src/fjord.jl
changed.
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@@ -27,9 +27,9 @@
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| 27 | 27 | plt = plot_terrain_ac_particles(0,4,particles) |
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| 28 | 28 | savefig(plt,"test_terrain.png") |
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| 29 | 29 | """ |
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| 30 | - | function plot_terrain_ac_particles(xpos,ypos,particles) |
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| 30 | + | function plot_terrain_ac(xpos,ypos) |
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| 31 | 31 | #@show "terrain plotter being called" |
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| 32 | - | X = xpos[1] - 0.6 .+ [-1, -0.1, -0.09, 0.3, 0.7, 0.8, 0.7, 0.3, -0.09, -0.1, -1]; |
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| 32 | + | X = xpos[1] - 0.6 .+ [-1,-0.1,-0.09,0.3,0.7,0.8,0.7, 0.3, -0.09, -0.1, -1]; |
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| 33 | 33 | Y = ypos .+ [-0.05, -0.05, -0.4, -0.05, -0.05,0, 0.05, 0.05, 0.4, 0.05, 0.05]; |
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| 34 | 34 | ||
| 35 | 35 | # Here are the mountains |
@@ -40,9 +40,9 @@
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| 40 | 40 | # Call the ground function on the x locations that are deemed as mountain above |
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| 41 | 41 | Mountains = map.(ground,plotVectorMountains) |
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| 42 | 42 | ||
| 43 | - | plt = plot(plotVectorMountains,Mountains,leg=false) # Plot the terrain |
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| 44 | - | plot!(X,Y,leg=false) # Plot the aircraft |
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| 45 | - | scatter!(particles,4*ones(length(particles)),leg=false) |
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| 43 | + | plt = plot(plotVectorMountains,Mountains,label="Terrain") # Plot the terrain |
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| 44 | + | plot!(X,Y,label="Aircraft") # Plot the aircraft |
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| 45 | + | ||
| 46 | 46 | return plt |
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| 47 | 47 | end |
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| 48 | 48 |
@@ -51,13 +51,12 @@
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| 51 | 51 | Take input array of plots and convert to gif animation |
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| 52 | 52 | """ |
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| 53 | 53 | function write_particles_gif(plots) |
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| 54 | - | @show "Making gif" |
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| 54 | + | print("\n Making gif\n") |
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| 55 | 55 | frames = Frames(MIME("image/png"), fps=5) |
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| 56 | 56 | for plt in plots |
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| 57 | - | print(".") |
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| 58 | 57 | push!(frames, plt) |
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| 59 | 58 | end |
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| 60 | - | write("fjord.gif", frames) |
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| 59 | + | write("../img/Fjord/26June/fjord.mp4", frames) |
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| 61 | 60 | return nothing |
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| 62 | 61 | end # End of the reel gif writing function |
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| 63 | 62 |
@@ -68,7 +67,7 @@
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| 68 | 67 | dt = 0.1 # time step |
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| 69 | 68 | ||
| 70 | 69 | ypos = 4 # Height of the aircraft stays constant |
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| 71 | - | meas_stdev = 0.1 |
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| 70 | + | meas_stdev = 2 |
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| 72 | 71 | A = [1] |
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| 73 | 72 | B = [0] |
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| 74 | 73 | f(x, u, rng) = x #+ [1.0] # Investigating fixed state |
@@ -77,39 +76,51 @@
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| 77 | 76 | ||
| 78 | 77 | model = ParticleFilterModel{Vector{Float64}}(f, g) |
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| 79 | 78 | ||
| 80 | - | N = 1000 # Rpb: Was 1000 before |
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| 79 | + | N = 50 # Rpb: Was 1000 before |
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| 81 | 80 | ||
| 82 | 81 | filter_sir = SIRParticleFilter(model, N) # This was originally present |
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| 83 | 82 | filter_cem = CEMParticleFilter(model, N) # This is the cem filter |
