diff --git a/tex/chapters/eval.tex b/tex/chapters/eval.tex index c7d1284..4775f5b 100644 --- a/tex/chapters/eval.tex +++ b/tex/chapters/eval.tex @@ -106,6 +106,7 @@ Nevertheless, our method also allows to distribute beacons in the whole building \subsection{Activity Recognition} +\label{sec:activity} To enable continuous floor changes we use a simple activity recognition based on the smartphone's barometer and accelerometer. The method distinguishes between the following: standing, walking, walking up or walking down. diff --git a/tex/chapters/experiments.tex b/tex/chapters/experiments.tex index e115fc8..3edc195 100644 --- a/tex/chapters/experiments.tex +++ b/tex/chapters/experiments.tex @@ -19,11 +19,11 @@ The computation of the state estimation as well as the \docWifi{} optimization a However, similar to our previous, award-winning system, the setup is able to run completely on commercial smartphones as well as it uses C++ code \cite{torres2017smartphone}. %Sensor measurements are recorded using a simple mobile application that implements the standard Android SensorManager. -The experiments are separated into three sections: +The experiments are separated into four sections: At first, we discuss the performance of the novel transition model and compare it to a grid-based approach. In section \ref{sec:exp:opti} we have a look at \docWIFI{} optimization and how the real \docAPshort{} positions differ from it. -Following, we conducted several test walks throughout the building to examine the estimation accuracy (in \SI{}{\meter}) of the localisation system. -We try to resolve sample impoverishment with the here presented method and compare the different estimation methods as presented in section \ref{sec:estimation}. +Following, we conducted several test walks throughout the building to examine the estimation accuracy (in \SI{}{\meter}) of the localisation system and try to resolve sample impoverishment with the here presented methods. +Finally, the different estimation methods are compared in section \ref{sec:exp:est}. \subsection{Transition} @@ -57,7 +57,7 @@ Other transmitters like smart TVs or smartphone hotspots are ignored as they mig %was kommt bei der optimierung raus. vergleichen mit ground truth. auch den fehler gegenüberstellen. %man sollte sehen das ohne optimierung gar nichts geht. -\subsection{Location Estimation Error} +\subsection{Localization Error} \begin{figure}[ht] \centering @@ -66,40 +66,33 @@ Other transmitters like smart TVs or smartphone hotspots are ignored as they mig \label{fig:floorplan} \end{figure} % -The 4 chosen walking paths can be seen in fig. \ref{fig:floorplan}. +The 4 chosen walking paths can be seen in fig. \ref{fig:floorplan}. +\todo{wie lang sind die walks meter und zeit?} They were carried out be 4 different male testers using either a Samsung Note 2, Google Pixel One or Motorola Nexus 6 for recording the measurements. All in all, we recorded \SI{28}{} distinct measurement series, \SI{7}{} for each walk. -The picked walks contain erroneous situations, in which many of the above treated problems occur. +The picked walks intentionally contain erroneous situations, in which many of the above treated problems occur. Thus we are able to discuss everything in detail. A walk is indicated by a set of numbered markers, fixed to the ground. Small icons on those markers give the direction of the next marker and in some cases provide instructions to pause walking for a certain time. The intervals for pausing vary between \SI{10}{\second} to \SI{60}{\second}. The ground truth is then measured by recording a timestamp while passing a marker. For this, the tester clicks a button on the smartphone application. -Between two consecutive points, a constant movement speed is assumed. +Between two consecutive points, a constant movement speed is assumed. Thus, the ground truth might not be \SI{100}{\percent} accurate, but fair enough for error measurements. The approximation error is then calculated by comparing the interpolated ground truth position with the current estimation \cite{Fetzer-16}. +An estimation on the wrong floor has a great impact on the location awareness of an pedestrian, but only provides a relatively small error. +Therefore, errors in $z$-direction are penalized by tripling the $z$-value. %computation und monte carlo runs For each walk we deployed 100 runs using \SI{5000}{particles}. Instead of an initial position and heading, all walks start with a uniform distribution (random position and heading) as prior. The overall localisation results can be see in table \ref{table:overall}. -Here, we differ between the respective impoverishment techniques presented in chapter \ref{sec:impo}. +Here, we differ between the respective anti-impoverishment techniques presented in chapter \ref{sec:impo}. +The simple anti-impoverishment method is added to the resampling step and thus uses the transition method presented in chapter \ref{sec:transition}. +In contrast, the $D_\text{KL}$-based method extends the transition and thus uses a standard cumulative resampling step. +We set $l_\text{max} =$ \SI{-75}{dBm} and $l_\text{min} =$ \SI{-90}{dBm}. For a better overview, we only used the KDE-based estimation, as the errors compared to the weighted average estimation differ by only a few centimetres. - -a simple filter (weighted average estimation + simple impoverishment solution) and an advanced filter (KDE estimation + $D_\text{KL}$-based impoverishment solution). -It can be seen that... - -the results include also all failed walks, to show the benefits of using an anti impoverishment method. in walk 0 at walk 1 20 percent of walks failed ... -of course it would be possible to resets the system at this point, but thats not our anspruch... -we want to show a real worst case scenario! - -\todo{providing a penalty for wrong floors. sonst haben wir das problem das der overall error einfach nicht unterschiedlich genug ist. } - - - - \newcommand{\STAB}[1]{\begin{tabular}{@{}c@{}}#1\end{tabular}} \begin{table}[t] @@ -110,36 +103,61 @@ we want to show a real worst case scenario! \hline & $\bar{x}$ & $\bar{\sigma}$ & $\tilde{x}_{75}$ & $\bar{x}$ & $\bar{\sigma}$ & $\tilde{x}_{75}$ & $\bar{x}$ & $\bar{\sigma}$ & $\tilde{x}_{75}$ \\ \hline \hline - Walk 0 & \SI{1315}{\centi\meter} & \SI{1136}{\centi\meter} & \SI{2266}{\centi\meter} & \SI{1189}{\centi\meter} & \SI{1092}{\centi\meter} & \SI{2019}{\centi\meter} & \SI{301}{\centi\meter} & \SI{252}{\centi\meter} & \SI{376}{\centi\meter} \\ \hline - Walk 1 & \SI{318}{\centi\meter} & \SI{243}{\centi\meter} & \SI{402}{\centi\meter} & \SI{318}{\centi\meter} & \SI{240}{\centi\meter} & \SI{403}{\centi\meter} & \SI{342}{\centi\meter} & \SI{256}{\centi\meter} & \SI{440}{\centi\meter} \\ \hline - Walk 2 & \SI{589}{\centi\meter} & \SI{403}{\centi\meter} & \SI{843}{\centi\meter} & \SI{321}{\centi\meter} & \SI{210}{\centi\meter} & \SI{431}{\centi\meter} & \SI{342}{\centi\meter} & \SI{219}{\centi\meter} & \SI{455}{\centi\meter} \\ \hline - Walk 3 & \SI{462}{\centi\meter} & \SI{337}{\centi\meter} & \SI{701}{\centi\meter} & \SI{407}{\centi\meter} & \SI{306}{\centi\meter} & \SI{599}{\centi\meter} & \SI{341}{\centi\meter} & \SI{253}{\centi\meter} & \SI{462}{\centi\meter} \\ + Walk 0 & \SI{1340}{\centi\meter} & \SI{1115}{\centi\meter} & \SI{2265}{\centi\meter} & \SI{715}{\centi\meter} & \SI{660}{\centi\meter} & \SI{939}{\centi\meter} & \SI{576}{\centi\meter} & \SI{494}{\centi\meter} & \SI{734}{\centi\meter} \\ \hline + Walk 1 & \SI{320}{\centi\meter} & \SI{242}{\centi\meter} & \SI{406}{\centi\meter} & \SI{322}{\centi\meter} & \SI{258}{\centi\meter} & \SI{404}{\centi\meter} & \SI{379}{\centi\meter} & \SI{317}{\centi\meter} & \SI{463}{\centi\meter} \\ \hline + Walk 2 & \SI{834}{\centi\meter} & \SI{412}{\centi\meter} & \SI{1092}{\centi\meter} & \SI{356}{\centi\meter} & \SI{232}{\centi\meter} & \SI{486}{\centi\meter} & \SI{362}{\centi\meter} & \SI{234}{\centi\meter} & \SI{484}{\centi\meter} \\ \hline + Walk 3 & \SI{704}{\centi\meter} & \SI{589}{\centi\meter} & \SI{1350}{\centi\meter} & \SI{538}{\centi\meter} & \SI{469}{\centi\meter} & \SI{782}{\centi\meter} & \SI{476}{\centi\meter} & \SI{431}{\centi\meter} & \SI{648}{\centi\meter} \\ \hline \end{tabular} \caption{Overall localization results using the different impoverishment methods. The error is given by the \SI{75}{\percent}-quantil Used only kde for estimation, since kde and avg nehmen sich nicht viel. fehler kleiner als 10 cm im durchschnitt deshalb der übersichtshalber weggelassen. } \label{table:overall} \end{table} +All walks, except for walk 1, suffer in some way from sample impoverishment. +We discuss the single results of table \ref{table:overall} starting with walk 0. +Here, the pedestrians started at the top most level, walking down to the lowest point of the building. +The first critical situation occurs immediately after the start. +While walking down the small staircase, many particles are getting dragged into the room to the right due to erroneous Wi-Fi readings. +At this point, the activity "walking down" is recognized, however only a for very short period. +This is caused by the short length of the stairs. +After this period, only a small number of particles changed the floor correctly, while a majority is stuck within the right-hand room. +The activity based evaluation $p(\vec{o}_t \mid \vec{q}_t)_\text{act}$ prevents particles from further walking down the stairs, while the resampling step mainly draws particles in already populated areas. +In \SI{10}{\percent} of the runs using none of the anti-impoverishment methods, the system is unable to recover and thus unable to finish the walk somewhere near the correct position or even on the same floor. +Yet, the other \SI{90}{\percent} of runs suffer from a very high error. +Only by using one of the here presented methods to prevent impoverishment, the system is able to recover in \SI{100}{\percent} of cases. +Fig. \ref{fig:errorOverTimeWalk0} compares the error over time between the different methods for an exemplary run. +The above described situation, causing the system to stuck after \SI{10}{\second}, is clearly visible. +Both, the simple and the $D_\text{KL}$ method are able to recover early and thus decrease the overall error dramatically. +Between \SI{65}{\second} and \SI{74}{\second} the simple method produces high errors due to some uncertain Wi-Fi measurements coming from an \docAP{} below, causing those particles who are randomly drawn near this \docAPshort{} to be rewarded with a very high weight. +This leads to newly sampled particles in this area and therefore a jump of the estimation. +The situation is resolved after entering another room, which is now shielded by stone walls instead of wooden ones. +Walking down the stairs at \SI{80}{\second} does also recover the localization system using none of the methods. +% +\begin{figure} + \centering + \input{gfx/errorOverTimeWalk0/errorOverTime.tex} + \caption{Error development over time of a single Monte Carlo run of walk 0. Between \SI{10}{\second} and \SI{24}{\second} the Wi-Fi signal was highly attenuated, causing the system to get stuck and producing high errors. Both, the simple and the $D_\text{KL}$ anti-impoverishment method are able to recover early. However, between \SI{65}{\second} and \SI{74}{\second} the simple method produces high errors due to the high random factor involved.} + \label{fig:errorOverTimeWalk0} +\end{figure} -%vielleicht die avg / kde unterscheidung weg lassen? dafür avg, std und 75% +A similar behaviour as described above can be seen in walk 3. +Without a method to recover from impoverishment, the system completely lost track in \SI{xx}{\percent} of the runs and produces high errors. +By using the simple method, the overall error can be reduced and the impoverishment resolved. Nevertheless, unpredictable jumps of the estimation are causing the system to be highly uncertain in some situations, even if those jumps do not last to long. +Only the use of the $D_\text{KL}$ method is able to produce reasonable results. -It is clearly visible that bla outperformce blah at path 4. -Exemplary estimation results for walk 4 can be seen in fig. \ref{}. - -The 75 quantil gibt aufschluss, über aufgretenedes impoverishment. due the 100 runs, some of the walks, where impoverishment occured are average out. - -neff = 0.85 - -boxkde 0.2 point2(1,1) - -wifi useregionalopt=true +\todo{fuer eins brauchen wir aber noch estimated path} +\todo{neff = 0.85; boxkde 0.2 point2(1,1); wifi useregionalopt=true} + + +\todo{ BILD: Von einem Pfad der steckenbleibt und den beiden anderen verfahren mit fehler über die zeit. BILD: WIFI-Fehler unten bei den Kellern. BILD: Estimation Fehler +} %To analyse the drawbacks and benefits of the here presented method to resolve sample impoverishment, @@ -151,6 +169,8 @@ BILD: Estimation Fehler %probleme mit impoverishment aufzeigen, wo bringt es was, was macht es kaputt etc pp %%estimation +\subsection{Estimation Methods} +\label{sec:exp:est} \begin{figure} \centering @@ -159,7 +179,7 @@ BILD: Estimation Fehler \label{fig:realWorldMulti} \end{figure} -As discussed in chapter \ref{}, the main advantage of a KDE-based estimation is that it provides the "correct" mode of a density, even under a multimodal setting. +As discussed in section \ref{sec:estimation}, the main advantage of a KDE-based estimation is that it provides the "correct" mode of a density, even under a multimodal setting. A situation in which the system highly benefits from this is illustrated in fig. \ref{fig:realWorldMulti}. Here, a set of particles splits apart, due to uncertain measurements and multiple possible walking directions. Indicated by the black dotted line, the resulting bimodal posterior reaches its maximum distance between the modes at \SI{13.4}{\second}. @@ -180,7 +200,7 @@ Only with new measurements coming from the hallway or other parts of the buildin \begin{figure} \centering - \input{gfx/errorOverTime.tex} + \input{gfx/errorOverTimeWalk1/errorOverTime.tex} \caption{Error development over time of a single Monte Carlo run of the walk calculated between estimation and ground truth. Between \SI{230}{\second} and \SI{290}{\second} to pedestrian was not moving.