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QPFit/analyse_simulations.m
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analyse_simulations.m
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load optimal_solution
toprocess = dir('analyze');
%% Remove non-mat files
remove = zeros(size(toprocess));
for i = 1:length(toprocess)
name = toprocess(i).name;
if length(name) < 7 || strcmp(name(end-6:end), 'fit.mat') == false
remove(i) = true;
end
end
toprocess(remove==true) = [];
%% Compute statistics of each file
Ts = 0.1;
TrackSpeed = 0.0078;
StarLength = 9;
TSim = StarLength / TrackSpeed * Ts;
nSim = ceil(TSim / Ts);
t = linspace(0,TSim,nSim);
p = 9; % Number of points
q = 3; % Number of points to increment
% radius = 10;
radius = 9.5;
[R,seg] = star(p, q, nSim, TrackSpeed, true);
R = R * radius;
%%
clear result
x0 = [0;0;0;0;0;0];
for i = 1:length(toprocess)
name = toprocess(i).name;
fprintf('Simulating controller %s (%i of %i)...\n', name, i, length(toprocess))
fit = load_fit(name, xopt);
sim = simStar(@(x,r) fit.ctrl([x; r]), x0, R, sys, false);
result.sim = sim;
result.name = name;
result.MSE = sim.MSE;
result.fit = fit;
result.nVar = size(fit.F,1);
result.regions = length(fit.sol.xopt.Set);
save(['analyzed/' name(1:end-4) '_analysis'], 'result');
system(['mv ' toprocess(i).folder '/' name ' analyzed/']);
end
%%
x0 = [0;0;0;0;0;0];
sim = simStar(@(x,r) gnd.opt({x, r}), x0, R, sys, false);
% sim = simStar(@(x,r) xopt.feval([x;r], 'primal'), x0, R, sys, false);
result.sim = sim;
result.name = 'optimal';
result.MSE = sim.MSE;
result.fit = gnd;
result.nVar = 74;
result.regions = length(gnd.sol.xopt.Set);
optimal = result;
%%
toprocess = dir('analyzed');
remove = zeros(size(toprocess));
for i = 1:length(toprocess)
name = toprocess(i).name;
if length(name) < 12 || strcmp(name(end-11:end), 'analysis.mat') == false
remove(i) = true;
end
end
toprocess(remove==true) = [];
%%
clear results
for i = 1:length(toprocess)
fprintf('%i of %i\n', i, length(toprocess));
load([toprocess(i).folder '/' toprocess(i).name], 'result');
results(i) = result;
end
%%
MSE = sortrows([[results.regions]' [results.nVar]' [results.MSE]'], 1);
MSE(MSE(:,3) > 6,:) = [];
% MSE(MSE(:,1) > 1000,:) = [];
MSE
plot(MSE(:,1),MSE(:,3),'o-')
%%
M = MSE(:,[1 3]);
pts = [20 4; 35 3.75; 90 3.5; 440 3.32; 530 3.33; 607 3.25; 640 3.2]; %; 2047 3];
for i = 1:size(pts,1)
dist = zeros(length(results),1);
for j = 1:length(results)
dist(j) = norm([pts(i,1) - results(j).regions; ...
10*(pts(i,2) - results(j).MSE)]);
end
[~,I] = min(dist);
keep(i) = results(I);
end
keep(end+1) = optimal;
%%
for i = 1:length(keep)
keep(i).fit.sol.xopt.toC('primal');
system('gcc test.c mpt_getInput.c')
dat = dir('a.out');
keep(i).bytes = dat.bytes;
end
% %%
% A = keep(end-1).fit.sol.xopt;
% B = keep(end).fit.sol.xopt;
%
% cnt = 0;
% for i = 1:length(A.Set)
% cnt = cnt + size(A.Set(i).A,1);
% end
% fprintf('A inequalities = %i\n', cnt);
%
%
% cnt = 0;
% for i = 1:length(B.Set)
% cnt = cnt + size(B.Set(i).A,1);
% end
% fprintf('B inequalities = %i\n', cnt);
% %%
% % Create binary trees
% for i = 1:length(keep)
% if keep(i).regions < 1000
% keep(i).binTree = BinTreePolyUnion(keep(i).fit.sol.xopt);
% end
% end
%% Measure computation time
for i = 1:length(keep)
fprintf('%i of %i\n', i, length(keep));
keep(i).fit.sol.xopt.toC('primal');
system('gcc -O3 test.c mpt_getInput.c');
system([pwd '/a.out']);
[status,cmdout] = system([pwd '/a.out'])
% eval(['keep(i).evaltime = ' cmdout ';'])
end
%%
evalTime(1) = 0.003272;
evalTime(2) = 0.006745;
evalTime(3) = 0.011382;
evalTime(4) = 0.046859;
evalTime(5) = 0.050865;
evalTime(6) = 0.066797;
evalTime(7) = 0.073012;
evalTime(8) = 0.545587;
evalTime = evalTime / 10000;
%%
% plt = [1.2*[keep(1:end-1).regions]/3179; [keep(1:end-1).MSE]];
plt = [[keep(1:end-1).regions]; [keep(1:end-1).MSE]];
bytes = 1.2*[keep.regions]/3179
% figure(2)
% plt = [[keep.bytes]/2^20; [keep.MSE]];
clf
col = [0 0.4470 0.7410];
% h = loglog(plt(1,:), plt(2,:), 'o-', 'linewidth', 2, 'markersize', 10, ...
% 'markerfacecolor', col, 'markeredgecolor', 'w')
h = semilogx(plt(1,:), plt(2,:), 'o-', 'linewidth', 2, 'markersize', 10, ...
'markerfacecolor', col, 'markeredgecolor', 'w')
hold on
grid on
% opt.regions = 3179*1.2/3179;
opt.regions = 3179;
opt.MSE = 2.6072;
col = [0.8500 0.3250 0.0980];
h = semilogx(opt.regions, opt.MSE, 's', 'markersize', 10, ...
'markerfacecolor', col, 'markeredgecolor','w');
% h = loglog(opt.regions, opt.MSE, 's', 'markersize', 10, ...
% 'markerfacecolor', col, 'markeredgecolor','w');
%%
ax = gca;
ax.XTickLabel = {};
ax.YTickLabel = {};
% ax.YLim = [-1 -0.1];
ylim = ax.YLim;
ax.YLim = [opt.MSE-0.2 ylim(2)];
xlim = ax.XLim;
% ax.XLim = [xlim(1)*0.9 xlim(2)*1.1];
ax.XLim = [xlim(1) opt.regions*1.5];
sz = [20,9];
f = gcf;
f.Units = 'centimeters';
f.PaperUnits = 'centimeters';
f.PaperSize = sz;
f.Position = [0,0,sz];
ax = gca;
ax.Units = 'centimeters';
ex = 0.15;
ax.Position = [ex,ex,sz-2*ex];
print(gcf, '-dpdf', 'pareto_size');
%% Generate animations
colors = [ 0 0.4470 0.7410;...
0.8500 0.3250 0.0980;...
0.9290 0.6940 0.1250];
I = [3, 7, 8]
for i = 1:length(I)
k = I(i);
filename = sprintf('animate_%i', k);
close
animate_star(p, q, radius, {keep(k).sim.Pos}, colors(i,:), filename)
end
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