% PCA vs NNMF, normal plane position

pca_cost = [0.114339; 0.0852427; 0.0882786; 0.0930713; 0.0788168];
nnmf_cost = [0.210271; 0.104824; 0.134279; 0.108359; 0.123081];
pca_task = [0.0559383; 0.00629124; 0.00986189; 0.0390495; 0.00920815];
nnmf_task = [0.127276; 0.0215442; 0.0181829; 0.0159025; 0.0234073];
%effort terms
pca_act = [0.0347131; 0.026684; 0.0210003; 0.0330257; 0.0276431];
nnmf_act = [0.0612097; 0.042475; 0.0685271; 0.0610598; 0.0416389];

display('overall cost difference');
mean(pca_cost) - mean(nnmf_cost)

task_weight = 5;
task_diff = sqrt(pca_task/task_weight) - sqrt(nnmf_task/task_weight);
display('mean difference in cm')
mean(task_diff) * 100

% PCA vs NNMF,  plane position 60 cm higher than normal position
display('the plane 60cm higher')

pca_cost_2 = [0.204972; 0.096766; 0.174539; 0.082121; 0.174185];
nnmf_cost_2 = [0.254242; 0.145478; 0.282049; 0.151308; 0.242741];
pca_task_2 = [0.103455; 0.0100112; 0.121832; 0.0455856; 0.107259];
nnmf_task_2 = [0.116119; 0.0232259; 0.145327; 0.0574392; 0.100637];
pca_act_2 = [0.043644; 0.0278806; 0.0389474; 0.0281397; 0.0409878];
nnmf_act_2 = [0.0742463; 0.0594022; 0.0789804; 0.0589225; 0.0816767];

display('overall cost difference');
mean(pca_cost_2 - nnmf_cost_2)