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- library(ggplot2)
- library(cowplot)
- library(grid)
- library(dplyr)
- library(plyr)
- library(reshape)
- library(plotly)
- library(stringr)
- sizeAxisLabel <- 22
- # Plot environment
- env <- read.csv("result_ENV.csv")
-
- # Drop columns that will not be plotted
- env$dup_stop <- NULL
- env$ddown <- NULL
- env$ddown_stop <- NULL
- env$pup <- NULL
- env$pup_stop <- NULL
- env$pdown <- NULL
- env$pdown_stop <- NULL
- env$obj <- NULL
-
- env_molten <- melt(env, id=c("t"))
-
- pdf("results_Env.pdf", width=10, height=5)
-
- pallete <- c("#89cbaf")
- penv <- ggplot(data=env_molten) +
- geom_line(aes(x=t, y=value, color=variable), size=2) +
- scale_x_continuous("Time (s)") +
- scale_y_discrete("Value", limits=c(0, 1), labels=c("0"="False", "1"="True")) +
- scale_color_manual("environment",
- labels=c("dup"="driver_up","dup_stop"="driver_stop"),
- values = pallete) +
- theme(axis.title.y=element_blank(),
- axis.title=element_text(size=sizeAxisLabel,face="bold"),
- axis.text=element_text(size=sizeAxisLabel),
- legend.text=element_text(size=sizeAxisLabel),
- legend.title=element_text(size=sizeAxisLabel,face="bold"))
- penv
-
- dev.off()
- # Plot Controller
- control <- read.csv("result_Control_sa.csv")
- control_molten <- melt(control, id=c("t"))
-
- pdf("results_Control_sa.pdf", width=10, height=5)
-
- pallete <- c("#9699c3",
- "#cca956")
- pcontrol <- ggplot(data=control_molten) +
- geom_line(aes(x=t, y=value, color=variable), size=1) +
- scale_x_continuous("Time (s)") +
- scale_y_continuous("Value", limits=c(0, 1)) +
- scale_color_manual("controller_sa",
- values = pallete) +
- theme(axis.title.y=element_blank(),
- axis.title=element_text(size=sizeAxisLabel,face="bold"),
- axis.text=element_text(size=sizeAxisLabel),
- legend.text=element_text(size=sizeAxisLabel),
- legend.title=element_text(size=sizeAxisLabel,face="bold"))
-
- pcontrol
-
- dev.off()
-
- # Plot power
- power <- read.csv("result_power_sa.csv")
- power$omega <- NULL
- power$theta <- NULL
- power_molten <- melt(power, id=c("t"))
-
- pdf("results_power_sa.pdf", width=10, height=5)
-
- pallete <- c("#4f314e")
- ppower <- ggplot(data=power_molten) +
- geom_line(aes(x=t, y=value, color=variable), size=1) +
- scale_x_continuous("Time (s)") +
- scale_y_continuous("Value") +
- scale_color_manual("power_sa",
- labels=c("i"="armature_current"),
- values = pallete) +
- theme(axis.title.y=element_blank(),
- axis.title=element_text(size=sizeAxisLabel,face="bold"),
- axis.text=element_text(size=sizeAxisLabel),
- legend.text=element_text(size=sizeAxisLabel),
- legend.title=element_text(size=sizeAxisLabel,face="bold"))
- ppower
-
- dev.off()
-
- # Plot Loop_sa
- loop <- read.csv("result_loop_sa.csv")
- loop$tau <- NULL
- loop_molten <- melt(loop, id=c("t"))
-
- pdf("results_loop_sa.pdf", width=10, height=5)
-
- pallete <- c("#be5440")
- ploop <- ggplot(data=loop_molten) +
- geom_line(aes(x=t, y=value, color=variable), size=1) +
- scale_x_continuous("Time (s)") +
- scale_y_continuous("Value") +
- scale_color_manual("window_sa",
- labels=c("height"="disp"),
- values = pallete) +
- theme(axis.title.y=element_blank(),
- axis.title=element_text(size=sizeAxisLabel,face="bold"),
- axis.text=element_text(size=sizeAxisLabel),
- legend.text=element_text(size=sizeAxisLabel),
- legend.title=element_text(size=sizeAxisLabel,face="bold"))
- ploop
-
- dev.off()
-
- # Make multi-grid plot
- row_plot <- plot_grid(penv, pcontrol, ppower, ploop, nrow = 4, ncol = 1, align = "v")
- save_plot("vertical_plot.pdf", row_plot, nrow = 4, ncol = 1, base_aspect_ratio = 3)
-
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