def mk_image(galaxy):
base = './../../images_v5/GS_2.5as_matched/gs_all_'
i_img = pyf.getdata(base+str(galaxy)+'_I.fits')
j_img = pyf.getdata(base+str(galaxy)+'_J.fits')
h_img = pyf.getdata(base+str(galaxy)+'_H.fits')
#include 90% of pixels
x = pyl.hstack(i_img)
i_lim = scoreatpercentile(x,99)
x = pyl.hstack(j_img)
j_lim = scoreatpercentile(x,99)
x = pyl.hstack(h_img)
h_lim = scoreatpercentile(x,99)
print galaxy, i_lim, j_lim, h_lim
img = pyl.zeros((h_img.shape[0], h_img.shape[1], 3), dtype=float)
img[:,:,0] = img_scale.asinh(h_img, scale_min=-0.1*h_lim, scale_max=h_lim,
non_linear=0.5)
img[:,:,1] = img_scale.asinh(j_img, scale_min=-0.1*j_lim, scale_max=j_lim,
non_linear=0.5)
img[:,:,2] = img_scale.asinh(i_img, scale_min=-0.1*i_lim, scale_max=i_lim,
non_linear=0.5)
return img
def mk_image(galaxy):
base = './../../images_v5/GS_2.5as_matched/gs_all_'
i_img = pyf.getdata(base + str(galaxy) + '_I.fits')
j_img = pyf.getdata(base + str(galaxy) + '_J.fits')
h_img = pyf.getdata(base + str(galaxy) + '_H.fits')
#include 90% of pixels
x = pyl.hstack(i_img)
i_lim = scoreatpercentile(x, 99)
x = pyl.hstack(j_img)
j_lim = scoreatpercentile(x, 99)
x = pyl.hstack(h_img)
h_lim = scoreatpercentile(x, 99)
print galaxy, i_lim, j_lim, h_lim
img = pyl.zeros((h_img.shape[0], h_img.shape[1], 3), dtype=float)
img[:, :, 0] = img_scale.asinh(h_img,
scale_min=-0.1 * h_lim,
scale_max=h_lim,
non_linear=0.5)
img[:, :, 1] = img_scale.asinh(j_img,
scale_min=-0.1 * j_lim,
scale_max=j_lim,
non_linear=0.5)
img[:, :, 2] = img_scale.asinh(i_img,
scale_min=-0.1 * i_lim,
scale_max=i_lim,
non_linear=0.5)
return img
def _shapeStim(self,
isi=1,
variation=0,
width=0.05,
weight=10,
start=0,
finish=1,
stimshape='gaussian'):
from pylab import r_, convolve, shape, exp, zeros, hstack, array, rand
# Create event times
timeres = 0.001 # Time resolution = 1 ms = 500 Hz (DJK to CK: 500...?)
pulselength = 10 # Length of pulse in units of width
currenttime = 0
timewindow = finish - start
allpts = int(timewindow / timeres)
output = []
while currenttime < timewindow:
# Note: The timeres/2 subtraction acts as an eps to avoid later int rounding errors.
if currenttime >= 0 and currenttime < timewindow - timeres / 2:
output.append(currenttime)
currenttime = currenttime + isi + variation * (rand() - 0.5)
# Create single pulse
npts = pulselength * width / timeres
x = (r_[0:npts] - npts / 2 + 1) * timeres
if stimshape == 'gaussian':
pulse = exp(-2 * (2 * x / width - 1)**
2) # Offset by 2 standard deviations from start
pulse = pulse / max(pulse)
elif stimshape == 'square':
pulse = zeros(shape(x))
pulse[int(npts / 2):int(npts / 2) +
int(width / timeres)] = 1 # Start exactly on time
else:
raise Exception('Stimulus shape "%s" not recognized' % stimshape)
# Create full stimulus
events = zeros((allpts))
events[array(array(output) / timeres, dtype=int)] = 1
fulloutput = convolve(
events, pulse, mode='full'
) * weight # Calculate the convolved input signal, scaled by rate
fulloutput = fulloutput[
npts / 2 - 1:-npts /
2] # Slices out where the convolved pulse train extends before and after sequence of allpts.
