c: plt.axis('equal'))
plots.add_plot(colormap=cmx.jet).line('t','V',label='Vehicle 1',style='r')\
.line_series('t','vbar2*V',skip=2)\
.xlabel('t [s]').ylabel('v(t) [m/s]')\
.title('Speed') \
# plots.add_plot().line('xbar','ybar',label='traj1')\
from beluga.visualization import BelugaPlot
# plots = BelugaPlot('./data_fpa60_ms.dill',default_sol=-1,default_step=-1, renderer='matplotlib')
plots = BelugaPlot('./data.dill',
default_sol=-1,
default_step=-1,
renderer='matplotlib')
plots.add_plot().line('theta*180/3.14','h/1000') \
.xlabel('Downrange (deg)').ylabel('h (km)') \
.title('Altitude vs. Downrange')
plots.add_plot().line_series('t','qdot/1e4',step=-1)\
.xlabel('t (s)').ylabel('Heat Rate (W/cm^2)') \
.title('Heat Rate vs. Time')\
.line('t','qdotMax/1e4') \
plots.add_plot().line_series('t','v/1e3',step=-1)\
.xlabel('t (s)').ylabel('Speed km/s') \
.title('Heat Rate vs. Time')
#
# plots.add_plot().line_series('t','qdot/1e4',step=4)\
# .xlabel('t (s)').ylabel('Heat Rate (W/cm^2)') \
# .title('Heat Rate vs. Time')
#
# plots.add_plot().line_series('t','qdot/1e4',step=5)\
# .xlabel('t (s)').ylabel('Heat Rate (W/cm^2)') \
# .title('Heat Rate vs. Time')
#
# plots.add_plot().line_series('t','qdot/1e4',step=6)\
# .xlabel('t (s)').ylabel('Heat Rate (W/cm^2)') \
mpl.rcParams['xtick.labelsize'] = 'x-large'
mpl.rcParams['ytick.labelsize'] = 'x-large'
output_dir = './plots/'
def save_pic(renderer, fig, p, suffix):
fh = renderer._get_figure(fig)
plt.tight_layout()
plt.savefig(f'{output_dir}/boundedbrachisto_{suffix}.eps')
# mpbvp_ds = Dill('../../mpbvp/boundedBrachistochrone/data.dill')
icrm_ds = Dill('../../icrm/boundedBrachistochrone/data.dill')
plots = BelugaPlot('./data.dill',
default_sol=-1,
default_step=-1,
renderer='matplotlib')
plots.add_plot().line('x','y',label='QCPI', sol=-1, step=-1, style={'lw':0.0, 'marker':'o'}) \
.line('x','y',label='ICRM + Shooting', datasource=icrm_ds, step=-1, sol=-1, style={'lw':2.0})\
.line('x','-1.0-x',label='x + y = 1',step=-1,sol=-1,style={'lw':2.0, 'linestyle':'--'}) \
.xlabel('$x(t)$ [m]').ylabel('$y(t)$ [m]') \
.postprocess(ft.partial(save_pic,suffix='qcpi_xy'))
plots.add_plot().line('t','theta*180/3.14',label='QCPI Solution', style={'lw':0.0, 'marker':'o'}) \
.line('t','theta*180/3.14',label='ICRM + Shooting', datasource=icrm_ds, step=-1, sol=-1, style={'lw':2.0})\
.xlabel('$t$ [s]').ylabel('$\\theta$ [deg]') \
.postprocess(ft.partial(save_pic,suffix='qcpi_theta'))
plots.render()
# b = int(b)
# return r'${} \times 10^{{{}}}$'.format(a, b)
formatter = ticker.FuncFormatter(fmt)
else:
formatter = None
cb = mpl.colorbar.ColorbarBase(cax,
cmap=cmap,
norm=norm,
orientation=orient,
format=formatter)
cb.set_label(label)
plots = BelugaPlot('./data-1k2-eps4-eps4.dill',
default_sol=-1,
default_step=-1)
ds_constraint = Dill('./data-1k2-eps4-eps4.dill') # 26 steps
ds_epsHR = Dill('./data-1k2-eps6-eps4.dill') # 36 steps
ds_epsAlfa = Dill('./data-1k2-eps6-eps7.dill') # 36 steps
ds_gpops = GPOPS('./alfa_tol_e6.mat',
states=('h', 'theta', 'v', 'gam'),
controls=('alfa', ),
const={
'H': 7.5e3,
'rho0': 1.2,
'k': 1.74153e-4,
'rn': 1 / 12 * 0.3048
})
from beluga.visualization import BelugaPlot
import matplotlib.pyplot as plt
plots = BelugaPlot('./data.dill',
default_sol=-1,
default_step=-1,
renderer='matplotlib')
# plots.add_plot().line('x*V*tfreal','y*V*tfreal') \
# .xlabel('x(t)').ylabel('y(t)') \
# .title('Trajectory')
plots.add_plot().line('xbar','ybar',label='traj1') \
.xlabel('x(t)').ylabel('y(t)') \
.title('Trajectory') \
