# ("dif index","middle","ring","pinky"))
#plo.plotter2d((dif_A[:,:3], dif_A[:,3:6], dif_A[:,6:9], dif_A[:,9:]),
# ("dif_A index","middle","ring","pinky"))
f.write("Start of estimation routine!\n")
for i in range(0,2):
methString = "METHOD:" + str(i)
print methString
f.write(methString + '\n')
''' dip without ad-ab '''
startT = time.time()
estAng_dip = modD.estimateSeries(b_cyl_A, fingList, sensList, jointList, bnds=True, met=i)
endT = time.time()-startT
resString = "model: dipole, without adduction-abduction\n"
resString += "total time[sec] needed: " + str(endT) + "\n"
resString += "avg time per step[sec]: " + str(endT/len(simValues_A)) + "\n\n"
# resString += "max fun value: " + str(max(fun_dip)) + "\n\n"
print resString
f.write(resString)
datAc.saveStates(folderStr+"estAng_dip"+str(i), estAng_dip)
plo.plotter2d((estAng_dip[:,:3], estAng_dip[:,3:6]),
("model: dip without Adduction index","middle"+methString))
# plo.plotter2d((estAng_dip[:,:3], estAng_dip[:,3:6], estAng_dip[:,6:9], estAng_dip[:,9:]),
# ("model: dip without Adduction index","middle"+methString,"ring","pinky"))
plt.savefig(folderStr+str(i)+"dip_nA.png")
(0.0,np.pi/2.))
#
#startDip = time.time()
#cnt = 0
#for i in b_dip[1:]:
# print "dipole estimation step: ", cnt
## tmp = modD.estimate_BtoAng(estAng_dip[cnt],fingList_dip,jointList_dip,sensList_dip,i)
# tmp = modD.estimate_BtoAng(estAng_dip[cnt],fingList,sensList,jointList,i,bnds=bnds_dip[:len(fingList)*2],method=2)
## print "function value: ", tmp.fun
# estAng_dip[cnt+1] = tmp.x
# fun_dip[cnt+1] = tmp.fun
#
# cnt += 1
#
#timeDip = time.time()-startDip
ang_d = modD.estimateSeries(b_dip,fingList,sensList,jointList,bnds=True,met=1)
ang_c = modC.estimateSeries(b_cyl,fingList,sensList,jointList,bnds=True,met=1)
plo.plotter2d((ang_d[:,:3],ang_c[:,:3]),("dipole","cyl"))
#plo.plotter2d((angles_cyl,estAng_dip,ang_d,estAng_cyl,ang_c),("perfect","dip","dipPacked","cyl","cylPacked"))
#plo.plotter2d((estAng_cyl, estAng_dip),("est cyl", "est dip"), mtitle='estimated angles')
#print "time for cyl: ", timeCyl
#print "max cyl: ", max(fun_cyl)
#print "mean cyl: ", np.mean(fun_cyl)
#
#print "time for dip: ", timeDip
#print "max cyl: ", max(fun_dip)
#print "mean cyl: ", np.mean(fun_dip)
