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general: allow to run multiple tests back to back and save results

master
EmaMaker 2024-07-27 14:50:46 +02:00
parent 1900526b81
commit 78f9515f45
1 changed files with 52 additions and 33 deletions
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tesiema.m
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@ -2,45 +2,64 @@ clc
clear all
close all
TEST = 'sin'
%TESTS = ["sin_faster", "sin", "circle", "straightline", "reverse_straightline"]
TESTS = ["straightline"]
s_ = size(TESTS);
sim_data = load(['tests/' TEST '/common.mat']);
sim_data.q0 = set_initial_conditions(sim_data.INITIAL_CONDITIONS);
[ref dref] = set_trajectory(sim_data.TRAJECTORY);
sim_data.ref = ref;
sim_data.dref = dref;
for i = 1:s_(2)
clear data sim_data
close all
%for i = 1:1
TEST = convertStringsToChars(TESTS(i))
sim_data = load(['tests/' TEST '/common.mat']);
sim_data.q0 = set_initial_conditions(sim_data.INITIAL_CONDITIONS);
[ref dref] = set_trajectory(sim_data.TRAJECTORY);
sim_data.ref = ref;
sim_data.dref = dref;
%sim_data.SATURATION = [0.5; 0.5];
spmd (3)
worker_index = spmdIndex;
data = load(['tests/' TEST '/' num2str(spmdIndex) '.mat']);
sim_data.PREDICTION_HORIZON = data.PREDICTION_HORIZON;
sim_data.U_corr_history = zeros(2,1,sim_data.PREDICTION_HORIZON);
sim_data
[t, q, ref_t, U, U_track, U_corr] = simulate_discr(sim_data);
disp('Done')
end
h = []
s1_ = size(worker_index);
for n = 1:s1_(2)
h_ = figure('Name', [TEST ' ' num2str(n)] );
h = [h, h_];
plot_results(t{n}, q{n}, ref_t{n}, U{n}, U_track{n}, U_corr{n});
end
% spmd (3)
% worker_index = spmdIndex;
% data = load(['tests/' TEST '/' num2str(spmdIndex) '.mat']);
%
% sim_data.PREDICTION_HORIZON = data.PREDICTION_HORIZON;
% sim_data.U_corr_history = zeros(2,1,sim_data.PREDICTION_HORIZON);
% sim_data
%
% [t, q, ref_t, U] = simulate_discr(sim_data);
%
% disp('Done')
% end
%
% s_ = size(worker_index);
% for n = 1:s_(2)
% figure(n)
% plot_results(t{n}, q{n}, ref_t{n}, U{n});
% end
f1 = [ TEST '-' datestr(datetime)];
f = ['results/' f1];
mkdir(f)
savefig(h, [f '/' f1 '.fig']);
save([f '/workspace.mat']);
data = load(['tests/' TEST '/' num2str(2) '.mat']);
sim_data.PREDICTION_HORIZON = data.PREDICTION_HORIZON;
sim_data.U_corr_history = zeros(2,1,sim_data.PREDICTION_HORIZON);
sim_data
[t, q, ref_t, U, U_track, U_corr] = simulate_discr(sim_data);
copyfile(['tests/' TEST], f);
end
%%
plot_results(t,q,ref_t,U, U_track, U_corr);
% data = load(['tests/' TEST '/' num2str(2) '.mat']);
% sim_data.PREDICTION_HORIZON = data.PREDICTION_HORIZON;
% sim_data.U_corr_history = zeros(2,1,sim_data.PREDICTION_HORIZON);
% sim_data
% [t, q, ref_t, U, U_track, U_corr] = simulate_discr(sim_data);
%
% %%
% plot_results(t,q,ref_t,U, U_track, U_corr);
%% FUNCTION DECLARATIONS
@ -102,7 +121,7 @@ end
%%
% Plots
function plot_results(t, x, ref, U, U_track, U_corrcd)
function plot_results(t, x, ref, U, U_track, U_corr)
subplot(4,2,1)
hold on
title("trajectory / state")