.postprocess(lambda a,b,c: plt.axis('equal'))
# .line('xc + rc*cos(2*3.14*t/tf)','yc + rc*sin(2*3.14*t/tf)')\
# plots.add_plot().line('t','psi*180/3.14') \
# .xlabel('t (s)').ylabel('psi (deg)') \
# .title('Heading')
# plots.add_plot().line('t','u') \
# .xlabel('t (s)').ylabel('u (rad/s)') \
# .title('Control history')
#
# plots.add_plot().line('t','sqrt((x - x2)**2 + (y - y2)**2)*(V*tfreal)') \
# .xlabel('t').ylabel('Separation (m)') \
# .title('Separation')
plots.render()
from beluga.visualization import BelugaPlot
# plots = BelugaPlot('./data.dill',default_sol=-1,default_step=0)
plots = BelugaPlot('./data.dill',default_sol=-1,default_step=-1, renderer='matplotlib')
plots.add_plot().line('x','y',label='Solution') \
.xlabel('x(t)').ylabel('y(t)') \
.title('Trajectory')
# .line('x','-2-0.75*x',label='Constraint2',step=-1,sol=-1) \
plots.add_plot().line('t','delta*180/3.14') \
.xlabel('t (s)').ylabel('delta (degrees)') \
.title('Steering')
#
# plots.add_plot().line('t','theta*180/3.14') \
# .xlabel('t (s)').ylabel('theta (degrees)') \
# .title('Heading')
plots.render()
format='eps'):
fh = renderer._get_figure(fig)
if tight:
plt.tight_layout()
if rasterized:
# plt.gca().set_rasterized(True)
plt.savefig(f'{output_dir}/bench_{suffix}.{format}',
rasterized=True,
format='pdf',
dpi=300)
else:
plt.savefig(f'{output_dir}/bench_{suffix}.{format}')
plots = BelugaPlot('data.dill',
default_sol=-1,
default_step=-1,
renderer='matplotlib')
scale = 15
plot1 = plots.add_plot(colormap=cmx.tab10).line(f'xbar*{scale}',
f'ybar*{scale}',
label='Vehicle 1',
style={'lw': 2.0})
plot2 = plots.add_plot(colormap=cmx.tab10).line('t*50',
'abar',
label='$\\bar{u}_1(t)$',
style={'lw': 2.0})
n = 10
for i in range(2, n + 1):
from beluga.visualization import BelugaPlot
from beluga.visualization.datasources import Dill
# plots = BelugaPlot('./data.dill',default_sol=-1,default_step=0)
mpbvp_ds = Dill('../../mpbvp/planarHypersonicWithHeatRate/data_1200.dill')
plots = BelugaPlot('./data_1200_2deg15km_ep4.dill',
default_sol=-1,
default_step=-1,
renderer='matplotlib')
plots.add_plot().line('theta*180/3.14','h/1000',label='ICRM Solution') \
.xlabel('Downrange (deg)').ylabel('h (km)') \
.title('Altitude vs. Downrange') \
.line('theta*180/3.14','h/1000',label='MPBVP Solution', datasource=mpbvp_ds, step=-1, sol=-1) \
plots.add_plot().line('t','k*sqrt(rho0*exp(-h/H)/rn)*v**3/10000',label='ICRM Solution') \
.line('t','k*sqrt(rho0*exp(-h/H)/rn)*v**3/10000',label='MPBVP Solution', datasource=mpbvp_ds, step=-1, sol=-1) \
.xlabel('t (s)').ylabel('Heat-rate') \
.title('Heat-rate vs. Time')
# plots.add_plot().line('t','theta*180/3.14',label='ICRM Solution') \
# .line('t','theta*180/3.14',label='MPBVP Solution', datasource=mpbvp_ds, step=-1, sol=-1)\
# .line('t','theta*180/3.14',label='Unconstrained Solution', datasource=mpbvp_ds, step=0, sol=-1)\
# .xlabel('t (s)').ylabel('theta (degrees)') \
# .title('Control history')
#
# plots.add_plot().line('t','lamY', label='ICRM Solution') \
# .line('t','lamY', label='MPBVP Solution', datasource=mpbvp_ds, step=-1, sol=-1)\
# .line('t','lamY', label='Unconstrained Solution', datasource=mpbvp_ds, step=0, sol=-1) \
# .xlabel('t (s)').ylabel('lamY') \
# .title('lamY')
from beluga.visualization import BelugaPlot
import matplotlib.pyplot as plt
# plots = BelugaPlot('./data-3s3-202.dill',default_sol=-1,default_step=-1, renderer='matplotlib')
plots = BelugaPlot('./data.dill',
default_sol=-1,
default_step=-1,
renderer='matplotlib')
