Merge pull request #384 from JuliaReach/schillic/plots

Revise plots for models

models/ACC/ACC.jl

@@ -221,7 +221,7 @@ sol_tanh, sim_tanh = run(use_relu_controller=false);
 
 # Script to plot the results:
 
-function plot_helper(sol, sim, scenario)
+function plot_helper(sol, sim)
     F = overapproximate(flowpipe(sol), Zonotope)
 
     fp_rel = linear_map(Matrix(d_rel'), F)
@@ -230,22 +230,26 @@ function plot_helper(sol, sim, scenario)
     fp_safe = affine_map(Matrix(d_safe'), F, [D_default])
     output_map_safe = x -> dot(d_safe, x) + D_default
 
-    fig = plot(leg=(0.4, 0.3), xlab="time")
+    fig = plot(leg=(0.4, 0.3))
     plot!(fig, fp_rel; vars=(0, 1), c=:red, alpha=0.4)
     plot!(fig, fp_safe; vars=(0, 1), c=:blue, alpha=0.4)
     plot_simulation!(fig, sim; output_map=output_map_rel, color=:red, lab="Drel")
     plot_simulation!(fig, sim; output_map=output_map_safe, color=:blue, lab="Dsafe")
-    ## savefig("ACC-$scenario.png")  # command to save the plot to a file
-    fig = DisplayAs.Text(DisplayAs.PNG(fig))
+    plot!(fig; xlab="time")
+    return fig
 end;
 
 # Plot the results:
 
-fig = plot_helper(sol_relu, sim_relu, "ReLU")
+fig = plot_helper(sol_relu, sim_relu)
+fig = DisplayAs.Text(DisplayAs.PNG(fig))
+## savefig(fig, "ACC-ReLU.png")  # command to save the plot to a file
 
 #-
 
-fig = plot_helper(sol_tanh, sim_tanh, "tanh")
+fig = plot_helper(sol_tanh, sim_tanh)
+fig = DisplayAs.Text(DisplayAs.PNG(fig))
+## savefig(fig, "ACC-tanh.png")  # command to save the plot to a file
 
 end  #jl
 nothing  #jl

models/Airplane/Airplane.jl

@@ -258,19 +258,21 @@ print_timed(res);
 
 # Script to plot the results:
 
-function plot_helper!(fig, vars)
+function plot_helper(vars)
+    fig = plot()
     plot!(fig, project(safe_states, vars); color=:lightgreen, lab="safe")
     plot!(fig, project(initial_state(prob), vars); c=:cornflowerblue, alpha=1, lab="X₀")
     plot!(fig, sol; vars=vars, color=:yellow, lab="")
     lab_sim = falsification ? "simulation" : ""
     plot_simulation!(fig, sim; vars=vars, color=:black, lab=lab_sim)
+    return fig
 end;
 
 # Plot the results:
 
 vars = (2, 7)
-fig = plot(xlab="s_y", ylab="ϕ", leg=:bottomleft)
-fig = plot_helper!(fig, vars)
+fig = plot_helper(vars)
+plot!(fig; xlab="s_y", ylab="ϕ", leg=:bottomleft)
 if falsification
     xlims!(-0.01, 0.65)
     ylims!(0.85, 1.01)
@@ -279,7 +281,7 @@ else
     ylims!(-1.05, 1.05)
 end
 fig = DisplayAs.Text(DisplayAs.PNG(fig))
-## savefig("Airplane-x2-x7.png")  # command to save the plot to a file
+## savefig(fig, "Airplane.png")  # command to save the plot to a file
 
 end  #jl
 nothing  #jl

models/AttitudeControl/AttitudeControl.jl

@@ -145,23 +145,23 @@ print_timed(res);
 
 # Script to plot the results:
 
-function plot_helper!(fig, vars; show_simulation::Bool=true)
+function plot_helper(vars)
+    fig = plot()
     plot!(fig, project(unsafe_states, vars); color=:red, alpha=:0.2,
           lab="unsafe", leg=:topleft)
     plot!(fig, sol; vars=vars, color=:yellow, lab="")
     plot!(fig, project(X₀, vars); c=:cornflowerblue, alpha=1, lab="X₀")
-    if show_simulation
-        plot_simulation!(fig, sim; vars=vars, color=:black, lab="")
-    end
-    fig = DisplayAs.Text(DisplayAs.PNG(fig))
+    plot_simulation!(fig, sim; vars=vars, color=:black, lab="")
+    return fig
 end;
 
