public void addValue(long x, double y) {
// calculate the bar in which this value should go
int bar = (int) (x / barsize);
double Y = y;
if (ysum.containsKey(bar)) {
double newyvalue = Y + ysum.get(bar);
long newxvalue = x + xsum.get(bar);
Integer newcount = count.get(bar) + 1;
ysum.put(bar, newyvalue);
xsum.put(bar, newxvalue);
count.put(bar, newcount);
Vector<Double> barvalues = values.get(bar);
barvalues.add(Y);
values.put(bar, barvalues);
} else {
ysum.put(bar, Y);
xsum.put(bar, x);
count.put(bar, 1);
Vector<Double> barvalues = new Vector<Double>();
barvalues.add(Y);
values.put(bar, barvalues);
}
}
public YIntervalSeries getYIntervalSeries(String rowname, long factor) {
YIntervalSeries mydataset = new YIntervalSeries(rowname);
double sdcount = 0;
double total = 0;
Vector<Double> totalvalues = new Vector<Double>();
double avgtotal = 0;
double minus = 0;
double plus = 0;
double zero = 0;
for (Integer key : ysum.keySet()) {
Double value = ysum.get(key) / (double) count.get(key);
Double point = (double) xsum.get(key) / (double) count.get(key);
Vector<Double> listofvalues = values.get(key);
double sumofdiff = 0.0;
for (Double onevalue : listofvalues) {
sumofdiff += Math.pow(onevalue - value, 2);
sdcount++;
total += Math.pow(onevalue, 2);
avgtotal += onevalue;
totalvalues.add(onevalue);
if (onevalue == 1) {
plus++;
}
;
if (onevalue == -1) {
minus++;
}
;
if (onevalue == 0) {
zero++;
}
;
}
double sd = Math.sqrt(sumofdiff / count.get(key));
// mydataset.add(point/factor, value,value+sd,value-sd);
// mydataset.add(point/factor, value,value,value);
mydataset.add(
point / factor,
value,
value + 1.96 * (sd / Math.sqrt(count.get(key))),
value - 1.96 * (sd / Math.sqrt(count.get(key))));
}
double sdtotal = 0;
double avgsd = total / sdcount;
double test = 0;
for (Double onevalue : totalvalues) {
sdtotal += Math.pow(Math.pow(onevalue, 2) - (total / sdcount), 2);
test += onevalue;
}
// System.out.println(rowname+" mean square: "+avgsd+"
// +/-95%:"+1.96*Math.sqrt(sdtotal/sdcount)/Math.sqrt(sdcount));
// System.out.println("total -1:"+minus+" total +1:"+plus+" zero: "+zero
// +" total:"+sdcount);
return mydataset;
}
/**
* The constructor.
*
* @param logFileName The experiment log file to analyze.
* @param samplingInterval The interval at which to calculate the heading error in milliseconds.
* @param saveToFile whether to save the error calculations to a file.
*/
public VisualizeHeadingError(String logFileName, long samplingInterval, boolean saveToFile) {
this.logFileName = logFileName;
robotData = new RobotExpData(logFileName);
long startTime = robotData.getExpStartTime();
// Calculate heading divergence every sampling interval
for (long time = startTime; time < robotData.getExpStopTime(); time += samplingInterval) {
// Only do the calculation if the robot has started to move.
if (time >= robotData.getPathEdge(0).getStartTime())
divergenceData.add(getHeadingError(time));
}
if (saveToFile) saveToFile();
showPlot();
}