Beispiel #1
0
def run():
    c = Chrono()
    generateFromRBFN(2, "Full", "Test")
    c.stop()
Beispiel #2
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def run():
    generateFromRBFN(30, "Full", "Test")
Beispiel #3
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def chooseFunction(choix):
    if choix == 1:
        plotVelocityProfile("Brent")
    elif choix == 2:
        plotArticularPositions("Brent")
    elif choix == 3:
        plotXYPositions("Brent")
    elif choix == 4:
        plotMuscularActivations("Brent")

#------------------------------------------- RBFN
    elif choix == 5:
        name = raw_input('Name of file to save the RBFN controller: ')
        c = Chrono()
#        runRBFN(name,True)
        runRBFN(name,False)
        c.stop()
    elif choix == 6:
        name = raw_input('Name of the RBFN controller file: ')
        fname = raw_input('Folder where you want to save the results: ')
        nbret = input("Number of repeat for each trajectory (int): ")
        c = Chrono()
        generateFromRBFN(nbret, name, fname)
        c.stop()
    elif choix == 7:
        nameF = raw_input('Folder where the results are saved: ')
        plotVelocityProfile("RBFN",nameF)
    elif choix == 8:
        nameF = raw_input('Folder where the results are saved: ')
        rorc = input("enter 1 if XY or 2 if Joint results: ")
        rorc = int(rorc)
        if rorc == 1:
            plotXYPositions("RBFN",nameF,"All",True)#False)#
        else:
            plotArticularPositions("RBFN",nameF)
    elif choix == 9:
        nameF = raw_input('Folder where the results are saved: ')
        plotMuscularActivations("RBFN",nameF)
    elif choix == 10:
        nameF = raw_input('Folder where the results are saved: ')
        plotCostColorMap("RBFN",nameF)
    elif choix == 28:
        nameF = raw_input('Folder where the results are saved: ')
        plotXYEstimError("RBFN",nameF,"All")
    elif choix == 29:
        nameF = raw_input('Folder where the results are saved: ')
        plotXYEstimErrorOfSpeed("RBFN",nameF,"All")

#------------------------------------------- CMAES
    elif choix == 11:
        rorc = input("enter 1 if from RBFN, anything if from previous CMAES: ")
        save = False
        rorc = int(rorc)
        if rorc == 1:
            save = True
        name = raw_input('Name of the controller file: ')
        c = Chrono()
        launchCMAESForAllTargetSizes(name,save)
        c.stop()
    elif choix == 12:
        nameTheta = raw_input('Name of the controller file: ')
        name = raw_input('Folder where you want to save the results: ')
        nbret = input("Number of repeat for each trajectory (int): ")
        nbret = int(nbret)
        generateFromCMAES(nbret, nameTheta, name)
    elif choix == 13:
        nameF = raw_input('Folder where the results are saved: ')
        plotVelocityProfile("CMAES",nameF)
    elif choix == 14:
        nameF = raw_input('Folder where the results are saved: ')
        rorc = input("enter 1 if XY or 2 if Joint results: ")
        rorc = int(rorc)
        if rorc == 1:
            plotXYPositions("CMAES",nameF,"All",False)
        else:
            tSize = raw_input('Target Size: ')
            plotArticularPositions("CMAES",nameF,tSize)
    elif choix == 15:
        nameF = raw_input('Folder where the results are saved: ')
        tSize = raw_input('Target Size: ')
        plotMuscularActivations("CMAES",nameF,tSize)
    elif choix == 16:
        nameF = raw_input('Folder where the results are saved: ')
        #tSize = raw_input('Target Size: ')
        #plotCostColorMap("CMAES",nameF,tSize)
        plotCostColorMap("CMAES",nameF)
    elif choix == 17:
        nameF = raw_input('Folder where the results are saved: ')
        plotTimeDistanceTarget(nameF)
    elif choix == 18:
        nameF = raw_input('Folder where the results are saved: ')
        plotPerfSizeDist(nameF)
    elif choix == 19:
        nameF = raw_input('Folder where the results are saved: ')
        plotFittsLaw(nameF)
    elif choix == 20:
        nameF = raw_input('Folder where the results are saved: ')
        plotTimeColorMap("CMAES",nameF)
    elif choix == 21:
        rorc = input("enter 0 if Brent, 1 if RBFN or 2 if CMAES results: ")
        rorc = int(rorc)
        if rorc == 0:
            trajectoriesAnimation("Brent")
        elif rorc == 1:
            nameF = raw_input('Folder where the results are saved: ')
            trajectoriesAnimation("RBFN",nameF)
        elif rorc == 2:
            nameF = raw_input('Folder where the results are saved: ')
            tSize = raw_input('Target Size: ')
            trajectoriesAnimation("CMAES",nameF, tSize)
    elif choix == 22:
        nameF = raw_input('Folder where the results are saved: ')
        rorc = input("enter 1 if RBFN or 2 if CMAES results: ")
        #plotHitDispersion(nameF,"0.05")
        rorc = int(rorc)
        if rorc == 1:
            plotScattergram("RBFN",nameF)
        elif rorc == 2:
            plotScattergram("CMAES",nameF)
    elif choix == 23:
        name = raw_input('Name of the controller file: ')
        rorc = input("enter 1 if from RBFN, anything if from previous CMAES: ")
        save = False
        rorc = int(rorc)
        if rorc == 1:
            save = True
        tSize = raw_input('Target Size: ')
        c = Chrono()
        launchCMAESForSpecificTargetSize(float(tSize),name,save)
        c.stop()
    elif choix == 24:
        plotCMAESProgress()
    elif choix == 25:
        name = raw_input('Name of the RBFN controller file: ')
        fname = raw_input('Folder where you want to save the results: ')
        nbret = input("Number of repeat for each trajectory (int): ")
        c = Chrono()
        generateRichDataFromRBFN(nbret, name, fname)
        c.stop()
    elif choix == 26:
        nameTheta = raw_input('Name of the controller file: ')
        name = raw_input('Folder where you want to save the results: ')
        nbret = input("Number of repeat for each trajectory (int): ")
        nbret = int(nbret)
        c = Chrono()
        generateRichDataFromCMAES(nbret, nameTheta, name)
        c.stop()
    elif choix == 27:
        plotTrajsInRepo()
    elif choix == 30:
        nameF = raw_input('Folder where the results are saved: ')
        plotXYEstimError("CMAES",nameF,"All")
    elif choix == 31:
        nameF = raw_input('Folder where the results are saved: ')
        plotXYEstimErrorOfSpeed("CMAES",nameF,"All")
    elif choix == 32:
        plotExperimentSetup()
    elif choix == 33:
        plotManipulability()
    elif choix == 34:
        plotManipulability2()
Beispiel #4
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def testRBFNs():
     for i in range(3):
        c = Chrono()
        generateFromRBFN(3, "R"+str(i), "SR"+str(i))
        c.stop()
Beispiel #5
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def run():
    generateFromRBFN(30, "Full", "Test")
def run():
    c = Chrono()
    generateFromRBFN(2, "Full4", "Test")
    c.stop()