def test_discretization(nmpc, nb_steps):
dT = nmpc.preview.dT
pylab.ion()
pylab.clf()
ax = pylab.subplot(311)
ax.set_color_cycle(['r', 'g', 'b'])
pylab.plot(
[sum(dT[:i]) for i in xrange(len(dT))],
nmpc.preview.P, marker='o')
pylab.plot(
pylab.linspace(0., sum(dT), nb_steps + 1),
[x[0:3] for x in nmpc.preview.discretize(nb_steps)],
marker='s', linestyle='--')
ax = pylab.subplot(312)
ax.set_color_cycle(['r', 'g', 'b'])
pylab.plot(
[sum(dT[:i]) for i in xrange(len(dT))],
nmpc.preview.V, marker='o')
pylab.plot(
pylab.linspace(0., sum(dT), nb_steps + 1),
[x[3:6] for x in nmpc.preview.discretize(nb_steps)],
marker='s', linestyle='--')
ax = pylab.subplot(313)
ax.set_color_cycle(['r', 'g', 'b'])
pylab.plot(
[sum(dT[:i]) for i in xrange(len(dT))],
nmpc.preview.Z, marker='o')
pylab.plot(
pylab.linspace(0., sum(dT), nb_steps + 1),
[x[6:9] for x in nmpc.preview.discretize(nb_steps)],
marker='s', linestyle='--')
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