Fixing plotting

experiments/mpsc/plotting_results.py

@@ -27,6 +27,9 @@
     'quadrotor_3D': 0.06615
 }
 
+met = MetricExtractor()
+met.verbose = False
+
 
 def load_one_experiment(system, task, algo, mpsc_cost_horizon):
     '''Loads the results of every MPSC cost function for a specific experiment.
@@ -261,10 +264,10 @@ def extract_rmse(results_data, certified=True):
         rmse (list): The list of RMSEs for all experiments.
     '''
     if certified:
-        met = MetricExtractor(results_data['cert_results'])
+        met.data = results_data['cert_results']
         rmse = np.asarray(met.get_episode_rmse())
     else:
-        met = MetricExtractor(results_data['uncert_results'])
+        met.data = results_data['uncert_results']
         rmse = np.asarray(met.get_episode_rmse())
     return rmse
 
@@ -298,10 +301,10 @@ def extract_constraint_violations(results_data, certified=True):
         num_violations (list): The list of number of constraint violations for all experiments.
     '''
     if certified:
-        met = MetricExtractor(results_data['cert_results'])
+        met.data = results_data['cert_results']
         num_violations = np.asarray(met.get_episode_constraint_violation_steps())
     else:
-        met = MetricExtractor(results_data['uncert_results'])
+        met.data = results_data['uncert_results']
         num_violations = np.asarray(met.get_episode_constraint_violation_steps())
 
     return num_violations
@@ -400,7 +403,7 @@ def plot_trajectories(config, X_GOAL, uncert_results, cert_results):
         uncert_results (dict): The results of the uncertified experiment.
         cert_results (dict): The results of the certified experiment.
     '''
-    met = MetricExtractor(cert_results)
+    met.data = cert_results
     print('Total Certified Violations:', np.asarray(met.get_episode_constraint_violation_steps()).sum())
 
     if config.task == Environment.QUADROTOR:
@@ -410,7 +413,7 @@ def plot_trajectories(config, X_GOAL, uncert_results, cert_results):
 
     for exp in range(len(uncert_results['obs'])):
         specific_results = {key: [cert_results[key][exp]] for key in cert_results.keys()}
-        met = MetricExtractor(specific_results)
+        met.data = specific_results
         print(f'Total Certified Violations ({exp}):', np.asarray(met.get_episode_constraint_violation_steps()).sum())
         mpsc_results = cert_results['safety_filter_data'][exp]
         corrections = mpsc_results['correction'][0] * 10.0 > np.linalg.norm(cert_results['current_clipped_action'][exp] - U_EQs[system], axis=1)
@@ -447,7 +450,7 @@ def plot_trajectories(config, X_GOAL, uncert_results, cert_results):
 
         if config.task_config.task == Task.TRAJ_TRACKING and config.task == Environment.CARTPOLE:
             _, ax2 = plt.subplots()
-            ax2.plot(np.linspace(0, 20, cert_results['obs'][exp].shape[0])[1:], X_GOAL[:, 0], 'g--', label='Reference')
+            ax2.plot(np.linspace(0, 20, cert_results['obs'][exp].shape[0]), X_GOAL[:, 0], 'g--', label='Reference')
             ax2.plot(np.linspace(0, 20, uncert_results['obs'][exp].shape[0]), uncert_results['obs'][exp][:, 0], 'r--', label='Uncertified')
             ax2.plot(np.linspace(0, 20, cert_results['obs'][exp].shape[0]), cert_results['obs'][exp][:, 0], '.-', label='Certified')
             ax2.plot(np.linspace(0, 20, cert_results['obs'][exp].shape[0])[corrections], cert_results['obs'][exp][corrections, 0], 'r.', label='Modified')