def controller(A, B1, B2, C, D1, D2, name):
states = helper.load_states()
states[name] = {
'value': [A, B1, B2, C, D1, D2],
'A': states[A],
'B1': states[B1],
'B2': states[B2],
'C': states[C],
'D1': states[D1],
'D2': states[D2],
'controls': {},
'outputs': {},
'meta': {
'what': 'controller',
'A': states[A]['meta'],
'B1': states[B1]['meta'],
'B2': states[B2]['meta'],
'C': states[C]['meta'],
'D1': states[D1]['meta'],
'D2': states[D2]['meta']
}
}
helper.save_states(states)
result = 'x_c\' = ' + A + 'x_c + ' + B1 + 'y + ' + B2 + 'r , u = ' + C + 'x_c + ' + D1 + 'y + ' + D2 + 'r'
return result
def plotdata(name, plot):
x = []
y = []
with open(states[name]['value'], mode='r') as infile:
mappingfile = csv.reader(infile)
for row in mappingfile:
x.append(row[0].strip())
y.append(row[1].strip())
# create a new plot with a title and axis labels
TOOLS = "pan,wheel_zoom,box_zoom,reset,save,box_select,lasso_select"
p = plt.figure(title="Data Visualization",
tools=TOOLS,
x_axis_label='x',
y_axis_label='y')
# add a line renderer with legend and line thickness
#p.line(x, y, legend=output, line_width=2)
p.circle(x, y, size=10, color="navy", alpha=0.5)
from bokeh.resources import CDN
from bokeh.embed import components
script, div = components(p)
states[plot] = {'meta': {}}
states[plot]['meta'] = {'what': 'plot', 'script': script, 'div': div}
helper.save_states()
return 'Data plot created. Type gdisplay ' + plot + ' to display'
def matrix(name, value):
states = helper.load_states()
val = np.matrix(json.loads(value))
str_vec = helper.to_str_repr(val)
#print(states, file=sys.stderr)
states[name] = {'value': val, 'meta': {'what': 'matrix', 'value': str_vec}}
helper.save_states(states)
return states[name]['value'].tolist()
def generate_grid(name, height, width):
image_shape = (height, width)
states = helper.load_states()
f = os.path.join(app.config['UPLOAD_FOLDER'], states[name]['value'])
image = scipy.misc.imresize(scipy.misc.imread(name=f, flatten=True), image_shape)
str_vec = helper.to_str_repr(np.array(image))
states[name+'_grid'] = {'value': np.matrix(image), 'meta': {'what': 'matrix', 'value': str_vec}}
helper.save_states(states)
#matrix(name+'_grid', np.array(image))
return 'Grid matrix generated. Type gdisplay ' + name + '_grid to display.'
def lambert(r1, r2, t, prograde, mu, name):
omt_ins = omt.omt()
omt_ins.lambert(json.loads(r1), json.loads(r2), float(t), bool(prograde), float(mu))
#omt_ins.lambert([5000,10000,2100], [-14600,2500,7000], 3600, True, 398600)
#return "Initial position: " + str(r1) + ", initial velocity: " + str(omt_ins.get_v0())
states = helper.load_states()
states[name] = {'value': [r1, omt_ins.get_v0()], 'meta': {'what': 'orbit', 'h': omt_ins.get_h(), 'a': omt_ins.get_a(),
'e': omt_ins.get_e(), 'Omega': omt_ins.get_Omega(), 'i': omt_ins.get_i(), 'omega': omt_ins.get_omega()}}
helper.save_states(states)
return "Orbit calculated. To display orbital elements type gdisplay " + name + "."
def generate_grid_obstacles(name, threshold_value, new_name):
states = helper.load_states()
array_np = np.array(states[name]['value'])
more_then = array_np >= threshold_value
less_then = array_np < threshold_value
array_np[more_then] = 1
array_np[less_then] = 0
# print(array_np, file=sys.stderr)
str_vec = helper.to_str_repr(array_np)
states[new_name] = {'value': np.matrix(array_np), 'meta': {'what': 'matrix', 'value': str_vec}}
helper.save_states(states)
return 'New grid matrix generated. Type gdisplay ' + new_name + ' to display.'
