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RL: New Environment - Trajectory Planning #1026

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merged 8 commits into from
Jul 11, 2024
Merged

RL: New Environment - Trajectory Planning #1026

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5eba1d8
trajectory planner 2D env #670
steveyuwono Jun 10, 2024
d4cccdf
RL: Collision Avoidance Problem Environment #670
steveyuwono Jun 10, 2024
85c806b
Merge remote-tracking branch 'origin/main' into rl/env/trajectoryplanner
detlefarend Jun 10, 2024
843410d
Merge remote-tracking branch 'origin/main' into rl/env/trajectoryplanner
detlefarend Jun 25, 2024
e50b0ef
Merge remote-tracking branch 'origin/main' into rl/env/trajectoryplanner
detlefarend Jun 26, 2024
9c4c220
RL: Collision Avoidance Problem Environment #670
steveyuwono Jul 8, 2024
014a272
RL: Collision Avoidance Problem Environment #670
steveyuwono Jul 8, 2024
6094c3d
Merge branch 'main' of https://github.com/fhswf/MLPro into rl/env/tra…
steveyuwono Jul 8, 2024
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60 changes: 56 additions & 4 deletions src/mlpro/bf/plot.py
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Original file line number Diff line number Diff line change
Expand Up @@ -42,6 +42,7 @@
## -- - new parameter data_horizon with default value 1000
## -- 2024-05-22 2.13.0 DA New method PlotSettings.copy()
## -- 2024-06-04 2.13.1 DA/SK Turned on TKAgg for Mac
## -- 2024-06-07 2.13.2 SY Introducing new data plotting type of Episodic Sum
## -- 2024-06-24 2.14.0 DA New auto-managed attribute Plottable._plot_first_time : bool
## -- 2024-06-25 2.15.0 DA Class Plottable:
## -- - removed method set_plot_detail_level()
Expand All @@ -51,10 +52,11 @@
## -- 2024-06-26 2.16.0 DA - Refactoring, corrections, adjustments
## -- - New property Plottable.color
## -- - Class PlotSettings: removed parameter p_plot_depth
## -- 2024-07-08 2.16.1 SY Add MinVal for undefined range in DataPlotting
## -------------------------------------------------------------------------------------------------

"""
Ver. 2.16.0 (2024-06-26)
Ver. 2.16.1 (2024-07-08)

This module provides various classes related to data plotting.

Expand Down Expand Up @@ -745,6 +747,7 @@ class DataPlotting(Persistent):
C_PLOT_TYPE_CY = 'Cyclic'
C_PLOT_TYPE_EP = 'Episodic'
C_PLOT_TYPE_EP_M = 'Episodic Mean'
C_PLOT_TYPE_EP_S = 'Episodic Sum'

## -------------------------------------------------------------------------------------------------
def __init__(self, p_data: DataStoring, p_type=C_PLOT_TYPE_EP, p_window=100,
Expand Down Expand Up @@ -773,6 +776,8 @@ def get_plots(self):
self.plots_type_ep()
elif self.type == 'Episodic Mean':
self.plots_type_ep_mean()
elif self.type == 'Episodic Sum':
self.plots_type_ep_sum()


## -------------------------------------------------------------------------------------------------
Expand All @@ -783,6 +788,7 @@ def plots_type_cy(self):

for name in self.data.names:
maxval = 0
minval = 0
try:
if self.printing[name][0]:
fig = plt.figure(figsize=self.figsize)
Expand All @@ -796,10 +802,12 @@ def plots_type_cy(self):
color=self.color, alpha=(fr + 1.0) / (len(self.data.memory_dict[name]) + 1))
if self.printing[name][2] == -1:
maxval = max(max(self.data.get_values(name, fr_id)), maxval)
minval = min(min(self.data.get_values(name, fr_id)), minval)
else:
maxval = self.printing[name][2]
minval = self.printing[name][1]
label.append("%s" % fr_id)
plt.ylim(self.printing[name][1], maxval)
plt.ylim(minval, maxval)
plt.xlabel("cycles")
plt.legend(label, bbox_to_anchor=(1, 0.5), loc="center left")
self.plots[0].append(name)
Expand All @@ -820,6 +828,7 @@ def plots_type_ep(self):

for name in self.data.names:
maxval = 0
minval = 0
try:
if self.printing[name][0]:
fig = plt.figure(figsize=self.figsize)
Expand All @@ -832,10 +841,12 @@ def plots_type_ep(self):
data.extend(self.data.get_values(name, fr_id))
if self.printing[name][2] == -1:
maxval = max(max(self.data.get_values(name, fr_id)), maxval)
minval = min(min(self.data.get_values(name, fr_id)), minval)
else:
maxval = self.printing[name][2]
minval = self.printing[name][1]
lines += plt.plot(self.moving_mean(data[:], self.window), color=self.color)
plt.ylim(self.printing[name][1], maxval)
plt.ylim(minval, maxval)
plt.xlabel("continuous cycles")
self.plots[0].append(name)
self.plots[1].append(fig)
Expand All @@ -855,6 +866,7 @@ def plots_type_ep_mean(self):

for name in self.data.names:
maxval = 0
minval = 0
try:
if self.printing[name][0]:
fig = plt.figure(figsize=self.figsize)
Expand All @@ -867,10 +879,50 @@ def plots_type_ep_mean(self):
data.extend([statistics.mean(self.data.get_values(name, fr_id))])
if self.printing[name][2] == -1:
maxval = max(max(data[:]), maxval)
minval = min(min(data[:]), minval)
else:
maxval = self.printing[name][2]
minval = self.printing[name][1]
lines += plt.plot(self.moving_mean(data[:], self.window), color=self.color)
plt.ylim(self.printing[name][1], maxval)
plt.ylim(minval, maxval)
plt.xlabel("episodes")
self.plots[0].append(name)
self.plots[1].append(fig)
if self.showing:
plt.show()
else:
plt.close(fig)
except:
pass


## -------------------------------------------------------------------------------------------------
def plots_type_ep_sum(self):
"""
A function to plot data per frame according to its sum value.
"""

for name in self.data.names:
maxval = 0
minval = 0
try:
if self.printing[name][0]:
fig = plt.figure(figsize=self.figsize)
lines = []
data = []
plt.title(name)
plt.grid(True, which="both", axis="both")
for fr in range(len(self.data.memory_dict[name])):
fr_id = self.data.frame_id[name][fr]
data.extend([sum(self.data.get_values(name, fr_id))])
if self.printing[name][2] == -1:
maxval = max(max(data[:]), maxval)
minval = min(min(data[:]), minval)
else:
maxval = self.printing[name][2]
minval = self.printing[name][1]
lines += plt.plot(self.moving_mean(data[:], self.window), color=self.color)
plt.ylim(minval, maxval)
plt.xlabel("episodes")
self.plots[0].append(name)
self.plots[1].append(fig)
Expand Down