velocity_optimization.opt_postproc.vis package
Submodules
velocity_optimization.opt_postproc.vis.VisBenchmarkLogs module
- class velocity_optimization.opt_postproc.vis.VisBenchmarkLogs.VisVP_Logs(csv_name: str, csv_name_ltpl: str, params_path: str, input_path: str, vis_options: dict, sol_options: dict, m: int, sid: str = 'PerfSQP', log_lines: int = 4)[source]
Bases:
objectPython version: 3.5 Created by: Thomas Herrmann (thomas.herrmann@tum.de) Created on: 01.02.2020 Modified by Tobias Klotz
Documentation: Class doing the main handling of the visualization of the SQP velocity planner logging data.
Inputs: csv_name: log data path & file csv_name_ltpl: raw lof file of ltpl module params_path: absolute path to folder containing config file .ini input_path: absolute path to folder containing variable vehicle and track information vis_options: user specified visualization options of the debugging tool m: number of velocity optimization variables sid: ID of the velocity planner ‘PerfSQP’ or ‘EmergSQP’ log_lines: number of lines in log files spanning one cohesive data block
- P_max
- b_vis_triggered
- calc_objective
- csv_name
- csv_name_ltpl
- dt_ipopt_arr
- dt_sqp_qpoases_arr
- log_lines
- m
- pre_debug_plots()[source]
Python version: 3.5 Created by: Thomas Herrmann Created on: 01.02.2020
Documentation: Does extra plots before main debug window opens. These plots contain QP status, objective term values, global values from entirely logged race session.
- read_log_file(csv_name: str, idx: int) list[source]
Python version: 3.5 Created by: Thomas Herrmann Created on: 01.02.2020
Documentation: Reads specific line in log file and splits into its variables if several exist in this line.
Inputs: csv_name: file name and path to read data from idx: the starting line-number of the data block that should be read from the log-file
Outputs: list containing all logged variable values
- row_count
- runtimes
- sid
- sol_dict
- sol_options
- velqp
- velqp_bench
- vis_gui
- vis_log(idx: int)[source]
Python version: 3.5 Created by: Thomas Herrmann Created on: 01.02.2020
Documentation: Reads data from logging files and updates the main debug window.
Inputs: idx: the starting line-number of the data block that should be read from the log-file
- vis_options
- vp_ipopt
- vp_qpOASES
velocity_optimization.opt_postproc.vis.VisGUI module
- class velocity_optimization.opt_postproc.vis.VisGUI.VisVP_Logs_GUI(vis_handler, m: int, vis_options: dict, params_path: str, sol_options: dict)[source]
Bases:
objectPython version: 3.5 Created by: Thomas Herrmann (thomas.herrmann@tum.de) Created on: 01.02.2020 Modified by: Tobias Klotz
Documentation: Class creating a GUI to visualize logged data from the velocity optimization SQP.
Inputs: vis_handler: main visualization handler object of type ‘VisVP_Logs’ m: number of velocity optimization variables vis_options: user specified visualization options params_path: absolute path to folder containing config file .ini sol_options: user specified solver options
- F_dict
- F_f_dict
- F_fl_dict
- F_fr_dict
- F_r_dict
- F_rl_dict
- F_rr_dict
- P_dict
- a_dict
- ax_dict
- ay_dict
- but_next
- but_prev
- constants_opt
- draw_gui()[source]
Python version: 3.5 Created by: Thomas Herrmann Created on: 01.02.2020
Documentation: Creates a main windows including interactive objects in GUI to visualize logged data.
- initialize_plots()[source]
Python version: 3.5 Created by: Thomas Herrmann Created on: 01.02.2020
Documentation: Initializes the plots within the debug GUI.
- m
- main_fig
- n
- p1_1
- p1_10
- p1_11
- p1_12
- p1_13
- p1_14
- p1_15
- p1_16
- p1_17
- p1_18
- p1_2
- p1_3
- p1_4
- p1_5
- p1_6
- p1_7
- p1_8
- p1_9
- p3_1
- p3_10
- p3_11
- p3_12
- p3_13
- p3_14
- p3_15
- p3_2
- p3_3
- p3_4
- p3_5
- p3_6
- p3_7
- p3_8
- p3_9
- p4_1
- p5_1
- p5_10
- p5_11
- p5_12
- p5_13
- p5_14
- p5_15
- p5_2
- p5_3
- p5_4
- p5_5
- p5_6
- p5_7
- p5_8
- p5_9
- p6_1
- p6_10
- p6_11
- p6_12
- p6_13
- p6_14
- p6_15
- p6_16
- p6_2
- p6_3
- p6_4
- p6_5
- p6_6
- p6_7
- p6_8
- p6_9
- p7_1
- p7_2
- p7_3
- p7_4
- p7_5
- p7_6
- params_opt
- slack_dict
- slider_vel
- sol_options
- text_status
- vel_dict
- vis_handler
- vis_options
velocity_optimization.opt_postproc.vis.VisGlobalVals module
- class velocity_optimization.opt_postproc.vis.VisGlobalVals.VisVP_GlobalVals(vis_main, csv_name: str, csv_name_ltpl: str, log_lines: int, row_count: int, glob_lim: int)[source]
Bases:
objectPython version: 3.5 Created by: Thomas Herrmann (thomas.herrmann@tum.de) Created on: 01.02.2020
Documentation: Class for the visualization of global values for an entirely logged race session.
Inputs: vis_main: Main object for logging data visualization csv_name: path + name of csv-file to logged data csv_name_ltpl: raw local trajectory planner raw file log_line: number of lines building one data block in logged data row_count: number of rows in log file glob_lim: limit of lines to be read from logs
- extract_vals(vis_main, csv_name: str, csv_name_ltpl: str, log_lines: int, row_count: int, glob_lim: int)[source]
Python version: 3.5 Created by: Thomas Herrmann Created on: 01.02.2020
Documentation: Visualization of global values for an entirely logged race session.
Inputs: vis_main: Main object for logging data visualization csv_name: path + name of csv-file to logged data csv_name_ltpl: raw local trajectory planner raw file log_line: number of lines building one data block in logged data row_count: number of rows in log file glob_lim: limit of lines to be read from logs
velocity_optimization.opt_postproc.vis.VisObjectiveStatus module
- class velocity_optimization.opt_postproc.vis.VisObjectiveStatus.VisVP_ObjStatus(calc_objective: velocity_optimization.opt_postproc.src.CalcObjective.CalcObjective, vis_options: dict)[source]
Bases:
objectPython version: 3.5 Created by: Thomas Herrmann (thomas.herrmann@tum.de) Created on: 01.02.2020
Documentation: Class to visualize the objective function terms and the QP status for the logged race session.
Inputs: calc_objective: object containing the object function values vis_options: user specified options for the debug visualization
- calc_objective
- obj_status_fig
velocity_optimization.opt_postproc.vis.VisRuntime module
- class velocity_optimization.opt_postproc.vis.VisRuntime.VisVP_Runtime[source]
Bases:
objectPython version: 3.5 Created by: Thomas Herrmann (thomas.herrmann@tum.de) Created on: 01.02.2020
Documentation: Class to plot velocity optimization’s solver runtimes as histogram.
- plot_hist(name_solver: str, dt_solver: numpy.ndarray, vis_options: dict)[source]
Python version: 3.5 Created by: Thomas Herrmann Created on: 01.02.2020
Documentation: Plots solver runtime histograms.
Inputs: name_solver: the optimization solver’s name (e.g., ‘OSQP’, ‘qpOASES’, ‘IPOPT’, …) dt_solver: solver runtimes vis_options: user specified debug visualization options