def get_precision_recall_by_Hamming_Radius(database, query, radius=2):
query_output = sign(query.output)
database_output = sign(database.output)
bit_n = query_output.shape[1]
ips = np.dot(query_output, database_output.T)
ips = (bit_n - ips) / 2
ids = np.argsort(ips, 1)
precX = []
recX = []
mAPX = []
query_labels = query.label
database_labels = database.label
for i in range(ips.shape[0]):
label = query_labels[i, :]
label[label == 0] = -1
idx = np.reshape(np.argwhere(ips[i, :] <= radius), (-1))
all_num = len(idx)
if all_num != 0:
imatch = np.sum(database_labels[idx[:], :] == label, 1) > 0
match_num = np.sum(imatch)
precX.append(np.float(match_num) / all_num)
all_sim_num = np.sum(
np.sum(database_labels[:, :] == label, 1) > 0)
recX.append(np.float(match_num) / all_sim_num)
if radius < 10:
ips_trad = np.dot(
query.output[i, :], database.output[ids[i, 0:all_num], :].T)
ids_trad = np.argsort(-ips_trad, axis=0)
db_labels = database_labels[ids[i, 0:all_num], :]
rel = match_num
imatch = np.sum(db_labels[ids_trad, :] == label, 1) > 0
Lx = np.cumsum(imatch)
Px = Lx.astype(float) / np.arange(1, all_num + 1, 1)
if rel != 0:
mAPX.append(np.sum(Px * imatch) / rel)
else:
mAPX.append(np.float(match_num) / all_num)
else:
precX.append(np.float(0.0))
recX.append(np.float(0.0))
mAPX.append(np.float(0.0))
return np.mean(np.array(precX)), np.mean(np.array(recX)), np.mean(np.array(mAPX))
def _set_velocity(self, val):
if self.maxVelocity:
_vx, _vy = val
if abs(self.maxVelocity.x) < abs(_vx):
_vx = self.maxVelocity.x * util.sign(_vx)
if abs(self.maxVelocity.y) < abs(_vy):
_vy = self.maxVelocity.y * util.sign(_vy)
self._velocity = point.Vector(_vx, _vy)
else:
self._velocity = point.Vector(val)
self.redraw()
def update(self):
"""Updates this sprite for the next frame."""
if self.alive and not self.fixed:
# Game.elapsed is in ms, but all our calculations are in seconds
dt = world.Game.elapsed/1000.0
if dt > 0.001:
# linear motion
if self.drag.x and not self.acceleration.x:
# drag is just deceleration when there's no acceleration
if abs(self.velocity.x) > abs(self.drag.x):
self.velocity.x -= (self.drag.x * util.sign(self.velocity.x))
else:
self.velocity.x = 0.0
if self.drag.y and not self.acceleration.y:
if abs(self.velocity.y) > abs(self.drag.y):
self.velocity.y -= (self.drag.y * util.sign(self.velocity.y))
else:
self.velocity.y = 0.0
self.velocity += self.acceleration * dt
if self.maxVelocity is not None:
if self.velocity.x > self.maxVelocity.x:
self.velocity.x = self.maxVelocity.x
if self.velocity.y > self.maxVelocity.y:
self.velocity.y = self.maxVelocity.y
# move the entity, with hooks after moving by x and y
self.x += self.velocity.x * dt
self.onMoveX()
self.y += self.velocity.y * dt
self.onMoveY()
# hook for post-movement code (e.g., collision detection)
self.onMove()
# rotation
# Setting angular velocity or acceleration overrides the
# 'rotating' property since it is assumed that, by applying
# angular velocity, you really want an object to rotate.
if (self.angle and self.rotating) or \
self.angularVelocity or self.angularAcceleration:
self.angularVelocity += self.angularAcceleration * dt
if self.maxAngularVelocity and self.angularVelocity > \
self.maxAngularVelocity:
self.angularVelocity = self.maxAngularVelocity
self.angle += self.angularVelocity * dt
self.rect = self.image.get_rect()
self._recenter()
super(Entity, self).update()
def build(self, grid, s, t):
v0, v1 = t[0] - s[0], t[1] - s[1]
i, j = s
grid[i][j] = 1
while v0 or v1: # remaining components of the vector
print i, j
prev = i, j
if v0: # increment position, decrement vector component
i += sign(v0)
v0 += -sign(v0)
if v1:
j += sign(v1)
v1 += -sign(v1)
if grid[i][j] in [2, -1]: # if position is unbuildable, repel in vector favoring direction
i, j = prev # revert
if abs(v0) > abs(v1):
i += sign(v0)
v0 += -sign(v0)
else:
j += sign(v1)
v1 += -sign(v1)
grid[i][j] = 1
return grid
def test_sign():
key = base64.b64encode('abc')
string_to_sign = '/account/GET200601021504'
signature = util.sign(string_to_sign, key)
assert util.verify(
string_to_sign, key, signature) is True
def test_sign(self):
self.assertEqual(util.sign(-3.14), -1)
self.assertEqual(util.sign(-1), -1)
self.assertEqual(util.sign(-0.001), -1)
self.assertEqual(util.sign(0.0), 0)
self.assertEqual(util.sign(0), 0)
self.assertEqual(util.sign(3.14), 1)
self.assertEqual(util.sign(1), 1)
self.assertEqual(util.sign(0.001), 1)
def get_precision_recall_by_Hamming_Radius_All(database, query):
query_output = sign(query.output)
database_output = sign(database.output)
bit_n = query_output.shape[1]
ips = np.dot(query_output, database_output.T)
ips = (bit_n - ips) / 2
precX = np.zeros((ips.shape[0], bit_n + 1))
recX = np.zeros((ips.shape[0], bit_n + 1))
mAPX = np.zeros((ips.shape[0], bit_n + 1))
query_labels = query.label
database_labels = database.label
ids = np.argsort(ips, 1)
for i in range(ips.shape[0]):
label = query_labels[i, :]
label[label == 0] = -1
idx = ids[i, :]
imatch = np.sum(database_labels[idx[:], :] == label, 1) > 0
all_sim_num = np.sum(imatch)
counts = np.bincount(ips[i, :].astype(np.int64))
for r in range(bit_n + 1):
if r >= len(counts):
precX[i, r] = precX[i, r - 1]
recX[i, r] = recX[i, r - 1]
mAPX[i, r] = mAPX[i, r - 1]
continue
all_num = np.sum(counts[0:r + 1])
if all_num != 0:
match_num = np.sum(imatch[0:all_num])
precX[i, r] = np.float(match_num) / all_num
recX[i, r] = np.float(match_num) / all_sim_num
rel = match_num
Lx = np.cumsum(imatch[0:all_num])
Px = Lx.astype(float) / np.arange(1, all_num + 1, 1)
if rel != 0:
mAPX[i, r] = np.sum(Px * imatch[0:all_num]) / rel
return np.mean(np.array(precX), 0), np.mean(np.array(recX), 0), np.mean(np.array(mAPX), 0)
def get_U_init(self, x0, x_d):
'''
Get initial guess of controls u using a straight, constant velocity to the goal
'''
U_init = []
x_error = x_d[-1][0] - x0[0]
y_error = x_d[-1][1] - x0[1]
if fabs(x_error) > fabs(y_error):
u_x = sign(x_error)*self.u_max[0]
u_y = y_error/abs(x_error)*self.u_max[0]
else:
u_y = sign(y_error)*self.u_max[1]
u_x = x_error/abs(y_error)*self.u_max[1]
u_theta = 0.0
for k in xrange(self.H):
U_init.append(np.array([u_x, u_y, u_theta]))
return U_init
def distance(x1, x2=None, pair=True, dist_type="euclidean2", ifsign=False):
'''
Param:
x2: if x2 is None, distance between x1 and x1 will be returned.