def simulate(output, G, init, inp, time, plot):
states = helper.load_states()
t1 = time
dt = 0.1
ts = []
ys = []
def f(t, y, arg1):
return states[G]['A']['value'] * y.reshape(
y.size, 1) + states[G]['B']['value'] * inp
def jac(t, y, arg1):
return states[G]['A']['value']
def solout(t, y):
ts.append(t)
ys.append(y)
r = ode(f, jac).set_integrator('vode', method='bdf', with_jacobian=True)
r.set_initial_value(init, 0).set_f_params(0.0).set_jac_params(
0.0) #.set_solout(solout)
solout(0, np.asscalar(init[states[G]['outputs'][output]].real))
while r.successful() and r.t < t1:
r.integrate(r.t + dt)
out = states[G]['C']['value'] * r.y.reshape(
r.y.size, 1) + states[G]['D']['value'] * inp
solout(r.t, np.asscalar(out[states[G]['outputs'][output]].real))
print([r.t, np.asscalar(out[states[G]['outputs'][output]].real)],
file=sys.stderr)
# create a new plot with a title and axis labels
TOOLS = "pan,wheel_zoom,box_zoom,reset,save,box_select,lasso_select"
p = plt.figure(title="Reponse",
tools=TOOLS,
x_axis_label='time',
y_axis_label=output,
plot_width=800,
plot_height=300)
# add a line renderer with legend and line thickness
p.line(ts, ys, legend=output, line_width=2)
script, div = components(p)
states[plot] = {'meta': {}}
states[plot]['meta'] = {'what': 'plot', 'script': script, 'div': div}
helper.save_states(states)
return 'Response plot created. Type gdisplay ' + plot + ' to display'
def modes(mat, V, E):
states = helper.load_states()
e_vals, e_vecs = np.linalg.eig(states[mat]['value'])
str_vec = helper.to_str_repr(e_vecs)
states[V] = {
'value': np.matrix(e_vecs),
'meta': {
'what': 'matrix',
'value': str_vec
}
}
states[E] = {'value': e_vals, 'meta': {'what': 'vector', 'value': e_vals}}
helper.save_states(states)
return str(states[E]['value'].tolist())
def fit(name, prestatestor):
x = []
y = []
with open(states[name]['value'], mode='r') as infile:
mappingfile = csv.reader(infile)
for row in mappingfile:
x.append(row[0].strip())
y.append(row[1].strip())
theta = np.ones(2)
states[prestatestor] = {
'value': theta,
'meta': {
'what': 'lin_reg_pred',
'value': theta
}
}
helper.save_states()
def ss(A, B, C, D, name):
states = helper.load_states()
states[name] = {
'value': [A, B, C, D],
'A': states[A],
'B': states[B],
'C': states[C],
'D': states[D],
'controls': {},
'outputs': {},
'meta': {
'what': 'ss',
'A': states[A]['meta'],
'B': states[B]['meta'],
'C': states[C]['meta'],
'D': states[D]['meta']
}
}
helper.save_states(states)
result = 'x\' = ' + A + 'x + ' + B + 'u , y = ' + C + 'x + ' + D + 'u'
return result
def uniform_gaussian_process(plot):
size = 500
i, j = np.mgrid[:size, :size] / size
x = np.linspace(0, 1, size)
K = np.exp(-0.5 * (i - j) * (i - j) / 0.0005) + 0.001 * np.identity(size)
L = np.linalg.cholesky(K)
mu, sigma = 0, 1 # mean and standard deviation
u = np.random.normal(mu, sigma, (size, 1))
m = np.zeros(size).reshape(size, 1)
y = m + np.matrix(L) * np.asmatrix(u)
y = np.asarray(y).reshape(-1)
print(x, file=sys.stderr)
print(y, file=sys.stderr)
# create a new plot with a title and axis labels
TOOLS = "pan,wheel_zoom,box_zoom,reset,save,box_select,lasso_select"
p = plt.figure(title="Data Visualization",
tools=TOOLS,
x_axis_label='x',
y_axis_label='y')
# add a line renderer with legend and line thickness
#p.line(x, y, legend=output, line_width=2)
p.circle(x, y, size=1, color="navy", alpha=0.5)
from bokeh.resources import CDN
from bokeh.embed import components
script, div = components(p)
states[plot] = {'meta': {}}
