use gnuplotlib.l for demo/walk-motion.l and example code of irtmath.h…

… kalmanlib.l
euslisp · Nov 29, 2021 · b4325e8 · b4325e8
1 parent 5496b9b
commit b4325e8
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Showing 3 changed files with 33 additions and 42 deletions.
diff --git a/irteus/demo/walk-motion.l b/irteus/demo/walk-motion.l
@@ -302,8 +302,9 @@
                               "replot '/tmp/test-preview-control-data.dat' using 1:3 title 'cog' with lines;"
                               "replot '/tmp/test-preview-control-data.dat' using 1:4 title 'refzmp' with lines;"
                               "pause -1;")))
-        (unix:system (format nil "gnuplot -e \"~A\""
-                             (let ((str "")) (dolist (gpc gp-command-list) (setq str (format nil "~A ~A" str gpc))) str)))))
+        (setq *g* (gnuplot))
+        (send *g* :command (apply #'concatenate string gp-command-list))
+        ))
     (mapcar #'(lambda (tm zmp cog refzmp)
                 (list :time tm :zmp zmp :cog cog :refzmp refzmp))
             tm-list (reverse zmp-list) (reverse cog-list) (reverse ref-zmp-list2))
@@ -346,8 +347,9 @@
                               "replot '/tmp/test-preview-control-data.dat' using 1:3 title 'cog' with lines;"
                               "replot '/tmp/test-preview-control-data.dat' using 1:4 title 'refzmp' with lines;"
                               "pause -1;")))
-        (unix:system (format nil "gnuplot -e \"~A\""
-                             (let ((str "")) (dolist (gpc gp-command-list) (setq str (format nil "~A ~A" str gpc))) str)))))
+        (setq *g* (gnuplot))
+        (send *g* :command (apply #'concatenate string gp-command-list))
+        ))
     (mapcar #'(lambda (tm zmp cog refzmp)
                 (list :time tm :zmp zmp :cog cog :refzmp refzmp))
             tm-list (reverse zmp-list) (reverse cog-list) (reverse ref-zmp-list2))
@@ -399,8 +401,9 @@
                               "replot '/tmp/test-preview-control-data.dat' using 1:3 title 'cog' with lines;"
                               "replot '/tmp/test-preview-control-data.dat' using 1:4 title 'refzmp' with lines;"
                               "pause -1;")))
-        (unix:system (format nil "gnuplot -e \"~A\""
-                             (let ((str "")) (dolist (gpc gp-command-list) (setq str (format nil "~A ~A" str gpc))) str)))))
+        (setq *g* (gnuplot))
+        (send *g* :command (apply #'concatenate string gp-command-list))
+        ))
     (mapcar #'(lambda (tm zmp cog refzmp)
                 (list :time tm :zmp zmp :cog cog :refzmp refzmp))
             tm-list (reverse zmp-list) (reverse cog-list) (reverse ref-zmp-list2))
@@ -445,8 +448,9 @@
                               "replot '/tmp/test-preview-control-data.dat' using 1:3 title 'cog' with lines;"
                               "replot '/tmp/test-preview-control-data.dat' using 1:4 title 'refzmp' with lines;"
                               "pause -1;")))
-        (unix:system (format nil "gnuplot -e \"~A\""
-                             (let ((str "")) (dolist (gpc gp-command-list) (setq str (format nil "~A ~A" str gpc))) str)))))
+        (setq *g* (gnuplot))
+        (send *g* :command (apply #'concatenate string gp-command-list))
+        ))
     (mapcar #'(lambda (tm zmp cog refzmp)
                 (list :time tm :zmp zmp :cog cog :refzmp refzmp))
             tm-list (reverse zmp-list) (reverse cog-list) (reverse ref-zmp-list2))
@@ -500,8 +504,9 @@
                                 "replot '/tmp/test-preview-control-data-2.dat' using 1:4 title 'output cog' with lines;"
                                 "replot '/tmp/test-preview-control-data-2.dat' using 1:5 title 'input cog' with lines;"
                                 "pause -1;")))
-          (unix:system (format nil "gnuplot -e \"~A\""
-                               (let ((str "")) (dolist (gpc gp-command-list) (setq str (format nil "~A ~A" str gpc))) str)))))
+          (setq *g* (gnuplot))
+          (send *g* :command (apply #'concatenate string gp-command-list))
+          ))
       data
       )))
 

