def compute_action(self, plan):
if len(plan) == 0:
shape = self.dds.actions[0].diffeo.get_shape()
identity_cmd = np.array([0, 0])
return DiffeoAction.identity('id', shape, identity_cmd) # XXX
last = self.dds.actions[plan[-1]]
if len(plan) == 1:
return last
else:
rest = self.compute_action(plan[:-1])
return DiffeoAction.compose(last, rest)
def plan2action(self, plan):
if len(plan) == 0:
shape = self.dds.actions[0].diffeo.get_shape()
identity_cmd = np.array([0, 0])
return DiffeoAction.identity('id', shape, identity_cmd) # XXX
last = self.dds.actions[plan[-1]]
if len(plan) == 1:
return last
else:
rest = self.plan2action(plan[:-1])
return DiffeoAction.compose(last, rest)
def display_products(self, report, nsteps):
for a in self.dds_hard.actions:
f = report.figure(a.label, cols=nsteps)
A = a
for k in range(nsteps):
A = DiffeoAction.compose(A, a)
rgb = A.get_diffeo2d_forward().get_rgb_info()
f.data_rgb('%s_%s' % (a.label, k), rgb)
def show_compositions(self, report):
# f_ba = report.figure()
n = len(self.dds.actions)
f_ab_norm = report.figure(cols=n, caption='Norm of AB')
f_ab_phase = report.figure(cols=n, caption='Phase of AB')
f_ab_info = report.figure(cols=n, caption='Certainty of AB')
for a, b in iterate_indices((n, n)):
A = self.dds.actions[a]
B = self.dds.actions[b]
AB = DiffeoAction.compose(A, B)
norm_rgb = diffeo_to_rgb_norm(AB.diffeo.d)
phase_rgb = diffeo_to_rgb_angle(AB.diffeo.d)
info_rgb = scalaruncertainty2rgb(AB.diffeo.variance)
label = '%s-%s' % (A.label, B.label)
caption = '%s, %s' % (A.label, B.label)
f_ab_norm.data_rgb('%s_norm' % label, norm_rgb, caption=caption)
f_ab_phase.data_rgb('%s_phase' % label, phase_rgb, caption=caption)
f_ab_info.data_rgb('%s_info' % label, info_rgb, caption=caption)
def show_compositions(self, report):
# f_ba = report.figure()
n = len(self.dds.actions)
f_ab_norm = report.figure(cols=n, caption='Norm of AB')
f_ab_phase = report.figure(cols=n, caption='Phase of AB')
f_ab_info = report.figure(cols=n, caption='Certainty of AB')
for a, b in iterate_indices((n, n)):
A = self.dds.actions[a]
B = self.dds.actions[b]
AB = DiffeoAction.compose(A, B)
norm_rgb = diffeo_to_rgb_norm(AB.diffeo.d)
phase_rgb = diffeo_to_rgb_angle(AB.diffeo.d)
info_rgb = scalaruncertainty2rgb(AB.diffeo.variance)
label = '%s-%s' % (A.label, B.label)
caption = '%s, %s' % (A.label, B.label)
f_ab_norm.data_rgb('%s_norm' % label, norm_rgb, caption=caption)
f_ab_phase.data_rgb('%s_phase' % label, phase_rgb, caption=caption)
f_ab_info.data_rgb('%s_info' % label, info_rgb, caption=caption)
def make_hard_action(a):
label = a.label
diffeo = make_hard(a.get_diffeo2d_backward())
diffeo_inv = make_hard(a.get_diffeo2d_forward())
original_cmd = a.original_cmd
return DiffeoAction(label, diffeo, diffeo_inv, original_cmd)