def plot_model_no_control(model, plot_title='', name_suffix=''):
# plot function
mx, vx = model.get_posterior_x()
mins = np.min(mx, axis=0) - 0.5
maxs = np.max(mx, axis=0) + 0.5
nGrid = 50
xspaced = np.linspace(mins[0], maxs[0], nGrid)
yspaced = np.linspace(mins[1], maxs[1], nGrid)
xx, yy = np.meshgrid(xspaced, yspaced)
Xplot = np.vstack((xx.flatten(), yy.flatten())).T
mf, vf = model.predict_f(Xplot)
fig = plt.figure()
plt.imshow((mf[:, 0]).reshape(*xx.shape),
vmin=mf.min(), vmax=mf.max(), origin='lower',
extent=[mins[0], maxs[0], mins[1], maxs[1]], aspect='auto')
plt.colorbar()
plt.contour(
xx, yy, (mf[:, 0]).reshape(*xx.shape),
colors='k', linewidths=2, zorder=100)
zu = model.dyn_layer.zu
plt.plot(zu[:, 0], zu[:, 1], 'wo', mew=0, ms=4)
for i in range(mx.shape[0] - 1):
plt.plot(mx[i:i + 2, 0], mx[i:i + 2, 1],
'-bo', ms=3, linewidth=2, zorder=101)
plt.xlabel(r'$x_{t, 1}$')
plt.ylabel(r'$x_{t, 2}$')
plt.xlim([mins[0], maxs[0]])
plt.ylim([mins[1], maxs[1]])
plt.title(plot_title)
plt.savefig('/tmp/hh_gpssm_dim_0' + name_suffix + '.pdf')
fig = plt.figure()
plt.imshow((mf[:, 1]).reshape(*xx.shape),
vmin=mf.min(), vmax=mf.max(), origin='lower',
extent=[mins[0], maxs[0], mins[1], maxs[1]], aspect='auto')
plt.colorbar()
plt.contour(
xx, yy, (mf[:, 1]).reshape(*xx.shape),
colors='k', linewidths=2, zorder=100)
zu = model.dyn_layer.zu
plt.plot(zu[:, 0], zu[:, 1], 'wo', mew=0, ms=4)
for i in range(mx.shape[0] - 1):
plt.plot(mx[i:i + 2, 0], mx[i:i + 2, 1],
'-bo', ms=3, linewidth=2, zorder=101)
plt.xlabel(r'$x_{t, 1}$')
plt.ylabel(r'$x_{t, 2}$')
plt.xlim([mins[0], maxs[0]])
plt.ylim([mins[1], maxs[1]])
plt.title(plot_title)
plt.savefig('/tmp/hh_gpssm_dim_1' + name_suffix + '.pdf')
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