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| 84 | 83 | ||
| 85 | - | b = ParticleCollection([[80.0*rand(1)[1]-40.0] for i in 1:N]) |
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| 84 | + | b_sir = ParticleCollection([[80.0*rand(1)[1]-40.0] for i in 1:N]) |
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| 85 | + | b_cem = b_sir |
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| 86 | 86 | ||
| 87 | 87 | x = [-25.0] |
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| 88 | 88 | ||
| 89 | 89 | plots = [] |
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| 90 | - | plt = plot_terrain_ac_particles(x,ypos,particles(b)) |
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| 91 | - | push!(plots,plt) |
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| 90 | + | ||
| 91 | + | plt = plot_terrain_ac(x,ypos) |
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| 92 | + | scatter!([p[1] for p in particles(b_sir)],[ypos for p in particles(b_sir)],label="SIR",xlim=(-30,30),color=:blue) |
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| 93 | + | ||
| 94 | + | scatter!([p[1] for p in particles(b_cem)],[ypos for p in particles(b_cem)],label="CEM",xlim=(-30,30),color=:green) |
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| 95 | + | ||
| 96 | + | # scatter!(particles(b_sir),4*ones(length(particles(b_sir))),label="SIR",xlim=(-30,30),color=:blue) |
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| 97 | + | # scatter!(particles(b_cem),4*ones(length(particles(b_cem))),label="CEM",xlim=(-30,30),color=:green) |
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| 98 | + | push!(plots,plt) |
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| 92 | 99 | for i in 1:50 #RpB: was 100 before |
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| 93 | - | print(".") |
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| 94 | - | u = 1 |
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| 95 | - | x = f(x, u, rng) |
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| 96 | - | #@show x |
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| 97 | - | y = h(x, rng) |
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| 98 | - | #@show y |
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| 99 | - | b = update(filter_cem, b, u, y) |
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| 100 | - | ||
| 101 | - | #@show particles(b) |
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| 100 | + | #print(".") |
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| 101 | + | u = 1 |
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| 102 | + | x = f(x, u, rng) |
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| 103 | + | y = h(x, rng) |
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| 104 | + | b_sir = update(filter_sir, b_sir, u, y) |
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| 105 | + | ||
| 102 | 106 | # RpB: This is the update_cem |
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| 103 | - | #b_cem = update(filter_cem,b,u,y) |
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| 104 | - | #@show particles(b_cem) |
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| 105 | - | plt = plot_terrain_ac_particles(x,ypos,particles(b)) |
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| 106 | - | push!(plots, plt) |
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| 107 | + | b_cem = update(filter_cem,b_cem,u,y) |
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| 108 | + | ||
| 109 | + | plt = plot_terrain_ac(x,ypos) |
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| 110 | + | ||
| 111 | + | scatter!([p[1] for p in particles(b_sir)],[ypos for p in particles(b_sir)],label="SIR",xlim=(-30,30),color=:blue) |
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| 112 | + | ||
| 113 | + | scatter!([p[1] for p in particles(b_cem)],[ypos for p in particles(b_cem)],label="CEM",xlim=(-30,30),color=:green) |
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| 114 | + | ||
| 115 | + | # scatter!(particles(b_sir),4*ones(length(particles(b_sir))),label="SIR",xlim=(-30,30),color=:blue) |
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| 116 | + | # scatter!(particles(b_cem),4*ones(length(particles(b_cem))),label="CEM",xlim=(-30,30),color=:green) |
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| 117 | + | ||
| 118 | + | push!(plots, plt) |
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| 107 | 119 | end |
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| 108 | 120 | return plots |
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| 109 | 121 | end # End of the runexp function |
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| 110 | 122 | ||
| 111 | 123 | ||
| 112 | - | ||
| 113 | 124 | @show "Sandbox says: Calling runexp" |
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| 114 | 125 | plots = runexp() |
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| 115 | 126 |
| Files | Coverage |
|---|---|
| src | 20.76% |
| Project Totals (16 files) | 20.76% |
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