pair: if True, for i, j, x1_i, x2_j will be calculated
if False, for i, x1_i, x2_i will be calculated, and it requires the dimension of x1 and x2 is same.
dist_type: distance type, can be euclidean2, normed_euclidean2, inner_product, cosine
'''
if x2 is None:
x2 = x1
if ifsign:
x1 = util.sign(x1)
x2 = util.sign(x2)
if dist_type == 'inner_product':
return inner_product(x1, x2, pair)
if pair:
x1 = np.expand_dims(x1, 1)
x2 = np.expand_dims(x2, 0)
return getattr(sys.modules[__name__], dist_type)(x1, x2)
def submit(id, url):
"""
Отправляет на сервер ссылку на готовый album.xml. Ссылка должна быть
доступна извне, сервер будет её запрашивать.
"""
print "Submitting item %u (%s)" % (id, url)
fetch('http://' + settings['host'] + '/upload/queue', {
'id': id,
'url': url,
'signature': sign(url),
})
def sign_request(self):
utcnow = datetime.datetime.utcnow()
string_to_sign = '{}{}{}'.format(
self.endpoint.format(**self.payload),
self.verb,
utcnow.strftime(HEADER_DATETIME_FORMAT))
self.extra_headers = {
'X-Cron-Key': self.api_key,
'X-Cron-Date': utcnow.strftime(HEADER_DATETIME_FORMAT),
'X-Cron-Signature': util.sign(string_to_sign, self.secret_key)
}
def get_mAPs_rerank(q_output, q_labels, db_output, db_labels, Rs, dist_type):
query_output = sign(q_output)
database_output = sign(db_output)
bit_n = query_output.shape[1]
ips = np.dot(query_output, database_output.T)
ips = (bit_n - ips) / 2
mAPX = []
query_labels = q_labels
database_labels = db_labels
for i in range(ips.shape[0]):
label = query_labels[i, :]
label[label == 0] = -1
imatch = np.array([])
for j in range(bit_n):
idx = np.reshape(np.argwhere(np.equal(ips[i, :], j)), (-1))
all_num = len(idx)
if all_num != 0:
ips_trad = np.dot(q_output[i, :], db_output[idx[:], :].T)
ids_trad = np.argsort(-ips_trad, axis=0)
db_labels_1 = database_labels[idx[:], :]
imatch = np.append(imatch, np.sum(
np.equal(db_labels_1[ids_trad, :], label), 1) > 0)
if imatch.shape[0] > Rs:
break
imatch = imatch[0:Rs]
rel = np.sum(imatch)
Lx = np.cumsum(imatch)
Px = Lx.astype(float) / np.arange(1, Rs + 1, 1)
if rel != 0:
mAPX.append(np.sum(Px * imatch) / rel)
return np.mean(np.array(mAPX))
def update_mouse_track(self, time_elapsed):
eps = 0.1
ax, ay = self.angles
tx, ty = self.mouse_target
if (fabs(ax - tx) <= eps):
self.angles[0] = 0.0
self.mouse_target[0] = 0.0
else:
before = sign(tx - ax)
d = self.spin_velocity * time_elapsed * sign(tx - ax)
self.angles[0] += d
after = sign(tx - self.angles[0])
if (before != after):
self.angles[0] = 0.0
self.mouse_target[0] = 0.0
r = Quaternion.from_axis_angle(Vector3d(0.,1.,0.), d)
self.rotation = self.rotation * r
if (fabs(ay - ty) <= eps):
self.angles[1] = 0.0
self.mouse_target[1] = 0.0
else:
before = sign(ty - ay)
d = self.spin_velocity * time_elapsed * sign(ty - ay)
self.angles[1] += d
after = sign(ty - self.angles[1])
if (before != after):
self.angles[1] = 0.0
self.mouse_target[1] = 0.0
r = Quaternion.from_axis_angle(Vector3d(1.,0.,0.), d)
self.rotation = self.rotation * r
def ali_oauth(self, **post):
"""
支付宝用户授权回调地址，在此处根据auth_code来获取支付宝用户信息，进行登录/注册处理
"""
cr, uid, context, pool = request.cr, request.uid, request.context, request.registry
ali_code = post['auth_code'] # 授权code，属于GET参数
_logger.info('----->auth_code:%s'%ali_code)
"""
根据code获取支付宝用户ID和access_token, Python方法
"""
sign_params_dic = {
'app_id': '2016030201177117', # 支付宝APPID
'method': 'alipay.system.oauth.token',
'charset': 'UTF-8',
'sign_type': 'RSA',
'timestamp': datetime.datetime.now().strftime('%Y-%m-%d %H:%M:%S'),
'version': '1.0',
'grant_type': 'authorization_code',
'code': ali_code,
}
# 待签名参数按key值排序，组合成待加密串
_, sign_query_str = util.params_filter(sign_params_dic)
# sign_query_str = util.sort(sign_params_dic)
rsa_private_key = RSA.importKey(open('addons-extra/wxsite/static/rsa_private_key.pem','r').read())
rsa_private_sign=util.sign(sign_query_str, rsa_private_key)
sign_params_dic['sign'] = rsa_private_sign
# post到支付宝，获取userId（类似微信的OpenId）
post_param_query = urllib.urlencode(sign_params_dic)
httpsClient = httplib.HTTPSConnection('openapi.alipay.com', 443, timeout=6000)
httpsClient.request('POST', '/gateway.do', post_param_query, {"Content-type": "application/x-www-form-urlencoded", "Accept": "text/html","charset":"utf8"})
ret_json = httpsClient.getresponse().read()
ret_dict = json.loads(ret_json.decode('GB2312').encode('UTF-8')) # 解析json
ali_userid = ret_dict['alipay_system_oauth_token_response']['user_id'] # 获取userid
ali_access_token = ret_dict['alipay_system_oauth_token_response']['access_token'] # 获取access_token
"""
在此处根据支付宝userId判断用户是否已存在数据库中
"""
users_obj = pool.get('res.users')
company_id = request.session['company_id']
login = str(company_id)+ali_userid
# company_id = 1 # 支付宝授权链接中不能带自定义参数，不能像微信授权那样传递company_id，此处暂默认为1
wx_user_exists = users_obj.search(cr, SUPERUSER_ID, [('login','=',login),('company_id','=',int(company_id))])
if not wx_user_exists:
# 获取用户详细信息如用户名等
sign_params_dic = {
'app_id': '2016030201177117', # 支付宝APPID
'method': 'alipay.user.userinfo.share',
'charset': 'UTF-8',
'sign_type': 'RSA',
