diff --git a/scripts/output.csv b/scripts/output.csv deleted file mode 100644 index e69de29..0000000 diff --git a/scripts/output.txt b/scripts/output.txt deleted file mode 100644 index e69de29..0000000 diff --git a/scripts/record_speed.csv b/scripts/record_speed.csv deleted file mode 100644 index e69de29..0000000 diff --git a/utils/basic_example.py b/utils/basic_example.py deleted file mode 100644 index 4a9c0f6..0000000 --- a/utils/basic_example.py +++ /dev/null @@ -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() diff --git a/scripts/input_linear_x.csv b/utils/data/input_linear_x.csv similarity index 100% rename from scripts/input_linear_x.csv rename to utils/data/input_linear_x.csv diff --git a/scripts/input_linear_x2.csv b/utils/data/input_linear_x2.csv similarity index 100% rename from scripts/input_linear_x2.csv rename to utils/data/input_linear_x2.csv diff --git a/scripts/linear_x.csv b/utils/data/linear_x.csv similarity index 100% rename from scripts/linear_x.csv rename to utils/data/linear_x.csv diff --git a/scripts/linear_x2.csv b/utils/data/linear_x2.csv similarity index 100% rename from scripts/linear_x2.csv rename to utils/data/linear_x2.csv diff --git a/utils/repind_speed_x2.bag b/utils/data/repind_speed_x2.bag similarity index 100% rename from utils/repind_speed_x2.bag rename to utils/data/repind_speed_x2.bag diff --git a/utils/walk.csv b/utils/data/walk.csv similarity index 100% rename from utils/walk.csv rename to utils/data/walk.csv diff --git a/utils/freq.eps b/utils/freq.eps deleted file mode 100644 index 8d159d0..0000000 --- a/utils/freq.eps +++ /dev/null @@ -1,1088 +0,0 @@ -%!PS-Adobe-3.0 EPSF-3.0 -%%Creator: matplotlib version 2.2.4, http://matplotlib.org/ -%%CreationDate: Sat Jun 1 20:07:59 2019 -%%Orientation: portrait -%%BoundingBox: 90 252 522 540 -%%EndComments -%%BeginProlog -/mpldict 8 dict def -mpldict begin -/m { moveto } bind def -/l { lineto } bind def -/r { rlineto } bind def -/c { curveto } bind def -/cl { closepath } bind def -/box { -m -1 index 0 r -0 exch r -neg 0 r -cl -} bind def -/clipbox { -box -clip -newpath -} bind def -%!PS-Adobe-3.0 Resource-Font -%%Title: DejaVu Sans -%%Copyright: Copyright (c) 2003 by Bitstream, Inc. 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@@ 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"); diff --git a/scripts/parse_topic.py b/utils/parse_topic.py similarity index 98% rename from scripts/parse_topic.py rename to utils/parse_topic.py index d91daea..94345a2 100755 --- a/scripts/parse_topic.py +++ b/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.') diff --git a/scripts/plot_internal_tun.jl b/utils/plot_internal_tun.jl similarity index 55% rename from scripts/plot_internal_tun.jl rename to utils/plot_internal_tun.jl index b076a7a..b9d6195 100644 --- a/scripts/plot_internal_tun.jl +++ b/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() diff --git a/utils/results/internal_tuns.eps b/utils/results/internal_tuns.eps new file mode 100644 index 0000000..16d692f --- /dev/null +++ b/utils/results/internal_tuns.eps @@ -0,0 +1,1370 @@ +%!PS-Adobe-3.0 EPSF-3.0 +%%Creator: matplotlib version 2.2.4, http://matplotlib.org/ +%%CreationDate: Sun Jun 2 18:48:44 2019 +%%Orientation: portrait +%%BoundingBox: -54 180 666 612 +%%EndComments +%%BeginProlog +/mpldict 8 dict def +mpldict