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mehtank
traffic-scratch
Commits
11799234
Commit
11799234
authored
8 years ago
by
mehtank
Browse files
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dunno.
parent
ee9f4d8e
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Changes
2
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2 changed files
idmsweep.py
+17
-12
17 additions, 12 deletions
idmsweep.py
sstability.py
+53
-31
53 additions, 31 deletions
sstability.py
with
70 additions
and
43 deletions
idmsweep.py
+
17
−
12
View file @
11799234
...
@@ -37,11 +37,15 @@ def linfty(re, n=25, tmax=100, dt=0.1, timeplot=False):
...
@@ -37,11 +37,15 @@ def linfty(re, n=25, tmax=100, dt=0.1, timeplot=False):
def
idmgo
(
t
,
a
,
b
,
s
,
v
,
fmt
=
None
):
def
idmgo
(
t
,
a
,
b
,
s
,
v
,
fmt
=
None
):
idm
=
IDMLin
(
t
=
t
,
a
=
a
,
b
=
b
,
s0
=
s
)
idm
=
IDMLin
(
t
=
t
,
a
=
a
,
b
=
b
,
s0
=
s
)
res
=
arange
(
100
)
/
100.
res
=
arange
(
100
)
/
100.
idm
.
go
(
v
,
res
)
mr
=
ones
(
size
(
res
))
for
i
,
re
in
enumerate
(
res
):
idm
.
go
(
v
,
re
)
mr
[
i
]
=
idm
.
maxresponse
()
if
fmt
is
None
:
if
fmt
is
None
:
return
res
,
idm
.
os
()
return
res
,
mr
else
:
else
:
return
res
,
idm
.
os
()
,
fmt
return
res
,
mr
,
fmt
def
sweep
(
fn
,
rngs
,
axis
=
None
,
separate
=
True
,
logx
=
False
):
def
sweep
(
fn
,
rngs
,
axis
=
None
,
separate
=
True
,
logx
=
False
):
if
logx
:
if
logx
:
...
@@ -77,20 +81,21 @@ if __name__ == "__main__":
...
@@ -77,20 +81,21 @@ if __name__ == "__main__":
### What happens when you vary a?
### What happens when you vary a?
### ( enhance )
### ( enhance )
avals
=
linspace
(
0.5
,
0.7
,
20
)
avals
=
linspace
(
0.6
,
1.5
,
10
)
bvals
=
linspace
(
0.6
,
1.5
,
10
)
dots
=
[
"
-
"
]
*
len
(
avals
)
dots
=
[
"
-
"
]
*
len
(
avals
)
arng
=
{
"
name
"
:
"
a
"
,
"
color
"
:
""
,
"
dots
"
:
dots
,
"
default
"
:
1.0
,
"
values
"
:
avals
}
arng
=
{
"
name
"
:
"
a
"
,
"
color
"
:
""
,
"
dots
"
:
dots
,
"
default
"
:
0.5
,
"
values
"
:
avals
}
trng
=
{
"
name
"
:
"
T
"
,
"
default
"
:
1.
5
}
trng
=
{
"
name
"
:
"
T
"
,
"
default
"
:
1.
2
}
brng
=
{
"
name
"
:
"
b
"
,
"
default
"
:
3.0
}
brng
=
{
"
name
"
:
"
b
"
,
"
color
"
:
""
,
"
dots
"
:
dots
,
"
default
"
:
0.5
,
"
values
"
:
bvals
}
srng
=
{
"
name
"
:
"
s_0
"
,
"
default
"
:
2.0
}
srng
=
{
"
name
"
:
"
s_0
"
,
"
default
"
:
1.5
}
vrng
=
{
"
name
"
:
"
v_0
"
,
"
default
"
:
30.
}
vrng
=
{
"
name
"
:
"
v_0
"
,
"
default
"
:
16.1
}
rngs
=
[
trng
,
arng
,
brng
,
srng
,
vrng
]
rngs
=
[
trng
,
arng
,
brng
,
srng
,
vrng
]
sweep
(
idmgo
,
rngs
,
axis
=
[
0
,
0.1
,
-
.