 # Plot the results:
 
 vars = (1, 2)
-fig = plot(xlab="ω₁", ylab="ω₂")
-fig = plot_helper!(fig, vars)
-## savefig("AttitudeControl-x1-x2.png")  # command to save the plot to a file
+fig = plot_helper(vars)
+plot!(fig; xlab="ω₁", ylab="ω₂")
+fig = DisplayAs.Text(DisplayAs.PNG(fig))
+## savefig(fig, "AttitudeControl.png")  # command to save the plot to a file
 
 end  #jl
 nothing  #jl

models/InvertedPendulum/InvertedPendulum.jl

@@ -173,7 +173,7 @@ print_timed(res);
 
 function plot_helper()
     vars = (0, 1)
-    fig = plot(ylab="θ")
+    fig = plot()
     unsafe_states_projected = cartesian_product(Interval(0.5, 1.0),
                                                 project(unsafe_states, [vars[2]]))
     plot!(fig, unsafe_states_projected; color=:red, alpha=:0.2, lab="unsafe")
@@ -189,13 +189,15 @@ function plot_helper()
     end
     lab_sim = falsification ? "simulation" : ""
     plot_simulation!(fig, sim; vars=vars, color=:black, lab=lab_sim)
-    fig = DisplayAs.Text(DisplayAs.PNG(fig))
+    plot!(fig; xlab="t", ylab="θ")
+    return fig
 end;
 
 # Plot the results:
 
 fig = plot_helper()
-## savefig("InvertedPendulum.png")  # command to save the plot to a file
+fig = DisplayAs.Text(DisplayAs.PNG(fig))
+## savefig(fig, "InvertedPendulum.png")  # command to save the plot to a file
 
 end  #jl
 nothing  #jl

models/InvertedTwoLinkPendulum/InvertedTwoLinkPendulum.jl

@@ -244,40 +244,37 @@ sol_mr, sim_mr, prob_mr, spec_mr = run(less_robust_scenario=false);
 
 # Script to plot the results:
 
-function plot_helper!(fig, vars, sol, sim, prob, spec, scenario)
+function plot_helper(vars, sol, sim, prob, spec)
     safe_states = spec.ext
+    fig = plot()
     plot!(fig, project(safe_states, vars); color=:lightgreen, lab="safe")
     plot!(fig, sol; vars=vars, color=:yellow, lab="")
     plot!(fig, project(initial_state(prob), vars); c=:cornflowerblue, alpha=1, lab="X₀")
     lab_sim = falsification ? "simulation" : ""
     plot_simulation!(fig, sim; vars=vars, color=:black, lab=lab_sim)
     if falsification
-        plot!(leg=:topleft)
+        plot!(fig; leg=:topleft)
     end
-    ## Command to save the plot to a file:
-    ## savefig("InvertedTwoLinkPendulum-$scenario-x$(vars[1])-x$(vars[2]).png")
-    fig = DisplayAs.Text(DisplayAs.PNG(fig))
+    return fig
 end;
 
 # Plot the results:
 
 vars=(3, 4)
-fig = plot(xlab="θ₁'", ylab="θ₂'")
-xlims!(-0.7, 1.7)
-ylims!(-1.6, 1.5)
-fig = plot_helper!(fig, vars, sol_lr, sim_lr, prob_lr, spec_lr, "less-robust")
+fig = plot_helper(vars, sol_lr, sim_lr, prob_lr, spec_lr)
+plot!(fig; xlab="θ₁'", ylab="θ₂'")
+fig = DisplayAs.Text(DisplayAs.PNG(fig))
+## Command to save the plot to a file:
+## savefig(fig, "InvertedTwoLinkPendulum-less-robust.png")
 
 #-
 
 vars=(3, 4)
-fig = plot(xlab="θ₁'", ylab="θ₂'")
-if falsification
-    ylims!(-1.0, 1.5)
-else
-    xlims!(-1.8, 1.5)
-    ylims!(-1.6, 1.5)
-end
-fig = plot_helper!(fig, vars, sol_mr, sim_mr, prob_mr, spec_mr, "more-robust")
+fig = plot_helper(vars, sol_mr, sim_mr, prob_mr, spec_mr)
+plot!(fig; xlab="θ₁'", ylab="θ₂'")
+fig = DisplayAs.Text(DisplayAs.PNG(fig))
+## Command to save the plot to a file:
+## savefig(fig, "InvertedTwoLinkPendulum-more-robust.png")
 
 end  #jl
 nothing  #jl

models/Quadrotor/Quadrotor.jl

@@ -172,23 +172,23 @@ print_timed(res);
 
 # Script to plot the results:
 
-function plot_helper!(fig, vars; show_simulation::Bool=true)
+function plot_helper(vars)
     goal_states_projected = cartesian_product(Interval(0, T),
                                               project(goal_states, [vars[2]]))
+    fig = plot()
     plot!(fig, goal_states_projected; color=:cyan, lab="goal")
     plot!(fig, sol; vars=vars, color=:yellow, lab="")
-    if show_simulation
-        plot_simulation!(fig, sim; vars=vars, color=:black, lab="")
-    end
-    fig = DisplayAs.Text(DisplayAs.PNG(fig))
+    plot_simulation!(fig, sim; vars=vars, color=:black, lab="")
+    return fig
 end;
 
