diff --git a/CoLo-AT/Cooperative_Localization_Journal1.py b/CoLo-AT/Cooperative_Localization_Journal1.py index 59f954dff36053322ed47bb2aa8f50996a1e470d..476e7ab24a60cb535a8d8a73e66cb2624ed6e67b 100644 --- a/CoLo-AT/Cooperative_Localization_Journal1.py +++ b/CoLo-AT/Cooperative_Localization_Journal1.py @@ -110,3 +110,4 @@ def all_algorithms_comp(dataset_path, robot_labels, duration, graph_name, robots analyzer.calculate_loc_err_and_trace_state_variance_per_run(state_recorder_GS_SCI, plot_graphs = False) analyzer.algos_comparison([state_recorder, state_recorder_LS_cen, state_recorder_LS_BDA, state_recorder_LS_CI, state_recorder_GS_SCI], graph_name = graph_name) + analyzer.generate_result_files([state_recorder, state_recorder_LS_cen, state_recorder_LS_BDA, state_recorder_LS_CI, state_recorder_GS_SCI]) \ No newline at end of file diff --git a/CoLo-AT/RMSE.txt b/CoLo-AT/RMSE.txt new file mode 100644 index 0000000000000000000000000000000000000000..50f780a6dcee67177bfdca83b45c5fd9c7cfbb0f --- 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1.8786 +108.2500 0.9514 0.5197 0.4690 0.5280 1.8605 +108.7500 0.9624 0.4898 0.4165 0.4948 1.8400 +109.2500 1.0156 0.4420 0.3649 0.4458 1.8677 +109.7500 0.9951 0.4193 0.3530 0.4221 1.8282 +110.2500 1.0207 0.3968 0.3511 0.3989 1.8373 +110.7500 1.0300 0.3831 0.3495 0.3847 1.8476 +111.2500 1.0397 0.3821 0.3473 0.3833 1.8640 +111.7500 1.0373 0.3984 0.3485 0.3992 1.8309 +112.2500 1.0309 0.4010 0.3484 0.4015 1.8399 +112.7500 1.0619 0.4096 0.3480 0.4100 1.8424 +113.2500 1.0755 0.3958 0.3462 0.3961 1.8427 +113.7500 1.1451 0.3832 0.3648 0.3834 1.8313 +114.2500 1.1287 0.3783 0.3785 0.3785 1.8696 +114.7500 1.1198 0.3700 0.3736 0.3701 1.8412 +115.2500 1.1519 0.3627 0.3636 0.3628 1.8579 +115.7500 1.1217 0.3453 0.3478 0.3454 1.8377 +116.2500 1.1915 0.3531 0.3363 0.3532 1.8801 +116.7500 1.1797 0.3563 0.3256 0.3563 1.7996 +117.2500 1.1663 0.3511 0.3216 0.3511 1.7712 +117.7500 1.2390 0.3355 0.3180 0.3355 1.7953 +118.2500 1.2058 0.3185 0.3147 0.3186 1.7787 +118.7500 1.1948 0.3120 0.3127 0.3120 1.7593 +119.2500 1.2565 0.3126 0.3088 0.3126 1.7924 +119.7500 1.2374 0.3101 0.3031 0.3101 1.7816 +120.2500 1.2486 0.3016 0.2942 0.3016 1.7826 +120.7500 1.3359 0.2872 0.2898 0.2872 1.8377 +121.2500 1.3489 0.3194 0.3173 0.3194 1.8383 +121.7500 1.3198 0.3311 0.3254 0.3311 1.8303 +122.2500 1.3302 0.3003 0.2985 0.3003 1.8336 +122.7500 1.3336 0.3010 0.2961 0.3010 1.8330 +123.2500 1.3502 0.3042 0.2954 0.3042 1.8355 +123.7500 1.3269 0.3128 0.3051 0.3128 1.8279 +124.2500 1.3277 0.2921 0.2867 0.2921 1.8290 +124.7500 1.3568 0.2867 0.2821 0.2867 1.8348 +125.2500 1.3340 0.2843 0.2789 0.2843 1.8277 +125.7500 1.3637 0.2875 0.2800 0.2875 1.8325 +126.2500 1.3415 0.2834 0.2752 0.2834 1.8253 +126.7500 1.3309 0.3355 0.3111 0.3355 1.7855 +127.2500 1.2764 0.3575 0.3348 0.3575 1.7628 +127.7500 1.3005 0.3631 0.3454 0.3631 1.7651 +128.2500 1.3084 0.3673 0.3526 0.3673 1.7629 +128.7500 1.2595 0.3653 