def testRegression(setupFile, thetaFile):
"""
"""
rs=ReadXmlFile(setupFile)
stateAll, commandAll = loadTrajs(pathDataFolder + "Brent/", 0.01, rs.det)
stateAll=np.array(stateAll)
arm=ArmType[rs.Arm]()
trajReg = np.empty_like(stateAll)
trajMaker = TrajMaker(rs,0.02,None,rs.path+thetaFile)
for i in range(stateAll.shape[0]):
coordHand = arm.mgdEndEffector(stateAll[i][0][2:])
trajReg[i]=trajMaker.runTrajectory2(coordHand[0], coordHand[1])[0]
plotRegBrent(trajReg, stateAll)