'timestamp': datetime.datetime.now().strftime('%Y-%m-%d %H:%M:%S'), # 不知为什么，now()总是晚8小时
'version': '1.0',
'auth_token': ali_access_token,
}
_, sign_query_str = util.params_filter(sign_params_dic)
rsa_private_key = RSA.importKey(open('addons-extra/wxsite/static/rsa_private_key.pem','r').read())
rsa_private_sign=util.sign(sign_query_str, rsa_private_key)
sign_params_dic['sign'] = rsa_private_sign
# post到支付宝，获取用户名等信息，用于注册
post_param_query = urllib.urlencode(sign_params_dic)
httpsClient = httplib.HTTPSConnection('openapi.alipay.com', 443, timeout=6000)
httpsClient.request('POST', '/gateway.do', post_param_query, {"Content-type": "application/x-www-form-urlencoded", "Accept": "text/html","charset":"utf8"})
ret_json = httpsClient.getresponse().read()
ret_dict = json.loads(ret_json.decode('GB2312').encode('UTF-8')) # 解析json
if 'nick_name' in ret_dict['alipay_user_userinfo_share_response']:
ali_username = ret_dict['alipay_user_userinfo_share_response']['nick_name'] # 获取支付宝用户昵称
else:
ali_username = ret_dict['alipay_user_userinfo_share_response']['alipay_user_id']
# 注册用户
users_obj.create(cr, SUPERUSER_ID, {'login':login,'name':ali_username,'password':'******','oauth_provider_id':'','company_id':int(company_id),'company_ids':[[6, False, [int(company_id)]]]})
request.session['alipay_userid'] = ali_userid
return request.redirect("/login?db=%s&login=%s&key=%s&redirect=%s"%(request.session.db,login, 'qdodoo', 'shop/wx/main'))
def get_reward(modeltype,
base_model,
env,
ep_max_step,
sigma,
CONFIG,
reference,
seed_and_id=None,
test=False):
# reference : reference batch torch
# start = time.time()
if seed_and_id is not None:
index_seed, k_id = seed_and_id
if modeltype == '2015':
from model_15 import build_model
elif modeltype == '2013':
from model_13 import build_model
model = build_model(CONFIG)
model.load_state_dict(base_model.state_dict())
model.switch_to_vbn()
model_size = model.get_size()
slice_dict = model.get_name_slice_dict()
noise_array = shared_noise_table.get(index_seed, model_size)
with torch.no_grad():
for name, params in model.named_parameters():
tmp = model
for attr_value in name.split('.'):
tmp = getattr(tmp, attr_value)
noise = torch.tensor(
noise_array[slice_dict[name][0]:slice_dict[name][1]],
dtype=torch.float).reshape(tmp.shape)
tmp.add_(noise * sigma * sign(k_id))
else:
model = base_model
# first send in reference
# second switch to vbn
model.switch_to_bn()
output = model(reference)
model.switch_to_vbn()
env.frameskip = 1
observation = env.reset()
break_is_true = False
ep_r = 0.
frame_count = 0
# print('k_id mid:', k_id,time.time()-start)
if ep_max_step is None:
raise TypeError("test")
else:
ProcessU = ProcessUnit(FRAME_SKIP)
ProcessU.step(observation)
if test == True:
ep_max_step = 108000
#no_op_frames = np.random.randint(FRAME_SKIP+1, 30)
no_op_frames = np.random.randint(1, 31)
for i in range(no_op_frames):
# TODO: I think 0 is Null Action
# but have not found any article about the meaning of every actions
observation, reward, done, _ = env.step(0)
ProcessU.step(observation)
frame_count += 1
for step in range(ep_max_step):
action = model(ProcessU.to_torch_tensor())[0].argmax().item()
for i in range(FRAME_SKIP):
observation, reward, done, _ = env.step(action)
ProcessU.step(observation)
frame_count += 1
ep_r += reward
if done:
break_is_true = True
if break_is_true:
break
return ep_r, frame_count
def get_mAPs_after_sign(self, database, query, Rs=None, dist_type='inner_product'):
if Rs is None:
Rs = self.R
q_output = sign(query.output)
db_output = sign(database.output)
return get_mAPs(q_output, query.label, db_output, database.label, Rs, dist_type)
def _set_angularvelocity(self, val):
if self.maxAngularVelocity and abs(self.maxAngularVelocity) < abs(val):
self._angular = self.maxAngularVelocity * util.sign(val)
else:
self._angular = val
self.redraw()
base = len(rewards)
rank = np.arange(1, base + 1)
util_ = np.maximum(0, np.log(base / 2 + 1) - np.log(rank))
utility = util_ / util_.sum() - 1 / base
kids_rank = np.argsort(rewards)[::-1] # rank kid id by reward
cumulative_update = {} # initialize update values
for ui, k_id in enumerate(kids_rank):
# reconstruct noise using seed
noise_array = shared_noise_table.get(index_seed[k_id], model_size)
for name, params in model.named_parameters():
if not name in cumulative_update.keys():
cumulative_update[name] = torch.zeros_like(params, dtype=torch.float)
noise = torch.tensor(noise_array[slice_dict[name][0]:slice_dict[name][1]], dtype=torch.float).reshape(params.shape)
cumulative_update[name].add_(utility[ui]*sign(k_id)*noise)
for name, params in cumulative_update.items():
cumulative_update[name].mul_(1/(ARGS.population_size*ARGS.sigma))
# weight decay
for name, params in model.named_parameters():
tmp = model
for attr_value in name.split('.'):
tmp = getattr(tmp, attr_value)
cumulative_update[name].add_(-ARGS.l2coeff*tmp)
optimizer.update_model_parameters(model, cumulative_update)
return model, rewards, timesteps_count
# TODO
def test(model, pool, env, test_times, CONFIG, reference):
