def main():
x_train_start, x_val_start, x_train_end, x_val_end = 0, 0.05, math.pi * 2, math.pi * 2
noise = True
# sigma = 0.1
train_sin = sin(x_train_start, x_train_end, 0.1, noise = noise)
val_sin = sin(x_val_start, x_val_end, 0.1, noise = noise)
train_square = square(x_train_start, x_train_end, 0.1, noise = noise)
val_square = square(x_val_start, x_val_end, 0.1, noise = noise)
# batch_learning(train_square, val_square, name = "Batch Square w. Noise")
# delta_learning(train_square, val_square, name = "Delta Square w. Noise")
# grid_search(train_square, val_square)
perceptron_learning(train_square, val_square)
def potential_move(self):
"""move ahead"""
next_pos_x = self.current_position['x'] + cos(self.current_direction)
next_pos_y = self.current_position['y'] - sin(self.current_direction)
if not self.__can_move(next_pos_x, next_pos_y):
self.__visited_position[str(next_pos_x) + "_" + str(next_pos_y)] = -1
return False
return True
def move(self):
"""move ahead"""
next_pos_x = self.current_position['x'] + cos(self.current_direction)
next_pos_y = self.current_position['y'] - sin(self.current_direction)
if not self.__can_move(next_pos_x, next_pos_y):
self.__visited_position[str(next_pos_x) + "_" +
str(next_pos_y)] = -1
return False
self.move_count += 1
self.current_position['x'] = next_pos_x
self.current_position['y'] = next_pos_y
self.__visited_position[str(next_pos_x) + "_" + str(next_pos_y)] = 1
if self.loggable:
self.log()
return True
def move(self):
"""move ahead"""
next_pos_x = self.current_position['x'] + cos(self.current_direction)
next_pos_y = self.current_position['y'] - sin(self.current_direction)
if not self.__can_move(next_pos_x, next_pos_y):
self.__visited_position[str(next_pos_x) + "_" + str(next_pos_y)] = -1
return False
self.move_count += 1
self.current_position['x'] = next_pos_x
self.current_position['y'] = next_pos_y
self.__visited_position[str(next_pos_x) + "_" + str(next_pos_y)] = 1
#print("[x,y]" + str(self.current_position['x']) + "," + str(self.current_position['y']))
self.path_history.append([self.current_position['x'], self.current_position['y']])
if self.loggable:
self.log()
return True
def axisAndAngle2RotMatrix(axis, angle):
"""
http://stackoverflow.com/questions/6802577/python-rotation-of-3d-vector
Return the rotation matrix associated with counterclockwise rotation about
the given axis by angle radians.
"""
axis = np.asarray(axis)
angle = np.asarray(angle)
axis = old_div(axis, utils.sqrt(np.dot(axis, axis)))
a = utils.cos(old_div(angle, 2))
b, c, d = -axis * utils.sin(old_div(angle, 2))
aa, bb, cc, dd = a * a, b * b, c * c, d * d
bc, ad, ac, ab, bd, cd = b * c, a * d, a * c, a * b, b * d, c * d
return np.array([[aa + bb - cc - dd, 2 * (bc + ad), 2 * (bd - ac)],
[2 * (bc - ad), aa + cc - bb - dd, 2 * (cd + ab)],
[2 * (bd + ac), 2 * (cd - ab), aa + dd - bb - cc]])
def move(self):
"""move ahead"""
next_pos_x = self.current_position['x'] + cos(self.current_direction)
next_pos_y = self.current_position['y'] - sin(self.current_direction)
if not self.__can_move(next_pos_x, next_pos_y):
self.__visited_position[str(next_pos_x) + "_" + str(next_pos_y)] = -1
return False
self.move_count += 1
self.current_position['x'] = next_pos_x
self.current_position['y'] = next_pos_y
self.__visited_position[str(next_pos_x) + "_" + str(next_pos_y)] = 1
#self.diffrobot.go_forward(distance=200, dc=100)
self.diffrobot.driveGyro(10)
self.shovel.moveShovel()
#sleep(3)
if self.loggable:
self.log()
return True
def train(BATCH_SIZE):
# X_train = X_train.reshape((X_train.shape, 1) + X_train.shape[1:])
d = discriminator_model()
g = generator_model()
d.trainable = False
opt = Adam(lr=0.00015, beta_1=0.5)
d_on_g = generator_containing_discriminator(g, d)
d_on_g.compile(loss='binary_crossentropy', optimizer=opt)
d_on_g.summary()
for epoch in range(2000):
i = 0
print("Epoch is {}".format(epoch))
for true_sins in sin():
noise = np.random.normal(0, 1, size=(BATCH_SIZE,)+ (25, 4))
generated_sins = g.predict(noise)
if i % 500 == 0:
draw_sin(generated_sins, epoch, i)
X = np.concatenate((true_sins, generated_sins))
real_data_Y = np.ones((BATCH_SIZE, 25, 1)) - np.random.random_sample((BATCH_SIZE, 25, 1))*0.2
fake_data_Y = np.random.random_sample((BATCH_SIZE, 25, 1))*0.2
y = np.concatenate((real_data_Y,fake_data_Y))
d.trainable = True
g.trainable = False
dis_metrics_real = d.train_on_batch(true_sins,real_data_Y) #training seperately on real
