111 lines
3.3 KiB
Python
111 lines
3.3 KiB
Python
"""
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图 8：位置误差与速度误差收敛曲线。
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叠加多条轨迹的误差收敛过程，用半透明带显示统计包络。
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用法:
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python -m Plots.fig8_error_convergence
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"""
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import os
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import sys
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import numpy as np
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sys.path.insert(0, os.path.dirname(os.path.dirname(os.path.abspath(__file__))))
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from Plots.plot_config import apply_style, save_fig, add_subfig_label, \
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COLORS, DOUBLE_COL
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import matplotlib.pyplot as plt
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def plot_error_convergence(data_path='Plots/data/eval_trajectories.npz', out_dir='Plots'):
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"""绘制位置/速度误差收敛曲线。"""
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apply_style()
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if not os.path.exists(data_path):
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print(f"数据文件不存在: {data_path}")
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return
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data = np.load(data_path, allow_pickle=True)
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# 收集所有轨迹的误差序列
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all_pos_err = []
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all_vel_err = []
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max_len = 0
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for i in range(10):
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kp = f'traj{i}_pos_err'
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kv = f'traj{i}_vel_err'
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if kp in data:
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pe = data[kp]
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ve = data[kv]
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all_pos_err.append(pe)
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all_vel_err.append(ve)
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max_len = max(max_len, len(pe))
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if not all_pos_err:
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print("无误差数据。")
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return
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# 对齐长度（用 NaN 填充短轨迹）
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def pad_list(lst, max_len):
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padded = np.full((len(lst), max_len), np.nan)
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for i, arr in enumerate(lst):
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padded[i, :len(arr)] = arr
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return padded
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pos_mat = pad_list(all_pos_err, max_len) # (N_traj, max_len)
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vel_mat = pad_list(all_vel_err, max_len)
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dt = 1.0
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t = np.arange(max_len) * dt
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if max_len * dt > 600:
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t = t / 60.0
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time_unit = 'min'
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else:
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time_unit = 's'
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fig, axes = plt.subplots(1, 2, figsize=(DOUBLE_COL, DOUBLE_COL * 0.35))
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for ax, mat, label, unit, color, tol, tol_label, sub_label in [
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(axes[0], pos_mat, 'Position error', '[m]', COLORS['blue'],
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10.0, 'Docking tol. (10 m)', 'a'),
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(axes[1], vel_mat, 'Velocity error', '[m/s]', COLORS['red'],
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2.0, 'Docking tol. (2 m/s)', 'b'),
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]:
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# 中位数和四分位数
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median = np.nanmedian(mat, axis=0)
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q25 = np.nanpercentile(mat, 25, axis=0)
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q75 = np.nanpercentile(mat, 75, axis=0)
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q10 = np.nanpercentile(mat, 10, axis=0)
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q90 = np.nanpercentile(mat, 90, axis=0)
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# 10-90% 包络
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ax.fill_between(t, q10, q90, alpha=0.1, color=color)
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# 25-75% 包络
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ax.fill_between(t, q25, q75, alpha=0.2, color=color)
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# 中位数线
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ax.plot(t, median, color=color, linewidth=1.0, label='Median')
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# 个别轨迹（淡线）
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for i in range(min(len(mat), 5)):
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valid = ~np.isnan(mat[i])
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ax.plot(t[valid], mat[i][valid], color=color, alpha=0.1, linewidth=0.3)
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# 对接容差线
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ax.axhline(tol, color='k', ls='--', lw=0.5, alpha=0.5, label=tol_label)
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ax.set_xlabel(f'Time [{time_unit}]')
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ax.set_ylabel(f'{label} {unit}')
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ax.set_yscale('log')
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ax.legend(fontsize=5.5)
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add_subfig_label(ax, sub_label)
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save_fig(fig, 'fig8_error_convergence', out_dir)
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plt.close(fig)
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print("✓ 图 8 完成")
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if __name__ == '__main__':
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plot_error_convergence()
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