PythonLinearNonlinearControl/scripts/show_result.py at develop · yangwangaaa/PythonLinearNonlinearControl · GitHub

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import os

import argparse

import pickle

import numpy as np

import matplotlib.pyplot as plt

from PythonLinearNonlinearControl.plotters.plot_func import load_plot_data, \

plot_multi_result

def run(args):

controllers = ["iLQR", "DDP", "CEM", "MPPI"]

history_xs = None

history_us = None

history_gs = None

# load data

for controller in controllers:

history_x, history_u, history_g = \

load_plot_data(args.env, controller,

result_dir=args.result_dir)

if history_xs is None:

history_xs = history_x[np.newaxis, :]

history_us = history_u[np.newaxis, :]

history_gs = history_g[np.newaxis, :]

continue

history_xs = np.concatenate((history_xs,

history_x[np.newaxis, :]), axis=0)

history_us = np.concatenate((history_us,

history_u[np.newaxis, :]), axis=0)

history_gs = np.concatenate((history_gs,

history_g[np.newaxis, :]), axis=0)

plot_multi_result(history_xs, histories_g=history_gs, labels=controllers,

ylabel="x")

plot_multi_result(history_us, histories_g=np.zeros_like(history_us),

labels=controllers, ylabel="u", name="input_history")

def main():

parser = argparse.ArgumentParser()

parser.add_argument("--env", type=str, default="FirstOrderLag")

parser.add_argument("--result_dir", type=str, default="./result")

args = parser.parse_args()

run(args)

if __name__ == "__main__":

main()

PythonLinearNonlinearControl/scripts/show_result.py at develop · yangwangaaa/PythonLinearNonlinearControl · GitHub

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