begin +/m { moveto } bind def +/l { lineto } bind def +/r { rlineto } bind def +/c { curveto } bind def +/cl { closepath } bind def +/box { +m +1 index 0 r +0 exch r +neg 0 r +cl +} bind def +/clipbox { +box +clip +newpath +} bind def +%!PS-Adobe-3.0 Resource-Font +%%Title: DejaVu Sans +%%Copyright: Copyright (c) 2003 by Bitstream, Inc. All Rights Reserved. Copyright (c) 2006 by Tavmjong Bah. All Rights Reserved. DejaVu changes are in public domain +%%Creator: Converted from TrueType to type 3 by PPR +25 dict begin +/_d{bind def}bind def +/_m{moveto}_d +/_l{lineto}_d +/_cl{closepath eofill}_d +/_c{curveto}_d +/_sc{7 -1 roll{setcachedevice}{pop pop pop pop pop pop}ifelse}_d +/_e{exec}_d +/FontName /DejaVuSans def +/PaintType 0 def +/FontMatrix[.001 0 0 .001 0 0]def +/FontBBox[-1021 -463 1793 1232]def +/FontType 3 def +/Encoding [ /space /hyphen /zero /one /two /three /four /five /eight /nine /R /a /b /c /d /e /i /l /m /n /o /p /r /s /t /u /acute /eacute ] def +/FontInfo 10 dict dup begin +/FamilyName (DejaVu Sans) def +/FullName (DejaVu Sans) def +/Notice (Copyright (c) 2003 by Bitstream, Inc. All Rights Reserved. Copyright (c) 2006 by Tavmjong Bah. All Rights Reserved. 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All Rights Reserved. Copyright (c) 2006 by Tavmjong Bah. All Rights Reserved. DejaVu changes are in public domain +%%Creator: Converted from TrueType to type 3 by PPR +25 dict begin +/_d{bind def}bind def +/_m{moveto}_d +/_l{lineto}_d +/_cl{closepath eofill}_d +/_c{curveto}_d +/_sc{7 -1 roll{setcachedevice}{pop pop pop pop pop pop}ifelse}_d +/_e{exec}_d +/FontName /DejaVuSans-Oblique def +/PaintType 0 def +/FontMatrix[.001 0 0 .001 0 0]def +/FontBBox[-1016 -350 1659 1068]def +/FontType 3 def +/Encoding [ /m /s ] def +/FontInfo 10 dict dup begin +/FamilyName (DejaVu Sans) def +/FullName (DejaVu Sans Oblique) def +/Notice (Copyright (c) 2003 by Bitstream, Inc. All Rights Reserved. Copyright (c) 2006 by Tavmjong Bah. All Rights Reserved. DejaVu changes are in public domain ) def +/Weight (Oblique) def +/Version (Version 2.35) def +/ItalicAngle -11.0 def +/isFixedPitch false def +/UnderlinePosition -130 def +/UnderlineThickness 90 def +end readonly def +/CharStrings 3 dict dup begin +/.notdef 0 def +/m{{974 0 35 0 906 560 _sc +898 330 _m +834 0 _l +744 0 _l +807 327 _l +809 341 811 353 813 363 _c +814 373 815 381 815 389 _c +815 418 806 441 790 457 _c +774 473 751 482 722 482 _c +678 482 639 465 605 433 _c +571 400 549 357 539 305 _c +479 0 _l +389 0 _l +453 327 _l +455 339 457 350 459 360 _c +460 370 461 380 461 388 _c +461 418 452 441 436 457 _c +420 473 397 482 369 482 _c +}_e{325 482 285 465 251 433 _c +217 400 195 357 185 305 _c +125 0 _l +35 0 _l +142 547 _l +232 547 _l +215 462 _l +239 494 267 518 300 535 _c +333 551 368 560 406 560 _c +445 560 477 549 503 529 _c +529 508 544 479 550 442 _c +577 480 609 510 645 530 _c +681 550 719 560 759 560 _c +805 560 841 546 867 519 _c +893 492 906 454 906 405 _c +906 394 905 382 904 369 _c +}_e{902 356 900 343 898 330 _c +_cl}_e}_d +/s{{521 0 11 -13 500 560 _sc +500 531 _m +483 446 _l +459 458 433 468 407 475 _c +381 481 354 485 326 485 _c +278 485 241 477 214 461 _c +187 445 174 423 174 395 _c +174 363 205 338 269 321 _c +273 319 277 318 279 318 _c +308 309 _l +368 292 408 274 428 256 _c +448 238 458 213 458 182 _c +458 124 435 77 389 41 _c +343 5 282 -13 208 -13 _c +179 -13 149 -10 117 -5 _c +}_e{85 0 49 8 11 20 _c +29 113 _l +61 95 94 82 126 74 _c +158 65 188 61 218 61 _c +262 61 297 70 325 89 _c +352 108 366 132 366 161 _c +366 192 330 217 258 237 _c +249 239 _l +218 247 _l +172 259 138 274 117 294 _c +96 314 86 339 86 370 _c +86 428 107 475 151 509 _c +195 543 254 560 330 560 _c +360 560 389 557 417 552 _c +445 547 472 540 500 531 _c +_cl}_e}_d +end readonly def + +/BuildGlyph + {exch begin + CharStrings exch + 2 copy known not{pop /.notdef}if + true 3 1 roll get exec + end}_d + +/BuildChar { + 1 index /Encoding get exch get + 1 index /BuildGlyph get exec +}_d + +FontName currentdict end definefont pop +%!PS-Adobe-3.0 Resource-Font +%%Title: DejaVu Sans +%%Copyright: Copyright (c) 2003 by Bitstream, Inc. All Rights Reserved. Copyright (c) 2006 by Tavmjong Bah. All Rights Reserved. DejaVu changes are in public domain +%%Creator: Converted from TrueType to type 3 by PPR +25 dict begin +/_d{bind def}bind def +/_m{moveto}_d +/_l{lineto}_d +/_cl{closepath eofill}_d +/_c{curveto}_d +/_sc{7 -1 roll{setcachedevice}{pop pop pop pop pop pop}ifelse}_d +/_e{exec}_d +/FontName /DejaVuSans def +/PaintType 0 def +/FontMatrix[.001 0 0 .001 0 0]def +/FontBBox[-1021 -463 1793 1232]def +/FontType 3 def +/Encoding [ /space /parenleft /parenright /hyphen /period /zero /one /two /three /four /five /seven /P /T /V /underscore /a /b /d /e /g /i /m /n /o /p /q /r /s /t /u /acute /eacute /minus ] def +/FontInfo 10 dict dup begin +/FamilyName (DejaVu Sans) def +/FullName (DejaVu Sans) def +/Notice (Copyright (c) 2003 by Bitstream, Inc. All Rights Reserved. Copyright (c) 2006 by Tavmjong Bah. All Rights Reserved. DejaVu changes are in public domain ) def +/Weight (Book) def +/Version (Version 2.35) def +/ItalicAngle 0.0 def +/isFixedPitch false def +/UnderlinePosition -130 def +/UnderlineThickness 90 def +end readonly def +/CharStrings 35 dict dup begin +/.notdef 0 def +/space{318 0 0 0 0 0 _sc +}_d +/parenleft{390 0 86 -131 310 759 _sc +310 759 _m +266 683 234 609 213 536 _c +191 463 181 389 181 314 _c +181 238 191 164 213 91 _c +234 17 266 -56 310 -131 _c +232 -131 _l +183 -54 146 20 122 94 _c +98 168 86 241 86 314 _c +86 386 98 459 122 533 _c +146 607 182 682 232 759 _c +310 759 _l +_cl}_d +/parenright{390 0 80 -131 304 759 _sc +80 759 _m +158 759 _l +206 682 243 607 267 533 _c +291 459 304 386 304 314 _c +304 241 291 168 267 94 _c +243 20 206 -54 158 -131 _c +80 -131 _l +123 -56 155 17 177 91 _c +198 164 209 238 209 314 _c +209 389 198 463 177 536 _c +155 609 123 683 80 759 _c +_cl}_d +/hyphen{361 0 49 234 312 314 _sc +49 314 _m +312 314 _l +312 234 _l +49 234 _l +49 314 _l +_cl}_d 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b/utils/results/mesure_vitesse_quadratique.eps similarity index 99% rename from utils/mesure_vitesse_quadratique.eps rename to utils/results/mesure_vitesse_quadratique.eps index d3f4649..b0878f6 100644 --- a/utils/mesure_vitesse_quadratique.eps +++ b/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 diff --git a/scripts/test_filter.jl b/utils/test_filter.jl similarity index 85% rename from scripts/test_filter.jl rename to utils/test_filter.jl index cb3b647..824925a 100644 --- a/scripts/test_filter.jl +++ b/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()