def get_correction_factor(trial, conf, client):
rnd.seed(conf['pyseedlist'][trial])
with tables.openFile('tmp', 'w') as fileh:
tbl = fileh.createVLArray(
'/', 'conf', tables.ObjectAtom(),
title='Configuration used to generate the stored data.')
tbl.append(conf)
fileh.createArray(
'/', 'repeat', [trial], title='Number of repeat run.')
num_steps = conf['duration_in_steps']
kernel = instantiate(*conf['kernel'])
predictor = instantiate(*conf['predictor'], prefix_args=(kernel,))
if 'bounds' in conf:
predictor.bounds = conf['bounds']
if 'priors' in conf:
for i in range(len(conf['priors'])):
predictor.priors[i] = instantiate(*conf['priors'][i])
recorder = TaskPlumeRecorder(fileh, client, predictor, 1)
err_recorder = ErrorRecorder(fileh, client, predictor, 1)
target_chooser = behaviors.ChainTargetChoosers([
behaviors.SurroundArea(conf['area'], conf['margin']),
behaviors.AcquisitionFnTargetChooser(
instantiate(*conf['acquisition_fn'], predictor=predictor),
conf['area'], conf['margin'], conf['grid_resolution'])])
controller = behaviors.FollowWaypoints(
target_chooser, conf['target_precision'])
updater = instantiate(
*conf['updater'], predictor=predictor, plume_recorder=recorder)
controller.observers.append(updater)
behavior = controller.velocity_controller
if conf['full_record']:
client = ControlsRecorder(fileh, client, num_steps)
sim_controller = Controller(client, controller, behavior)
sim_controller.init_new_sim(conf['seedlist'][trial])
recorder.init(conf)
err_recorder.init(conf)
volume = np.product(np.diff(conf['area'], axis=1))
print volume
test_x = err_recorder.test_x.T
return np.sqrt(len(test_x) / np.sum(
1.0 / gaussian_kde(test_x)(test_x) ** 2) / volume)
def do_simulation_run(trial, output_filename, conf, client):
rnd.seed(conf['pyseedlist'][trial])
with tables.openFile(output_filename, 'w') as fileh:
tbl = fileh.createVLArray(
'/', 'conf', tables.ObjectAtom(),
title='Configuration used to generate the stored data.')
tbl.append(conf)
fileh.createArray(
'/', 'repeat', [trial], title='Number of repeat run.')
num_steps = conf['duration_in_steps']
kernel = instantiate(*conf['kernel'])
predictor = instantiate(*conf['predictor'], prefix_args=(kernel,))
if 'bounds' in conf:
predictor.bounds = conf['bounds']
if 'priors' in conf:
for i in range(len(conf['priors'])):
predictor.priors[i] = instantiate(*conf['priors'][i])
recorder = TaskPlumeRecorder(fileh, client, predictor, num_steps)
err_recorder = ErrorRecorder(fileh, client, predictor, num_steps)
updater = instantiate(
*conf['updater'], predictor=predictor, plume_recorder=recorder)
acq_behavior = behaviors.AcquisitionFnTargetChooser(
instantiate(*conf['acquisition_fn'], predictor=predictor),
conf['area'], conf['margin'], conf['grid_resolution'])
if 'noise_search' in conf:
if conf['noise_search'] == 'wind':
tc_factory = behaviors.WindBasedPartialSurroundFactory(
client, conf['area'], conf['margin'])
else:
tc_factory = behaviors.SurroundAreaFactory(
conf['area'], conf['margin'])
surrounder = behaviors.SurroundUntilFound(updater, tc_factory)
surrounder.observers.append(recorder)
target_chooser = behaviors.ChainTargetChoosers(
[surrounder, acq_behavior])
maxv = 4
else:
target_chooser = behaviors.ChainTargetChoosers([
behaviors.SurroundArea(conf['area'], conf['margin']),
acq_behavior])
maxv = 6
controller = behaviors.FollowWaypoints(
target_chooser, conf['target_precision'],
behaviors.VelocityTowardsWaypointController(
maxv, maxv, target_chooser.get_effective_area()))
controller.observers.append(updater)
behavior = controller.velocity_controller
if conf['full_record']:
client = ControlsRecorder(fileh, client, num_steps)
sim_controller = Controller(client, controller, behavior)
sim_controller.init_new_sim(conf['seedlist'][trial])
recorder.init(conf)
err_recorder.init(conf)
sim_controller.add_recorder(recorder)
sim_controller.add_recorder(err_recorder)
if hasattr(behavior, 'targets') and conf['full_record']:
targets_recorder = TargetsRecorder(
fileh, behavior, client.numUAVs, num_steps)
targets_recorder.init()
sim_controller.add_recorder(targets_recorder)
try:
sim_controller.run(num_steps)
except Exception as err:
err_tbl = fileh.createVLArray(
'/', 'exception', tables.ObjectAtom(),
title='Exception which was raised.')
err_tbl.append(err)
raise
finally:
try:
if conf['full_record']:
store_obj(fileh, fileh.createGroup('/', 'gp'), predictor)
else:
recorder.prune()
except:
pass