fulltime = (r_[0:allpts] * timeres +
start) * 1e3 # Create time vector and convert to ms
fulltime = hstack(
(0, fulltime, fulltime[-1] + timeres *
1e3)) # Create "bookends" so always starts and finishes at zero
fulloutput = hstack(
(0, fulloutput,
0)) # Set weight to zero at either end of the stimulus period
events = hstack((0, events, 0)) # Ditto
stimvecs = deepcopy([fulltime, fulloutput,
events]) # Combine vectors into a matrix
return stimvecs
def sigma_vectors(self,x,P): """ generates sigma vectors Arguments ---------- x : matrix state at time instant t P: matrix state covariance matrix at time instant t Returns ---------- Chi : matrix matrix of sigma points """ State_covariance_cholesky=sp.linalg.cholesky(P).T State_covariance_cholesky_product=self.gamma_sigma_points*State_covariance_cholesky chi_plus=[] chi_minus=[] for i in range(self.L): chi_plus.append(x+State_covariance_cholesky_product[:,i].reshape(self.L,1)) chi_minus.append(x-State_covariance_cholesky_product[:,i].reshape(self.L,1)) Chi=pb.hstack((x,pb.hstack((pb.hstack(chi_plus),pb.hstack(chi_minus))))) return pb.matrix(Chi)
def dy_Stance(self, t, y, pars, return_force = False):
"""
This is the ode function that is passed to the solver. Internally, it calles:
legfunc1 - force of leg 1 (overwrite for new models)
legfunc2 - force of leg 2 (overwrite for new models)
:args:
t (float): simulation time
y (6x float): CoM state
pars (dict): parameters, will be passed to legfunc1 and legfunc2.
must also include 'foot1' (3x float), 'foot2' (3x float), 'm' (float)
and 'g' (3x float) indicating the feet positions, mass and direction of
gravity, respectively.
return_force (bool, default: False): return [F_leg1, F_leg2] (6x
float) instead of dy/dt.
"""
f1 = max(self.legfunc1(t, y, pars), 0) # only push
l1 = norm(array(y[:3]) - array(pars['foot1']))
f1_vec = (array(y[:3]) - array(pars['foot1'])) / l1 * f1
f2 = max(self.legfunc2(t, y, pars), 0) # only push
l2 = norm(array(y[:3]) - array(pars['foot2']))
f2_vec = (array(y[:3]) - array(pars['foot2'])) / l2 * f2
if return_force:
return hstack([f1_vec, f2_vec])
return hstack([y[3:], (f1_vec + f2_vec) / pars['m'] + pars['g']])
def dy_Stance(self, t, y, pars, return_force=False):
"""
This is the ode function that is passed to the solver. Internally, it calles:
legfunc1 - force of leg 1 (overwrite for new models)
legfunc2 - force of leg 2 (overwrite for new models)
:args:
t (float): simulation time
y (6x float): CoM state
pars (dict): parameters, will be passed to legfunc1 and legfunc2.
must also include 'foot1' (3x float), 'foot2' (3x float), 'm' (float)
and 'g' (3x float) indicating the feet positions, mass and direction of
gravity, respectively.
return_force (bool, default: False): return [F_leg1, F_leg2] (6x
float) instead of dy/dt.
"""
f1 = max(self.legfunc1(t, y, pars), 0) # only push
l1 = norm(array(y[:3]) - array(pars['foot1']))
f1_vec = (array(y[:3]) - array(pars['foot1'])) / l1 * f1
f2 = max(self.legfunc2(t, y, pars), 0) # only push
l2 = norm(array(y[:3]) - array(pars['foot2']))
f2_vec = (array(y[:3]) - array(pars['foot2'])) / l2 * f2
if return_force:
return hstack([f1_vec, f2_vec])
return hstack([y[3:], (f1_vec + f2_vec) / pars['m'] + pars['g']])
def extrude_mesh(self, l, z_offset):
# accepts the number of layers and the length of extrusion
mesh = self.mesh
# Extrude vertices
all_coords = []
for i in linspace(0, z_offset, l):
all_coords.append(
hstack((mesh.coordinates(), i * ones((self.n_v2, 1)))))
self.global_vertices = vstack(all_coords)
# Extrude cells (tris to tetrahedra)
for i in range(l - 1):
for c in self.mesh.cells():
# Make a prism out of 2 stacked triangles
vertices = hstack((c + i * self.n_v2, c + (i + 1) * self.n_v2))
# Determine prism orientation
smallest_vertex_index = argmin(vertices)
