fixed error with very small episode length

create_plots.py

@@ -160,7 +160,7 @@ def plot_result_from_declaration(dataset, result_declaration):
 
         ResultPlotter.countplot_for_result(
             dataset,
-            differentiate=result_declaration["hue"],
+            differentiate=result_declaration["differentiate"],
             title=result_declaration["title"],    
             save_name=result_declaration["save_name"],    
             plot_args=result_declaration.get("plot_args", {}),    

get_metrics.py

@@ -78,7 +78,7 @@ def __init__(self, dir):
         while True:
             current_episode = data[data["episode"] == i]
 
-            if len(current_episode) <= 0:
+            if len(current_episode) <= 5:
                 break
 
             episode_data[i] = self.analyze_episode(current_episode, i)
@@ -87,8 +87,6 @@ def __init__(self, dir):
         data = pd.DataFrame(episode_data).transpose().set_index("episode")
         data.to_csv(os.path.join(dir, "metrics.csv"))
 
-        pass
-
     def analyze_episode(self, episode, index):
         positions, velocities = [], []
 
@@ -115,6 +113,8 @@ def analyze_episode(self, episode, index):
         start_position = self.get_mean_position(episode, "start")
         goal_position = self.get_mean_position(episode, "goal")
 
+        print("PATH LENGTH", path_length, path_length_per_step)
+
         return {
             "curvature": Metrics.round_values(curvature),
             "normalized_curvature": Metrics.round_values(normalized_curvature),

