Séparation data/scripts/résultats

utils/basic_example.py

@@ -1,46 +0,0 @@
-"""
-=========================
-Simple animation examples
-=========================
-
-This example contains two animations. The first is a random walk plot. The
-second is an image animation.
-"""
-
-import numpy as np
-import matplotlib.pyplot as plt
-import matplotlib.animation as animation
-
-
-def update_line(num, data, line):
-    line.set_data(data[..., :num])
-    return line,
-
-fig1 = plt.figure()
-
-data = np.random.rand(2, 25)
-l, = plt.plot([], [], 'r-')
-plt.xlim(0, 1)
-plt.ylim(0, 1)
-plt.xlabel('x')
-plt.title('test')
-line_ani = animation.FuncAnimation(fig1, update_line, 25, fargs=(data, l),
-                                   interval=50, blit=True)
-
-# To save the animation, use the command: line_ani.save('lines.mp4')
-
-fig2 = plt.figure()
-
-x = np.arange(-9, 10)
-y = np.arange(-9, 10).reshape(-1, 1)
-base = np.hypot(x, y)
-ims = []
-for add in np.arange(15):
-    ims.append((plt.pcolor(x, y, base + add, norm=plt.Normalize(0, 30)),))
-
-im_ani = animation.ArtistAnimation(fig2, ims, interval=50, repeat_delay=3000,
-                                   blit=True)
-# To save this second animation with some metadata, use the following command:
-# im_ani.save('im.mp4', metadata={'artist':'Guido'})
-
-plt.show()

utils/measure_freq.jl

@@ -2,7 +2,7 @@ using Statistics
 using CSV
 
 
-file_measure = "walk.csv"
+file_measure = joinpath(@__DIR__, "data", "walk.csv")
 
 measure = CSV.read(file_measure, header=false) |> Matrix{Float64}
 
@@ -15,5 +15,5 @@ print("Delta moyen :\t\t")
 print(Statistics.mean(deltas))
 println(" s")
 print("Écart type :\t\t")
-print((Statistics.std(deltas)))
+print(Statistics.std(deltas))
 println(" s");

utils/parse_topic.py

@@ -6,7 +6,6 @@ import time
 
 import click
 
-#import rospy
 
 @click.command()
 @click.option('--output', default="output.csv", help='Number of greetings.')

utils/plot_internal_tun.jl

@@ -2,8 +2,8 @@ using Plots
 using CSV
 pyplot()
 
-file_measure = "linear_x2.csv"
-file_input = "input_linear_x2.csv"
+file_measure = joinpath(@__DIR__, "data", "linear_x2.csv")
+file_input = joinpath(@__DIR__, "data", "input_linear_x2.csv")
 
 measure = CSV.read(file_measure, header=false) |> Matrix{Float64};
 command = CSV.read(file_input, header=false) |> Matrix{Float64};
@@ -22,14 +22,16 @@ end
 plot(
     measure[init_measure:end-end_measure,1],
     measure[init_measure:end-end_measure,2],
-    title="plop",
-    size=(1000, 600)
+    title="Réponse indicielle de la boucle interne",
+    reuse=false,
+    size=(1000, 600),
+    label="mesure"
 )
-s = sum([x * (measure[init_command + i,1] - measure[init_command + i-1,1]) for (i,x) in enumerate(measure[init_measure:end-end_measure,2])]) / (measure[end-end_measure,1] - measure[init_measure,1])
-plot!([measure[init_measure,1], measure[end-end_measure,1]], [s, s])
 plot!(
     command[init_command:end,1],
-    command[init_command:end,2]
+    command[init_command:end,2],
+    label="commande"
 )
+savefig(joinpath(@__DIR__, "results", "internal_tuns.eps"))
 
 show()

utils/results/mesure_vitesse_cubique.eps

@@ -1,6 +1,6 @@
 %!PS-Adobe-3.0 EPSF-3.0
 %%Creator: matplotlib version 2.2.4, http://matplotlib.org/
-%%CreationDate: Sun Jun  2 14:33:03 2019
+%%CreationDate: Sun Jun  2 18:28:49 2019
 %%Orientation: portrait
 %%BoundingBox: -54 180 666 612
 %%EndComments

utils/results/mesure_vitesse_quadratique.eps

@@ -1,6 +1,6 @@
 %!PS-Adobe-3.0 EPSF-3.0
 %%Creator: matplotlib version 2.2.4, http://matplotlib.org/
-%%CreationDate: Sun Jun  2 14:33:02 2019
+%%CreationDate: Sun Jun  2 18:28:49 2019
 %%Orientation: portrait
 %%BoundingBox: -54 180 666 612
 %%EndComments

utils/test_filter.jl

@@ -5,11 +5,12 @@ using CSV
 pyplot()
 
 # Parameters
-filename = "walk.csv" # input file
+filename = joinpath(@__DIR__, "data", "walk.csv") # input file
 h = 1/22 # sample time
 orders = [
     (title="quadratique", order=2, sizes=5:2:11),
-    (title="cubique", order=3, sizes=5:2:11)
+    (title="cubique", order=3, sizes=5:2:11),
+    (title="big_quadra", order=2, sizes=11:10:51)
 ]
 
 
@@ -62,6 +63,6 @@ for order in orders
             subplot=2
         )
     end
-    savefig(string("mesure_vitesse_", order.title, ".eps"))
+    savefig(joinpath(@__DIR__, "results", string("mesure_vitesse_", order.title, ".eps")))
 end
 show()