 # Plot the results:
 
 vars = (0, 3)
-fig = plot(xlab="t", ylab="x₃")
-fig = plot_helper!(fig, vars)
-## savefig("Quadrotor-t-x3.png")  # command to save the plot to a file
+fig = plot_helper(vars)
+plot!(fig; xlab="t", ylab="x₃")
+fig = DisplayAs.Text(DisplayAs.PNG(fig))
+## savefig(fig, "Quadrotor.png")  # command to save the plot to a file
 
 end  #jl
 nothing  #jl

models/SpacecraftDocking/SpacecraftDocking.jl

@@ -142,28 +142,29 @@ print_timed(res);
 
 # Script to plot the results:
 
-function plot_helper!(fig, vars; show_simulation::Bool=true)
+function plot_helper(vars)
+    fig = plot()
     plot!(fig, sol; vars=vars, color=:yellow, lab="")
     plot!(fig, project(X₀, vars); c=:cornflowerblue, alpha=0.7, lab="X₀")
-    if show_simulation
-        plot_simulation!(fig, sim; vars=vars, color=:black, lab="")
-    end
-    fig = DisplayAs.Text(DisplayAs.PNG(fig))
+    plot_simulation!(fig, sim; vars=vars, color=:black, lab="")
+    return fig
 end;
 
 # Plot the results:
 
 vars = (1, 2)
-fig = plot(xlab="x", ylab="y")
-fig = plot_helper!(fig, vars)
-## savefig("SpacecraftDocking-x-y.png")  # command to save the plot to a file
+fig = plot_helper(vars)
+plot!(fig; xlab="x", ylab="y")
+fig = DisplayAs.Text(DisplayAs.PNG(fig))
+## savefig(fig, "SpacecraftDocking-x-y.png")  # command to save the plot to a file
 
 #-
 
 vars = (3, 4)
-fig = plot(xlab="x'", ylab="y'")
-fig = plot_helper!(fig, vars)
-## savefig("SpacecraftDocking-x'-y'.png")  # command to save the plot to a file
+fig = plot_helper(vars)
+plot!(fig; xlab="x'", ylab="y'")
+fig = DisplayAs.Text(DisplayAs.PNG(fig))
+## savefig(fig, "SpacecraftDocking-x'-y'.png")  # command to save the plot to a file
 
 end  #jl
 nothing  #jl

models/TORA/TORA.jl

@@ -256,27 +256,30 @@ solz = overapproximate(sol_r, Zonotope);
 
 # Script to plot the results:
 
-function plot_helper1!(fig, vars)
+function plot_helper1(vars)
+    fig = plot()
     plot!(fig, project(safe_states, vars); color=:lightgreen, lab="safe")
     plot!(fig, solz; vars=vars, color=:yellow, lab="")
     plot!(fig, project(X₀1, vars); c=:cornflowerblue, alpha=1, lab="X₀")
     plot_simulation!(fig, sim_r; vars=vars, color=:black, lab="")
-    fig = DisplayAs.Text(DisplayAs.PNG(fig))
+    return fig
 end;
 
 # Plot the results:
 
 vars = (1, 2)
-fig = plot(xlab="x₁", ylab="x₂")
-fig = plot_helper1!(fig, vars)
-## savefig("TORA-ReLU-x1-x2.png")  # command to save the plot to a file
+fig = plot_helper1(vars)
+plot!(fig; xlab="x₁", ylab="x₂")
+fig = DisplayAs.Text(DisplayAs.PNG(fig))
+## savefig(fig, "TORA-ReLU-x1-x2.png")  # command to save the plot to a file
 
 #-
 
 vars = (3, 4)
-fig = plot(xlab="x₃", ylab="x₄")
-fig = plot_helper1!(fig, vars)
-## savefig("TORA-ReLU-x3-x4.png")  # command to save the plot to a file
+fig = plot_helper1(vars)
+plot!(fig; xlab="x₃", ylab="x₄")
+fig = DisplayAs.Text(DisplayAs.PNG(fig))
+## savefig(fig, "TORA-ReLU-x3-x4.png")  # command to save the plot to a file
 