# Map to I-ordering of Dompierre et al.
mapping = self.indirection_table[smallest_vertex_index]
# Determine which subdivision scheme to use.
if min(vertices[mapping][[1, 5]]) < min(
vertices[mapping][[2, 4]]):
local_tets = vstack((vertices[mapping][[0,1,2,5]],\
vertices[mapping][[0,1,5,4]],\
vertices[mapping][[0,4,5,3]]))
else:
local_tets = vstack((vertices[mapping][[0,1,2,4]],\
vertices[mapping][[0,4,2,5]],\
vertices[mapping][[0,4,5,3]]))
# Concatenate local tet to cell array
self.global_tets = vstack((self.global_tets, local_tets))
# Eliminate phantom initialization tet
self.global_tets = self.global_tets[1:, :]
# Query number of vertices and tets in new mesh
self.n_verts = self.global_vertices.shape[0]
self.n_tets = self.global_tets.shape[0]
# Initialize new dolfin mesh of dimension 3
self.new_mesh = Mesh()
m = MeshEditor()
m.open(self.new_mesh, 3, 3)
m.init_vertices(self.n_verts, self.n_verts)
m.init_cells(self.n_tets, self.n_tets)
# Copy vertex data into new mesh
for i, v in enumerate(self.global_vertices):
m.add_vertex(i, Point(*v))
# Copy cell data into new mesh
for j, c in enumerate(self.global_tets):
m.add_cell(j, *c)
m.close()
def sigma_vectors(self,x,P): """ generator for the sigma vectors Arguments ---------- x : ndarray state at time instant t P: ndarray state covariance matrix at time instant t Returns ---------- Xi : ndarray matrix of sigma points, each column is a sigma vector: [x0 x0+ x0-];nx by 2nx+1 """ Pc=sp.linalg.cholesky(P,lower=1) Weighted_Pc=self.gamma_sigma_points*Pc Xi_plus=[] Xi_minus=[] for i in range(self.nx): Xi_plus.append(x+Weighted_Pc[:,i].reshape(self.nx,1)) #list of ndarray with length nx Xi_minus.append(x-Weighted_Pc[:,i].reshape(self.nx,1)) #list of ndarray with length nx Xi=pb.hstack((x,pb.hstack((pb.hstack(Xi_plus),pb.hstack(Xi_minus))))) return Xi
def simCSLIP_xp(x0, x0R, x0L, p0R, p0L, AR, AL, SLIP_param0, n=50):
"""
simulates the controlled 2step-SLIP, using [x,p]-referenced control
input:
x0 - initial (augmented) state, e.g. [x0L, p0R].T
x0R - reference right apex (y, vx, vz)
x0L - reference left apex -"-
p0R - reference right parameters
p0L - reference left parameters
AR - parameter control right leg
AL - parameter control left leg
SLIP_param0: dict, containing {'m': ..., 'g': ... }
n - number of strides to simulate at most
"""
res = []
refStateL = hstack([x0L, squeeze(sp_d2a(p0R))])[:,newaxis]
refStateR = hstack([x0R, squeeze(sp_d2a(p0L))])[:,newaxis]
currState = array(x0)
slip_params = copy.deepcopy(SLIP_param0)
if currState.ndim == 1:
currState = currState[:,newaxis]
elif currState.shape[0] == 1:
currState = currState.T
for step in range(n):
#print 'AL: ', AL.shape, 'p0L: ', sp_d2a(p0L).shape
pL = sp_d2a(p0L) + dot(AL, currState - refStateL)
#print 'pL changed:', not allclose(pL,sp_d2a(p0L))
slip_params.update(sp_a2d(pL))
try:
resL = sl.SLIP_step3D(currState[:3,0], slip_params)
except ValueError:
print 'simulation aborted (l1)\n'
break
if resL['sim_fail']:
print 'simulation aborted (l2)\n'
break
res.append(resL)
currState = hstack([resL['y'][-1],
resL['vx'][-1],
resL['vz'][-1],
squeeze(pL)])[:,newaxis]
pR = sp_d2a(p0R) + dot(AR, currState - refStateR)
#print 'pR changed:', not allclose(pR,sp_d2a(p0R))
slip_params.update(sp_a2d(pR))
try:
resR = sl.SLIP_step3D(currState[:3,0], slip_params)
except ValueError:
print 'simulation aborted (r1)\n'
break
if resR['sim_fail']:
print 'simulation aborted (r2)\n'
break
res.append(resR)
currState = hstack([resR['y'][-1],
resR['vx'][-1],
resR['vz'][-1],
squeeze(pR)])[:,newaxis]
return res
def int_f(a, fs=1.):
"""
A fourier-based integrator.
