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test
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test
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#alpha_stay = {'state 1,1': 0, 'state 2,1': 0, 'state 2,2': 0}
alpha_stay = {}
alpha_Up = {}
alpha_Down = {}
alpha_Left = {}
alpha_Right = {}
'''
0 - state 1,1
1 - state 2,1
2 - state 2,2
'''
alpha_stay['state 1,1'] = 0 + 1 * (
0.6 * (0) # stay
+ 0.1 * (0) # up
+ 0.1 * (0) # down
+ 0.1 * (0) # left
+ 0.1 * (100) # right
)
alpha_stay['state 2,1'] = 100 + 1 * (
0.6 * (100) # stay
+ 0.1 * (-100) # up
+ 0.1 * (100) # down
+ 0.1 * (0) # left
+ 0.1 * (100) # right
)
alpha_stay['state 2,2'] = -100 + 1 * (
0.6 * (-100) # stay
+ 0.1 * (-100) # up
+ 0.1 * (100) # down
+ 0.1 * (-100) # left
+ 0.1 * (-100) # right
)
alpha_Up['state 1,1'] = 0 + 1 * (
0.1 * (0) # stay
+ 0.6 * (0) # up
+ 0.1 * (0) # down
+ 0.1 * (0) # left
+ 0.1 * (100) # right
)
alpha_Up['state 2,1'] = 100 + 1 * (
0.1 * (100) # stay
+ 0.6 * (-100) # up
+ 0.1 * (100) # down
+ 0.1 * (0) # left
+ 0.1 * (100) # right
)
alpha_Up['state 2,2'] = -100 + 1 * (
0.1 * (-100) # stay
+ 0.6 * (-100) # up
+ 0.1 * (100) # down
+ 0.1 * (-100) # left
+ 0.1 * (-100) # right
)
alpha_Down['state 1,1'] = 0 + 1 * (
0.1 * (0) # stay
+ 0.1 * (0) # up
+ 0.6 * (0) # down
+ 0.1 * (0) # left
+ 0.1 * (100) # right
)
alpha_Down['state 2,1'] = 100 + 1 * (
0.1 * (100) # stay
+ 0.1 * (-100) # up
+ 0.6 * (100) # down
+ 0.1 * (0) # left
+ 0.1 * (100) # right
)
alpha_Down['state 2,2'] = -100 + 1 * (
0.1 * (-100) # stay
+ 0.1 * (-100) # up
+ 0.6 * (100) # down
+ 0.1 * (-100) # left
+ 0.1 * (-100) # right
)
alpha_Left['state 1,1'] = 0 + 1 * (
0.1 * (0) # stay
+ 0.1 * (0) # up
+ 0.1 * (0) # down
+ 0.6 * (0) # left
+ 0.1 * (100) # right
)
alpha_Left['state 2,1'] = 100 + 1 * (
0.1 * (100) # stay
+ 0.1 * (-100) # up
+ 0.1 * (100) # down
+ 0.6 * (0) # left
+ 0.1 * (100) # right
)
alpha_Left['state 2,2'] = -100 + 1 * (
0.1 * (-100) # stay
+ 0.1 * (-100) # up
+ 0.1 * (100) # down
+ 0.6 * (-100) # left
+ 0.1 * (-100) # right
)
alpha_Right['state 1,1'] = 0 + 1 * (
0.1 * (0) # stay
+ 0.1 * (0) # up
+ 0.1 * (0) # down
+ 0.1 * (0) # left
+ 0.6 * (100) # right
)
alpha_Right['state 2,1'] = 100 + 1 * (
0.1 * (100) # stay
+ 0.1 * (-100) # up
+ 0.1 * (100) # down
+ 0.1 * (0) # left
+ 0.6 * (100) # right
)
alpha_Right['state 2,2'] = -100 + 1 * (
0.1 * (-100) # stay
+ 0.1 * (-100) # up
+ 0.1 * 100 # down
+ 0.1 * (-100) # left
+ 0.6 * (-100) # right
)
print('Stay =', alpha_stay)
print('Left =', alpha_Left)
print('Right =', alpha_Right)
print('Up =', alpha_Up)
print('Down =', alpha_Down)
actions = {'Stay':alpha_stay,
'Up':alpha_Up,
'Down':alpha_Down,
'Left':alpha_Left,
'Right':alpha_Right}
#print(actions)
#alpha_stay = 0.6*(0.685*0+0.26*100+.26(-100)) +0.1*(0.685*0+0.26*100+.26(-100)) +0.1*(0.685*0+0.26*100+.26(-100)) +0.1*(0.685*0+0.26*100+.26(-100)) +0.1*(0.685*100+0.26*(-100)+.26*(0))
import numpy as np
from mpl_toolkits.mplot3d import Axes3D
import matplotlib.pyplot as plt
import scipy.optimize
import functools
def plane(x, y, params):
a = params[0]
b = params[1]
c = params[2]
z = a*x + b*y + c
return z
def error(params, points):
result = 0
for (x,y,z) in points:
plane_z = plane(x, y, params)
diff = abs(plane_z - z)
result += diff**2
return result
def cross(a, b):
return [a[1]*b[2] - a[2]*b[1],
a[2]*b[0] - a[0]*b[2],
a[0]*b[1] - a[1]*b[0]]
'''points = [(1.1,2.1,8.1),
(3.2,4.2,8.0),
(5.3,1.3,8.2),
]
'''
def plotPoints(points,ax,color):
fun = functools.partial(error, points=points)
params0 = [0, 0, 0]
res = scipy.optimize.minimize(fun, params0)
a = res.x[0]
b = res.x[1]
c = res.x[2]
xs, ys, zs = zip(*points)
ax.scatter(xs, ys, zs)
point = np.array([0.0, 0.0, c])
normal = np.array(cross([1,0,a], [0,1,b]))
d = -point.dot(normal)
xx, yy = np.meshgrid([-100,200], [-100,200])
z = (-normal[0] * xx - normal[1] * yy - d) * 1. /normal[2]
ax.plot_surface(xx, yy, z, alpha=.2, color=color)
fig = plt.figure()
ax = fig.add_subplot(111, projection='3d')
#===============================
points = [(0.0,0.0,alpha_stay['state 1,1']),
(100.0,0.0,alpha_stay['state 2,1']),
(0,100.0,alpha_stay['state 2,2'])]
plotPoints(points,ax,[0,1,0])
#=======================================================================
points = [(0.0,0.0,alpha_Up['state 1,1']),
(100.0,0.0,alpha_Up['state 2,1']),
(0,100.0,alpha_Up['state 2,2'])]
plotPoints(points,ax,[0,0,1])
points = [(0.0,0.0,alpha_Down['state 1,1']),
(100.0,0.0,alpha_Down['state 2,1']),
(0,100.0,alpha_Down['state 2,2'])]
plotPoints(points,ax,[1,0,0])
points = [(0.0,0.0,alpha_Right['state 1,1']),
(100.0,0.0,alpha_Right['state 2,1']),
(0,100.0,alpha_Right['state 2,2'])]
plotPoints(points,ax,[0,1,1])
points = [(0.0,0.0,alpha_Left['state 1,1']),
(100.0,0.0,alpha_Left['state 2,1']),
(0,100.0,alpha_Left['state 2,2'])]
plotPoints(points,ax,[1,0,1])
ax.set_xlim(-200,200)
ax.set_ylim(-200,200)
ax.set_zlim( -200,200)
plt.show()