# distribute training in parallel
def train(model, optimizer, pool, sigma, env, N_KID, CONFIG, modeltype,
reference_batch_torch):
# pass seed instead whole noise matrix to parallel will save your time
# reference_batch_torch: torch.tensor (128, 4, 84, 84)
# mirrored sampling
model_size = model.get_size()
slice_dict = model.get_name_slice_dict()
stream = np.random.RandomState()
index_seed = shared_noise_table.sample_index(stream, model_size,
N_KID).repeat(2)
# distribute training in parallel
jobs = [
pool.apply_async(get_reward, (
modeltype,
model,
env,
CONFIG['ep_max_step'],
sigma,
CONFIG,
reference_batch_torch,
[index_seed[k_id], k_id],
)) for k_id in range(N_KID * 2)
]
from config import timesteps_per_batch
# N_KID means episodes_per_batch
rewards = []
timesteps = []
timesteps_count = 0
for idx, j in enumerate(jobs):
rewards.append(j.get()[0])
timesteps.append(j.get()[1])
timesteps_count += j.get()[1]
base = len(rewards)
rank = np.arange(1, base + 1)
util_ = np.maximum(0, np.log(base / 2 + 1) - np.log(rank))
utility = util_ / util_.sum() - 1 / base
kids_rank = np.argsort(rewards)[::-1] # rank kid id by reward
cumulative_update = {} # initialize update values
for ui, k_id in enumerate(kids_rank):
# reconstruct noise using seed
noise_array = shared_noise_table.get(index_seed[k_id], model_size)
for name, params in model.named_parameters():
if not name in cumulative_update.keys():
cumulative_update[name] = torch.zeros_like(params,
dtype=torch.float)
noise = torch.tensor(
noise_array[slice_dict[name][0]:slice_dict[name][1]],
dtype=torch.float).reshape(params.shape)
cumulative_update[name].add_(utility[ui] * sign(k_id) * noise)
for name, params in cumulative_update.items():
cumulative_update[name].mul_(1 / (2 * N_KID * sigma))
# weight decay
for name, params in model.named_parameters():
tmp = model
for attr_value in name.split('.'):
tmp = getattr(tmp, attr_value)
cumulative_update[name].add_(-CONFIG['l2coeff'] * tmp)
optimizer.update_model_parameters(model, cumulative_update)
return model, rewards, timesteps_count
def splitmerge(network, pairs=None, beg_year=1, end_year=2, **kwargs):
## EXPERIMENTAL PLACEHOLDERS - will eventually be replaced with a master
## loop to do all the id pairs.
id_list = network.stations.keys()
pair_results = dict()
def dict_to_tuples(d):
keys = d.keys()
return [(key, d[key]) for key in keys]
## Generate station pairs for use in splitmerge by iteratively going through the
## station_list and adding stations in order of decreasing correlation. Skip a
## neighbor if the pair is already present; want 20 stations or until all the
## correlated neighbors are used up.
# pairs = []
# for id1 in id_list:
# neighbors = dict_to_tuples(network.correlations[id1])
# sorted_neighbors = sorted(neighbors, key=operator.itemgetter(1))
# added_pairs = 0
# while sorted_neighbors and (added_pairs < 5):
# id2, _ = sorted_neighbors.pop()
# ordered_pair = tuple(sorted((id1, id2)))
# if not ordered_pair in pairs:
# pairs.append(ordered_pair)
# added_pairs += 1
for (id1, id2) in pairs:
print "Pair %s with %s" % (id1, id2)
pair_str = "%6s-%6s" % (id1, id2)
#if pair_str != "051528-298107":
# continue
raw_series = network.raw_series
stations = network.stations
series_copy = deepcopy(raw_series)
min_ann = 5
num_years = end_year - beg_year
num_months = num_years*12
for s in series_copy.itervalues():
data = s.series
scaled = scale_series(data, 0.1, s.MISSING_VAL)
anomalies = compute_monthly_anomalies(scaled, s.MISSING_VAL)
s.set_series(anomalies, s.years)
## Retrieve the data for each of the stations.
station1 = stations[id1]
series1 = series_copy[id1]
data1 = series1.monthly_series
station2 = stations[id2]
series2 = series_copy[id2]
data2 = series2.monthly_series
#print data1[:50]
#print data2[:50]
#print "################################################################"
## Compute the difference series
diff_data = diff(data1, data2)
MISS = series1.MISSING_VAL # Missing value placeholder
## Quickly pass through the data to find where it starts. We need to do this
## because it's possible that beg_year is earlier than the first year of
## valid data in either data1 or data2. Furthermore, the original PHA code
## deliberately clipped off the first year of good data, so emulate that
## effect here as well.
##
## Ultimately, we save the extreme early and extreme late month with valid
## data to use as our first guess at the undocumented changepoints.
first = 0
first_set = False
last = 0
for (i, d1, d2) in zip(xrange(num_months), data1, data2):
if d1!=MISS and d2!=MISS:
if first < 12:
first = i
#first_set = True
#if not first_set:
# first = i
# first_set = True
last = i
## Set the initial breakpoints and the list of already-found, homogenous
## segments.
breakpoints = [first, last, ]
homog_segs = []
#####################################################################
## BEGIN SPLITMERGE PROCESS TO GENERATE FIRST GUESS AT UNDOCUMENTED
## CHANGEPOINTS
iter = 0 # counts how many times we've repeated the splitmerge process
enter_BIC = False # break out of iterations into the BIC process?