} \label{fig:realWorldTime} \end{figure} diff --git a/tex/gfx/errorOverTimeWalk0/errorOverTime.eps b/tex/gfx/errorOverTimeWalk0/errorOverTime.eps new file mode 100644 index 0000000..3703aa0 --- /dev/null +++ b/tex/gfx/errorOverTimeWalk0/errorOverTime.eps @@ -0,0 +1,1364 @@ +%!PS-Adobe-2.0 EPSF-2.0 +%%Title: errorOverTime.tex +%%Creator: gnuplot 5.0 patchlevel 6 +%%CreationDate: Sat Jun 30 12:55:07 2018 +%%DocumentFonts: +%%BoundingBox: 50 50 316 194 +%%EndComments +%%BeginProlog +/gnudict 256 dict def +gnudict begin +% +% The following true/false flags may be edited by hand if desired. +% The unit line width and grayscale image gamma correction may also be changed. +% +/Color false def +/Blacktext true def +/Solid false def +/Dashlength 1 def +/Landscape false def +/Level1 false def +/Level3 false def +/Rounded false def +/ClipToBoundingBox false def +/SuppressPDFMark false def +/TransparentPatterns false def +/gnulinewidth 5.000 def +/userlinewidth gnulinewidth def +/Gamma 1.0 def +/BackgroundColor {-1.000 -1.000 -1.000} def +% +/vshift -73 def +/dl1 { + 10.0 Dashlength userlinewidth gnulinewidth div mul mul mul + Rounded { currentlinewidth 0.75 mul sub dup 0 le { pop 0.01 } if } if +} def +/dl2 { + 10.0 Dashlength userlinewidth gnulinewidth div mul mul mul + Rounded { currentlinewidth 0.75 mul add } if +} def +/hpt_ 31.5 def +/vpt_ 31.5 def +/hpt hpt_ def +/vpt vpt_ def +/doclip { + ClipToBoundingBox { + newpath 50 50 moveto 316 50 lineto 316 194 lineto 50 194 lineto closepath + clip + } if +} def +% +% Gnuplot Prolog Version 5.1 (Oct 2015) +% +%/SuppressPDFMark true def +% +/M {moveto} bind def +/L {lineto} bind def +/R {rmoveto} bind def +/V {rlineto} bind def +/N {newpath moveto} bind def +/Z {closepath} bind def +/C {setrgbcolor} bind def +/f {rlineto fill} bind def +/g {setgray} bind def +/Gshow {show} def % May be redefined later in the file to support UTF-8 +/vpt2 vpt 2 mul def +/hpt2 hpt 2 mul def +/Lshow {currentpoint stroke M 0 vshift R + Blacktext {gsave 0 setgray textshow grestore} {textshow} ifelse} def +/Rshow {currentpoint stroke M dup stringwidth pop neg vshift R + Blacktext {gsave 0 setgray textshow grestore} {textshow} ifelse} def +/Cshow {currentpoint stroke M dup stringwidth pop -2 div vshift R + Blacktext {gsave 0 setgray textshow grestore} {textshow} ifelse} def +/UP {dup vpt_ mul /vpt exch def hpt_ mul /hpt exch def + /hpt2 hpt 2 mul def /vpt2 vpt 2 mul def} def +/DL {Color {setrgbcolor Solid {pop []} if 0 setdash} + {pop pop pop 0 setgray Solid {pop []} if 0 setdash} ifelse} def +/BL {stroke userlinewidth 2 mul setlinewidth + Rounded {1 setlinejoin 1 setlinecap} if} def +/AL {stroke userlinewidth 2 div setlinewidth + Rounded {1 setlinejoin 1 setlinecap} if} def +/UL {dup gnulinewidth mul /userlinewidth exch def + dup 1 lt {pop 1} if 10 mul /udl exch def} def +/PL {stroke userlinewidth setlinewidth + Rounded {1 setlinejoin 1 setlinecap} if} def +3.8 setmiterlimit +% Classic Line colors (version 5.0) +/LCw {1 1 1} def +/LCb {0 0 0} def +/LCa {0 0 0} def +/LC0 {1 0 0} def +/LC1 {0 1 0} def +/LC2 {0 0 1} def +/LC3 {1 0 1} def +/LC4 {0 1 1} def +/LC5 {1 1 0} def +/LC6 {0 0 0} def +/LC7 {1 0.3 0} def +/LC8 {0.5 0.5 0.5} def +% Default dash patterns (version 5.0) +/LTB {BL [] LCb DL} def +/LTw {PL [] 1 setgray} def +/LTb {PL [] LCb DL} def +/LTa {AL [1 udl mul 2 udl mul] 0 setdash LCa setrgbcolor} def +/LT0 {PL [] LC0 DL} def +/LT1 {PL [2 dl1 3 dl2] LC1 DL} def +/LT2 {PL [1 dl1 1.5 dl2] LC2 DL} def +/LT3 {PL [6 dl1 2 dl2 1 dl1 2 dl2] LC3 DL} def +/LT4 {PL [1 dl1 2 dl2 6 dl1 2 dl2 1 dl1 2 dl2] LC4 DL} def +/LT5 {PL [4 dl1 2 dl2] LC5 DL} def +/LT6 {PL [1.5 dl1 1.5 dl2 1.5 dl1 1.5 dl2 1.5 dl1 6 dl2] LC6 DL} def +/LT7 {PL [3 dl1 3 dl2 1 dl1 3 dl2] LC7 DL} def +/LT8 {PL [2 dl1 2 dl2 2 dl1 6 dl2] LC8 DL} def +/SL {[] 0 setdash} def +/Pnt {stroke [] 0 setdash gsave 1 setlinecap M 0 0 V stroke grestore} def +/Dia {stroke [] 0 setdash 2 copy vpt add M + hpt neg vpt neg V hpt vpt neg V + hpt vpt V hpt neg vpt V closepath stroke + Pnt} def +/Pls {stroke [] 0 setdash vpt sub M 0 vpt2 V + currentpoint stroke M + hpt neg vpt neg R hpt2 0 V stroke + } def +/Box {stroke [] 0 setdash 2 copy exch hpt sub exch vpt add M + 0 vpt2 neg V hpt2 0 V 0 vpt2 V + hpt2 neg 0 V closepath stroke + Pnt} def +/Crs {stroke [] 0 setdash exch hpt sub exch vpt add M + hpt2 vpt2 neg V currentpoint stroke M + hpt2 neg 0 R hpt2 vpt2 V stroke} def +/TriU {stroke [] 0 setdash 2 copy vpt 1.12 mul add M + hpt neg vpt -1.62 mul V + hpt 2 mul 0 V + hpt neg vpt 1.62 mul V closepath stroke + Pnt} def +/Star {2 copy Pls Crs} def +/BoxF {stroke [] 0 setdash exch hpt sub exch vpt add M + 0 vpt2 neg V hpt2 0 V 0 vpt2 V + hpt2 neg 0 V closepath fill} def +/TriUF {stroke [] 0 setdash vpt 1.12 mul add M + hpt neg vpt -1.62 mul V + hpt 2 mul 0 V + hpt neg vpt 1.62 mul V closepath fill} def +/TriD {stroke [] 0 setdash 2 copy vpt 1.12 mul sub M + hpt neg vpt 1.62 mul V + hpt 2 mul 0 V + hpt neg vpt -1.62 mul V closepath stroke + Pnt} def +/TriDF {stroke [] 0 setdash vpt 1.12 mul sub M + hpt neg vpt 1.62 mul V + hpt 2 mul 0 V + hpt neg vpt -1.62 mul V closepath fill} def +/DiaF {stroke [] 0 setdash vpt add M + hpt neg vpt neg V hpt vpt neg V + hpt vpt V hpt neg vpt V closepath fill} def +/Pent {stroke [] 0 setdash 2 copy gsave + translate 0 hpt M 4 {72 rotate 0 hpt L} repeat + closepath stroke grestore Pnt} def +/PentF {stroke [] 0 setdash gsave + translate 0 hpt M 4 {72 rotate 0 hpt L} repeat + closepath fill grestore} def +/Circle {stroke [] 0 setdash 2 copy + hpt 0 360 arc stroke Pnt} def +/CircleF {stroke [] 0 setdash hpt 0 360 arc fill} def +/C0 {BL [] 0 setdash 2 copy moveto vpt 90 450 arc} bind def +/C1 {BL [] 0 setdash 2 copy moveto + 2 copy vpt 0 90 arc closepath fill + vpt 0 360 arc closepath} bind def +/C2 {BL [] 0 setdash 2 copy moveto + 2 copy vpt 90 180 arc closepath fill + vpt 0 360 arc closepath} bind def +/C3 {BL [] 0 setdash 2 copy moveto + 2 copy vpt 0 180 arc closepath fill + vpt 0 360 arc closepath} bind def +/C4 {BL [] 0 setdash 2 copy moveto + 2 copy vpt 180 270 arc closepath fill + vpt 0 360 arc closepath} bind def +/C5 {BL [] 0 setdash 2 copy moveto + 2 copy vpt 0 90 arc + 2 copy moveto + 2 copy vpt 180 270 arc closepath fill + vpt 0 360 arc} bind def +/C6 {BL [] 0 setdash 2 copy moveto + 2 copy vpt 90 270 arc closepath fill + vpt 0 360 arc closepath} bind def +/C7 {BL [] 0 setdash 2 copy moveto + 2 copy vpt 0 270 arc closepath fill + vpt 0 360 arc closepath} bind def +/C8 {BL [] 0 setdash 2 copy moveto + 2 copy vpt 270 360 arc closepath fill + vpt 0 360 arc closepath} bind def +/C9 {BL [] 0 setdash 2 copy moveto + 2 copy vpt 270 450 arc closepath fill + vpt 0 360 arc closepath} bind def +/C10 {BL [] 0 setdash 2 copy 2 copy moveto vpt 270 360 arc closepath fill + 2 copy moveto + 2 copy vpt 90 180 arc closepath fill + vpt 0 360 arc closepath} bind def +/C11 {BL [] 0 setdash 2 copy moveto + 2 copy vpt 0 180 arc closepath fill + 2 copy moveto + 2 copy vpt 270 360 arc closepath fill + vpt 0 360 arc closepath} bind def +/C12 {BL [] 0 setdash 2 copy moveto + 2 copy vpt 180 360 arc closepath fill + vpt 0 360 arc closepath} bind def +/C13 {BL [] 0 setdash 2 copy moveto + 2 copy vpt 0 90 arc closepath fill + 2 copy moveto + 2 copy vpt 180 360 arc closepath fill + vpt 0 360 arc closepath} bind def +/C14 {BL [] 0 setdash 2 copy moveto + 2 copy vpt 90 360 arc closepath fill + vpt 0 360 arc} bind def +/C15 {BL [] 0 setdash 2 copy vpt 0 360 arc closepath fill + vpt 0 360 arc closepath} bind def +/Rec {newpath 4 2 roll moveto 1 index 0 rlineto 0 exch rlineto + neg 0 rlineto closepath} bind def +/Square {dup Rec} bind def +/Bsquare {vpt sub exch vpt sub exch vpt2 Square} bind def +/S0 {BL [] 0 setdash 2 copy moveto 0 vpt rlineto BL Bsquare} bind def +/S1 {BL [] 0 setdash 2 copy vpt Square fill Bsquare} bind def +/S2 {BL [] 0 setdash 2 copy exch vpt sub exch vpt Square fill Bsquare} bind def +/S3 {BL [] 0 setdash 2 copy exch vpt sub exch vpt2 vpt Rec fill Bsquare} bind def +/S4 {BL [] 0 setdash 2 copy exch vpt sub exch vpt sub vpt Square fill Bsquare} bind def +/S5 {BL [] 0 setdash 2 copy 2 copy vpt Square fill + exch vpt sub exch vpt sub vpt Square fill Bsquare} bind def +/S6 {BL [] 0 setdash 2 copy exch vpt sub exch vpt sub vpt vpt2 Rec fill Bsquare} bind def +/S7 {BL [] 0 setdash 2 copy exch vpt sub exch vpt sub vpt vpt2 Rec fill + 2 copy vpt Square fill Bsquare} bind def +/S8 {BL [] 0 setdash 2 copy vpt sub vpt Square fill Bsquare} bind def +/S9 {BL [] 0 setdash 2 copy vpt sub vpt vpt2 Rec fill Bsquare} bind def +/S10 {BL [] 0 setdash 2 copy vpt sub vpt Square fill 2 copy exch vpt sub exch vpt Square fill + Bsquare} bind def +/S11 {BL [] 0 setdash 2 copy vpt sub vpt Square fill 2 copy exch vpt sub exch vpt2 vpt Rec fill + Bsquare} bind def +/S12 {BL [] 0 setdash 2 copy exch vpt sub exch vpt sub vpt2 vpt Rec fill Bsquare} bind def +/S13 {BL [] 0 setdash 2 copy exch vpt sub exch vpt sub vpt2 vpt Rec fill + 2 copy vpt Square fill Bsquare} bind def +/S14 {BL [] 0 setdash 2 copy exch vpt sub exch vpt sub vpt2 vpt Rec fill + 2 copy exch vpt sub exch vpt Square fill Bsquare} bind def +/S15 {BL [] 0 setdash 2 copy Bsquare fill Bsquare} bind def +/D0 {gsave translate 45 rotate 0 0 S0 stroke grestore} bind def +/D1 {gsave translate 45 rotate 0 0 S1 stroke grestore} bind def +/D2 {gsave translate 45 rotate 0 0 S2 stroke grestore} bind def +/D3 {gsave translate 45 rotate 0 0 S3 stroke grestore} bind def +/D4 {gsave translate 45 rotate 0 0 S4 stroke grestore} bind def +/D5 {gsave translate 45 rotate 0 0 S5 stroke grestore} bind def +/D6 {gsave translate 45 rotate 0 0 S6 stroke grestore} bind def +/D7 {gsave translate 45 rotate 0 0 S7 stroke grestore} bind def +/D8 {gsave translate 45 rotate 0 0 S8 stroke grestore} bind def +/D9 {gsave translate 45 rotate 0 0 S9 stroke grestore} bind def +/D10 {gsave translate 45 rotate 0 0 S10 stroke grestore} bind def +/D11 {gsave translate 45 rotate 0 0 S11 stroke grestore} bind def +/D12 {gsave translate 45 rotate 0 0 S12 stroke grestore} bind def +/D13 {gsave translate 45 rotate 0 0 S13 stroke grestore} bind def +/D14 {gsave translate 45 rotate 0 0 S14 stroke grestore} bind def +/D15 {gsave translate 45 rotate 0 0 S15 stroke grestore} bind def +/DiaE {stroke [] 0 setdash vpt add M + hpt neg vpt neg V hpt vpt neg V + hpt vpt V hpt neg vpt V closepath stroke} def +/BoxE {stroke [] 0 setdash exch hpt sub exch vpt add M + 0 vpt2 neg V hpt2 0 V 0 vpt2 V + hpt2 neg 0 V closepath stroke} def +/TriUE {stroke [] 0 setdash vpt 1.12 mul add M + hpt neg vpt -1.62 mul V + hpt 2 mul 0 V + hpt neg vpt 1.62 mul V closepath stroke} def +/TriDE {stroke [] 0 setdash vpt 1.12 mul sub M + hpt neg vpt 1.62 mul V + hpt 2 mul 0 V + hpt neg vpt -1.62 mul V closepath stroke} def +/PentE {stroke [] 0 setdash gsave + translate 0 hpt M 4 {72 rotate 0 hpt L} repeat + closepath stroke grestore} def +/CircE {stroke [] 0 setdash + hpt 0 360 arc stroke} def +/Opaque {gsave closepath 1 setgray fill grestore 0 setgray closepath} def +/DiaW {stroke [] 0 setdash vpt add M + hpt neg vpt neg V hpt vpt neg V + hpt vpt V hpt neg vpt V Opaque stroke} def +/BoxW {stroke [] 0 setdash exch hpt sub exch vpt add M + 0 vpt2 neg V hpt2 0 V 0 vpt2 V + hpt2 neg 0 V Opaque stroke} def +/TriUW {stroke [] 0 setdash vpt 1.12 mul add M + hpt neg vpt -1.62 mul V + hpt 2 mul 0 V + hpt neg vpt 1.62 mul V Opaque stroke} def +/TriDW {stroke [] 0 setdash vpt 1.12 mul sub M + hpt neg vpt 1.62 mul V + hpt 2 mul 0 V + hpt neg vpt -1.62 mul V Opaque stroke} def +/PentW {stroke [] 0 setdash gsave + translate 0 hpt M 4 {72 rotate 0 hpt L} repeat + Opaque stroke grestore} def +/CircW {stroke [] 0 setdash + hpt 0 360 arc Opaque stroke} def +/BoxFill {gsave Rec 1 setgray fill grestore} def +/Density { + /Fillden exch def + currentrgbcolor + /ColB exch def /ColG exch def /ColR exch def + /ColR ColR Fillden mul Fillden sub 1 add def + /ColG ColG Fillden mul Fillden sub 1 add def + /ColB ColB Fillden mul Fillden sub 1 add def + ColR ColG ColB setrgbcolor} def +/BoxColFill {gsave Rec PolyFill} def +/PolyFill {gsave Density fill grestore grestore} def +/h {rlineto rlineto rlineto gsave closepath fill grestore} bind def +% +% PostScript Level 1 Pattern Fill routine for rectangles +% Usage: x y w h s a XX PatternFill +% x,y = lower left corner of box to be filled +% w,h = width and height of box +% a = angle in degrees between lines and x-axis +% XX = 0/1 for no/yes cross-hatch +% +/PatternFill {gsave /PFa [ 9 2 roll ] def + PFa 0 get PFa 2 get 2 div add PFa 1 get PFa 3 get 2 div add translate + PFa 2 get -2 div PFa 3 get -2 div PFa 2 get PFa 3 get Rec + TransparentPatterns {} {gsave 1 setgray fill grestore} ifelse + clip + currentlinewidth 0.5 mul setlinewidth + /PFs PFa 2 get dup mul PFa 3 get dup mul add sqrt def + 0 0 M PFa 5 get rotate PFs -2 div dup translate + 0 1 PFs PFa 4 get div 1 add floor cvi + {PFa 4 get mul 0 M 0 PFs V} for + 0 PFa 6 get ne { + 0 1 PFs PFa 4 get div 1 add floor cvi + {PFa 4 get mul 0 2 1 roll M PFs 0 V} for + } if + stroke grestore} def +% +/languagelevel where + {pop languagelevel} {1} ifelse +dup 2 lt + {/InterpretLevel1 true def + /InterpretLevel3 false def} + {/InterpretLevel1 Level1 def + 2 gt + {/InterpretLevel3 Level3 def} + {/InterpretLevel3 false def} + ifelse } + ifelse +% +% PostScript level 2 pattern fill definitions +% +/Level2PatternFill { +/Tile8x8 {/PaintType 2 /PatternType 1 /TilingType 1 /BBox [0 0 8 8] /XStep 8 /YStep 8} + bind def +/KeepColor {currentrgbcolor [/Pattern /DeviceRGB] setcolorspace} bind def +<< Tile8x8 + /PaintProc {0.5 setlinewidth pop 0 0 M 8 8 L 0 8 M 8 0 L stroke} +>> matrix makepattern +/Pat1 exch def +<< Tile8x8 + /PaintProc {0.5 setlinewidth pop 0 0 M 8 8 L 0 8 M 8 0 L stroke + 0 4 M 4 8 L 8 4 L 4 0 L 0 4 L stroke} +>> matrix makepattern +/Pat2 exch def +<< Tile8x8 + /PaintProc {0.5 setlinewidth pop 0 0 M 0 8 L + 8 8 L 8 0 L 0 0 L fill} +>> matrix makepattern +/Pat3 exch def +<< Tile8x8 + /PaintProc {0.5 setlinewidth pop -4 8 M 8 -4 L + 0 12 M 12 0 L stroke} +>> matrix makepattern +/Pat4 exch def +<< Tile8x8 + /PaintProc {0.5 setlinewidth pop -4 0 M 8 12 L + 0 -4 M 12 8 L stroke} +>> matrix makepattern +/Pat5 exch def +<< Tile8x8 + /PaintProc {0.5 setlinewidth pop -2 8 M 4 -4 L + 0 12 M 8 -4 L 4 12 M 10 0 L stroke} +>> matrix makepattern +/Pat6 exch def +<< Tile8x8 + /PaintProc {0.5 setlinewidth pop -2 0 M 4 12 L + 0 -4 M 8 12 L 4 -4 M 10 8 L stroke} +>> matrix makepattern +/Pat7 exch def +<< Tile8x8 + /PaintProc {0.5 setlinewidth pop 8 -2 M -4 4 L + 12 0 M -4 8 L 12 4 M 0 10 L stroke} +>> matrix makepattern +/Pat8 exch def +<< Tile8x8 + /PaintProc {0.5 setlinewidth pop 0 -2 M 12 4 L + -4 0 M 12 8 L -4 4 M 8 10 L stroke} +>> matrix makepattern +/Pat9 exch def +/Pattern1 {PatternBgnd KeepColor Pat1 setpattern} bind def +/Pattern2 {PatternBgnd KeepColor Pat2 setpattern} bind def +/Pattern3 {PatternBgnd KeepColor Pat3 setpattern} bind def +/Pattern4 {PatternBgnd KeepColor Landscape {Pat5} {Pat4} ifelse setpattern} bind def +/Pattern5 {PatternBgnd KeepColor Landscape {Pat4} {Pat5} ifelse setpattern} bind def +/Pattern6 {PatternBgnd KeepColor Landscape {Pat9} {Pat6} ifelse setpattern} bind def +/Pattern7 {PatternBgnd KeepColor Landscape {Pat8} {Pat7} ifelse setpattern} bind def +} def +% +% +%End of PostScript Level 2 code +% +/PatternBgnd { + TransparentPatterns {} {gsave 1 setgray fill grestore} ifelse +} def +% +% Substitute for Level 2 pattern fill codes with +% grayscale if Level 2 support is not selected. +% +/Level1PatternFill { +/Pattern1 {0.250 Density} bind def +/Pattern2 {0.500 Density} bind def +/Pattern3 {0.750 Density} bind def +/Pattern4 {0.125 Density} bind def +/Pattern5 {0.375 Density} bind def +/Pattern6 {0.625 Density} bind def +/Pattern7 {0.875 Density} bind def +} def +% +% Now test for support of Level 2 code +% +Level1 {Level1PatternFill} {Level2PatternFill} ifelse +% +/Symbol-Oblique /Symbol findfont [1 0 .167 1 0 0] makefont +dup length dict begin {1 index /FID eq {pop pop} {def} ifelse} forall +currentdict end definefont pop +% +Level1 SuppressPDFMark or +{} { +/SDict 10 dict def +systemdict /pdfmark known not { + userdict /pdfmark systemdict /cleartomark get put +} if +SDict begin [ + /Title (errorOverTime.tex) + /Subject (gnuplot plot) + /Creator (gnuplot 5.0 patchlevel 6) + /Author (toni) +% /Producer (gnuplot) +% /Keywords () + /CreationDate (Sat Jun 30 12:55:07 2018) + /DOCINFO pdfmark +end +} ifelse +% +% Support for boxed text - Ethan A Merritt May 2005 +% +/InitTextBox { userdict /TBy2 3 -1 roll put userdict /TBx2 3 -1 roll put + userdict /TBy1 3 -1 roll put userdict /TBx1 3 -1 roll put + /Boxing true def } def +/ExtendTextBox { Boxing + { gsave dup false charpath pathbbox + dup TBy2 gt {userdict /TBy2 3 -1 roll put} {pop} ifelse + dup TBx2 gt {userdict /TBx2 3 -1 roll put} {pop} ifelse + dup TBy1 lt {userdict /TBy1 3 -1 roll put} {pop} ifelse + dup TBx1 lt {userdict /TBx1 3 -1 roll put} {pop} ifelse + grestore } if } def +/PopTextBox { newpath TBx1 TBxmargin sub TBy1 TBymargin sub M + TBx1 TBxmargin sub TBy2 TBymargin add L + TBx2 TBxmargin add TBy2 TBymargin add L + TBx2 TBxmargin add TBy1 TBymargin sub L closepath } def +/DrawTextBox { PopTextBox stroke /Boxing false def} def +/FillTextBox { gsave PopTextBox 1 1 1 setrgbcolor fill grestore /Boxing false def} def +0 0 0 0 InitTextBox +/TBxmargin 20 def +/TBymargin 20 def +/Boxing false def +/textshow { ExtendTextBox Gshow } def +% +% redundant definitions for compatibility with prologue.ps older than 5.0.2 +/LTB {BL [] LCb DL} def +/LTb {PL [] LCb DL} def +end +%%EndProlog +%%Page: 1 1 +gnudict begin +gsave +doclip +50 50 translate +0.050 0.050 scale +0 setgray +newpath +1.000 UL +LTb +LCb setrgbcolor +[] 0 setdash +594 704 M +63 0 V +4274 0 R +-63 0 V +stroke +LTb +594 943 M +63 0 V +4274 0 R +-63 0 V +stroke +594 1182 M +63 0 V +4274 0 R +-63 0 V +stroke +594 1421 M +63 0 V +4274 0 R +-63 0 V +stroke +594 1660 M +63 0 V +4274 0 R +-63 0 V +stroke +594 1898 M +63 0 V +4274 0 R +-63 0 V +stroke +594 2137 M +63 0 V +4274 0 R +-63 0 V +stroke +594 2376 M +63 0 V +4274 0 R +-63 0 V +stroke +594 2615 M +63 0 V +4274 0 R +-63 0 V +stroke +594 704 M +0 63 V +0 1848 R +0 -63 V +stroke +1214 704 M +0 63 V +0 1848 R +0 -63 V +stroke +1833 704 M +0 63 V +0 1848 R +0 -63 V +stroke +2453 704 M +0 63 V +0 1848 R +0 -63 V +stroke +3072 704 M +0 63 V +0 1848 R +0 -63 V +stroke +3692 704 M +0 63 V +0 1848 R +0 -63 V +stroke +4311 704 M +0 63 V +0 1848 R +0 -63 V +stroke +4931 704 M +0 63 V +0 1848 R +0 -63 V +stroke +1.000 UL +LTb +594 2615 N +594 704 L +4337 0 V +0 1911 V +-4337 0 V +Z stroke +1.000 UP +1.000 UL +LTb +% Begin plot #1 +2.000 UL +LTb +0.78 0.78 0.78 C LCb setrgbcolor +2.000 UL +LTb +0.78 0.78 0.78 C 4505 2442 M +162 0 V +637 994 M +24 56 V +19 56 V +19 -82 V +718 906 L +18 -90 V +18 -29 V +22 -14 V +14 14 V +20 110 V +15 -25 V +23 28 V +19 76 V +18 39 V +26 66 V +930 919 L +17 29 V +13 -29 V +15 -13 V +16 36 V +19 30 V +17 16 V +15 30 V +19 31 V +18 12 V +19 32 V +18 34 V +17 27 V +18 43 V +18 31 V +19 54 V +20 34 V +16 13 V +21 37 V +18 42 V +20 46 V +17 29 V +19 45 V +19 44 V +21 62 V +16 53 V +21 48 V +17 15 V +18 15 V +18 31 V +20 8 V +20 47 V +17 53 V +19 44 V +19 32 V +19 20 V +18 29 V +19 18 V +21 37 V +15 -2 V +22 49 V +15 26 V +22 49 V +14 63 V +19 17 V +18 58 V +21 -31 V +16 26 V +21 48 V +17 -1 V +21 26 V +18 15 V +20 26 V +19 -25 V +21 -39 V +22 -10 V +23 -37 V +14 13 V +20 -80 V +18 -5 V +21 -27 V +17 -59 V +16 -50 V +20 -52 V +16 -18 V +19 11 V +19 -32 V +19 -51 V +21 -14 V +15 -3 V +19 -56 V +19 -49 V +20 -57 V +15 -15 V +18 -46 V +19 -35 V +18 -19 V +18 -40 V +22 -19 V +16 -13 V +17 -19 V +17 4 V +19 32 V +20 22 V +18 15 V +21 13 V +20 3 V +37 -17 V +21 1 V +19 -10 V +20 130 V +19 -60 V +20 33 V +19 2 V +19 39 V +19 20 V +19 27 V +21 35 V +14 4 V +19 28 V +20 40 V +17 24 V +18 115 V +26 33 V +14 -263 V +stroke 2877 1877 M +23 -485 V +14 38 V +17 44 V +17 42 V +23 39 V +17 8 V +15 -29 V +18 -9 V +17 4 V +15 27 V +15 -359 V +16 283 V +13 -228 V +15 -17 V +14 -80 V +13 -125 V +14 -82 V +16 -34 V +16 -24 V +15 2 V +15 -12 V +15 -7 V +17 4 V +17 2 V +16 -10 V +16 2 V +15 -8 V +14 -6 V +14 3 V +13 -28 V +12 -4 V +15 -34 V +15 -8 V +12 -15 V +15 11 V +17 24 V +13 16 V +19 35 V +22 31 V +19 22 V +19 -32 V +20 24 V +20 -47 V +19 -40 V +18 -32 V +19 -18 V +19 -11 V +19 -5 V +19 -10 V +21 -10 V +19 8 V +19 13 V +21 -19 V +15 -2 V +17 4 V +18 7 V +22 175 V +16 75 V +19 -43 V +15 -26 V +21 -202 V +17 6 V +15 6 V +19 -14 V +20 25 V +16 1 V +19 5 V +15 -6 V +18 3 V +20 7 V +19 -2 V +14 0 V +20 0 V +17 4 V +17 -4 V +18 -5 V +19 8 V +15 -5 V +20 -4 V +16 3 V +18 -12 V +16 -8 V +20 18 V +17 -29 V +18 8 V +15 2 V +23 45 V +20 22 V +15 -50 V +16 -17 V +25 18 V +23 26 V +19 13 V +14 -3 V +19 54 V +17 26 V +15 9 V +15 25 V +13 9 V +13 23 V +15 21 V +16 33 V +19 42 V +15 44 V +stroke 4656 1066 M +17 40 V +19 44 V +18 49 V +18 43 V +20 -60 V +20 12 V +18 19 V +20 -6 V +20 16 V +16 24 V +18 -43 V +18 -17 V +22 12 V +15 1 V +stroke +LTw +% End plot #1 +% Begin plot #2 +1.500 UL +LTb +LCb setrgbcolor +[] 0 setdash +0.20 0.40 0.64 C LCb setrgbcolor +1.500 UL +LTb +0.20 0.40 0.64 C 4505 2222 M +162 0 V +637 998 M +24 3 V +19 44 V +19 -73 V +19 -46 V +18 -16 V +18 20 V +776 759 L +14 58 V +20 92 V +15 49 V +23 9 V +19 9 V +18 30 V +26 66 V +930 933 L +17 4 V +13 8 V +15 -2 V +16 25 V +19 4 V +17 18 V +15 28 V +19 31 V +18 30 V +19 18 V +18 30 V +17 27 V +18 30 V +18 31 V +19 53 V +20 35 V +16 28 V +21 35 V +18 28 V +20 60 V +17 29 V +19 44 V +19 33 V +21 87 V +16 27 V +21 48 V +17 28 V +18 16 V +18 32 V +20 32 V +20 8 V +17 65 V +19 45 V +19 31 V +19 18 V +18 15 V +19 -860 V +21 -79 V +15 -8 V +22 -6 V +15 0 V +22 7 V +14 -15 V +19 4 V +18 -9 V +21 -5 V +16 -2 V +21 -4 V +17 -30 V +21 -12 V +18 15 V +20 14 V +19 -17 V +21 0 V +22 1 V +23 -10 V +14 16 V +20 -24 V +18 -19 V +21 16 V +17 -18 V +16 -1 V +20 3 V +16 -1 V +19 -4 V +19 -18 V +19 -3 V +21 -8 V +15 17 V +19 17 V +19 -1 V +20 6 V +15 0 V +18 2 V +19 9 V +18 -18 V +18 50 V +22 -7 V +16 13 V +17 -10 V +17 -6 V +19 26 V +20 19 V +18 42 V +21 -5 V +20 34 V +37 45 V +21 -13 V +19 4 V +20 -63 V +19 -174 V +20 -27 V +19 -5 V +19 -52 V +19 635 V +19 107 V +21 35 V +14 -2 V +19 6 V +20 -8 V +17 7 V +18 -11 V +26 -393 V +14 -327 V +stroke 2877 887 M +23 -30 V +14 -6 V +17 4 V +17 -6 V +23 75 V +17 266 V +15 12 V +18 -24 V +17 -24 V +15 -44 V +15 122 V +16 -25 V +13 -228 V +15 -16 V +14 -49 V +13 -23 V +14 -36 V +16 -20 V +16 -41 V +15 136 V +15 -9 V +15 -7 V +17 2 V +17 -48 V +16 5 V +16 21 V +15 -6 V +14 12 V +14 -36 V +13 -32 V +12 -7 V +15 -35 V +15 -1 V +12 -17 V +15 9 V +17 24 V +13 18 V +19 31 V +22 28 V +19 15 V +19 -32 V +20 14 V +20 -43 V +19 -37 V +18 -16 V +19 -22 V +19 0 V +19 0 V +19 -13 V +21 -9 V +19 -2 V +19 -10 V +21 22 V +15 -9 V +17 -5 V +18 31 V +22 208 V +16 31 V +19 26 V +15 -81 V +21 -214 V +17 -6 V +15 20 V +19 -17 V +20 -3 V +16 13 V +19 -1 V +15 0 V +18 3 V +20 7 V +19 -2 V +14 -8 V +20 11 V +17 -6 V +17 -15 V +18 13 V +19 8 V +15 1 V +20 5 V +16 -12 V +18 -3 V +16 -7 V +20 1 V +17 2 V +18 8 V +15 -10 V +23 30 V +20 32 V +15 -62 V +16 1 V +25 12 V +23 21 V +19 4 V +14 14 V +19 33 V +17 23 V +15 24 V +15 13 V +13 23 V +13 29 V +15 21 V +16 39 V +19 55 V +15 33 V +stroke 4656 1083 M +17 42 V +19 -39 V +18 30 V +18 77 V +20 1 V +20 2 V +18 -3 V +20 19 V +20 20 V +16 28 V +18 -72 V +18 -1 V +22 1 V +15 -10 V +stroke +LTw +% End plot #2 +% Begin plot #3 +1.500 UL +LTb +LCb setrgbcolor +[] 0 setdash +0.99 0.69 0.24 C LCb setrgbcolor +1.500 UL +LTb +0.99 0.69 0.24 C 4505 2002 M +162 0 V +637 1000 M +24 28 V +19 48 V +19 -59 V +19 -81 V +18 -31 V +754 777 L +22 11 V +14 29 V +20 7 V +15 90 V +23 25 V +19 47 V +18 39 V +26 -80 V +19 1 V +17 -13 V +13 9 V +15 -27 V +16 13 V +19 23 V +17 27 V +15 40 V +19 29 V +18 19 V +19 31 V +18 30 V +17 27 V +18 43 V +18 15 V +19 56 V +20 35 V +16 41 V +21 22 V +18 29 V +20 47 V +17 41 V +19 18 V +19 44 V +21 36 V +16 41 V +21 47 V +17 41 V +18 56 V +18 32 V +20 82 V +20 -880 V +17 4 V +19 10 V +19 7 V +19 -8 V +18 -10 V +19 -9 V +21 11 V +15 -14 V +22 -4 V +15 -2 V +22 -4 V +14 -2 V +19 0 V +18 -8 V +21 -3 V +16 0 V +21 -16 V +17 -37 V +21 -3 V +18 13 V +20 6 V +19 -1 V +21 -5 V +22 0 V +23 11 V +14 -3 V +20 -10 V +18 -5 V +21 2 V +17 -6 V +16 -2 V +20 4 V +16 11 V +19 -8 V +19 -8 V +19 -3 V +21 -12 V +15 25 V +19 -8 V +19 29 V +20 -9 V +15 13 V +18 -6 V +19 20 V +18 3 V +18 7 V +22 37 V +16 6 V +17 -20 V +17 -4 V +19 26 V +20 29 V +18 14 V +21 13 V +20 15 V +37 16 V +21 -21 V +19 -78 V +20 -15 V +19 -91 V +20 -28 V +19 -70 V +19 -38 V +19 10 V +stroke 2709 771 M +19 -3 V +21 5 V +14 5 V +19 -7 V +20 12 V +17 1 V +18 2 V +26 19 V +14 24 V +23 30 V +14 -47 V +17 2 V +17 28 V +23 35 V +17 30 V +15 40 V +18 29 V +17 68 V +15 -14 V +15 1 V +16 -78 V +13 44 V +15 7 V +14 -85 V +13 -13 V +14 -2 V +16 17 V +16 13 V +15 21 V +15 -16 V +15 -12 V +17 3 V +17 -57 V +16 -17 V +16 17 V +15 -17 V +14 -24 V +14 -4 V +13 -24 V +12 0 V +15 -24 V +15 7 V +12 -14 V +15 9 V +17 26 V +13 20 V +19 40 V +22 33 V +19 20 V +19 -21 V +20 11 V +20 46 V +19 -7 V +18 -142 V +19 -31 V +19 -23 V +19 6 V +19 -8 V +21 -18 V +19 3 V +19 19 V +21 3 V +15 -1 V +17 -25 V +18 62 V +22 96 V +16 -7 V +19 -5 V +15 -51 V +21 -92 V +17 -2 V +15 -2 V +19 -3 V +20 12 V +16 2 V +19 5 V +15 1 V +18 -4 V +20 7 V +19 8 V +14 -6 V +20 5 V +17 -5 V +17 -4 V +18 -5 V +19 8 V +15 1 V +20 -10 V +16 -15 V +18 -3 V +16 -5 V +20 0 V +17 -5 V +18 6 V +15 16 V +23 16 V +20 21 V +15 -26 V +16 -25 V +25 26 V +23 22 V +19 4 V +14 8 V +19 28 V +stroke 4518 812 M +17 33 V +15 12 V +15 26 V +13 21 V +13 11 V +15 34 V +16 38 V +19 60 V +15 41 V +17 36 V +19 -30 V +18 31 V +18 53 V +20 -6 V +20 35 V +18 -11 V +20 -16 V +20 -389 V +16 -46 V +18 46 V +18 30 V +22 -28 V +15 -33 V +stroke +LTw +% End plot #3 +2.000 UL +LTb +LCb setrgbcolor +[] 0 setdash +1.000 UL +LTb +594 2615 N +594 704 L +4337 0 V +0 1911 V +-4337 0 V +Z stroke +1.000 UP +1.000 UL +LTb +stroke +grestore +end +showpage +%%Trailer diff --git a/tex/gfx/errorOverTimeWalk0/errorOverTime.tex b/tex/gfx/errorOverTimeWalk0/errorOverTime.tex new file mode 100644 index 0000000..6d22874 --- /dev/null +++ b/tex/gfx/errorOverTimeWalk0/errorOverTime.tex @@ -0,0 +1,118 @@ +% GNUPLOT: LaTeX picture with Postscript +\begingroup + \makeatletter + \providecommand\color[2][]{% + \GenericError{(gnuplot) \space\space\space\@spaces}{% + Package color not loaded in conjunction with + terminal option `colourtext'% + }{See the gnuplot documentation for explanation.% + }{Either use 'blacktext' in gnuplot or load the package + color.sty in LaTeX.}% + \renewcommand\color[2][]{}% + }% + \providecommand\includegraphics[2][]{% + \GenericError{(gnuplot) \space\space\space\@spaces}{% + Package graphicx or graphics not loaded% + }{See the gnuplot documentation for explanation.% + }{The gnuplot epslatex terminal needs graphicx.sty or graphics.sty.}% + \renewcommand\includegraphics[2][]{}% + }% + \providecommand\rotatebox[2]{#2}% + \@ifundefined{ifGPcolor}{% + \newif\ifGPcolor + \GPcolorfalse + }{}% + \@ifundefined{ifGPblacktext}{% + \newif\ifGPblacktext + \GPblacktexttrue + }{}% + % define a \g@addto@macro without @ in the name: + \let\gplgaddtomacro\g@addto@macro + % define empty templates for all commands taking text: + \gdef\gplbacktext{}% + \gdef\gplfronttext{}% + \makeatother + \ifGPblacktext + % no textcolor at all + \def\colorrgb#1{}% + \def\colorgray#1{}% + \else + % gray or color? + \ifGPcolor + \def\colorrgb#1{\color[rgb]{#1}}% + \def\colorgray#1{\color[gray]{#1}}% + \expandafter\def\csname LTw\endcsname{\color{white}}% + \expandafter\def\csname LTb\endcsname{\color{black}}% + \expandafter\def\csname LTa\endcsname{\color{black}}% + \expandafter\def\csname LT0\endcsname{\color[rgb]{1,0,0}}% + \expandafter\def\csname LT1\endcsname{\color[rgb]{0,1,0}}% + \expandafter\def\csname LT2\endcsname{\color[rgb]{0,0,1}}% + \expandafter\def\csname LT3\endcsname{\color[rgb]{1,0,1}}% + \expandafter\def\csname LT4\endcsname{\color[rgb]{0,1,1}}% + \expandafter\def\csname LT5\endcsname{\color[rgb]{1,1,0}}% + \expandafter\def\csname LT6\endcsname{\color[rgb]{0,0,0}}% + \expandafter\def\csname LT7\endcsname{\color[rgb]{1,0.3,0}}% + \expandafter\def\csname LT8\endcsname{\color[rgb]{0.5,0.5,0.5}}% + \else + % gray + \def\colorrgb#1{\color{black}}% + \def\colorgray#1{\color[gray]{#1}}% + \expandafter\def\csname LTw\endcsname{\color{white}}% + \expandafter\def\csname LTb\endcsname{\color{black}}% + \expandafter\def\csname LTa\endcsname{\color{black}}% + \expandafter\def\csname LT0\endcsname{\color{black}}% + \expandafter\def\csname LT1\endcsname{\color{black}}% + \expandafter\def\csname LT2\endcsname{\color{black}}% + \expandafter\def\csname LT3\endcsname{\color{black}}% + \expandafter\def\csname LT4\endcsname{\color{black}}% + \expandafter\def\csname LT5\endcsname{\color{black}}% + \expandafter\def\csname LT6\endcsname{\color{black}}% + \expandafter\def\csname LT7\endcsname{\color{black}}% + \expandafter\def\csname LT8\endcsname{\color{black}}% + \fi + \fi + \setlength{\unitlength}{0.0500bp}% + \ifx\gptboxheight\undefined% + \newlength{\gptboxheight}% + \newlength{\gptboxwidth}% + \newsavebox{\gptboxtext}% + \fi% + \setlength{\fboxrule}{0.5pt}% + \setlength{\fboxsep}{1pt}% +\begin{picture}(5328.00,2880.00)% + \gplgaddtomacro\gplbacktext{% + \csname