IEEE-TAC-2019/Plot_Perturbed_Histograms.m at master · risk-sensitive-reachability/IEEE-TAC-2019 · GitHub

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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% PURPOSE: Generates histograms of results from many random trajectories
%   originating from the same initial condition (one for each initial
%   confidence level if using CVaR). It utilizes a perturbed probability
%   distribution to evaluate the robustness of the original policy, which
%   was trained on unperturbed probabilities.
% INPUTS:
%   scenarioID = the string id of the scenario to use
%   configurationID = the numeric id of the configuration to use
%   x0 = vector of initial conditions
%   [file]
%       /staging/{configurationID}/{scenarioID}/Bellman_complete.mat : a
%       file containing results for all recursion steps
% OUTPUTS:
%   [file](s)
%       /staging/{configurationID}/{scenarioID}/histogram_[x0][*].png :
%       Portable Network Graphics histogram(s)
%   [file](s)
%       /staging/{configurationID}/{sceanrioID}/histogram_[x0][*].fig :
%       Matlab histograms(s)
%   [file](s)
%       /staging/{configurationID}/{sceanrioID}/summary_[x0][*].txt :
%       a summary of results to accompany the histograms
%   [file](s)
%       /staging/{configurationID}/{sceanrioID}/stage_cost_trajectories_[x0][*].mat :
%       a Matlab file containing the stage cost trajectories used to generate
%       the histogram
%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

function [] = Plot_Perturbed_Histograms(scenarioID, configurationID, x0)

    staging_area = get_staging_directory(scenarioID, configurationID);
    bellman_file = strcat([staging_area,'Bellman_complete.mat']);

    % if bellman_file is available, load it, otherwise prompt to Run_Bellman_Recursion.
    if isfile(bellman_file)

       load(bellman_file);

    else

       error('No results available for this scenario and configuration. Please Run_Bellman_Recursion.');

    end

    % load globals
    global scenario;
    global ambient;
    global config;

    if strcmp(scenario.risk_functional, 'CVAR')
        confidence_levels_to_evaluate = config.histogram_levels;
    else
        confidence_levels_to_evaluate = 1;
    end

    for j = 1:length(confidence_levels_to_evaluate)

        l0 = confidence_levels_to_evaluate(j);
        generate_histograms(scenarioID, configurationID, x0, l0, true);

    end

end