last_breakpoints = []
while (iter < 10) and not enter_BIC:
seg_bounds = zip(breakpoints[:-1], breakpoints[1:])
last_breakpoints = deepcopy(breakpoints)
new_breakpoints = deepcopy(breakpoints)
new_homog_segs = []
print "Parse segments (isplit = 1), ipass: "******"Too short: ", imo2iym(l), imo2iym(r)
continue
## If we've previously found that this segment is homogenous (has no
## potential changepoint), then we can skip it as well and proceed to
## the next one.
# Set the within() method to check if this segment is within any
# previously found homogenous ones. Use lambda, since we can't pass
# keyword or positional arguments to map().
within_this_seg = lambda seg: within((l, r), seg)
within_stable_segs = map(within_this_seg, homog_segs)
if any(within_stable_segs):
print "Stable segment: ", imo2iym(l), imo2iym(r)
if l == first:
new_breakpoints.append(first)
continue
## The standard normal homogeneity test - which is the statistical test
## we'll use to see if there is a potential changepoint in this segment
## - requires us to normalize our paired difference series. We can do
## that in snht(), but we'll do it right now so we can inspect those
## standardized values later.
z = standardize(segment, MISS)
## Apply standard normal homogeneity test.
## For mechanics, see Alexandersson and Moberg 1997, Int'l Jrnl of
## Climatology (pp 25-34)
likelihood_ratios = snht(z, MISS, standardized=True)
z_count = len(get_valid_data(z))
## We're left with the likelihood ratio for each value being a potential
## changepoint. Find the max ratio, and if that value is significant, let
## it be the newest potential changepoint.
ind_max_ratio = 0
max_ratio = 0.0
clip_ratios = likelihood_ratios[2:-2] # clip the beginning and end,
# they can't be changepoints.
for (ind, ratio) in zip(xrange(len(clip_ratios)), clip_ratios):
if ratio > max_ratio:
ind_max_ratio = ind
max_ratio = ratio
## Now we find the critical value for this data set, and check our max
## likelihood ratio against it
crit_val = lrt_lookup(z_count)
# The possible changepoint is the index of the max ratio we found.
# We have to shift it the following ways to align it to the original
# data -
# 1) shift by 2 re-aligns it from clip_ratios to likelihood_ratios
# 2) shift by adjust re-aligns it to this segment in diff_data
# 3) shift by l re-aligns it to the first index in diff_data
possible_changepoint = l + ind_max_ratio + 2 + adjust
y_new, m_new = imo2iym(possible_changepoint) # year, month
## If this is the first iteration, we indicate as such, and add the new
## changepoint
if iter == 0:
print "%6s-%6s MD FIRST series %4d %2d to %4d %2d | at %4d %2d ts: %4.2f limit >: %3.2f" % (id1,id2,y1,m1,y2,m2,y_new,m_new,max_ratio,crit_val)
breakpoints.append(possible_changepoint)
breakpoints = sorted(breakpoints)
else:
## Else, if we found a new possible changepoint, add it to our list.
if max_ratio > crit_val:
print "%6s-%6s MD Inhomogenity for series %4d %2d to %4d %2d | at %4d %2d ts: %4.2f limit >: %3.2f %4d" % (id1,id2,y1,m1,y2,m2,y_new,m_new,max_ratio,crit_val,z_count)
new_breakpoints.append(possible_changepoint)
## If not, record that we found a homogeneous segment.
else:
print "%6s-%6s MD Homogeneous series %4d %2d to %4d %2d | at %4d %2d ts: %4.2f limit >: %3.2f %4d" % (id1,id2,y1,m1,y2,m2,y_new,m_new,max_ratio,crit_val,z_count)
new_homog_segs.append((l, r))
## Now we need to update our account of which segments were homogeneous,
## because we need to know during the next iteration. We will do this,
## as well as condense stable segments that lie adjacent to each other
## i.e, if we have the segments [(1,5), (5, 10,),, (12, 15)], then we
## really have [(1,10), (12, 15)].
homog_segs.extend(new_homog_segs)
if homog_segs:
homog_segs = sorted(homog_segs, key=operator.itemgetter(0))
final_homog_segs = [homog_segs[0], ] # this will be like a stack
for seg in homog_segs[1:]:
last_seg = final_homog_segs[-1]
if last_seg[1] == seg[0]:
new_seg = (last_seg[0], seg[1])
final_homog_segs.pop()
final_homog_segs.append(new_seg)
else:
final_homog_segs.append(seg)
homog_segs = final_homog_segs
## So we have new segments that can be generated from these new
## breakpoints. Now, the PHA routine enters a "merge" process
## to see whether or not to keep these newly found changepoints or throw
## them out as false alarms.
##
## We do this by "leapfrogging" every other breakpoint. This gives us
## a set of segments that all have another breakpoint in them. We want
## to see if these segments are homogeneous, because if they are, it
## means that the breakpoint we previously found in the segment has
## been superseded.
new_breakpoints = sorted(new_breakpoints)
seg_bounds = zip(new_breakpoints[:-2], new_breakpoints[2:])
remove_breakpoints = set()
merged_breakpoints = set()
if iter > 0:
print "Merge segments (isplit = 0), ipass: "******"Stable segment: ", imo2iym(l), imo2iym(r)
# if l == first:
# new_breakpoints.append(first)
# seg_lookup.append(((l, r), 'stable'))
# continue
# Set the within() method to check if this segment is within any
# previously found homogenous ones. Use lambda, since we can't pass
# keyword or positional arguments to map().
within_this_seg = lambda seg: within((l, r), seg)
within_stable_segs = map(within_this_seg, homog_segs)
if any(within_stable_segs):
print "Stable segment: ", imo2iym(l), imo2iym(r)
#if l == first:
# new_breakpoints.append(first)
merged_breakpoints.update([l, r])
continue
## Apply the same adjustments and the same standard normal homogeneity
## test that we did in the previous splitting process. There is no
## difference here until we consider what to do if we find a new
## homogeneous segment.
adjust = int(seg_bounds.index((l, r)) > 0)
segment = diff_data[l+adjust:r+1]
z = standardize(segment, MISS)
likelihood_ratios = snht(z, MISS, standardized=True)
z_count = len(get_valid_data(z))
ind_max_ratio = 0
max_ratio = 0.0
clip_ratios = likelihood_ratios[2:-2] # We clip the beginning and end
for (ind, ratio) in zip(xrange(len(clip_ratios)), clip_ratios):
if ratio > max_ratio:
ind_max_ratio = ind
max_ratio = ratio
crit_val = lrt_lookup(z_count)
possible_changepoint = l + ind_max_ratio + 2 + adjust
y_new, m_new = imo2iym(possible_changepoint)
if z_count < 2:
y1, m1 = imo2iym(l)
y2, m2 = imo2iym(r)
print "%6s-%6s MD No found peaks %4d %2d to %4d %2d" % (id1,id2,y1,m1,y2,m2)
print "%6s-%6s MD Compress 1 out peak at %4d %2d" % (id1,id2,y_new,m_new)
