From 6e6be874dfaa8d1a51e0db3e54acb06bc5a6d6dc Mon Sep 17 00:00:00 2001
From: Claudio <claudio.mandrioli@control.lth.se>
Date: Wed, 27 Feb 2019 10:53:23 +0100
Subject: [PATCH] polished and modified trade off experiments script for car so
that it uses the plotting script
---
matlab/plot_tradeoff.m | 2 +-
matlab/run_many_car.m | 45 +++++++++++++++------------------------
matlab/run_many_cycling.m | 6 +++---
3 files changed, 21 insertions(+), 32 deletions(-)
diff --git a/matlab/plot_tradeoff.m b/matlab/plot_tradeoff.m
index b2560c3..dc74092 100644
--- a/matlab/plot_tradeoff.m
+++ b/matlab/plot_tradeoff.m
@@ -6,7 +6,7 @@ figure
hold on
xlabel('energy')
ylabel('error')
-title('cycling energy accuracy tracking trade-off')
+title('energy accuracy tracking trade-off')
grid
%iterate and plot the results for the different P thresholds
for j=1:length(P_treshold)
diff --git a/matlab/run_many_car.m b/matlab/run_many_car.m
index af2d2c9..545888d 100644
--- a/matlab/run_many_car.m
+++ b/matlab/run_many_car.m
@@ -1,48 +1,37 @@
-%"monteCarlo" example
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+% Script for example of energy-accuracy trade-off evaluatio with the
+% car trace
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%% Load data
disp('Loads data')
-load('GNSSaidedINS_data.mat');
+load('car_input_data.mat');
%% Load filter settings
disp('Loads settings')
settings=get_settings_car();
-%vector of RGB colors for plotting for the different P references
-color=[[0.7,0.0,0.0];[0.0,0.7,0.0];[0.7,0.0,0.7];[0.0,0.0,0.7];[0.0,0.7,0.7];[0.7,0.7,0.0]];
+%% Settings for tradeoff evaluation
%vector of refrences for P
-P_treshold=[4.0,5.0,6.0,8.0,10.0,12.0];
+P_treshold=[4.0];%,5.0,6.0,8.0,10.0,12.0];
%number of runs per each P
n_run=1;
%allocate memory for output
energy=zeros(n_run,length(P_treshold));
error=zeros(n_run,length(P_treshold));
+%% Iterate over the different thresholds for tr(P)
for j=1:length(P_treshold)
- %set P reference
+ disp(['Starting simulations with threshold for P equal to:', num2str(P_treshold(j))]) %display reached treshold
settings.P_treshold=P_treshold(j);
- %run simulations
- for k=1:n_run
- %% Run the GNSS-aided INS
- disp('Running the GNSS-aided INS')
- P_treshold(j)
- k
- out_data=GPSaidedINS(in_data,settings);
- energy(k,j)=out_data.energy;
- error(k,j)=out_data.error;
+ for k=1:n_run %iterate over the number of simulations per threshold
+ disp(['Simulation number:',num2str(k)]) %display simulation number
+ out_data=GPSaidedINS_car(in_data,settings); % Run the GNSS-aided INS
+ energy(k,j)=out_data.energy; % store energy
+ error(k,j)=out_data.error; % store positioning error
end
end
-
-%plot data
-disp('Plotting data:')
-figure
-hold on
-xlabel('energy')
-ylabel('error')
-title('car energy accuracy tracking trade-off')
-grid
-
-for j=1:length(P_treshold)
- scatter(energy(:,j), error(:,j),20,color(j,:),'o','filled')
-end
\ No newline at end of file
+%% Plot results
+disp('Plot results')
+plot_tradeoff
\ No newline at end of file
diff --git a/matlab/run_many_cycling.m b/matlab/run_many_cycling.m
index d98bbb1..b506730 100644
--- a/matlab/run_many_cycling.m
+++ b/matlab/run_many_cycling.m
@@ -13,14 +13,14 @@ settings=get_settings_cycling();
%% Settings for tradeoff evaluation
%vector of refrences for P
-P_treshold=[4.0,5.0];%,6.0,8.0,10.0,12.0];
+P_treshold=[4.0,5.0,6.0,8.0,10.0,12.0];
%nubmer of simulations per each P
-n_run=1;
+n_run=50;
%allocate memory for output
energy=zeros(n_run,length(P_treshold));
error=zeros(n_run,length(P_treshold));
-%% Iterate over the threshold for tr(P)
+%% Iterate over the different thresholds for tr(P)
for j=1:length(P_treshold)
disp(['Starting simulations with threshold for P equal to:', num2str(P_treshold(j))]) %display reached treshold
settings.P_treshold=P_treshold(j); %set P reference
--
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