states[plot]['meta'] = {'what': 'plot', 'script': script, 'div': div}
helper.save_states()
return 'Data plot created. Type gdisplay ' + plot + ' to display'
cost = train(inp, tar)
error += cost
weights_changed = True
if (i+1) % log_steps == 0:
error /= log_steps
errors.append(error)
print('epoch: %d\titerations: %d\terror: %f' %(e, (i+1), error))
print(resample(embeddings, h_size))
print()
error = 0
if (i+1) % save_steps == 0:
helper.save_states([W_xi, W_hi, W_ci, b_i,
W_xf, W_hf, W_cf, b_f,
W_xc, W_hc, b_c,
W_xo, W_ho, W_co, b_o,
W_hy, b_y],
'%s-%d-%d.weights' % (timestamp, e, (i+1)), work_dir)
helper.save_errors(errors, '%s-%d-%d.errors' % (timestamp, e, (i+1)), work_dir)
weights_changed = False
print('weights saved:')
print('%s-%d-%d.weights' % (timestamp, e, (i+1)))
print('errors saved:')
print('%s-%d-%d.errors' % (timestamp, e, (i+1)))
print()
print('end training')
print()
# save current weights if training has been performed
def gaussian_process(data_name, plot):
x = []
y = []
with open(states[data_name]['value'], mode='r') as infile:
mappingfile = csv.reader(infile)
for row in mappingfile:
x.append(float(row[0].strip()))
y.append(float(row[1].strip()))
xi, xj = np.meshgrid(x, x)
K = np.exp(-0.5 * (xi - xj) * (xi - xj) /
0.0001) # + 0.001*np.identity(len(x))
size = 1000
#i, j = np.mgrid[:size, :size]/size
xs = np.linspace(0, 20, size)
xsi, xsj = np.meshgrid(xs, xs)
Ks = np.exp(-0.5 * (xsi - xsj) * (xsi - xsj) /
0.0001) # + 0.001*np.identity(size)
xs2i, xs2j = np.meshgrid(x, xs)
Ks2 = np.exp(-0.5 * (xs2i - xs2j) * (xs2i - xs2j) / 0.0001)
Kinv = np.linalg.inv(K) #+ 0.001*np.identity(K.shape[0])
mean = np.asmatrix(Ks2) * np.asmatrix(Kinv) * np.asmatrix(y).transpose()
cov = np.asmatrix(Ks) - np.asmatrix(Ks2) * Kinv * np.asmatrix(
Ks2).transpose() # + 0.01*np.identity(size)
L = np.linalg.cholesky(cov)
mu, sigma = 0, 1 # mean and standard deviation
u = np.random.normal(mu, sigma, (size, 1))
m = np.zeros(size).reshape(size, 1)
ys = mean + np.matrix(L) * np.asmatrix(u)
ys = np.asarray(ys).reshape(-1)
# create a new plot with a title and axis labels
TOOLS = "pan,wheel_zoom,box_zoom,reset,save,box_select,lasso_select"
p = plt.figure(title="Data Visualization",
tools=TOOLS,
x_axis_label='x',
y_axis_label='y')
# add a line renderer with legend and line thickness
p.circle(xs, ys, size=1, color="black", alpha=0.9)
p.square(x, y, size=5, color="blue", alpha=0.2)
p.quad(top=ys + np.diag(cov),
bottom=ys - np.diag(cov),
left=xs - 0.01,
right=xs + 0.01,
color="#B3DE69",
alpha=0.1)
from bokeh.resources import CDN
from bokeh.embed import components
script, div = components(p)
states[plot] = {'meta': {}}
states[plot]['meta'] = {'what': 'plot', 'script': script, 'div': div}
helper.save_states()
return 'Data plot created. Type gdisplay ' + plot + ' to display'
def data(file, name):
states[name] = {'value': file, 'meta': {'what': 'data', 'value': file}}
helper.save_states()
return 'Data in ' + file + ' will be referenced by: ' + name
def dijkstras(name, start, goal, result): #,x_spacing,y_spacing,start,goal):
# Implements Dijkstra's shortest path algorithm
# Input:
# occupancyshhaa_map - an N by M numpy array of boolean values (represented
# as integers 0 and 1) that represents the locations of the obstacles
# in the world
# x_spacing - parameter representing spacing between adjacent columns
# y_spacing - parameter representing spacing between adjacent rows
# start - a 3 by 1 numpy array of (x,y,theta) for the starting position
# goal - a 3 by 1 numpy array of (x,y,theta) for the finishing position
# Output:
# path: list of the indices of the nodes on the shortest path found
# starting with "start" and ending with "end" (each node is in
# metric coordinates)
states = helper.load_states()
