Merge pull request #148 from decargroup/feature/147-add-error-plottin…

…g-to-plot_predicted_trajectory Add option to plot error
decargroup · Aug 21, 2023 · 18ec6e8 · 18ec6e8
2 parents 317fd7e + 0b47866
commit 18ec6e8
Showing 1 changed file with 56 additions and 23 deletions.
diff --git a/pykoop/koopman_pipeline.py b/pykoop/koopman_pipeline.py
@@ -2691,6 +2691,7 @@ def plot_predicted_trajectory(
         relift_state: bool = True,
         plot_lifted: bool = False,
         plot_input: bool = False,
+        plot_error: bool = False,
         episode_feature: Optional[bool] = None,
         plot_ground_truth: bool = True,
         episode_style: Optional[str] = None,
@@ -2719,6 +2720,9 @@ def plot_predicted_trajectory(
         plot_input : bool
             If true, plot the input as well as the state. If false, plot
             only the original state (default).
+        plot_error : bool
+            If true, plot the prediction error instead of the state. If false,
+            plot the predicted state and ground truth (default).
         episode_feature : Optional[bool]
             True if first feature indicates which episode a timestep is from.
             If ``None``, ``self.episode_feature_`` is used.
@@ -2797,33 +2801,62 @@ def plot_predicted_trajectory(
         # Plot results
         for row in range(n_row):
             for ep in range(n_eps):
-                if episode_style == 'overlay':
-                    line_pred = ax[row, 0].plot(
-                        eps[ep][1][:, row],
-                        label=f'Ep. {int(eps[ep][0])} prediction',
-                        **plot_args,
-                    )
-                    if eps_gt is not None and row < n_states:
-                        ax[row, 0].plot(
-                            eps_gt[ep][1][:, row],
-                            label=f'Ep. {int(eps[ep][0])} ground truth',
-                            linestyle='--',
-                            color=line_pred[0].get_color(),
+                if plot_error:
+                    if episode_style == 'overlay':
+                        if eps_gt is not None and row < n_states:
+                            ax[row, 0].plot(
+                                eps_gt[ep][1][:, row] - eps[ep][1][:, row],
+                                label=f'Ep. {int(eps[ep][0])} error',
+                                **plot_args,
+                            )
+                        else:
+                            ax[row, 0].plot(
+                                eps[ep][1][:, row],
+                                label=f'Ep. {int(eps[ep][0])} input',
+                                **plot_args,
+                            )
+                    else:
+                        if eps_gt is not None and row < n_states:
+                            ax[row, ep].plot(
+                                eps_gt[ep][1][:, row] - eps[ep][1][:, row],
+                                label=f'Prediction error',
+                                linestyle='--',
+                                **plot_args,
+                            )
+                        else:
+                            ax[row, ep].plot(
+                                eps[ep][1][:, row],
+                                label=f'Input',
+                                **plot_args,
+                            )
+                else:
+                    if episode_style == 'overlay':
+                        line_pred = ax[row, 0].plot(
+                            eps[ep][1][:, row],
+                            label=f'Ep. {int(eps[ep][0])} prediction',
                             **plot_args,
                         )
-                else:
-                    line_pred = ax[row, ep].plot(
-                        eps[ep][1][:, row],
-                        label=f'Prediction',
-                        **plot_args,
-                    )
-                    if eps_gt is not None and row < n_states:
-                        ax[row, ep].plot(
-                            eps_gt[ep][1][:, row],
-                            label=f'Ground truth',
-                            linestyle='--',
+                        if eps_gt is not None and row < n_states:
+                            ax[row, 0].plot(
+                                eps_gt[ep][1][:, row],
+                                label=f'Ep. {int(eps[ep][0])} ground truth',
+                                linestyle='--',
+                                color=line_pred[0].get_color(),
+                                **plot_args,
+                            )
+                    else:
+                        line_pred = ax[row, ep].plot(
+                            eps[ep][1][:, row],
+                            label=f'Prediction',
                             **plot_args,
                         )
+                        if eps_gt is not None and row < n_states:
+                            ax[row, ep].plot(
+                                eps_gt[ep][1][:, row],
+                                label=f'Ground truth',
+                                linestyle='--',
+                                **plot_args,
+                            )
         # Set y labels
         if plot_lifted:
             names = self.get_feature_names_out(