def loadGrasp(profileName):
frameManager = framemanager_python.FrameManagerWrapper()
features = framemanager_python.FeatureExtractionWrapper(frameManager)
frameManager.load_profile(profileName);
########################
# Tactile Sensor Frames
########################
numTSFrames = frameManager.get_tsframe_count();
max_matrix_1 = frameManager.get_max_matrix_list(1)
max_matrix_5 = frameManager.get_max_matrix_list(5)
timestamps_tsframe_raw = frameManager.get_tsframe_timestamp_list()
timestamps_tsframe = (timestamps_tsframe_raw-timestamps_tsframe_raw[0]) / 1000.0 # Relative timestamps in seconds
###########
# Features
###########
# Compute minibal for each tactile sensor frame
minimal_bounding_spheres = np.empty([numTSFrames, 4])
minimal_bounding_spheres.fill(None)
for frameID in xrange(0, numTSFrames):
if (max_matrix_1[frameID] > 0.0 and max_matrix_5[frameID] > 0.0) :
theta = frameManager.get_corresponding_jointangles(frameID) # Corresponding joint angles
minimal_bounding_spheres[frameID] = features.compute_minimal_bounding_sphere_centroid(frameID, theta)
return timestamps_tsframe, 2*minimal_bounding_spheres[:,3]
tempID = 2
numTemperatures = frameManager.get_temperature_frame_count()
temperature_frame = frameManager.get_temperature_frame(tempID)
temperature_frame_list = frameManager.get_temperature_frame_list()
temperature_frame_timestamp = frameManager.get_temperature_frame_timestamp(
tempID)
temperature_frame_timestamp_list = frameManager.get_temperature_frame_timestamp_list(
)
corresponding_temperature_frame = frameManager.get_corresponding_temperatures(
frameID)
###################
# Compute Features
###################
features = framemanager_python.FeatureExtractionWrapper(frameManager)
std_dev = features.compute_standard_deviation(frameID, 1) # matrixID
moments = features.compute_chebyshev_moments(frameID, 1, 3) # matrixID, pmax
theta = frameManager.get_corresponding_jointangles(
frameID) # Corresponding joint angles
minimal_bounding_sphere = features.compute_minimal_bounding_sphere(
frameID, theta)
# Using lists
tsframe_list = frameManager.get_tsframe_list(frameID)
std_dev_list = features.compute_standard_deviation_list(frameID)
moments_list = features.compute_chebyshev_moments_list(frameID, 3)
############
# Plotting
############