===========
Parameters:
===========
a : *array* (1D)
The array which should be integrated
fs : *float*
sampling time of the data
========
Returns:
========
y : *array* (1D)
The integrated array
"""
if False:
# version with "mirrored" code
xp = hstack([a, a[::-1]])
int_fluc = int_f0(xp, float(fs))[:len(a)]
baseline = mean(a) * arange(len(a)) / float(fs)
return int_fluc + baseline - int_fluc[0]
# old version
baseline = mean(a) * arange(len(a)) / float(fs)
int_fluc = int_f0(a, float(fs))
return int_fluc + baseline - int_fluc[0]
# old code - remove eventually (comment on 02/2014)
# periodify
if False:
baseline = linspace(a[0], a[-1], len(a))
a0 = a - baseline
m = a0[-1] - a0[-2]
b2 = linspace(0, -.5 * m, len(a))
baseline -= b2
a0 += b2
a2 = hstack([a0, -1. * a0[1:][::-1]]) # "smooth" periodic signal
dbase = baseline[1] - baseline[0]
t_vec = arange(len(a)) / float(fs)
baseint = baseline[0] * t_vec + .5 * dbase * t_vec**2
# define frequencies
T = len(a2) / float(fs)
freqs = 1. / T * arange(len(a2))
freqs[len(freqs) // 2 + 1:] -= float(fs)
spec = fft.fft(a2)
spec_i = zeros_like(spec, dtype=complex)
spec_i[1:] = spec[1:] / (2j * pi * freqs[1:])
res_int = fft.ifft(spec_i).real[:len(a0)] + baseint
return res_int - res_int[0]
def int_f(a, fs=1.):
"""
A fourier-based integrator.
===========
Parameters:
===========
a : *array* (1D)
The array which should be integrated
fs : *float*
sampling time of the data
========
Returns:
========
y : *array* (1D)
The integrated array
"""
if False:
# version with "mirrored" code
xp = hstack([a, a[::-1]])
int_fluc = int_f0(xp, float(fs))[:len(a)]
baseline = mean(a) * arange(len(a)) / float(fs)
return int_fluc + baseline - int_fluc[0]
# old version
baseline = mean(a) * arange(len(a)) / float(fs)
int_fluc = int_f0(a, float(fs))
return int_fluc + baseline - int_fluc[0]
# old code - remove eventually (comment on 02/2014)
# periodify
if False:
baseline = linspace(a[0], a[-1], len(a))
a0 = a - baseline
m = a0[-1] - a0[-2]
b2 = linspace(0, -.5 * m, len(a))
baseline -= b2
a0 += b2
a2 = hstack([a0, -1. * a0[1:][::-1]]) # "smooth" periodic signal
dbase = baseline[1] - baseline[0]
t_vec = arange(len(a)) / float(fs)
baseint = baseline[0] * t_vec + .5 * dbase * t_vec ** 2
# define frequencies
T = len(a2) / float(fs)
freqs = 1. / T * arange(len(a2))
freqs[len(freqs) // 2 + 1 :] -= float(fs)
spec = fft.fft(a2)
spec_i = zeros_like(spec, dtype=complex)
spec_i[1:] = spec[1:] / (2j * pi* freqs[1:])
res_int = fft.ifft(spec_i).real[:len(a0)] + baseint
return res_int - res_int[0]
def extrude_mesh(self,l,z_offset):
# accepts the number of layers and the length of extrusion
# Extrude vertices
all_coords = []
for i in linspace(0,z_offset,l):
all_coords.append(hstack((mesh.coordinates(),i*ones((self.n_v2,1)))))
self.global_vertices = vstack(all_coords)
# Extrude cells (tris to tetrahedra)
for i in range(l-1):
for c in self.mesh.cells():
# Make a prism out of 2 stacked triangles
vertices = hstack((c+i*self.n_v2,c+(i+1)*self.n_v2))
# Determine prism orientation
smallest_vertex_index = argmin(vertices)