05
,.
45
])
sweep
(
idmgo
,
rngs
)
#
, axis=[0,0.1,-.05,.45])
go
=
linfty
(
0.5
,
n
=
50
,
tmax
=
500
)
#
go = linfty(0.5, n=50, tmax=500)
sweep
(
go
,
rngs
)
#
sweep(go, rngs)
'''
'''
### What happens when you vary IDM parameters?
### What happens when you vary IDM parameters?
...
...
This diff is collapsed.
Click to expand it.
sstability.py
+
53
−
31
View file @
11799234
...
@@ -5,11 +5,12 @@ from scipy.optimize import fmin
...
@@ -5,11 +5,12 @@ from scipy.optimize import fmin
from
idmlin
import
IDMLin
from
idmlin
import
IDMLin
def
maxStringResponse
(
idm
,
n
,
tau
=
0
):
def
maxStringResponse
(
fn
,
idm
,
n
,
**
kwargs
):
gammainv
=
humanstring
(
idm
,
n
,
tau
)
gammainv
=
fn
(
idm
,
n
,
**
kwargs
)
wmax
=
fmin
(
gammainv
,
10
)
wmax
=
fmin
(
gammainv
,
10
)
gmax
=
-
gammainv
(
wmax
)
# print "wmax =", wmax
# print "wmax =", wmax
return
-
gammainv
(
w
max
)
return
gmax
<
1e-2
and
-
1
or
g
max
def
human
(
idm
,
tau
=
0
):
def
human
(
idm
,
tau
=
0
):
f
,
g
,
h
=
idm
.
f
,
idm
.
g
,
idm
.
h
f
,
g
,
h
=
idm
.
f
,
idm
.
g
,
idm
.
h
...
@@ -21,30 +22,30 @@ def human(idm, tau=0):
...
@@ -21,30 +22,30 @@ def human(idm, tau=0):
return
num
/
den
return
num
/
den
return
gamma
return
gamma
def
humanstring
(
idm
,
n
,
tau
=
0
):
def
humanstring
(
idm
,
n
,
tau
=
0
):
gamma
=
human
(
idm
,
tau
)
gamma
=
human
(
idm
,
tau
)
def
dbgammainv
(
w
):
def
dbgammainv
(
w
):
db
=
20
*
log10
(
absolute
(
gamma
(
w
)))
db
=
20
*
log10
(
absolute
(
gamma
(
w
)))
return
-
n
*
db
return
-
n
*
db
return
dbgammainv
return
dbgammainv
def
followedrobot
(
idm
):
#, ff, fb, gf, gb, hr, taur=0, tau=0):
def
followedrobotstring
(
idm
,
n
,
tau
=
0
,
alpha
=
0.5
):
#, ff, fb, gf, gb, hr, taur=0, tau=0):
tau
=
0
taur
=
0
taur
=
0
f
f
=
idm
.
f
/
2
f
b
=
idm
.
f
*
alpha
f
b
=
idm
.
f
/
2
f
f
=
idm
.
f
*
(
1
-
alpha
)
g
f
=
idm
.
g
/
2
g
b
=
idm
.
g
*
alpha
g
b
=
idm
.
g
/
2
g
f
=
idm
.
g
*
(
1
-
alpha
)
hr
=
idm
.
h
hr
=
idm
.