0.3563 0.3653 1.7461 +129.2500 1.2533 0.3584 0.3555 0.3584 1.7241 +129.7500 1.2814 0.3545 0.3541 0.3545 1.7460 +130.2500 1.2920 0.3494 0.3511 0.3494 1.7454 +130.7500 1.3014 0.3486 0.3481 0.3486 1.7443 +131.2500 1.3107 0.3465 0.3457 0.3465 1.7440 +131.7500 1.3201 0.3590 0.3564 0.3590 1.7444 +132.2500 1.3633 0.3500 0.3448 0.3500 1.7965 +132.7500 1.2964 0.3967 0.3815 0.4046 1.7814 +133.2500 1.3149 0.4066 0.3751 0.3863 1.8081 +133.7500 1.3020 0.3905 0.3564 0.4202 1.7875 +134.2500 1.2950 0.3936 0.3579 0.5498 1.6474 +134.7500 1.3024 0.4465 0.3765 0.6706 1.6389 +135.2500 1.3108 0.4684 0.3998 0.7473 1.6346 +135.7500 1.2913 0.5142 0.4574 0.8147 1.5882 +136.2500 1.3216 0.5340 0.4789 0.8419 1.5906 +136.7500 1.3419 0.5621 0.4915 0.8380 1.6174 +137.2500 1.3442 0.5998 0.5014 0.7845 1.9818 +137.7500 1.3741 0.6043 0.5161 0.7127 1.8683 +138.2500 1.3855 0.6073 0.5374 0.7141 1.7980 +138.7500 1.3782 0.6063 0.5555 0.7033 1.7470 +139.2500 1.3788 0.5677 0.5212 0.5994 1.7045 +139.7500 1.3670 0.5440 0.5041 0.5505 1.6527 +140.2500 1.3829 0.5320 0.4908 0.5293 1.7095 +140.7500 1.3663 0.5138 0.4739 0.5104 1.6172 +141.2500 1.3756 0.5030 0.4719 0.5009 1.6558 +141.7500 1.3759 0.5066 0.4704 0.5035 1.6827 +142.2500 1.3670 0.5054 0.4701 0.5031 1.6468 +142.7500 1.3819 0.5002 0.4756 0.4982 1.6780 +143.2500 1.3608 0.4900 0.4793 0.4889 1.5925 +143.7500 1.3704 0.4779 0.4701 0.4773 1.5616 +144.2500 1.3858 0.4776 0.4612 0.4773 1.5854 +144.7500 1.3820 0.4887 0.4665 0.4884 1.5752 +145.2500 1.3859 0.4980 0.4605 0.4979 1.5521 +145.7500 1.4118 0.4985 0.4500 0.4985 1.6106 +146.2500 1.4063 0.4944 0.4466 0.4944 1.6466 +146.7500 1.2010 0.5084 0.4401 1.4081 1.7021 +147.2500 1.1007 0.5429 0.4706 1.8230 2.4580 +147.7500 1.1507 0.5611 0.4886 1.7711 2.8397 +148.2500 1.1471 0.5692 0.4902 1.6143 1.6640 +148.7500 1.1300 0.5401 0.4830 1.4924 1.6647 +149.2500 1.0346 0.4973 0.4746 1.7687 2.2019 +149.7500 1.0758 0.5087 0.4931 1.7498 1.9599 +150.2500 1.0416 0.5187 0.5026 1.7401 1.9916 +150.7500 1.0505 0.5191 0.5058 1.7283 3.4584 +151.2500 1.0476 0.5199 0.5085 1.7127 2.4238 +151.7500 1.0567 0.5156 0.5071 1.5199 4.3473 +152.2500 1.0551 0.4969 0.4900 1.3804 1.6616 +152.7500 1.0588 0.4845 0.4820 1.2683 2.2233 +153.2500 1.0661 0.4758 0.4764 1.0109 1.7112 +153.7500 1.0660 0.4804 0.4777 1.2839 1.8597 +154.2500 1.1051 0.4794 0.4623 1.2049 1.7282 +154.7500 0.7578 0.4327 0.4591 1.4400 2.1925 +155.2500 0.7616 0.4223 0.4504 1.5976 2.4550 +155.7500 0.7771 0.4259 0.4507 1.5295 2.7938 +156.2500 0.8577 0.4275 0.4426 1.4509 2.2755 +156.7500 0.8346 0.4161 0.4250 1.2993 2.5190 +157.2500 0.8315 0.4598 0.4461 1.3780 3.1923 +157.7500 0.9833 0.4877 0.4385 1.4947 3.5905 +158.2500 0.9715 0.4194 0.3996 1.4762 2.4467 +158.7500 1.0598 0.4033 0.3952 1.3348 2.6995 +159.2500 1.1104 0.4075 0.3890 1.0913 2.7771 +159.7500 1.1160 0.4081 0.3973 1.0659 2.7216 +160.2500 1.1927 0.4123 0.3856 0.6557 2.2046 +160.7500 1.2222 0.4068 0.3987 0.5611 2.1964 +161.2500 1.2047 0.4088 0.4149 0.5133 