occupancy_map = np.array(states[name]['value'])
color_map = np.array(states[name]['value'])
# color_map = np.asmatrix(color_map)
# print(color_map, file=sys.stderr)
# print(occupancy_map, file=sys.stderr)
INF = math.inf #100000
mymap = np.zeros_like(occupancy_map)
nrows = np.shape(mymap)[0]
ncols = np.shape(mymap)[1]
#print(ncols,nrows)
start = np.array(json.loads(start))
goal = np.array(json.loads(goal))
start_indx = start[1] #int(np.ceil((start[0]/x_spacing)-0.5))
start_indy = start[0] #int(np.ceil((start[1]/y_spacing)-0.5))
dest_indx = goal[1] #int(np.ceil((goal[0]/x_spacing)-0.5))
dest_indy = goal[0] #int(np.ceil((goal[1]/y_spacing)-0.5))
distanceFromStart = np.zeros_like(occupancy_map, float)
distanceFromStart.fill(INF)
parent = np.zeros_like(occupancy_map)
mymap[np.where(occupancy_map == 0)] = 1 # Mark free cells
mymap[np.where(occupancy_map == 1)] = 2 # Mark obstacle cells
# Generate linear indices of start and dest nodes
dest_node = np.ravel_multi_index([dest_indy, dest_indx], np.shape(mymap), order='C')
mymap[start_indy][start_indx] = 5
mymap[dest_indy][dest_indx] = 6
distanceFromStart[start_indy][start_indx] = 0
# keep track of number of nodes expanded
numExpanded = 0
# Main Loop
count = 0
while True:
count = count + 1
if (count == 1000):
return "Iteration limit exceeded."
# Find the node with the minimum distance
min_dist = np.min(distanceFromStart)
current = np.argmin(distanceFromStart)
# Compute row, column coordinates of current node
[i,j] = np.unravel_index(current, np.shape(mymap), order='C')
if (current == dest_node or min_dist == INF):
break
# Update map
mymap[i][j] = 3 # mark current node as visited
distanceFromStart[i][j] = INF; # remove this node from further consideration
numExpanded = numExpanded + 1;
# Visit each neighbor of the current node and update the map, distances
# and parent tables appropriately.
if (i>0) and (mymap[i-1][j] != 3) and (mymap[i-1][j] != 5) and (mymap[i-1][j] != 2):
if (min_dist+1 < distanceFromStart[i-1][j]):
distanceFromStart[i-1][j] = min_dist+1
mymap[i-1][j] = 4
parent[i-1][j] = current
if (i<nrows-1) and (mymap[i+1][j] != 3) and (mymap[i+1][j] != 5) and (mymap[i+1][j] != 2):
if (min_dist+1 < distanceFromStart[i+1][j]):
distanceFromStart[i+1][j] = min_dist+1;
mymap[i+1][j]=4
parent[i+1][j] = current
if (j>0) and (mymap[i][j-1] != 3) and (mymap[i][j-1] != 5) and (mymap[i][j-1] != 2):
if (min_dist+1 < distanceFromStart[i][j-1]):
distanceFromStart[i][j-1] = min_dist+1
mymap[i][j-1]=4
parent[i][j-1] = current
if (j<ncols-1) and (mymap[i][j+1] != 3) and (mymap[i][j+1] != 5) and (mymap[i][j+1] != 2):
if (min_dist+1 < distanceFromStart[i][j+1]):
distanceFromStart[i][j+1] = min_dist+1;
mymap[i][j+1]=4
parent[i][j+1] = current
#print(distanceFromStart, file=sys.stderr)
#print(mymap, file=sys.stderr)
# Construct route from start to dest by following the parent links
if (distanceFromStart[dest_indy][dest_indx] == INF):
routep = np.array([])
else:
routep = np.array([[dest_indy,dest_indx]])
[i,j] = np.unravel_index(dest_node, np.shape(mymap))
while (parent[i][j] != 0):
[i,j] = np.unravel_index(parent[i][j], np.shape(mymap))
routep = np.concatenate((routep, np.array([[i,j]])), axis=0)