# plots.add_plot().line('x*V*tfreal','y*V*tfreal')\
# .xlabel('x(t)').ylabel('y(t)')\
# .title('Trajectory')
plots.add_plot().line('x','y',label='traj1')\
.line('x2','y2',label='traj2')\
.line('xc1+rc1*cos(2*pi*t/tf)','yc1+rc1*sin(2*pi*t/tf)')\
.line('xc2+rc2*cos(2*pi*t/tf)','yc2+rc2*sin(2*pi*t/tf)')\
.line('xc3+rc3*cos(2*pi*t/tf)','yc3+rc3*sin(2*pi*t/tf)')\
.xlabel('x(t)').ylabel('y(t)')\
.title('Trajectory') \
.postprocess(lambda a,b,c: plt.axis('equal'))
# plots.add_plot().line('t','xi11',label='xi11')\
# .line('t','xi21',label='xi21')\
# .line('t','xi31',label='xi31')
# .line('x2','y2',label='traj2')\
# .line('xc+rc*cos(2*pi*t/tf)','yc+rc*sin(2*pi*t/tf)')\
# .xlabel('x(t)').ylabel('y(t)')\
# .title('Trajectory') \
# .postprocess(lambda a,b,c: plt.axis('equal'))
# plots.add_plot().line('t','z')\
from beluga.visualization import BelugaPlot
plots = BelugaPlot('./data.dill',default_sol=-1,default_step=-1, renderer='matplotlib')
plots.add_plot().line('x','y') \
.xlabel('x(t)').ylabel('y(t)') \
.title('Trajectory')
plots.add_plot().line('t','theta') \
.xlabel('t (s)').ylabel('theta (degrees)') \
.title('Control history')
plots.render()
from beluga.visualization import BelugaPlot
plots = BelugaPlot('./data.dill', default_sol=-1, default_step=-1)
plots.add_plot().line('theta*re/1000','h/1000', step=-1) \
.xlabel('Downrange (km)').ylabel('h (km)') \
.title('Altitude vs. Downrange')
plots.add_plot().line('t','alfa*180/pi') \
.xlabel('t (s)').ylabel('alfa (degrees)') \
.title('Angle of attack vs. Time')
plots.add_plot().line('theta*re/1000','h/1000') \
.xlabel('Downrange (km)').ylabel('h (km)') \
.title('Altitude vs. Downrange')
plots.add_plot().line('v/1000','h/1000') \
.xlabel('v (km/s)').ylabel('h (km)') \
.title('Altitude vs. Velocity')
plots.render()
from beluga.visualization import BelugaPlot
plots = BelugaPlot('data.dill', default_sol=-1, default_step=-1)
plots.add_plot().line('x','y') \
# .xlabel('t (s)').ylabel('h (km)') \
# .title('Altitude vs. Time')
plots.add_plot().line('t', '(-ep*k*lamX*cos(u) - k*lamA*sin(u))') \
.line('t','(-ep*k*lamX*cos(u))') \
.line('t','lamX') \
.line('t','lamA')
plots.add_plot().line('t', '-k*(lamX*v*sin(a) - lamY*v*cos(a))*cos(u)') \
# .xlabel('t (s)').ylabel('h (km)') \
# .title('Altitude vs. Time')
# plots.add_plot().line('t','alfa*180/3.14') \
# .xlabel('t (s)').ylabel('alfa (degrees)') \
# .title('Angle of attack vs. Time')
# plots.add_plot().line('theta*re/1000','h/1000',legend='Foo') \
# .line('theta*re/1000','h/1000',legend='Bar',step=1,sol=5) \
# .xlabel('Downrange (km)') \
# .ylabel('h (km)') \
# .title('Altitude vs. Downrange')
plots.render()
from beluga.visualization import BelugaPlot
import matplotlib.pyplot as plt
plots = BelugaPlot('./data.dill',default_sol=-1,default_step=-1, renderer='matplotlib')
# plots.add_plot().line('xbar*V*tfreal','ybar*V*tfreal') \
# .xlabel('x(t)').ylabel('y(t)') \
# .title('Trajectory')
plots.add_plot().line('xbar','ybar',label='traj1') \
.line('xbar2','ybar2',label='traj2') \
.xlabel('x(t)').ylabel('y(t)') \
.title('Trajectory') \
.postprocess(lambda a,b,c: plt.axis('equal'))
plots.add_plot().line('t','psi*180/3.14') \
.line('t','psi2*180/3.14') \
.xlabel('t (s)').ylabel('psi (deg)') \
.title('Heading')
plots.add_plot().line('t','abar*V/tfreal') \
.line('t','abar2*V/tfreal') \
.xlabel('t (s)').ylabel('a (rad/s)') \
.title('Control history')
# plots.add_plot().line('t','sqrt((xbar - xbar2)**2 + (ybar - ybar2)**2)*(V*tfreal)') \
# .xlabel('t').ylabel('Separation (m)') \
# .title('Separation')
plots.render()