h
gamma
=
human
(
idm
,
tau
)
gamma
=
human
(
idm
,
tau
)
stringinv
=
humanstring
(
idm
,
n
,
tau
)
def
dbgammainv
(
w
):
def
dbgammainv
(
w
):
s
=
w
*
1j
s
=
w
*
1j
num
=
ff
+
gf
*
s
num
=
ff
+
gf
*
s
den
=
ff
+
fb
+
(
gf
+
gb
+
hr
)
*
s
+
exp
(
taur
*
s
)
*
s
*
s
-
(
fb
+
gb
*
s
)
*
gamma
(
w
)
den
=
ff
+
fb
+
(
gf
+
gb
+
hr
)
*
s
+
exp
(
taur
*
s
)
*
s
*
s
-
(
fb
+
gb
*
s
)
*
gamma
(
w
)
dbnum
=
20
*
log10
(
absolute
(
num
))
dbnum
=
20
*
log10
(
absolute
(
num
))
dbden
=
20
*
log10
(
absolute
(
den
))
dbden
=
20
*
log10
(
absolute
(
den
))
return
(
dbden
-
dbnum
)
return
(
dbden
-
dbnum
)
+
stringinv
(
w
)
return
dbgammainv
return
dbgammainv
def
teststability
(
idm
,
N
):
def
teststability
(
idm
,
N
):
...
@@ -61,49 +62,70 @@ idm = IDMLin(t=t, a=a, b=b, s0=s)
...
@@ -61,49 +62,70 @@ idm = IDMLin(t=t, a=a, b=b, s0=s)
nrange
=
logspace
(
1
,
2.5
,
20
)
nrange
=
logspace
(
1
,
2.5
,
20
)
rerange
=
logspace
(
-
2
,
-
0.2
,
20
)
rerange
=
logspace
(
-
2
,
-
0.2
,
20
)
rerange
=
linspace
(
0.1
,
0.4
,
20
)
mgrid
=
zeros
((
len
(
nrange
),
len
(
rerange
)))
mgrid_h
=
zeros
((
len
(
nrange
),
len
(
rerange
)))
mgrid2
=
zeros
((
len
(
nrange
),
len
(
rerange
)))
mgrid_r25
=
zeros
((
len
(
nrange
),
len
(
rerange
)))
mgrid_r50
=
zeros
((
len
(
nrange
),
len
(
rerange
)))
mgrid_r75
=
zeros
((
len
(
nrange
),
len
(
rerange
)))
for
i
,
n
in
enumerate
(
nrange
):
for
i
,
n
in
enumerate
(
nrange
):
for
j
,
re
in
enumerate
(
rerange
):
for
j
,
re
in
enumerate
(
rerange
):
idm
.
go
(
v
,
re
)
idm
.
go
(
v
,
re
)
mgrid
[
i
,
j
]
=
teststability
(
idm
,
n
)
mgrid_h
[
i
,
j
]
=
maxStringResponse
(
humanstring
,
idm
,
n
)
mgrid2
[
i
,
j
]
=
maxStringResponse
(
idm
,
n
)
mgrid_r25
[
i
,
j
]
=
maxStringResponse
(
followedrobotstring
,
idm
,
n
,
alpha
=
0.25
)
mgrid_r50
[
i
,
j
]
=
maxStringResponse
(
followedrobotstring
,
idm
,
n
,
alpha
=
0.5
)
mgrid_r75
[
i
,
j
]
=
maxStringResponse
(
followedrobotstring
,
idm
,
n
,
alpha
=
0.75
)
fig
,
axarr
=
plt
.
subplots
(
1
,
3
,
sharex
=
True
,
sharey
=
True
)
fig
,
axarr
=
plt
.
subplots
(
2
,
3
,
sharex
=
True
,
sharey
=
True
)
im
=
axarr
[
2
].
imshow
(
mgrid
,
cmap
=
plt
.
cm
.
Reds
,
im
=
axarr
[
0
,
0
].
imshow
(
mgrid
_h
,
cmap
=
plt
.
cm
.
bwr
,
interpolation
=
'
none
'
,
interpolation
=
'
none
'
,
aspect
=
'
auto
'
,
aspect
=
'
auto
'
,
vmin
=
0
,
vmax
=
1
,
vmin
=
-
1
,
vmax
=
1
,
)
)
im
=
axarr
[
1
].
imshow
(
mgrid
2
,
cmap
=
plt
.
cm
.