#print(i,j)
#[i,j] = np.unravel_index(start_node, np.shape(mymap))
#routep = np.concatenate((routep, np.array([[i,j]])), axis=0)
s = len(routep)
a = start[0]#[0]
b = start[1]#[0]
route = np.array([[a,b]])
for k in range(1,s+1):
[a,b]= (routep[s-k])#+0.5)*[x_spacing, y_spacing]
color_map[a][b] = 2
route = np.concatenate((route, np.array([[a,b]])), axis=0)
a = goal[0]#[0]
b = goal[1]#[0]
route = np.concatenate((route, np.array([[a,b]])), axis=0)
str_vec = helper.to_str_repr(color_map)
states[result] = {'value': color_map, 'meta': {'what': 'color_matrix', 'value': str_vec}}
helper.save_states(states)
return route.tolist()
cost = train(inp, tar)
error += cost
weights_changed = True
if (i + 1) % log_steps == 0:
error /= log_steps
errors.append(error)
print('epoch: %d\titerations: %d\terror: %f' % (e, (i + 1), error))
print(resample(embeddings, h_size))
print()
error = 0
if (i + 1) % save_steps == 0:
helper.save_states([
W_xi, W_hi, W_ci, b_i, W_xf, W_hf, W_cf, b_f, W_xc, W_hc, b_c,
W_xo, W_ho, W_co, b_o, W_hy, b_y
], '%s-%d-%d.weights' % (timestamp, e, (i + 1)), work_dir)
helper.save_errors(errors,
'%s-%d-%d.errors' % (timestamp, e, (i + 1)),
work_dir)
weights_changed = False
print('weights saved:')
print('%s-%d-%d.weights' % (timestamp, e, (i + 1)))
print('errors saved:')
print('%s-%d-%d.errors' % (timestamp, e, (i + 1)))
print()
print('end training')
print()
# save current weights if training has been performed
def feedback(G, K, name):
states = helper.load_states()
Ap = states[G]['A']['value']
Bp = states[G]['B']['value']
Cp = states[G]['C']['value']
Dp = states[G]['D']['value']
Ac = states[K]['A']['value']
Bc1 = states[K]['B1']['value']
Bc2 = states[K]['B2']['value']
Cc = states[K]['C']['value']
Dc1 = states[K]['D1']['value']
Dc2 = states[K]['D2']['value']
I = np.identity(Dc1.shape[0])
Z = I - Dc1 * Dp
Zinv = np.linalg.inv(Z)
A11 = Ap + Bp * Zinv * Dc1 * Cp
A12 = Bp * Zinv * Cc
I = np.identity(Dp.shape[0])
A21 = Bc1 * (I + Dp * Zinv * Dc1) * Cp
A22 = Ac + Bc1 * Dp * Zinv * Cc
A = np.bmat([[A11, A12], [A21, A22]])
A_newname = states[G]['value'][0] + '_cl'
B11 = Bp * Zinv * Dc2
B21 = Bc2 + Bc1 * Dp * Zinv * Dc2
B = np.bmat([[B11], [B21]])
B_newname = states[G]['value'][1] + '_cl'
C11 = I + Dp * Zinv * Dc1
C12 = Cp * Dp * Zinv * Cc
C = np.bmat([[C11, C12]])
C_newname = states[G]['value'][2] + '_cl'
D = Dp * Zinv * Dc2
D_newname = states[G]['value'][3] + '_cl'
helper.matrix(A_newname, A)
helper.matrix(B_newname, B)
helper.matrix(C_newname, C)
helper.matrix(D_newname, D)
states = helper.load_states()
states[name] = {
'value': [A_newname, B_newname, C_newname, D_newname],
'A': states[A_newname],
'B': states[B_newname],
'C': states[C_newname],
'D': states[D_newname],
'controls': {},
'outputs': {},
'meta': {
'what': 'feedback',
'A': states[A_newname]['meta'],
'B': states[B_newname]['meta'],
'C': states[C_newname]['meta'],
'D': states[D_newname]['meta']
}
}
helper.save_states(states)
result = 'x_a\' = ' + A_newname + 'x_a + ' + B_newname + 'r , y = ' + C_newname + 'x_a + ' + D_newname + 'r'
return result
def control(num, G, name):
states = helper.load_states()
states[G]['controls'][name] = num - 1
helper.save_states(states)
return 'Control number ' + str(num) + ' of ' + G + ' is set to ' + name
def output(num, G, name):
states = helper.load_states()
states[G]['outputs'][name] = num - 1
helper.save_states(states)
return 'Output number ' + str(num) + ' of ' + G + ' is set to ' + name