plot_declarations/test.yaml

@@ -0,0 +1,237 @@
+# Wether you want to show or save the plots
+show_plots: false
+# Name of the directory in ./path
+save_location: eval_iros_2023
+
+# List of all datasets that should be compared
+# Name of the directory in ./data
+datasets: ["test"]
+
+# Wether you want to plot the result counts
+results:
+  # Should plot?
+  plot: true
+  # Title of the plot
+  title: Results
+  differentiate: local_planner
+  # Name of the file the plot should be saved ot
+  save_name: results
+  # Additional Plot arguments
+  plot_args: {} # Optional
+
+# Plot values that are collected in every time step.
+# Thus, being arrays for each episode.
+# Possible values are:
+# - curvature
+# - normalized_curvature
+# - roughness
+# - path_length_values
+# - acceleration
+# - jerk
+# - velocity
+
+#  It is possible to plot
+#  - A line plot to show the course in a single episode
+#    You can list multiple value to create multiple plots
+single_episode_line:
+  # Name of the coloumn you want to plot
+  - data_key: curvature # Required
+    # Number of values that should be skipped to reduce datapoints
+    step_size: 2 # Optional -> Defaults to 5
+    # Coloumn for differentiation
+    differentiate: local_planner # Optional -> Defaults to namespace
+    # Index of the episode -> If none all episodes are plotted
+    episode: 1 # Optional -> Defaults to none
+    title: Curvature
+    save_name: episode_curvature
+    plot_args: { xlabel: Time in seconds } # Optional
+  - data_key: roughness # Required
+    # Number of values that should be skipped to reduce datapoints
+    step_size: 2 # Optional -> Defaults to 5
+    # Coloumn for differentiation
+    differentiate: local_planner # Optional -> Defaults to namespace
+    # Index of the episode -> If none all episodes are plotted
+    episode: 1 # Optional -> Defaults to none
+    title: Roughness
+    save_name: episode_roughness
+    plot_args: { xlabel: Time in seconds } # Optional
+  - data_key: path_length_values # Required
+    # Number of values that should be skipped to reduce datapoints
+    step_size: 2 # Optional -> Defaults to 5
+    # Coloumn for differentiation
+    differentiate: local_planner # Optional -> Defaults to namespace
+    # Index of the episode -> If none all episodes are plotted
+    episode: 1 # Optional -> Defaults to none
+    title: Path Length
+    save_name: episode_path_length_values
+    plot_args: { xlabel: Time in seconds } # Optional
+  - data_key: acceleration # Required
+    # Number of values that should be skipped to reduce datapoints
+    step_size: 2 # Optional -> Defaults to 5
+    # Coloumn for differentiation
+    differentiate: local_planner # Optional -> Defaults to namespace
+    # Index of the episode -> If none all episodes are plotted
+    episode: 1 # Optional -> Defaults to none
+    title: Acceleration
+    save_name: episode_acceleration
+    plot_args: { xlabel: Time in seconds } # Optional
+  - data_key: jerk # Required
+    # Number of values that should be skipped to reduce datapoints
+    step_size: 2 # Optional -> Defaults to 5
+    # Coloumn for differentiation
+    differentiate: local_planner # Optional -> Defaults to namespace
+    # Index of the episode -> If none all episodes are plotted
+    episode: 1 # Optional -> Defaults to none
+    title: Jerk
+    save_name: episode_jerk
+    plot_args: { xlabel: Time in seconds } # Optional
+  - data_key: velocity # Required
+    # Number of values that should be skipped to reduce datapoints
+    step_size: 2 # Optional -> Defaults to 5
+    # Coloumn for differentiation
+    differentiate: local_planner # Optional -> Defaults to namespace
+    # Index of the episode -> If none all episodes are plotted
+    episode: 1 # Optional -> Defaults to none
+    title: Velocity
+    save_name: episode_velocity
+    plot_args: { xlabel: Time in seconds } # Optional
+
+# - A Distributional plot for a single episode
+#   You can list multiple value to create multiple plots
+
+single_episode_distribution:
+  - data_key: curvature
+    episode: 1
+    plot_key: "box"
+    title: Curvature
+    save_name: dist_episode_curvature
+    differentiate: local_planner
+    plot_args: {} # Optional
+  - data_key: roughness
+    episode: 1
+    plot_key: "box"
+    title: Roughness
+    save_name: dist_episode_roughness
+    differentiate: local_planner
+    plot_args: {} # Optional
+  - data_key: path_length_values
+    episode: 1
+    plot_key: "box"
+    title: Path Length
+    save_name: dist_episode_path_length_values
+    differentiate: local_planner
+    plot_args: {} # Optional
+  - data_key: acceleration
+    episode: 1
+    plot_key: "box"
+    title: Acceleration
+    save_name: dist_episode_acceleration
+    differentiate: local_planner
+    plot_args: {} # Optional
+  - data_key: jerk
+    episode: 1
+    plot_key: "box"
+    title: Jerk
+    save_name: dist_episode_jerk
+    differentiate: local_planner
+    plot_args: {} # Optional
+  - data_key: velocity
+    episode: 1
+    plot_key: "box"
+    title: Velocity
+    save_name: dist_episode_velocity
+    differentiate: local_planner
+    plot_args: {} # Optional
+
+# - A line plot showing aggregated values for all episodes.
+#   Like a line plot for the max value of each episode
+# aggregated_distribution:
+#   - data_key: string
+#     # Function that should be used for aggregation. We offer: max, min, mean
+#     aggregate: "max" | "min" | "mean" | "sum"
+#     # Name of the dist plot you want to use. Can be strip, swarm, box, boxen, violin
+#     plot_key: "swarm" | "violin" | "box" | "boxen" | "strip" # Optional -> Defaults to "swarm"
+#     title: string
+#     save_name: string
+#     plot_args: {} # Optional
+# # - A distributional plot for aggregated values for all episodes.
+# aggregated_line:
+#   - data_key: string
+#     # Function that should be used for aggregation. We offer: max, min, mean
+#     aggregate: "max" | "min" | "mean" | "sum"
+#     title: string
+#     save_name: string
+#     plot_args: {} # Optional
+
+# ## Plot values that are collected for each episode.
+# # Single values for each episode
+# # Possible values are:
+# # - time_diff
+# # - angle_over_length
+# # - path_length
+
+# # It is possible to plot
+# # - A categorical plot over all episodes to show the values in a line or bar plot
+all_episodes_categorical:
+  - data_key: time_diff
+    plot_key: "bar"
+    title: time_diff
+    save_name: cat_time_diff
+    differentiate: local_planner
+    plot_args: {} # Optional
+  - data_key: angle_over_length
+    plot_key: "bar"
+    title: Angle Over Length
+    save_name: cat_angle_over_length
+    differentiate: local_planner
+    plot_args: {} # Optional
+  - data_key: path_length
+    plot_key: "bar"
+    title: Path Length
+    save_name: cat_path_length
+    differentiate: local_planner
+    plot_args: {} # Optional
+# - Plot a distribution over all episodes
+all_episodes_distribution:
+  - data_key: time_diff
+    plot_key: "box"
+    title: Time
+    save_name: cat_agg_time_diff
+    differentiate: local_planner
+    plot_args: {} # Optional
+  - data_key: angle_over_length
+    plot_key: "box"
+    title: Angle Over Length
+    save_name: cat_agg_angle_over_length
+    differentiate: local_planner
+    plot_args: {} # Optional
+  - data_key: path_length
+    plot_key: "box"
+    title: Path Length
+    save_name: cat_agg_path_length
+    differentiate: local_planner
+    plot_args: {} # Optional
+
+# ## Plot the path the robots took
+
+# # Plot all paths of all episodes for each robot
+episode_plots_for_namespaces:
+  # list of desired results that should be plotted
+  desired_results: GOAL_REACHED
+  # Wether or not to add the obstacles from the scenario file to the plot
+  should_add_obstacles: False # Optional -> Defaults to False
+  # Wether or not to mark where collisions happened
+  should_add_collisions: False # Optional -> Defaults to False
+  differentiate: local_planner
+  title: Path
+  save_name: path
+# # Plot the best path of each robot
+# # Only select the paths that reached the goal and take the path that took the least amount of time
+# create_best_plots:
+#   # Wether or not to add the obstacles from the scenario file to the plot
+#   should_add_obstacles: False # Optional -> Defaults to False
+#   # Wether or not to mark where collisions happened
+#   should_add_collisions: False # Optional -> Defaults to False
+#   title: Path
+#   save_name: path
+# # ```