function plotall%% Copyright (c) 2008 Sylvain Calinon, % LASA Lab, EPFL, CH-1015 Lausanne, Switzerland, % http://www.calinon.ch, http://lasa.epfl.chnbSamples=3;[priors,Mu,Sigma] = readGmmFile('../outdata/gmm.txt');Data=[];for n=1:nbSamples  Datatmp = load(['../outdata/data' num2str(n,'%.2d') '_rescaled.txt'])';  Data = [Data , Datatmp];endnbVar = size(Datatmp,1);nbData = size(Datatmp,2);regr = load(['../outdata/gmr_Mu.txt'])';rgSigma = load(['../outdata/gmr_Sigma.txt'])';size(regr)rgSigma = reshape(rgSigma,nbVar-1,nbVar-1,nbData);%% Plot GMM%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% Axis parametersminX = min(Data(1,:));maxX = max(Data(1,:));dYmax=1E-10;for i=1:nbVar-1  dY(i) = max(Data(i+1,:)) - min(Data(i+1,:));  if dY(i)>dYmax    dYmax=dY(i);  endendfor i=1:nbVar-1  minY(i) = min(Data(i+1,:))+(dY(i)/2)-1.3*(dYmax/2);   maxY(i) = min(Data(i+1,:))+(dY(i)/2)+1.3*(dYmax/2);endfigure('position',[20,-80,1200,700],'GMM/GMR');%Plot GMMfor i=1:nbVar-1  subplot(2,nbVar-1,i); hold on; box on;  plotGMM(Mu([1 i+1],:),Sigma([1 i+1],[1 i+1],:),[0.3 0.1 0],1);  for n=1:nbSamples    plot(Data(1,(n-1)*nbData+1:n*nbData),Data(i+1,(n-1)*nbData+1:n*nbData),'k-');  end  axis([minX maxX minY(i) maxY(i)]);  xlabel('t'); ylabel(['x_' num2str(i)]);end%Plot GMRfor i=1:nbVar-1  subplot(2,nbVar-1,i+nbVar-1); hold on; box on;  plotGMM(regr([1 i+1],:),rgSigma(i,i,:),[0 0.3 0.1],3);  axis([minX maxX minY(i) maxY(i)]);  xlabel('t'); ylabel(['x_' num2str(i)]);endpause;close all;