2.1928 +161.7500 1.2094 0.4122 0.4302 0.4905 2.1888 +162.2500 1.2369 0.4082 0.4372 0.4720 2.1808 +162.7500 1.1895 0.3909 0.4326 0.4370 2.2572 +163.2500 0.9198 0.3198 0.3531 0.8825 2.3869 +163.7500 1.0437 0.2830 0.3501 1.0064 2.0716 +164.2500 1.0222 0.3077 0.3656 1.0124 2.0893 +164.7500 1.0508 0.2955 0.3777 1.0836 2.2397 +165.2500 0.9803 0.2987 0.3947 1.1279 2.7911 +165.7500 0.9645 0.3144 0.4155 0.9660 2.5016 +166.2500 0.8709 0.3127 0.3850 1.2168 3.2418 +166.7500 0.8114 0.3067 0.3614 1.3759 2.5447 +167.2500 0.9262 0.3309 0.3933 1.1856 3.1070 +167.7500 0.9368 0.3469 0.3983 1.2529 3.5351 +168.2500 0.9203 0.3319 0.3973 1.2157 4.2374 +168.7500 1.0176 0.3335 0.3893 1.1852 1.9913 +169.2500 0.9901 0.3181 0.3794 1.1864 1.9026 +169.7500 0.9582 0.3299 0.3843 1.1814 2.0143 +170.2500 0.9837 0.3364 0.3846 1.0767 2.4002 +170.7500 1.0194 0.3064 0.3630 0.6546 5.7974 +171.2500 0.9995 0.2985 0.3825 0.5773 8.4237 +171.7500 1.0163 0.3237 0.4100 0.5772 1.9110 +172.2500 1.0274 0.3403 0.4267 0.5693 2.5225 +172.7500 1.0179 0.3534 0.4500 0.5769 3.2866 +173.2500 1.0297 0.3646 0.4805 0.6000 4.1365 +173.7500 1.0374 0.3819 0.4907 0.6031 4.1609 +174.2500 1.0397 0.3816 0.4923 0.5920 3.9608 +174.7500 1.0482 0.3976 0.5100 0.5749 3.8809 +175.2500 0.9697 0.4210 0.5133 0.5664 3.7939 +175.7500 0.9605 0.4059 0.4171 0.5200 2.6908 +176.2500 0.9346 0.3872 0.3547 0.5266 1.6513 +176.7500 0.9447 0.3670 0.3297 0.6175 1.7862 +177.2500 0.9353 0.3844 0.3457 0.7970 1.7984 +177.7500 0.9399 0.4819 0.3839 0.8244 1.7822 +178.2500 0.9428 0.5021 0.4053 0.8243 1.7781 +178.7500 0.9529 0.5039 0.4222 0.8225 1.7683 +179.2500 0.9439 0.4929 0.4272 0.8640 1.7747 +179.7500 0.9579 0.4962 0.4342 0.8979 1.6315 +180.2500 0.9746 0.5027 0.4242 0.8856 4.0789 +180.7500 0.9809 0.4976 0.4257 0.8656 1.5338 diff --git a/CoLo-AT/__pycache__/Cooperative_Localization_Journal1.cpython-36.pyc b/CoLo-AT/__pycache__/Cooperative_Localization_Journal1.cpython-36.pyc index f61628b9573c970d4e070e8d112414736c57bca8..3af8e2339cde74a005acc5b2cf61285fe765bc9b 100644 Binary files a/CoLo-AT/__pycache__/Cooperative_Localization_Journal1.cpython-36.pyc and b/CoLo-AT/__pycache__/Cooperative_Localization_Journal1.cpython-36.pyc differ diff --git a/CoLo-AT/colo_d3.pdf b/CoLo-AT/colo_d3.pdf index 7930a0632892d5b1bebaf4ca89ac69b8548b81ee..c28e5758b46a4d52da8339a58d3fb7f9521c89cc 100644 Binary files a/CoLo-AT/colo_d3.pdf and b/CoLo-AT/colo_d3.pdf differ diff --git a/CoLo-AT/data_analysis/__pycache__/data_analyzer.cpython-36.pyc b/CoLo-AT/data_analysis/__pycache__/data_analyzer.cpython-36.pyc index 18812b6a3f8fed8faf5b81d65bea7d299bf7cf94..a8472c46abecf8674485f09fe856ba4425cf189f 100644 Binary files a/CoLo-AT/data_analysis/__pycache__/data_analyzer.cpython-36.pyc and b/CoLo-AT/data_analysis/__pycache__/data_analyzer.cpython-36.pyc differ diff --git a/CoLo-AT/data_analysis/data_analyzer.py b/CoLo-AT/data_analysis/data_analyzer.py index 2614c75e193fdd66dd858563a9a60381fb00b967..00bdcfde124e00335b03a8dc8deccb3842ae16bc 