#remove_breakpoints.add_
## If we found a new breakpoint that is statistically significant, then
## great! Let's keep it.
if max_ratio > crit_val:
print "%6s-%6s MD Peak kept in merge at %4d %2d | ts: %4.2f limit >: %3.2f" % (id1,id2,y_new,m_new,max_ratio,crit_val)
merged_breakpoints.add(l)
merged_breakpoints.add(new_bp)
merged_breakpoints.add(r)
## If not, then this segment was homogeneous, so the breakpoint which
## already exists in it is no good.
else:
print "%6s-%6s MD Compress 2 out peak at %4d %2d | ts: %4.2f limit >: %3.2f" % (id1,id2,y_new,m_new,max_ratio,crit_val)
# Crap, if there are any potential breakpoints in this segment,
# we need to remove them because this segment is homogeneous. Let's
# remember this homogeneous segment for now and come back once
# we've found all of them.
merged_breakpoints.update([l, r])
remove_breakpoints.add(new_bp)
## At this point, we have a set of all the breakpoints we've accumulated
## during this iteration of split/merge, as well as a set of breakpoints
## which we've found to be of no further use. We can difference update
## our set of breakpoints to remove these guys, and let those merged
## breakpoints be the set of newest breakpoints for the next splitmerge
## iteration.
merged_breakpoints.difference_update(remove_breakpoints)
breakpoints = list(merged_breakpoints)
breakpoints = sorted(breakpoints)
## Did we actually find new breakpoints? If not, then we're done
## with splitmerge and can move on to the BIC process.
enter_BIC = (breakpoints == last_breakpoints)
iter = iter + 1
## Okay wow, we've potentially made it to the BIC stage now... !
if first not in breakpoints:
breakpoints.insert(0, first)
ym_breakpoints = map(imo2iym, breakpoints)
#print ym_breakpoints
## ENTERING MINBIC
bp_dictionary = dict()
####################################
##### MULTIPROCESS
from multiprocessing import Pool
global counter
multi_bp_dict = {}
counter = 0
def cb(r):
global counter
#print counter, r
counter += 1
start = time.clock()
po = Pool(processes=4)
for left,bp,right in zip(breakpoints[0:], breakpoints[1:], breakpoints[2:]):
if left != first:
left = left + 1
# recall that we only consider data after the first full year. we will be
# computing regressions with the independent variable indexed from this
# starting point, so we need to shift these indices. we also need to shift them
# by +1 if this is any segment beyond the first one, so that we don't include
# changepoints in more than one analysis.
# TOTAL_SHIFT = -12 + 1 = -11
#
# However, this shift is only necessary while looking at the array indices that
# we generate using range(). the data should already be aligned correctly.
total_shift = -12 + 1
left_shift, bp_shift, right_shift = left+total_shift, bp+total_shift, right+total_shift
y1, m1 = imo2iym(left)
yb, mb = imo2iym(bp)
y2, m2 = imo2iym(right)
#print "Entering MINBIC - %4d %2d %4d %2d %4d %2d" % (y1, m1, yb,
# mb, y2, m2)
(seg_x, seg_data) = range(left_shift, right_shift+1), diff_data[left:right+1]
bp_index = bp-left
#print len(seg_x), len(seg_data), bp_index
#bp_analysis = minbic(seg_x, seg_data, bp_index, MISS)
multi_bp_dict[bp] = po.apply_async(minbic,(seg_x,seg_data,bp_index,MISS,),callback=cb)
po.close()
po.join()
for bp in multi_bp_dict:
r = multi_bp_dict[bp]
multi_bp_dict[bp] = r.get()
#print "counter - %d" % counter
elapsed = (time.clock() - start)
print "ELAPSED TIME - %2.3e" % elapsed
#print new_bp_dict
####################################
##### NORMAL
# start = time.clock()
# for left,bp,right in zip(breakpoints[0:], breakpoints[1:], breakpoints[2:]):
#
# if left != first:
# left = left + 1
# # recall that we only consider data after the first full year. we will be
# # computing regressions with the independent variable indexed from this
# # starting point, so we need to shift these indices. we also need to shift them
# # by +1 if this is any segment beyond the first one, so that we don't include
# # changepoints in more than one analysis.
# # TOTAL_SHIFT = -12 + 1 = -11
# #
# # However, this shift is only necessary while looking at the array indices that
# # we generate using range(). the data should already be aligned correctly.
# total_shift = -12 + 1
# left_shift, bp_shift, right_shift = left+total_shift, bp+total_shift, right+total_shift
# y1, m1 = imo2iym(left)
# yb, mb = imo2iym(bp)
# y2, m2 = imo2iym(right)
# print "Entering MINBIC - %4d %2d %4d %2d %4d %2d" % (y1, m1, yb,
# mb, y2, m2)
# (seg_x, seg_data) = range(left_shift, right_shift+1), diff_data[left:right+1]
# bp_index = bp-left
# #print len(seg_x), len(seg_data), bp_index
# bp_analysis = minbic(seg_x, seg_data, bp_index, MISS)
#
# bp_dictionary[bp] = bp_analysis
# elapsed2 = (time.clock() - start)
# print "ELAPSED TIME = %3.2e" % elapsed2
##################################3
## Print the adjustment summaries
bp_dictionary = multi_bp_dict
sorted_bps = sorted(bp_dictionary.keys())
ndelete = []
valid_bps = {}
for bp in sorted_bps:
stats = bp_dictionary[bp]
cmodel=stats['cmodel']
iqtype=stats['iqtype']
asigx=stats['offset']
azscr=stats['offset_z']
rslp=stats['slopes']
end1 = bp
y_end1, m_end1 = imo2iym(end1)
beg2 = bp+1
y_beg2, m_beg2 = imo2iym(beg2)
# If cmodel is *SLR*, then there is no breakpoint
if 'SLR' in cmodel:
print ("%s-%s -- -- MD TESTSEG SKIP: %7.2f %5d %5d %3d %5d %5d %3d" %
(id1, id2, asigx, end1, y_end1, m_end1, beg2, y_beg2, m_beg2))
# Don't store it!
else:
print ("%6s-%6s -- -- MD TESTSEG ADJ: %7.2f %7.2f %8.4f %8.4f %5d %5d %3d %5d %5d %3d %2d" %
(id1,id2, asigx, azscr, rslp[0], rslp[1], end1, y_end1, m_end1, beg2, y_beg2, m_beg2, iqtype))
