From 21381543f2dd2ee68f5dda49a8bdfe0123d0a9ec Mon Sep 17 00:00:00 2001
From: odri <odri@furano.laas.fr>
Date: Tue, 12 Apr 2022 16:21:02 +0200
Subject: [PATCH] Do not try to display solo3D data if it is disabled
---
.../tools/LoggerControl.py | 21 +++++++------------
1 file changed, 8 insertions(+), 13 deletions(-)
diff --git a/python/quadruped_reactive_walking/tools/LoggerControl.py b/python/quadruped_reactive_walking/tools/LoggerControl.py
index 08bb91e3..503987ff 100644
--- a/python/quadruped_reactive_walking/tools/LoggerControl.py
+++ b/python/quadruped_reactive_walking/tools/LoggerControl.py
@@ -380,24 +380,18 @@ class LoggerControl:
t_range = np.array([k * self.dt for k in range(self.tstamps.shape[0])])
plt.figure()
- plt.plot(t_range, self.t_mip, "+", color="gold")
+ if self.solo3d:
+ plt.plot(t_range, self.t_mip, "+", color="gold")
plt.plot(t_range, self.loop_t_filter, "r+")
plt.plot(t_range, self.loop_t_planner, "g+")
plt.plot(t_range, self.loop_t_mpc, "b+")
plt.plot(t_range, self.loop_t_wbc, "+", color="violet")
plt.plot(t_range, self.loop_t_loop, "k+")
plt.plot(t_range, self.loop_t_loop_if, "+", color="rebeccapurple")
- plt.legend(
- [
- "SurfacePlanner",
- "Estimator",
- "Planner",
- "MPC",
- "WBC",
- "Control loop",
- "Whole loop",
- ]
- )
+ lgd = ["Estimator", "Planner", "MPC", "WBC", "Control loop", "Whole loop"]
+ if self.solo3d:
+ lgd = ["SurfacePlanner"] + lgd
+ plt.legend(lgd)
plt.xlabel("Time [s]")
plt.ylabel("Time [s]")
self.custom_suptitle("Computation time of each block")
@@ -986,7 +980,8 @@ class LoggerControl:
self.plotTimes()
self.plotMpcTime()
- self.plotSurfacePlannerTime()
+ if self.solo3d:
+ self.plotSurfacePlannerTime()
self.plotStepTime()
self.plotMPCCost()
--
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