dis_metrics_fake = d.train_on_batch(generated_sins,fake_data_Y) #training seperately on fake
if i%200 == 0:
print("epoch: %d, batch: %d Disc: real loss: %f fake loss: %f" % (epoch, i, dis_metrics_real, dis_metrics_fake))
#d_loss = d.train_on_batch(X, y)
#print("epoch : {} batch : {} d_loss : {}".format(epoch, i, d_loss))
#one batch not ok
g.trainable = True
noise = np.random.normal(0, 1, size=(BATCH_SIZE,)+ (25, 4))
d.trainable = False
g_loss = d_on_g.train_on_batch(noise, real_data_Y)
if i%200 == 0:
print("epoch : {} batch : {} g_loss : {}".format(epoch, i, g_loss))
i = i+1
g.save_weights('generator_sin')
d.save_weights('discriminator_sin')
def move(self):
"""move ahead"""
next_pos_x = self.current_position['x'] + cos(self.current_direction)
next_pos_y = self.current_position['y'] - sin(self.current_direction)
if not self.__can_move(next_pos_x, next_pos_y):
self.__visited_position[str(next_pos_x) + "_" +
str(next_pos_y)] = -1
return False
self.move_count += 1
self.current_position['x'] = next_pos_x
self.current_position['y'] = next_pos_y
self.__visited_position[str(next_pos_x) + "_" + str(next_pos_y)] = 1
if self.loggable:
self.log()
#self.car.rotate(90*self.current_direction)
#print("Move")
#print('%d, %d' % (next_pos_x, next_pos_y))
self.car.move_step_grid(Vector(next_pos_x, next_pos_y))
time.sleep(0.1)
return True
def calculate_next_pos(self):
next_pos_x = self.current_position['x'] + cos(self.current_direction)
next_pos_y = self.current_position['y'] - sin(self.current_direction)
return {'x': next_pos_x, 'y': next_pos_y}
def is_moving_south(droid):
return droid.speed > 0 and round(sin(-droid.heading + 90), 3) < 0
def paintEvent(self, e):
qp = QPainter()
qp.begin(self)
self.resize((len(self.data) + 2) * self.interval,
config.channels * config.min_channel_size)
qp.setPen(
QPen(config.second_channel_point_color, config.
first_channel_line_spacing)) ######可以试下画刷 setBrush,10指定点的大小
qp.drawLine(0, 0, 0, config.channels * config.min_channel_size)
qp.drawLine(0, config.min_channel_size, self.width(),
config.min_channel_size)
qp.setPen(QPen(Qt.black, 5)) ######可以试下画刷 setBrush,10指定点的大小
for index in range(0, config.min_channel_size,
config.coordinate_interval):
qp.drawPoint(0, config.min_channel_size - index)
qp.setFont(QFont("Decorative", config.font_size))
qp.drawText(
QRect(config.y_axes_distance, config.min_channel_size - index,
config.coordinate_interval,
config.min_channel_size - index + config.font_size),
Qt.AlignLeft | Qt.AlignTop, str(index))
for index in range(0, config.min_channel_size,
config.coordinate_interval):
qp.drawPoint(0, 2 * config.min_channel_size - index)
qp.setFont(QFont("Decorative", config.font_size))
qp.drawText(
QRect(config.y_axes_distance,
2 * config.min_channel_size - index,
config.coordinate_interval,
2 * config.min_channel_size - index + config.font_size),
Qt.AlignLeft | Qt.AlignTop, str(index))
for index in range(0, self.width(), int(self.interval)):
qp.drawPoint(index, config.min_channel_size)
qp.setFont(QFont("Decorative", config.font_size))
qp.drawText(
QRect(index, config.min_channel_size - config.font_size,
index + config.font_size, config.min_channel_size),
Qt.AlignLeft | Qt.AlignTop, str(index))
if self.my_sender:
if isinstance(self.my_sender, QSlider):
print("滑动了")
print(self.my_sender.value())
val = self.my_sender.value()
self.interval = int(config.default_interval +
config.default_slider_interval *
(val - config.default_slider_value))
## 第二条线
if self.my_sender:
if isinstance(self.my_sender, QAction):
if self.my_sender.text() == "sin":
self.new_data = utils.sin(self.data)
else:
self.new_data = utils.cos(self.data)
# else:
# new_data = utils.sin(self.data)
if self.new_data:
qp.setPen(
QPen(config.second_channel_point_color,
config.point_size)) ######可以试下画刷 setBrush,10指定点的大小
for index, x in enumerate(self.new_data):
qp.drawPoint((index + 1) * self.interval,
2 * config.min_channel_size - x)
qp.setPen(
QPen(config.second_channel_line_color,
config.second_channel_line_spacing,
config.second_channel_line_type)
) ####前一个random是线条粗线，后一个random是线条类型
for index, x in enumerate(self.new_data):
if index == len(self.new_data) - 1:
break
qp.drawLine(
(index + 1) * self.interval,
2 * config.min_channel_size - x,
(index + 2) * self.interval,
2 * config.min_channel_size - self.new_data[index + 1])
self.drawLines(qp) ######画线
self.drawPoints(qp) ###画点
qp.end()