100644 --- a/CoLo-AT/data_analysis/data_analyzer.py +++ b/CoLo-AT/data_analysis/data_analyzer.py @@ -275,7 +275,7 @@ class Analyzer(): for data_recorder in arr_data_recorder: loc_err_per_run, state_err_per_run, trace_per_run, time_stamps = self.calculate_loc_err_and_trace_state_variance_per_run(data_recorder, plot_graphs = False, selected_labels = selected_labels) if only_trace == None or data_recorder.name not in only_trace: - arr_loc_err.append([time_stamps, loc_err_per_run, data_recorder.name]) + arr_loc_err.append([time_stamps, state_err_per_run, data_recorder.name]) arr_trace.append([time_stamps, trace_per_run, data_recorder.name] ) print('Plotting Comparison Graphs') @@ -306,9 +306,41 @@ class Analyzer(): + def generate_result_files(self, arr_data_recorder): + state_err_arr = [] + trace_arr = [] + algo_name_arr= [] + for data_recorder in arr_data_recorder: + recorder_name = data_recorder.get_name() + loc_err_per_run, state_err_per_run, trace_per_run, time_stamps = self.calculate_loc_err_and_trace_state_variance_per_run(data_recorder, plot_graphs = False) + algo_name_arr.append(recorder_name) + state_err_arr.append(state_err_per_run) + trace_arr.append(state_err_per_run) + RMSE_file = open("RMSE.txt", "w") + RMTE_file = open("RMTE.txt", "w") + + RMSE_file.write('#Time' + '\t') + for algo_name in algo_name_arr: + RMSE_file.write(algo_name + '\t') + + RMSE_file.write('\n') + + + for idx, time_stamp in enumerate(time_stamps): + result_str = '{:2.4f} {:2.4f} {:2.4f} {:2.4f} {:2.4f} {:2.4f}\n'.format(time_stamp, state_err_arr[0][idx], state_err_arr[1][idx], state_err_arr[2][idx], state_err_arr[3][idx], state_err_arr[4][idx]) + RMSE_file.write(result_str) + RMSE_file.close() + RMTE_file.write('#Time' + '\t') + for algo_name in algo_name_arr: + RMTE_file.write(algo_name + '\t') + RMTE_file.write('\n') + for idx, time_stamp in enumerate(time_stamps): + result_str = '{:2.4f} {:2.4f} {:2.4f} {:2.4f} {:2.4f} {:2.4f}\n'.format(time_stamp, np.sqrt(state_err_arr[0][idx]), np.sqrt(state_err_arr[1][idx]), np.sqrt(state_err_arr[2][idx]), np.sqrt(state_err_arr[3][idx]), np.sqrt(state_err_arr[4][idx])) + RMTE_file.write(result_str) + RMTE_file.close() diff --git a/CoLo-AT/localization_algos/__pycache__/centralized_ekf.cpython-36.pyc b/CoLo-AT/localization_algos/__pycache__/centralized_ekf.cpython-36.pyc index 712e9c467ad91a8c3ed5dc2086cc45ebe01529a6..b2a239a5028fbbf5b2893019f6e8f40ab48506de 100644 Binary files a/CoLo-AT/localization_algos/__pycache__/centralized_ekf.cpython-36.pyc and b/CoLo-AT/localization_algos/__pycache__/centralized_ekf.cpython-36.pyc differ diff --git a/CoLo-AT/read_data_to_plot.py b/CoLo-AT/read_data_to_plot.py new file mode 100644 index 0000000000000000000000000000000000000000..ea521801ce67df5de433ddb5050d213bbd22a576 --- /dev/null +++ b/CoLo-AT/read_data_to_plot.py @@ -0,0 +1,70 @@ +import matplotlib.pyplot as plt +import numpy as