# Map to I-ordering of Dompierre et al.
mapping = self.indirection_table[smallest_vertex_index]
# Determine which subdivision scheme to use.
if min(vertices[mapping][[1,5]]) < min(vertices[mapping][[2,4]]):
local_tets = vstack((vertices[mapping][[0,1,2,5]],\
vertices[mapping][[0,1,5,4]],\
vertices[mapping][[0,4,5,3]]))
else:
local_tets = vstack((vertices[mapping][[0,1,2,4]],\
vertices[mapping][[0,4,2,5]],\
vertices[mapping][[0,4,5,3]]))
# Concatenate local tet to cell array
self.global_tets = vstack((self.global_tets,local_tets))
# Eliminate phantom initialization tet
self.global_tets = self.global_tets[1:,:]
# Query number of vertices and tets in new mesh
self.n_verts = self.global_vertices.shape[0]
self.n_tets = self.global_tets.shape[0]
# Initialize new dolfin mesh of dimension 3
self.new_mesh = Mesh()
m = MeshEditor()
m.open(self.new_mesh,3,3)
m.init_vertices(self.n_verts,self.n_verts)
m.init_cells(self.n_tets,self.n_tets)
# Copy vertex data into new mesh
for i,v in enumerate(self.global_vertices):
m.add_vertex(i,Point(*v))
# Copy cell data into new mesh
for j,c in enumerate(self.global_tets):
m.add_cell(j,*c)
m.close()
def simCSLIP_xp(x0, x0R, x0L, p0R, p0L, AR, AL, SLIP_param0, n=50):
"""
simulates the controlled 2step-SLIP, using [x,p]-referenced control
input:
x0 - initial (augmented) state, e.g. [x0L, p0R].T
x0R - reference right apex (y, vx, vz)
x0L - reference left apex -"-
p0R - reference right parameters
p0L - reference left parameters
AR - parameter control right leg
AL - parameter control left leg
SLIP_param0: dict, containing {'m': ..., 'g': ... }
n - number of strides to simulate at most
"""
res = []
refStateL = hstack([x0L, squeeze(sp_d2a(p0R))])[:, newaxis]
refStateR = hstack([x0R, squeeze(sp_d2a(p0L))])[:, newaxis]
currState = array(x0)
slip_params = copy.deepcopy(SLIP_param0)
if currState.ndim == 1:
currState = currState[:, newaxis]
elif currState.shape[0] == 1:
currState = currState.T
for step in range(n):
#print 'AL: ', AL.shape, 'p0L: ', sp_d2a(p0L).shape
pL = sp_d2a(p0L) + dot(AL, currState - refStateL)
#print 'pL changed:', not allclose(pL,sp_d2a(p0L))
slip_params.update(sp_a2d(pL))
try:
resL = sl.SLIP_step3D(currState[:3, 0], slip_params)
except ValueError:
print 'simulation aborted (l1)\n'
break
if resL['sim_fail']:
print 'simulation aborted (l2)\n'
break
res.append(resL)
currState = hstack(
[resL['y'][-1], resL['vx'][-1], resL['vz'][-1],
squeeze(pL)])[:, newaxis]
pR = sp_d2a(p0R) + dot(AR, currState - refStateR)
#print 'pR changed:', not allclose(pR,sp_d2a(p0R))
slip_params.update(sp_a2d(pR))
try:
resR = sl.SLIP_step3D(currState[:3, 0], slip_params)
except ValueError:
print 'simulation aborted (r1)\n'
break
if resR['sim_fail']:
print 'simulation aborted (r2)\n'
break
res.append(resR)
currState = hstack(
[resR['y'][-1], resR['vx'][-1], resR['vz'][-1],
squeeze(pR)])[:, newaxis]
return res
def makestim(isi=1,
variation=0,
width=0.05,