LTb\endcsname% + \put(462,704){\makebox(0,0)[r]{\strut{}\footnotesize{0}}}% + \put(462,943){\makebox(0,0)[r]{\strut{}\footnotesize{5}}}% + \put(462,1182){\makebox(0,0)[r]{\strut{}\footnotesize{10}}}% + \put(462,1421){\makebox(0,0)[r]{\strut{}\footnotesize{15}}}% + \put(462,1660){\makebox(0,0)[r]{\strut{}\footnotesize{20}}}% + \put(462,1898){\makebox(0,0)[r]{\strut{}\footnotesize{25}}}% + \put(462,2137){\makebox(0,0)[r]{\strut{}\footnotesize{30}}}% + \put(462,2376){\makebox(0,0)[r]{\strut{}\footnotesize{35}}}% + \put(462,2615){\makebox(0,0)[r]{\strut{}\footnotesize{40}}}% + \put(594,484){\makebox(0,0){\strut{}\footnotesize{0}}}% + \put(1214,484){\makebox(0,0){\strut{}\footnotesize{20}}}% + \put(1833,484){\makebox(0,0){\strut{}\footnotesize{40}}}% + \put(2453,484){\makebox(0,0){\strut{}\footnotesize{60}}}% + \put(3072,484){\makebox(0,0){\strut{}\footnotesize{80}}}% + \put(3692,484){\makebox(0,0){\strut{}\footnotesize{100}}}% + \put(4311,484){\makebox(0,0){\strut{}\footnotesize{120}}}% + \put(4931,484){\makebox(0,0){\strut{}\footnotesize{140}}}% + }% + \gplgaddtomacro\gplfronttext{% + \csname LTb\endcsname% + \put(48,1659){\rotatebox{-270}{\makebox(0,0){\strut{}\footnotesize{error in meters}}}}% + \put(2762,154){\makebox(0,0){\strut{}\footnotesize{time in seconds}}}% + \csname LTb\endcsname% + \put(4373,2442){\makebox(0,0)[r]{\strut{}\footnotesize{none}}}% + \csname LTb\endcsname% + \put(4373,2222){\makebox(0,0)[r]{\strut{}\footnotesize{simple}}}% + \csname LTb\endcsname% + \put(4373,2002){\makebox(0,0)[r]{\strut{}\footnotesize{$D_\text{KL}$}}}% + }% + \gplbacktext + \put(0,0){\includegraphics{errorOverTimeWalk0/errorOverTime}}% + \gplfronttext + \end{picture}% +\endgroup diff --git a/tex/gfx/errorOverTimeWalk0/errorOverTimePlotterSolo.gp b/tex/gfx/errorOverTimeWalk0/errorOverTimePlotterSolo.gp new file mode 100644 index 0000000..11a9dc0 --- /dev/null +++ b/tex/gfx/errorOverTimeWalk0/errorOverTimePlotterSolo.gp @@ -0,0 +1,27 @@ +#set terminal pngcairo +#set output "bla.png" + +set terminal epslatex size 3.7,2 +set output "errorOverTime.tex" + +set lmargin 4.5 + +set xlabel "\\footnotesize{time in seconds}" +set ylabel "\\footnotesize{error in meters}" offset +1.7,0 + +set format x "\\footnotesize{%h}" +set format y "\\footnotesize{%h}" + +set key samplen 0.75 + +set yrange [0:40] +set xrange [0:140] + +#set ytics 0,5,15,20,25,30,35 + +plot \ + "none.csv" using ($1/1000):2 with lines lc rgb "#c8c8c8" lw 2.0 title "\\footnotesize{none}", \ + "simple.csv" using ($1/1000):2 with lines lc rgb "#3465A4" lw 1.5 title "\\footnotesize{simple}",\ + "kld.csv" using ($1/1000):2 with lines lc rgb "#FCAF3E" lw 1.5 title "\\footnotesize{$D_\text{KL}$}" + + diff --git a/tex/gfx/errorOverTimeWalk0/kld.csv b/tex/gfx/errorOverTimeWalk0/kld.csv new file mode 100644 index 0000000..eb4cfa8 --- /dev/null +++ b/tex/gfx/errorOverTimeWalk0/kld.csv @@ -0,0 +1,238 @@ +1397 6.19993 +2147 6.78905 +2780 7.7969 +3388 6.55049 +3987 4.84575 +4582 4.21449 +5175 1.53381 +5874 1.75186 +6315 2.35651 +6966 2.51042 +7442 4.38597 +8199 4.91719 +8797 5.89696 +9394 6.71402 +10218 5.0374 +10851 5.06464 +11381 4.80261 +11813 4.98449 +12314 4.41549 +12830 4.69235 +13416 5.17412 +13992 5.73725 +14473 6.56611 +15079 7.18199 +15661 7.57047 +16268 8.22196 +16860 8.85658 +17383 9.4179 +17966 10.3206 +18576 10.6271 +19161 11.8154 +19830 12.5396 +20336 13.401 +21010 13.8512 +21582 14.4671 +22234 15.4464 +22776 16.3047 +23388 16.6916 +24022 17.6137 +24697 18.3659 +25212 19.2113 +25898 20.1917 +26449 21.0578 +27008 22.2361 +27612 22.8941 +28234 24.6063 +28893 6.19906 +29426 6.27014 +30039 6.47876 +30654 6.63153 +31281 6.47162 +31859 6.26004 +32468 6.08006 +33147 6.30388 +33644 6.01234 +34340 5.92293 +34824 5.88397 +35525 5.80075 +35996 5.7494 +36594 5.76254 +37199 5.58176 +37867 5.53414 +38374 5.52134 +39044 5.18934 +39622 4.4178 +40277 4.35365 +40878 4.63079 +41511 4.75373 +42141 4.73962 +42798 4.63192 +43506 4.62933 +44259 4.86182 +44704 4.79622 +45350 4.5921 +45928 4.47571 +46603 4.52197 +47157 4.40352 +47662 4.35502 +48324 4.42961 +48851 4.67326 +49446 4.49579 +50063 4.33231 +50674 4.25958 +51352 4.028 +51852 4.54213 +52440 4.37151 +53082 4.97475 +53708 4.8009 +54201 5.07559 +54773 4.94695 +55408 5.3629 +55979 5.41943 +56561 5.57568 +57250 6.34408 +57776 6.47545 +58320 6.04443 +58895 5.95673 +59479 6.51854 +60142 7.11018 +60725 7.41971 +61407 7.67193 +62042 8.00574 +63244 8.3328 +63912 7.88453 +64544 6.25515 +65178 5.93859 +65803 4.03147 +66428 3.45293 +67040 1.97883 +67670 1.19252 +68267 1.40188 +68883 1.33236 +69556 1.45063 +70029 1.5529 +70640 1.39382 +71266 1.66224 +71812 1.67483 +72393 1.71601 +73231 2.1226 +73689 2.62162 +74433 3.24753 +74891 2.26601 +75453 2.30805 +75980 2.89017 +76716 3.62985 +77289 4.25463 +77771 5.08862 +78359 5.68764 +78903 7.109 +79390 6.82985 +79855 6.84766 +80377 5.21841 +80809 6.1391 +81284 6.27306 +81725 4.49419 +82169 4.2318 +82609 4.18421 +83131 4.54293 +83634 4.8144 +84107 5.24581 +84619 4.92636 +85105 4.6741 +85632 4.72616 +86204 3.54124 +86719 3.18665 +87222 3.54664 +87693 3.19104 +88169 2.67085 +88606 2.5957 +89014 2.0945 +89419 2.08916 +89903 1.58865 +90370 1.72719 +90788 1.43543 +91267 1.64245 +91803 2.16707 +92225 2.60589 +92842 3.4312 +93555 4.13101 +94156 4.54059 +94784 4.10089 +95424 4.32359 +96062 5.28991 +96682 5.15141 +97246 2.18069 +97866 1.52788 +98472 1.03667 +99100 1.16198 +99717 0.996004 +100390 0.633698 +101006 0.68494 +101612 1.08458 +102301 1.16119 +102773 1.12442 +103328 0.59751 +103895 1.89686 +104607 3.91093 +105144 3.75924 +105766 3.6703 +106223 2.59705 +106919 0.663304 +107447 0.632868 +107936 0.596131 +108557 0.520084 +109196 0.769137 +109712 0.810533 +110350 0.920236 +110821 0.937047 +111384 0.859429 +112034 1.01479 +112643 1.16702 +113101 1.04656 +113750 1.16135 +114308 1.05461 +114868 0.955469 +115422 0.859195 +116052 1.01831 +116532 1.0515 +117189 0.840832 +117706 0.52223 +118290 0.453286 +118777 0.364507 +119452 0.350548 +119994 0.25385 +120580 0.377614 +121059 0.715532 +121786 1.05387 +122429 1.49319 +122914 0.936442 +123426 0.410043 +124256 0.968082 +124989 1.4312 +125589 1.51165 +126043 1.67599 +126672 2.26866 +127223 2.95967 +127686 3.21265 +128197 3.74563 +128610 4.18989 +129023 4.42126 +129518 5.12133 +130040 5.93071 +130635 7.17051 +131132 8.04091 +131665 8.78291 +132275 8.16087 +132851 8.81123 +133458 9.92664 +134088 9.80608 +134723 10.537 +135316 10.3004 +135950 9.95346 +136625 1.82772 +137118 0.864081 +137695 1.82202 +138278 2.45121 +139011 1.85301 +139494 1.17228 diff --git a/tex/gfx/errorOverTimeWalk0/none.csv b/tex/gfx/errorOverTimeWalk0/none.csv new file mode 100644 index 0000000..24c84a0 --- /dev/null +++ b/tex/gfx/errorOverTimeWalk0/none.csv @@ -0,0 +1,238 @@ +1397 6.07953 +2147 7.24435 +2780 8.4086 +3388 6.69965 +3987 4.2294 +4582 2.3429 +5175 1.74756 +5874 1.44414 +6315 1.73025 +6966 4.04963 +7442 3.52216 +8199 4.10104 +8797 5.69802 +9394 6.5191 +10218 7.89197 +10851 4.50313 +11381 5.10591 +11813 4.50672 +12314 4.22083 +12830 4.98271 +13416 5.61551 +13992 5.94671 +14473 6.56757 +15079 7.2162 +15661 7.47552 +16268 8.13217 +16860 8.85615 +17383 9.41824 +17966 10.3214 +18576 10.974 +19161 12.0915 +19830 12.8126 +20336 13.0921 +21010 13.8609 +21582 14.7405 +22234 15.7052 +22776 16.306 +23388 17.2407 +24022 18.1655 +24697 19.4573 +25212 20.5652 +25898 21.5749 +26449 21.8906 +27008 22.2175 +27612 22.8676 +28234 23.0238 +28893 24.0101 +29426 25.1087 +30039 26.0424 +30654 26.7048 +31281 27.1187 +31859 27.732 +32468 28.1179 +33147 28.8781 +33644 28.8522 +34340 29.8703 +34824 30.4129 +35525 31.4452 +35996 32.7525 +36594 33.1202 +37199 34.322 +37867 33.6722 +38374 34.2197 +39044 35.221 +39622 35.2139 +40277 35.7578 +40878 36.0613 +41511 36.6057 +42141 36.0928 +42798 35.2721 +43506 35.0644 +44259 34.2886 +44704 34.5637 +45350 32.8852 +45928 32.769 +46603 32.2086 +47157 30.9709 +47662 29.928 +48324 28.8339 +48851 28.4744 +49446 28.7032 +50063 28.0332 +50674 26.9594 +51352 26.6709 +51852 26.5957 +52440 25.4228 +53082 24.4144 +53708 23.2201 +54201 22.8943 +54773 21.9364 +55408 21.2097 +55979 20.7963 +56561 19.9762 +57250 19.5637 +57776 19.2941 +58320 18.8994 +58895 18.9806 +59479 19.6514 +60142 20.122 +60725 20.433 +61407 20.7092 +62042 20.771 +63244 20.4165 +63912 20.4256 +64544 20.2185 +65178 22.932 +65803 21.6826 +66428 22.3667 +67040 22.4164 +67670 23.2254 +68267 23.6518 +68883 24.2203 +69556 24.9578 +70029 25.0387 +70640 25.6111 +71266 26.4509 +71812 26.9675 +72393 29.3697 +73231 30.0618 +73689 24.5575 +74433 14.4014 +74891 15.1919 +75453 16.1233 +75980 17.0006 +76716 17.8202 +77289 17.987 +77771 17.3785 +78359 17.1848 +78903 17.2649 +79390 17.835 +79855 10.3201 +80377 16.2376 +80809 11.4777 +81284 11.1176 +81725 9.44099 +82169 6.81634 +82609 5.10095 +83131 4.38929 +83634 3.90185 +84107 3.94173 +84619 3.68766 +85105 3.54512 +85632 3.6234 +86204 3.66396 +86719 3.44522 +87222 3.50183 +87693 3.32335 +88169 3.20137 +88606 3.26356 +89014 2.67688 +89419 2.59263 +89903 1.88629 +90370 1.70802 +90788 1.41061 +91267 1.62384 +91803 2.12587 +92225 2.46169 +92842 3.20484 +93555 3.84387 +94156 4.30674 +94784 3.64875 +95424 4.15272 +96062 3.15346 +96682 2.32072 +97246 1.66047 +97866 1.2836 +98472 1.04869 +99100 0.934567 +99717 0.737626 +100390 0.516158 +101006 0.684788 +101612 0.97058 +102301 0.560054 +102773 0.525761 +103328 0.597509 +103895 0.747411 +104607 4.42276 +105144 5.984 +105766 5.07643 +106223 4.55015 +106919 0.303884 +107447 0.438016 +107936 0.555922 +108557 0.265537 +109196 0.789443 +109712 0.810533 +110350 0.920236 +110821 0.797816 +111384 0.859429 +112034 1.01479 +112643 0.962713 +113101 0.972133 +113750 0.954188 +114308 1.05461 +114868 0.955469 +115422 0.859195 +116052 1.01831 +116532 0.914226 +117189 0.840832 +117706 0.899663 +118290 0.653933 +118777 0.48348 +119452 0.864926 +119994 0.25385 +120580 0.411101 +121059 0.457417 +121786 1.40583 +122429 1.8621 +122914 0.809491 +123426 0.450606 +124256 0.832564 +124989 1.38906 +125589 1.65052 +126043 1.5898 +126672 2.71638 +127223 3.27377 +127686 3.44395 +128197 3.98112 +128610 4.17195 +129023 4.64286 +129518 5.08412 +130040 5.77407 +130635 6.65101 +131132 7.57272 +131665 8.41578 +132275 9.33037 +132851 10.3646 +133458 11.2509 +134088 9.99877 +134723 10.2642 +135316 10.6438 +135950 10.5259 +136625 10.872 +137118 11.3637 +137695 10.4616 +138278 10.101 +139011 10.3559 +139494 10.3743 diff --git a/tex/gfx/errorOverTimeWalk0/simple.csv b/tex/gfx/errorOverTimeWalk0/simple.csv new file mode 100644 index 0000000..b36f59b --- /dev/null +++ b/tex/gfx/errorOverTimeWalk0/simple.csv @@ -0,0 +1,238 @@ +1397 6.16377 +2147 6.21826 +2780 7.13779 +3388 5.61016 +3987 4.64573 +4582 4.31845 +5175 4.74023 +5874 1.14821 +6315 2.35651 +6966 4.29394 +7442 5.30889 +8199 5.49899 +8797 5.69802 +9394 6.32867 +10218 7.70248 +10851 4.78859 +11381 4.86831 +11813 5.05386 +12314 4.9993 +12830 5.52235 +13416 5.61495 +13992 5.9796 +14473 6.56672 +15079 7.2176 +15661 7.84197 +16268 8.22053 +16860 8.85622 +17383 9.41776 +17966 10.0455 +18576 10.6988 +19161 11.8124 +19830 12.5467 +20336 13.1208 +21010 13.8465 +21582 14.4408 +22234 15.7055 +22776 16.3055 +23388 17.2259 +24022 17.9261 +24697 19.7432 +25212 20.2995 +25898 21.3156 +26449 21.8904 +27008 22.2222 +27612 22.8892 +28234 23.5621 +28893 23.7342 +29426 25.1028 +30039 26.0355 +30654 26.6931 +31281 27.0725 +31859 27.376 +32468 9.38476 +33147 7.72224 +33644 7.56068 +34340 7.43044 +34824 7.43692 +35525 7.58439 +35996 7.26041 +36594 7.34406 +37199 7.16202 +37867 7.04702 +38374 7.00249 +39044 6.92038 +39622 6.30994 +40277 6.05053 +40878 6.35278 +41511 6.65524 +42141 6.29489 +42798 6.29206 +43506 6.31286 +44259 6.11088 +44704 6.44467 +45350 5.93542 +45928 5.5403 +46603 5.87352 +47157 5.49551 +47662 5.47381 +48324 5.55697 +48851 5.53246 +49446 5.44229 +50063 5.0741 +50674 4.9989 +51352 4.84293 +51852 5.19717 +52440 5.54891 +53082 5.52795 +53708 5.6461 +54201 5.65448 +54773 5.69915 +55408 5.88981 +55979 5.49737 +56561 6.5434 +57250 6.39904 +57776 6.68204 +58320 6.45993 +58895 6.34385 +59479 6.89618 +60142 7.28893 +60725 8.17373 +61407 8.04965 +62042 8.77024 +63244 9.70249 +63912 9.43347 +64544 9.51431 +65178 8.20173 +65803 4.56468 +66428 4.00567 +67040 3.89773 +67670 2.80159 +68267 16.0974 +68883 18.3393 +69556 19.0651 +70029 19.0331 +70640 19.1616 +71266 18.9929 +71812 19.1315 +72393 18.8924 +73231 10.674 +73689 3.82526 +74433 3.19427 +74891 3.06907 +75453 3.16604 +75980 3.03632 +76716 4.60461 +77289 10.1825 +77771 10.4252 +78359 9.93167 +78903 9.41037 +79390 8.5019 +79855 11.0506 +80377 10.5355 +80809 5.75933 +81284 5.41579 +81725 4.40479 +82169 3.91701 +82609 3.15771 +83131 2.73997 +83634 1.87847 +84107 4.72201 +84619 4.54966 +85105 4.4035 +85632 4.43062 +86204 3.43339 +86719 3.52772 +87222 3.96957 +87693 3.86081 +88169 4.10634 +88606 3.35644 +89014 2.67267 +89419 2.53557 +89903 1.80047 +90370 1.78815 +90788 1.42822 +91267 1.61452 +91803 2.10898 +92225 2.49944 +92842 3.14813 +93555 3.71985 +94156 4.03309 +94784 3.37856 +95424 3.67046 +96062 2.76271 +96682 1.98954 +97246 1.66261 +97866 1.18761 +98472 1.20219 +99100 1.18921 +99717 0.916861 +100390 0.728765 +101006 0.684761 +101612 0.479858 +102301 0.937473 +102773 0.755732 +103328 0.647493 +103895 1.29352 +104607 5.64103 +105144 6.30242 +105766 6.85077 +106223 5.1406 +106919 0.663304 +107447 0.537899 +107936 0.961022 +108557 0.613557 +109196 0.544021 +109712 0.810533 +110350 0.79129 +110821 0.797816 +111384 0.859429 +112034 1.01479 +112643 0.962713 +113101 0.805199 +113750 1.02816 +114308 0.908272 +114868 0.578153 +115422 0.859195 +116052 1.01831 +116532 1.0515 +117189 1.16121 +117706 0.899663 +118290 0.826868 +118777 0.698487 +119452 0.70789 +119994 0.760678 +120580 0.926466 +121059 0.718956 +121786 1.3313 +122429 2.00934 +122914 0.711335 +123426 0.740663 +124256 0.989774 +124989 1.4312 +125589 1.5116 +126043 1.80982 +126672 2.49043 +127223 2.97551 +127686 3.47888 +128197 3.74689 +128610 4.22324 +129023 4.83875 +129518 5.26698 +130040 6.0928 +130635 7.23405 +131132 7.94181 +131665 8.8219 +132275 7.98559 +132851 8.61337 +133458 10.2335 +134088 10.2648 +134723 10.2942 +135316 10.2271 +135950 10.623 +136625 11.0421 +137118 11.635 +137695 10.1396 +138278 10.1016 +139011 10.1347 +139494 9.93136 diff --git a/tex/gfx/errorOverTime.eps b/tex/gfx/errorOverTimeWalk1/errorOverTime.eps similarity index 100% rename from tex/gfx/errorOverTime.eps rename to tex/gfx/errorOverTimeWalk1/errorOverTime.eps diff --git a/tex/gfx/errorOverTime.tex b/tex/gfx/errorOverTimeWalk1/errorOverTime.tex similarity index 98% rename from tex/gfx/errorOverTime.tex rename to tex/gfx/errorOverTimeWalk1/errorOverTime.tex index c80ebba..e21b06a 100644 --- a/tex/gfx/errorOverTime.tex +++ b/tex/gfx/errorOverTimeWalk1/errorOverTime.tex @@ -106,7 +106,7 @@ \put(4373,2046){\makebox(0,0)[r]{\strut{}\footnotesize{BoxKDE}}}% }% \gplbacktext - \put(0,0){\includegraphics{errorOverTime}}% + \put(0,0){\includegraphics{errorOverTimeWalk1/errorOverTime}}% \gplfronttext \end{picture}% \endgroup