Reds
,
im
=
axarr
[
0
,
1
].
imshow
(
mgrid
_r50
,
cmap
=
plt
.
cm
.
bwr
,
interpolation
=
'
none
'
,
interpolation
=
'
none
'
,
aspect
=
'
auto
'
,
aspect
=
'
auto
'
,
vmin
=
0
,
vmax
=
1
,
vmin
=
-
1
,
vmax
=
1
,
)
)
im
=
axarr
[
0
].
imshow
(
(
mgrid
2
-
mgrid
)
*
100
,
cmap
=
plt
.
cm
.
Reds
,
im
=
axarr
[
0
,
2
].
imshow
(
mgrid
_r50
-
mgrid
_h
,
cmap
=
plt
.
cm
.
bwr
,
interpolation
=
'
none
'
,
interpolation
=
'
none
'
,
aspect
=
'
auto
'
,
aspect
=
'
auto
'
,
vmin
=
0
,
vmax
=
1
,
vmin
=-
1
,
vmax
=
1
,
)
im
=
axarr
[
1
,
0
].
imshow
(
mgrid_r25
,
cmap
=
plt
.
cm
.
bwr
,
interpolation
=
'
none
'
,
aspect
=
'
auto
'
,
vmin
=-
1
,
vmax
=
1
,
)
im
=
axarr
[
1
,
2
].
imshow
(
mgrid_r75
,
cmap
=
plt
.
cm
.
bwr
,
interpolation
=
'
none
'
,
aspect
=
'
auto
'
,
vmin
=-
1
,
vmax
=
1
,
)
)
axarr
[
0
].
set_yticks
(
range
(
len
(
nrange
)))
axarr
[
0
,
0
].
set_title
(
"
Human cars only
"
)
axarr
[
1
].
set_yticks
(
range
(
len
(
nrange
)))
axarr
[
0
,
1
].
set_title
(
"
Human cars followed by BCM50 robot
"
)
axarr
[
1
].
set_xticks
(
range
(
len
(
rerange
)))
axarr
[
0
,
2
].
set_title
(
"
Difference
"
)
axarr
[
1
,
0
].
set_title
(
"
Human cars followed by BCM25 robot
"
)
axarr
[
1
,
2
].
set_title
(
"
Human cars followed by BCM75 robot
"
)
axarr
[
0
].
set_yticklabels
(
nrange
)
axarr
[
0
,
0
].
set_yticks
(
range
(
0
,
len
(
nrange
),
4
))
axarr
[
1
].
set_yticklabels
(
nrange
)
axarr
[
0
,
0
].
set_xticks
(
range
(
0
,
len
(
rerange
),
4
))
axarr
[
1
].
set_xticklabels
(
around
(
rerange
,
2
))
axarr
[
0
].
set_ylabel
(
"
N
"
)
axarr
[
0
,
0
].
set_yticklabels
(
around
(
nrange
[::
4
],
0
))
axarr
[
1
].
set_ylabel
(
"
N
"
)
axarr
[
0
,
0
].
set_xticklabels
(
around
(
rerange
,
2
)[::
4
])
axarr
[
1
].
set_xlabel
(
"
R_e
"
)
axarr
[
0
,
0
].
set_ylabel
(
"
N
"
)
axarr
[
0
,
0
].
set_xlabel
(
"
R_e
"
)
fig
.
subplots_adjust
(
right
=
0.8
)
fig
.
subplots_adjust
(
right
=
0.8
)
cbar_ax
=
fig
.
add_axes
([
0.85
,
0.15
,
0.05
,
0.7
])
cbar_ax
=
fig
.
add_axes
([
0.85
,
0.15
,
0.05
,
0.7
])
fig
.
colorbar
(
im
,
cax
=
cbar_ax
)
fig
.
colorbar
(
im
,
cax
=
cbar_ax
)
print
nrange
print
rerange
plt
.
show
()
plt
.
show
()
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