diff --git a/irteus/irtmath.l b/irteus/irtmath.l
@@ -667,21 +667,13 @@
 (defun lms-draw (r point-list)
   (let (bs b str)
     (setq bs nil)
-    (setq str "plot [0:80][0:50] '< echo \"")
-    (dotimes (i (length point-list))
-      (setq str (concatenate string str (format nil "~A ~A\\n"
-						(elt (elt point-list i) 0)
-						(elt (elt point-list i) 1)
-						)))
-      )
-    (setq str (concatenate string str (format nil "\"' title \"data\"~%")))
-    (format *gnuplot* "~a~%" str)
-
-    (setq str (format nil "replot ~A * x + ~A title \"regression\""
-		      (/ (elt (car r) 0) (- (elt (car r) 1)))
-		      (/ (cadr r) (- (elt (car r) 1)))
-		      ))
-    (format *gnuplot* "~a~%" str)
+    (send *gnuplot* :command (format nil "plot [0:80][0:50] ~A * x + ~A title \"regression\", '-' with point title \"data\"~%~Ae"
+                                     (/ (elt (car r) 0) (- (elt (car r) 1)))
+                                     (/ (cadr r) (- (elt (car r) 1)))
+                                     (apply #'concatenate string
+                                            (mapcar #'(lambda (x) (format nil "~A ~A~%" (elt x 0) (elt x 1)))
+                                                    point-list))
+                                     ))
     t))
 
 (defun lms-demo (num)
@@ -696,7 +688,7 @@
 		    #f(39.0 27.0) #f(38.0 31.0) #f(32.0 25.0)))
 	)
     (when (not (boundp '*gnuplot*))
-      (setq *gnuplot* (piped-fork "gnuplot")))
+      (setq *gnuplot* (gnuplot)))
 
     (format t "apply lms with data~%")
     (setq r (lms data1))

diff --git a/irteus/kalmanlib.l b/irteus/kalmanlib.l
@@ -200,20 +200,14 @@
         (format f "~A ~A ~A ~A~%" (elt x i) (elt z 1) (send kf :error) (aref (send kf :P) 1 1))))
 
     ;; write graph data
-    (let ((fname (format nil "visualize_~A.sh" suffix)))
-      (format t ";; Writing gnuplot script to ~s~%" fname)
-      (with-open-file
-          (f fname :direction :output :permission #o744)
-        (format f "#!/usr/bin/env gnuplot~%")
-        (format f "~%")
-        (format f "set title \"~A\"~%" suffix)
-        (format f "plot [0:100][-0.6:0] 'data_~a.dat' title \"observed\" with linespoints~%" suffix)
-        (format f "set y2tics~%")
-        (format f "set y2range [0:0.01]~%")
-        (format f "replot 'kalman_result_~a.dat' title \"estimated\" with linespoints~%" suffix)
-        (format f "replot 'kalman_result_~a.dat' using 3 axes x1y2 title \"error\" with linespoints~%" suffix)
-        (format f "replot 'kalman_result_~a.dat' using 4 axes x1y2 title 'P covariance' with linespoints~%" suffix)
-        (format f "replot -0.37727 title \"baseline\"~%")
-        (format f "pause -1~%"))
-      (piped-fork (concatenate string (unix:getwd) "/" fname))
+    (setq *g* (gnuplot))
+    (send *g* :command (format nil "set title \"~A\"" suffix))
+    (send *g* :command (format nil "plot [0:100][-0.6:0] 'data_~a.dat' title \"observed\" with linespoints" suffix))
+    (send *g* :command "set y2tics")
+    (send *g* :command "set y2range [0:0.01]")
+    (send *g* :command (format nil "replot 'kalman_result_~a.dat' title \"estimated\" with linespoints" suffix))
+    (send *g* :command (format nil "replot 'kalman_result_~a.dat' using 3 axes x1y2 title \"error\" with linespoints" suffix))
+    (send *g* :command (format nil "replot 'kalman_result_~a.dat' using 4 axes x1y2 title 'P covariance' with linespoints" suffix))
+    (send *g* :command "replot -0.37727 title \"baseline\"")
+    (send *g* :command "pause -1")
     t))