# Store it!
valid_bps[bp] = stats
###############################
## Go back and see if we can get rid of some of the change points.
## If 2 or more of the chgpts are within MINLEN,
## a) if the chgpt estimates are the same sign, then test each
## singly with same endpoints and keep lowest BIC
## b) if not the same sign,
## retain earliest changepoint
# add the first, last to valid_bps
interior_bps = valid_bps.keys()
# Add first, last if not already in interior_bps
for bp in [first, last]:
if bp not in interior_bps:
interior_bps.append(bp)
sorted_bps = sorted(interior_bps)
for left in sorted_bps:
print sorted_bps, left
## We're looking for the next interim breakpoint that satisfies two
## conditions:
## 1) at least MINLEN valid data (non-missing to the right)
## 2) has at least one breakpoint between 'left' and it
right = 0
close_bps = []
for right in sorted_bps:
if right <= left: continue
if not close_bps:
close_bps.append(right)
else:
valid_between_bps = diff_data[close_bps[-1]:right]
valid_length = len(get_valid_data(valid_between_bps, MISS))
print imo2iym(close_bps[-1]),valid_length,imo2iym(right)
if valid_length > MINLEN:
break
close_bps.append(right)
# We could actually run out of things in sorted_bps, and wind up with
# right == close_bps[-1]. Detect that and break out of this analysis
# if that happens.
if close_bps[-1]==right: break
if left != first:
left = left + 1
close_bp_results = {}
for bp in close_bps:
# # recall that we only consider data after the first full year. we will be
# # computing regressions with the independent variable indexed from this
# # starting point, so we need to shift these indices. we also need to shift them
# # by +1 if this is any segment beyond the first one, so that we don't include
# # changepoints in more than one analysis.
# # TOTAL_SHIFT = -12 + 1 = -11
# #
# # However, this shift is only necessary while looking at the array indices that
# # we generate using range(). the data should already be aligned correctly.
total_shift = -12 + 1
left_shift, bp_shift, right_shift = left+total_shift, bp+total_shift, right+total_shift
y1, m1 = imo2iym(left)
yb, mb = imo2iym(bp)
y2, m2 = imo2iym(right)
print ">>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>"
print y1,m1,"-",yb,mb,"-",y2,m2
print "<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<"
(seg_x, seg_data) = range(left_shift, right_shift+1), diff_data[left:right+1]
bp_index = bp-left
bp_analysis = minbic(seg_x, seg_data, bp_index, MISS, kthslr0_on=True)
cmodel=bp_analysis['cmodel']
iqtype= bp_analysis['iqtype']
offset= bp_analysis['offset']
rslp= bp_analysis['slopes']
crit_val = bp_analysis['crit_val']
test_stat = bp_analysis['test_stat']
bic = bp_analysis['bic']
print ("Interim chgpt: %s %4d %2d %4d %2d %4d %2d %8.2f %8.2f %8.2f %8.2f %7.3f %7.3f %2d" %
(pair_str, y1, m1, yb, mb, y2, m2, bic, test_stat, crit_val, offset, rslp[0], rslp[1], iqtype))
close_bp_results[bp] = bp_analysis
# Now we have a small problem... we might have more than one breakpoint,
# so we need to choose which one is best. We will check the sign of
# the breakpoint amplitude changes:
sign_of_amps = map(sign, [close_bp_results[bp]['offset'] for bp in close_bps])
positive = lambda x: sign(x) >= 0
negative = lambda x: sign(x) <= 0
zero = lambda x: sign(x) == 0
print "------------>",[close_bp_results[bp]['offset'] for bp in close_bps]
if (all(map(positive, sign_of_amps)) or
all(map(negative, sign_of_amps))):
# Pick the best (minimum BIC)
bics = [(bp, close_bp_results[bp]['bic']) for bp in close_bps]
sorted_bics = sorted(bics, key=operator.itemgetter(1))
smallest_bp = sorted_bics[0][0]
# Remove this smallest-bic bp from the in-interval bps
close_bps.remove(smallest_bp)
valid_bps[smallest_bp] = close_bp_results[smallest_bp]
#print "leftovers",close_bps
for bp in close_bps: # The remaining bps which we will reject
sorted_bps.remove(bp) # Remove them from this loop
del valid_bps[bp] # Remove them as valid
yb, mb = imo2iym(smallest_bp)
print ("Same domain - Lowest Interim: %s %4d %2d" %
(pair_str, yb, mb))
elif (all(map(zero, sign_of_amps))):
# Choose the earliest changepoint; the rest of these have
# amplitude changes which are 0.
first_bp, last_bp = close_bps[0], close_bps[-1]
# Remove the first interim bp and update valid_bps with this new
# computation.
close_bps.remove(first_bp)
valid_bps[first_bp] = close_bp_results[first_bp]
# Reject remaining interim bps
for bp in close_bps:
sorted_bps.remove(bp)
del valid_bps[bp]
yb, mb = imo2iym(first_bp)
print ("Null domain - Earliest Interim : %s %4d %2d" %
(pair_str, yb, mb))
else:
# We'll use the earliest interim changepoint, but we need
# to get rid of bad data. Replace all the data between the
# interim changepoints as missing and re-compute BIC.
first_bp, last_bp = close_bps[0], close_bps[-1]
first_bp_index = first_bp-left
last_bp_index = last_bp-left
print len(seg_x), len(seg_data)
print first_bp_index+1, last_bp_index+1
print left, bp, right
for i in range(first_bp_index+1, last_bp_index+1):
print i, imo2iym(i), i+left, imo2iym(i+left)
seg_x[i] = MISS
seg_data[i] = MISS
# Recall that seg_data[0] == diff_data[left]. ndelete records
# the *true month where there is unviable data*, so it needs to
# point back to the original element in diff_data we are
# worried about.
ndelete.append(i+left)
bp_analysis = minbic(seg_x, seg_data, first_bp_index, MISS, kthslr0_on=True)
# Remove the first interim bp and update valid_bps with this new
# computation.
close_bps.remove(first_bp)
valid_bps[first_bp] = bp_analysis
# Reject remaining interim bps
for bp in close_bps:
sorted_bps.remove(bp)
del valid_bps[bp]
yb, mb = imo2iym(first_bp)
print ("Diff domain - Earliest Interim : %s %4d %2d" %
(pair_str, yb, mb))
