print("")
print("ERROR: Executable '"+executable+"' does not exist.")
print("Please call 'make install' in the build directory first.")
print("")
sys.exit(-1);
# Call the executable with the directory to which results should be written
directory = "/tmp/demoDmp"
subprocess.call([executable, directory])
print("Plotting")
fig = plt.figure(1)
axs = [ fig.add_subplot(131), fig.add_subplot(132), fig.add_subplot(133) ]
lines = plotTrajectoryFromFile(directory+"/demonstration_traj.txt",axs)
plt.setp(lines, linestyle='-', linewidth=4, color=(0.8,0.8,0.8), label='demonstration')
lines = plotTrajectoryFromFile(directory+"/reproduced_traj.txt",axs)
plt.setp(lines, linestyle='--', linewidth=2, color=(0.0,0.0,0.5), label='reproduced')
plt.legend()
# Read data
xs_xds = numpy.loadtxt(directory+'/reproduced_xs_xds.txt')
forcing_terms = numpy.loadtxt(directory+'/reproduced_forcing_terms.txt')
fa_output = numpy.loadtxt(directory+'/reproduced_fa_output.txt')
fig = plt.figure(2)
plotDmp(xs_xds,fig,forcing_terms,fa_output)
print ""
print "ERROR: Executable '"+executable+"' does not exist."
print "Please call 'make install' in the build directory first."
print ""
sys.exit(-1);
# Call the executable with the directory to which results should be written
directory = "/tmp/demoDmp"
subprocess.call([executable, directory])
print "Plotting"
fig = plt.figure(1)
axs = [ fig.add_subplot(131), fig.add_subplot(132), fig.add_subplot(133) ]
lines = plotTrajectoryFromFile(directory+"/demonstration_traj.txt",axs)
plt.setp(lines, linestyle='-', linewidth=4, color=(0.8,0.8,0.8), label='demonstration')
lines = plotTrajectoryFromFile(directory+"/reproduced_traj.txt",axs)
plt.setp(lines, linestyle='--', linewidth=2, color=(0.0,0.0,0.5), label='reproduced')
plt.legend()
# Read data
xs_xds = numpy.loadtxt(directory+'/reproduced_xs_xds.txt')
forcing_terms = numpy.loadtxt(directory+'/reproduced_forcing_terms.txt')
fa_output = numpy.loadtxt(directory+'/reproduced_fa_output.txt')
fig = plt.figure(2)
plotDmp(xs_xds,fig,forcing_terms,fa_output)
subprocess.call(command, shell=True)
print("Plotting")
task_parameters_demos = numpy.loadtxt(directory+"/task_parameters_demos.txt")
task_parameters_repros = numpy.loadtxt(directory+"/task_parameters_repros.txt")
n_demos = len(task_parameters_demos)
n_repros = len(task_parameters_repros)
fig = plt.figure(n_dmp_contextual_step)
fig.suptitle(str(n_dmp_contextual_step)+"-step Contextual Dmp")
axs = [ fig.add_subplot(131), fig.add_subplot(132), fig.add_subplot(133) ]
for i_demo in range(n_demos):
filename = "demonstration0"+str(i_demo);
lines = plotTrajectoryFromFile(directory+"/"+filename+".txt",axs)
plt.setp(lines, linestyle='-', linewidth=4, color=(0.7,0.7,1.0), label=filename)
for i_repro in range(n_repros):
filename = "reproduced0"+str(i_repro);
lines = plotTrajectoryFromFile(directory+"/"+filename+".txt",axs)
plt.setp(lines, linestyle='-', linewidth=1, color=(0.5,0.0,0.0), label=filename)
#ax = fig.add_subplot(144)
#inputs = numpy.loadtxt(directory+'/inputs.txt')
#targets = numpy.loadtxt(directory+'/targets.txt')
#lines = ax.plot(inputs[:,0],targets,linestyle='-',color='red')
#ax.set_xlabel('input')
#ax.set_ylabel('targets')
#ax = fig.add_subplot(155)
subprocess.call(command, shell=True)
print "Plotting"
task_parameters_demos = numpy.loadtxt(directory+"/task_parameters_demos.txt")
task_parameters_repros = numpy.loadtxt(directory+"/task_parameters_repros.txt")
n_demos = len(task_parameters_demos)
n_repros = len(task_parameters_repros)
fig = plt.figure(n_dmp_contextual_step)
fig.suptitle(str(n_dmp_contextual_step)+"-step Contextual Dmp")
axs = [ fig.add_subplot(131), fig.add_subplot(132), fig.add_subplot(133) ]
for i_demo in range(n_demos):
filename = "demonstration0"+str(i_demo);
lines = plotTrajectoryFromFile(directory+"/"+filename+".txt",axs)
plt.setp(lines, linestyle='-', linewidth=4, color=(0.7,0.7,1.0), label=filename)
for i_repro in range(n_repros):
filename = "reproduced0"+str(i_repro);
lines = plotTrajectoryFromFile(directory+"/"+filename+".txt",axs)
plt.setp(lines, linestyle='-', linewidth=1, color=(0.5,0.0,0.0), label=filename)
#ax = fig.add_subplot(144)
#inputs = numpy.loadtxt(directory+'/inputs.txt')
#targets = numpy.loadtxt(directory+'/targets.txt')
#lines = ax.plot(inputs[:,0],targets,linestyle='-',color='red')
#ax.set_xlabel('input')
#ax.set_ylabel('targets')
#ax = fig.add_subplot(155)