 #-
 
@@ -286,11 +289,12 @@ fig = plot_helper1!(fig, vars)
 
 function plot_helper2(sol, sim)
     vars = (1, 2)
-    fig = plot(xlab="x₁", ylab="x₂")
+    fig = plot()
     plot!(fig, project(goal_states, vars); color=:cyan, lab="goal")
     plot!(fig, sol; vars=vars, color=:yellow, lab="")
     plot!(fig, project(X₀2, vars); c=:cornflowerblue, alpha=1, lab="X₀")
     plot_simulation!(fig, sim; vars=vars, color=:black, lab="")
+    plot!(fig; xlab="x₁", ylab="x₂")
     return fig
 end;
 
@@ -302,7 +306,7 @@ lens!(fig, [-0.785, -0.735], [-0.47, -0.41]; inset=(1, bbox(0.2, 0.4, 0.2, 0.2))
 lens!(fig, [0.0, 0.25], [-0.85, -0.7]; inset=(1, bbox(0.6, 0.4, 0.2, 0.2)),
       lc=:black, xticks=[0, 0.2], yticks=[-0.8, -0.7], subplot=3)
 fig = DisplayAs.Text(DisplayAs.PNG(fig))
-## savefig("TORA-ReLUtanh-x1-x2.png")  # command to save the plot to a file
+## savefig(fig, "TORA-ReLUtanh.png")  # command to save the plot to a file
 
 #-
 
@@ -312,7 +316,7 @@ lens!(fig, [-0.785, -0.735], [-0.47, -0.41]; inset=(1, bbox(0.2, 0.4, 0.2, 0.2))
 lens!(fig, [0.09, 0.22], [-0.9, -0.8]; inset=(1, bbox(0.6, 0.4, 0.2, 0.2)),
       lc=:black, xticks=[0.1, 0.2], yticks=[-0.9, -0.8], subplot=3)
 fig = DisplayAs.Text(DisplayAs.PNG(fig))
-## savefig("TORA-sigmoid-x1-x2.png")  # command to save the plot to a file
+## savefig(fig, "TORA-sigmoid.png")  # command to save the plot to a file
 
 end  #jl
 nothing  #jl

models/Unicycle/Unicycle.jl

@@ -157,7 +157,8 @@ Tint = try convert(Int, T) catch; T end;
 
 # Script to plot the results:
 
-function plot_helper!(fig, vars; show_simulation::Bool=true)
+function plot_helper(vars; show_simulation::Bool=true)
+    fig = plot()
     plot!(fig, project(goal_set, vars); color=:cyan, alpha=0.5, lab="goal")
     plot!(fig, solz; vars=vars, color=:yellow, lab="")
     plot!(fig, project(X₀, vars); color=:cornflowerblue, alpha=1, lab="X₀")
@@ -173,26 +174,26 @@ end;
 # Plot the results:
 
 vars = (1, 2)
-fig = plot(xlab="x₁", ylab="x₂", leg=:bottomleft)
-fig = plot_helper!(fig, vars)
+fig = plot_helper(vars)
+plot!(fig; xlab="x₁", ylab="x₂", leg=:bottomleft)
 lens!(fig, [9.49, 9.56], [-4.51, -4.44]; inset=(1, bbox(0.65, 0.05, 0.25, 0.25)),
       lc=:black, xticks=[9.5, 9.55], yticks=[-4.5, -4.45], subplot=2)
 lens!(fig, [0.3, 0.7], [-0.25, 0.25]; inset=(1, bbox(0.1, 0.3, 0.25, 0.25)),
       lc=:black, xticks=[0.4, 0.6], yticks=[-0.2, 0.2], subplot=3)
 fig = DisplayAs.Text(DisplayAs.PNG(fig))
-## savefig("Unicycle-x1-x2.png")  # command to save the plot to a file
+## savefig(fig, "Unicycle-x1-x2.png")  # command to save the plot to a file
 
 #-
 
 vars = (3, 4)
-fig = plot(xlab="x₃", ylab="x₄", leg=:bottom)
-fig = plot_helper!(fig, vars; show_simulation=false)
+fig = plot_helper(vars; show_simulation=false)
+plot!(fig; xlab="x₃", ylab="x₄", leg=:bottom)
 lens!(fig, [2.09, 2.12], [1.495, 1.515]; inset=(1, bbox(0.72, 0.54, 0.25, 0.25)),
       lc=:black, xticks=[2.1, 2.11], yticks=[1.5, 1.51], subplot=2)
 lens!(fig, [-0.1, 0.03], [-0.4, -0.15]; inset=(1, bbox(0.1, 0.1, 0.25, 0.25)),
       lc=:black, xticks=[-0.08, 0], yticks=[-0.3, -0.2], subplot=3)
 fig = DisplayAs.Text(DisplayAs.PNG(fig))
-## savefig("Unicycle-x3-x4.png")  # command to save the plot to a file
+## savefig(fig, "Unicycle-x3-x4.png")  # command to save the plot to a file
 
 end  #jl
 nothing  #jl