def save_figure(self, itr=0):
fig_title = self._fig.suptitle("Iteration %02d" % itr, fontsize=14)
prev_obs_idx = self._current_obs_idx
self._radio_ax.set_visible(False)
canvas_draw(self._fig.canvas, 0.01)
for oo, label in enumerate(self._obs_labels):
self._current_obs_idx = oo
self.draw()
fig_log_path = os.path.join(self._save_path,
'obs%02d' % oo,
)
if not os.path.isdir(fig_log_path):
os.makedirs(fig_log_path)
fig_log_name = os.path.join(fig_log_path,
('%02d' % itr).zfill(4)
)
self._fig.savefig(fig_log_name)
self._current_obs_idx = prev_obs_idx
self._radio_ax.set_visible(True)
fig_title.set_visible(False)
canvas_draw(self._fig.canvas, 0.01)
def draw(self):
# noinspection PyArgumentList
[h.remove() for h in self._line_objects]
self._line_objects = list()
self._plot_level_curves()
self._plot_action_samples()
canvas_draw(self._fig.canvas, 0.01)
def __init__(self, i_qf, i_policy, u_qfs, u_policies, obs_lst,
default_action, n_samples,
render=False, save_path=None):
self._i_qf = i_qf
self._i_policy = i_policy
self._u_qfs = u_qfs
self._u_policies = u_policies
# Convert to cuda if they didn't
if ptu.gpu_enabled():
self._i_qf.cuda()
self._i_policy.cuda()
for u_qf, u_policy in zip(self._u_qfs, self._u_policies):
u_qf.cuda()
u_policy.cuda()
self._obs_lst = np.array(obs_lst)
self._default_action = default_action
self._n_samples = n_samples
self._var_inds = np.where(np.isnan(default_action))[0]
assert len(self._var_inds) == 2
self._n_demons = len(self._u_qfs)
n_plots = self._n_demons + 1
x_size = 5 * n_plots
y_size = 5
self._fig = plt.figure(figsize=(x_size, y_size))
self._ax_lst = []
self._line_objects = list()
# plt.subplots_adjust(left=0.3)
plt.subplots_adjust(left=0.10)
for i in range(n_plots):
ax = self._fig.add_subplot(100 + n_plots * 10 + i + 1)
ax.set_xlim((-1, 1))
ax.set_ylim((-1, 1))
ax.grid(True)
if i == 0:
ax.set_title('Intentional')
else:
ax.set_title('Unintentional %02d' % (i))
ax.set_xlabel('Xvel')
ax.set_ylabel('Yvel')
self._ax_lst.append(ax)
self._current_obs_idx = 1
self._obs_labels = [str(obs) for obs in self._obs_lst]
self._fig.canvas.set_window_title('Observation ' +
self._obs_labels[self._current_obs_idx])
self._plot_level_curves()
self._plot_action_samples()
self._radio_ax = \
self._fig.add_axes([0.01, 0.48, 0.06, 0.05*len(self._obs_lst)])
self._radio_button = RadioButtons(self._radio_ax, self._obs_labels,
active=self._current_obs_idx)
self._radio_button.on_clicked(self.radio_update_plots)
if save_path is None:
self._save_path = '/home/desteban/logs/q_plots'
else:
self._save_path = save_path
if render:
plt.show(block=False)
canvas_draw(self._fig.canvas, 0.05)