59 lines
1.6 KiB
Python
59 lines
1.6 KiB
Python
import os
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import argparse
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import pickle
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import numpy as np
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import matplotlib.pyplot as plt
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from PythonLinearNonlinearControl.plotters.plot_func import load_plot_data, \
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plot_multi_result
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def run(args):
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controllers = ["iLQR", "DDP", "CEM", "MPPI"]
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history_xs = None
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history_us = None
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history_gs = None
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# load data
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for controller in controllers:
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history_x, history_u, history_g = \
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load_plot_data(args.env, controller,
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result_dir=args.result_dir)
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if history_xs is None:
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history_xs = history_x[np.newaxis, :]
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history_us = history_u[np.newaxis, :]
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history_gs = history_g[np.newaxis, :]
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continue
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history_xs = np.concatenate((history_xs,
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history_x[np.newaxis, :]), axis=0)
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history_us = np.concatenate((history_us,
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history_u[np.newaxis, :]), axis=0)
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history_gs = np.concatenate((history_gs,
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history_g[np.newaxis, :]), axis=0)
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plot_multi_result(history_xs, histories_g=history_gs, labels=controllers,
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ylabel="x")
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plot_multi_result(history_us, histories_g=np.zeros_like(history_us),
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labels=controllers, ylabel="u", name="input_history")
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def main():
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parser = argparse.ArgumentParser()
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parser.add_argument("--env", type=str, default="FirstOrderLag")
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parser.add_argument("--result_dir", type=str, default="./result")
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args = parser.parse_args()
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run(args)
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if __name__ == "__main__":
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main()
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