## Remove changepoints which are an SLR model.
nspan = [0]*num_months
bp_count = 1
for bp in sorted(valid_bps.keys()):
bp_analysis = valid_bps[bp]
if "SLR" in bp_analysis['cmodel']:
del valid_bps[bp]
continue
print " IN: ",bp
nspan[bp] = bp_count
## If adjacent months are missing next to this breakpoint, then
## assume that those could be a breakpoint as well and copy this
## breakpoint's analysis results for them.
for month in range(bp+1, last):
if (month in ndelete) or (diff_data[month] == MISS):
nspan[month] = bp_count
print " IN: ",month
valid_bps[month] = bp_analysis
else:
break
bp_count += 1
valid_bps['del'] = ndelete
valid_bps['nspan'] = nspan
pair_results[pair_str] = valid_bps
#print "ELAPSED TIMES = %3.2e %3.2e" % (elapsed1, elapsed2)
print "done"
##
import pickle
f = open("pair_results", 'w')
pickle.dump(pair_results, f)
return pair_results
def invert_angle(angle: float):
return angle - sign(angle) * pi
def get_controls(self):
"""Decides what strategy to uses and gives corresponding output"""
self.drive.power_turn = False
if self.step is Step.Steer or self.step is Step.Drive:
self.step = Step.Catching
if self.step is Step.Catching:
# Enable power turning for catching, since we don't halfflip
self.drive.power_turn = True
target = get_bounce(self)
if target is None:
self.step = Step.Shooting
else:
self.catching.target = target[0]
self.catching.speed = (distance_2d(self.info.my_car.location,
target[0]) + 50) / target[1]
self.catching.step(self.info.time_delta)
self.controls = self.catching.controls
ball = self.info.ball
car = self.info.my_car
if distance_2d(ball.location, car.location) < 150 and 65 < abs(
ball.location[2] - car.location[2]) < 127:
self.step = Step.Dribbling
self.dribble = Dribbling(self.info.my_car, self.info.ball,
self.their_goal)
if self.defending:
self.step = Step.Defending
ball = self.info.ball
if abs(ball.velocity[2]) < 100 and sign(self.team) * ball.velocity[1] < 0 and sign(self.team) * \
ball.location[1] < 0:
self.step = Step.Shooting
elif self.step is Step.Dribbling:
self.dribble.step()
self.controls = self.dribble.controls
ball = self.info.ball
car = self.info.my_car
bot_to_opponent = self.info.cars[
1 - self.index].location - self.info.my_car.location
local_bot_to_target = dot(bot_to_opponent,
self.info.my_car.rotation)
angle_front_to_target = math.atan2(local_bot_to_target[1],
local_bot_to_target[0])
opponent_is_near = norm(vec2(bot_to_opponent)) < 2000
opponent_is_in_the_way = math.radians(
-10) < angle_front_to_target < math.radians(10)
if not (distance_2d(ball.location, car.location) < 150
and 65 < abs(ball.location[2] - car.location[2]) < 127):
self.step = Step.Catching
if self.defending:
self.step = Step.Defending
if opponent_is_near and opponent_is_in_the_way:
self.step = Step.Dodge
self.dodge = Dodge(self.info.my_car)
self.dodge.duration = 0.25
self.dodge.target = self.their_goal.center
elif self.step is Step.Defending:
defending(self)
elif self.step in [
Step.Dodge, Step.Dodge_1, Step.Dodge_2, Step.HalfFlip
]:
halfflipping = self.step is Step.HalfFlip
if halfflipping:
self.halfflip.step(self.info.time_delta)
else:
self.dodge.step(self.info.time_delta)
if self.halfflip.finished if halfflipping else self.dodge.finished:
self.step = Step.Catching
else:
self.controls = (self.halfflip.controls
if halfflipping else self.dodge.controls)
elif self.step is Step.Shooting:
shooting(self)
def get_controls(self):
if self.step == "Steer" or self.step == "Dodge2":
self.step = "Catching"
if self.step == "Catching":
target = get_bounce(self)
if target is None:
self.step = "Defending"
else:
self.catching.target_pos = target[0]
self.catching.target_speed = (distance_2d(
self.info.my_car.pos, target[0]) + 50) / target[1]
self.catching.step(self.FPS)
self.controls = self.catching.controls
ball = self.info.ball
car = self.info.my_car
if distance_2d(ball.pos,
car.pos) < 150 and 65 < abs(ball.pos[2] -
car.pos[2]) < 127:
self.step = "Dribbling"
self.dribble = Dribbling(self.info.my_car, self.info.ball,
self.info.their_goal)
if self.defending:
self.step = "Defending"
if not self.info.my_car.on_ground:
self.step = "Recovery"
ball = self.info.ball
if abs(ball.vel[2]) < 100 and sign(
self.team) * ball.vel[1] < 0 and sign(
self.team) * ball.pos[1] < 0:
self.step = "Shooting"
elif self.step == "Dribbling":
self.dribble.step(self.FPS)
self.controls = self.dribble.controls
ball = self.info.ball
car = self.info.my_car
bot_to_opponent = self.info.opponents[0].pos - self.info.my_car.pos
local_bot_to_target = dot(bot_to_opponent, self.info.my_car.theta)
angle_front_to_target = math.atan2(local_bot_to_target[1],
local_bot_to_target[0])
opponent_is_near = norm(vec2(bot_to_opponent)) < 2000
opponent_is_in_the_way = math.radians(
-10) < angle_front_to_target < math.radians(10)
if not (distance_2d(ball.pos, car.pos) < 150
and 65 < abs(ball.pos[2] - car.pos[2]) < 127):
self.step = "Catching"
if self.defending:
self.step = "Defending"
if opponent_is_near and opponent_is_in_the_way:
self.step = "Dodge"
self.dodge = AirDodge(self.info.my_car, 0.25,
self.info.their_goal.center)
if not self.info.my_car.on_ground:
self.step = "Recovery"
elif self.step == "Defending":
defending(self)
elif self.step == "Dodge":
self.dodge.step(self.FPS)
self.controls = self.dodge.controls
self.controls.boost = 0
if self.dodge.finished and self.info.my_car.on_ground:
self.step = "Catching"
elif self.step == "Recovery":
self.recovery.step(self.FPS)
self.controls = self.recovery.controls
if self.info.my_car.on_ground:
self.step = "Catching"
elif self.step == "Shooting":
shooting(self)