np + +RMSE_file = open("RMSE.txt", "r") +RMTE_file = open("RMTE.txt", "r") + +RMSE_arr = [] +RMTE_arr = [] + + +RMSE_line = RMSE_file.readline() +names = RMSE_line.split('\t') +del names[0] +del names[-1] +print(names) + + +for RMSE_line in RMSE_file: + RMSE = RMSE_line.split(' ') + [float(i) for i in RMSE] + RMSE_arr.append(np.array(RMSE)) + +RMSE_arr = np.array(RMSE_arr) + + +RMTE_line = RMTE_file.readline() +for RMTE_line in RMTE_file: + RMTE = RMTE_line.split(' ') + [float(i) for i in RMTE] + RMTE_arr.append(np.array(RMTE)) + +RMTE_arr = np.array(RMTE_arr) + + +RMSE_file.close() +RMTE_file.close() + +print(RMSE_arr[0,:]) + + + +fig = plt.figure() +fig1 = fig.add_subplot(211) +fig2 = fig.add_subplot(212) + +for idx, name in enumerate(names): + fig1.plot(RMSE_arr[:,0], RMSE_arr[:,idx+1], label = name) + + fig2.plot(RMTE_arr[:,0], RMTE_arr[:,idx+1], label = name) + +fig1.set_title('RMSE') +fig1.set_xlabel('Time [s]') +fig1.set_ylabel('RMS [m]') +#fig1.set_ylim(0, 1) +fig1.legend(loc=1) +fig1.legend(loc='center left', bbox_to_anchor=(1, 0.5)) +#fig1.tick_params(labelsize=18) + +fig2.set_title('RMTE') +fig2.set_xlabel('Time [s]') +fig2.set_ylabel('RMTE [m]') +#fig2.set_ylim(0, 1) +fig2.legend(loc=1) +fig2.legend(loc='center left', bbox_to_anchor=(1, 0.5)) +#fig2.tick_params(labelsize=18) + +plt.subplots_adjust(hspace=.6) +plt.savefig('results.pdf') +print('image saved') +plt.show() \ No newline at end of file diff --git a/CoLo-AT/results.pdf b/CoLo-AT/results.pdf new file mode 100644 index 0000000000000000000000000000000000000000..985683c893f86b472a10b8d5631dc09658e504b9 Binary files /dev/null and b/CoLo-AT/results.pdf differ diff --git a/CoLo-AT/simulation_process/__pycache__/state_recorder.cpython-36.pyc b/CoLo-AT/simulation_process/__pycache__/state_recorder.cpython-36.pyc index 732abd46ebad50eb45b3176b5055226175851428..1a2804c5a5acc4c9c3f1a525d00d7c7318ec6bfa 100644 Binary files a/CoLo-AT/simulation_process/__pycache__/state_recorder.cpython-36.pyc and b/CoLo-AT/simulation_process/__pycache__/state_recorder.cpython-36.pyc differ diff --git a/CoLo-AT/simulation_process/state_recorder.py b/CoLo-AT/simulation_process/state_recorder.py index ad6a540a861e827f64668cd5e392325ef8ea9a22..84ec9372519fba1c09409b3fe9956863499bbfc1 100644 --- a/CoLo-AT/simulation_process/state_recorder.py +++ b/CoLo-AT/simulation_process/state_recorder.py @@ -19,13 +19,13 @@ class StatesRecorder(): self.updata_type_in_time_order = [] self.num_robots = len(self.dataset_labels) self.loc_err_arr = {} - self.trace_sigma_s_arr = {} + self.trace_state_var_arr = {} self.updata_type_arr = {} self.gt_states = np.matrix(np.zeros((2*self.num_robots,1))) for i, label in enumerate(self.dataset_labels): self.recorded_data[label]=[] self.loc_err_arr[label]=[] - self.trace_sigma_s_arr[label]=[] + self.trace_state_var_arr[label]=[] self.updata_type_arr[label]=[] def set_starting_state(self, stating_states): @@ -44,7 +44,7 @@ class StatesRecorder(): self.data_in_time_order.append(recorded_dataline) self.recorded_data[label].append(recorded_dataline) self.loc_err_arr[label].append(0) - self.trace_sigma_s_arr[label].append(initial_trace_state_var) + self.trace_state_var_arr[label].append(initial_trace_state_var) self.updata_type_arr[label].append('ini') self.updata_type_in_time_order.append('ini') @@ -80,12 +80,12 @@ class StatesRecorder(): loc_err = sqrt((est_x_pos-gt_x_pos)*(est_x_pos-gt_x_pos)+(est_y_pos-gt_y_pos)*(est_y_pos-gt_y_pos)) recorded_dataline = [time, robot_label, est_x_pos, est_y_pos, trace_state_var, gt_x_pos, gt_y_pos, loc_err, est_states, self.gt_states.copy()] - #warning (optional) + #warnings (optional) ''' if(trace_state_var<0): print('TIME: ', time+self.start_time) print(updata_type) - print('neg trace: ', recorded_dataline) + print('negative trace of state variances: ', recorded_dataline) ''' ''' if(loc_err >= 1): @@ -100,7 +100,7 @@ class StatesRecorder(): self.updata_type_in_time_order.append(updata_type) self.recorded_data[robot_label].append(recorded_dataline) self.loc_err_arr[robot_label].append(loc_err) - self.trace_sigma_s_arr[robot_label].append(trace_state_var) + self.trace_state_var_arr[robot_label].append(trace_state_var) self.updata_type_arr[robot_label].append(updata_type) @@ -121,8 +121,8 @@ class StatesRecorder(): def get_loc_err_arr(self): return self.loc_err_arr - def get_trace_sigma_s_arr(self): - return self.trace_sigma_s_arr + def get_trace_state_var_arr(self): + return self.trace_state_var_arr def get_update_type_arr(self): return self.updata_type_arr @@ -133,22 +133,22 @@ class StatesRecorder(): fig1 = fig.add_subplot(211) fig2 = fig.add_subplot(212) loc_err_arr = self.get_loc_err_arr() - trace_sigma_s_arr = self.get_trace_sigma_s_arr() + trace_state_var_arr = self.get_trace_state_var_arr() for i, label in enumerate(self.dataset_labels): time_arr = self.get_time_arr(label) fig1.plot(time_arr, loc_err_arr[label], label= 'Robot %d' %label) - fig2.plot(time_arr, trace_sigma_s_arr[label], label= 'Robot %d' %label) + fig2.plot(time_arr, np.sqrt(trace_state_var_arr[label]), label= 'Robot %d' %label) print('Robot',label, 'loc err: ', sum(loc_err_arr[label])/len(loc_err_arr[label])) - print('Robot',label, 'trace Sigma_s: ', sum(trace_sigma_s_arr[label])/len(trace_sigma_s_arr[label])) + print('Robot',label, 'RMTE: ', sum(np.sqrt(trace_state_var_arr[label]))/len(trace_state_var_arr[label])) fig1.set_title('Estimation deviation error') fig1.set_xlabel('Time[s]') - fig1.set_ylabel('RMS[m]') + fig1.set_ylabel('loc err [m]') #fig1.set_ylim(0, 6) fig1.legend(loc='center left', bbox_to_anchor=(1, 0.5)) fig2.set_title('Trace of state variance') fig2.set_xlabel('Time [s]') - fig2.set_ylabel('Sigma_s [m^2]') + fig2.set_ylabel('RMTE [m]') #fig2.set_ylim(0, 0.08) fig2.legend(loc='center left', bbox_to_anchor=(1, 0.5)) @@ -157,3 +157,6 @@ class StatesRecorder(): return True + + +