weight=10,
start=0,
finish=1,
stimshape='gaussian'):
from pylab import r_, convolve, shape
# Create event times
timeres = 0.005 # Time resolution = 5 ms = 200 Hz
pulselength = 10 # Length of pulse in units of width
currenttime = 0
timewindow = finish - start
allpts = int(timewindow / timeres)
output = []
while currenttime < timewindow:
if currenttime >= 0 and currenttime < timewindow:
output.append(currenttime)
currenttime = currenttime + isi + variation * (rand() - 0.5)
# Create single pulse
npts = min(pulselength * width / timeres,
allpts) # Calculate the number of points to use
x = (r_[0:npts] - npts / 2 + 1) * timeres
if stimshape == 'gaussian':
pulse = exp(-(x / width * 2 - 2)**
2) # Offset by 2 standard deviations from start
pulse = pulse / max(pulse)
elif stimshape == 'square':
pulse = zeros(shape(x))
pulse[int(npts / 2):int(npts / 2) +
int(width / timeres)] = 1 # Start exactly on time
else:
raise Exception('Stimulus shape "%s" not recognized' % stimshape)
# Create full stimulus
events = zeros((allpts))
events[array(array(output) / timeres, dtype=int)] = 1
fulloutput = convolve(
events, pulse, mode='same'
) * weight # Calculate the convolved input signal, scaled by rate
fulltime = (r_[0:allpts] * timeres +
start) * 1e3 # Create time vector and convert to ms
fulltime = hstack(
(0, fulltime, fulltime[-1] + timeres *
1e3)) # Create "bookends" so always starts and finishes at zero
fulloutput = hstack(
(0, fulloutput,
0)) # Set weight to zero at either end of the stimulus period
events = hstack((0, events, 0)) # Ditto
stimvecs = [fulltime, fulloutput, events] # Combine vectors into a matrix
return stimvecs
def getPeriodicOrbit(statesL,
T_L,
ymin_L,
statesR,
T_R,
ymin_R,
baseParams,
startParams=[14000, 1.16, 1, 0.]):
"""
returns a tuple of SLIP parameters, that result in the two-step periodic
solution defined by <statesL> -> <statesR> -> >statesL>,
with step time left (right) = <T_L> (<T_R>)
minimal vertical position left (right) = <ymin_L> (<ymin_R>)
statesL/R: a list of (left/right) apex states y, vx, vz
baseParams: dict of base SLIP parameters: g, m (gravity acceleration, mass)
returns: [SL, paramsL, dEL], [SR, paramsR, dER]
two tuples of initial apex states and corresponding SLIP
parameters that yield the two-step periodic solution
(dE: energy fluctuation)
"""
SL = mean(vstack(statesL), axis=0) if len(statesL) > 1 else statesL
SR = mean(vstack(statesR), axis=0) if len(statesR) > 1 else statesR
tr = mean(hstack(T_R))
tl = mean(hstack(T_L))
yminl = mean(hstack(ymin_L))
yminr = mean(hstack(ymin_R))
m = baseParams['m']
g = baseParams['g']
# energy input right (left) step
dER = (SL[0] - SR[0]) * m * abs(g) + .5 * m * (SL[1]**2 + SL[2]**2 -
SR[1]**2 - SR[2]**2)
dEL = -dER
# initialize parameters
PR = copy.deepcopy(baseParams)
PL = copy.deepcopy(baseParams)
PL['IC'] = SL
PL['dE'] = dEL
PR['IC'] = SR
PR['dE'] = dER
# define step params: (y_apex2, T, y_min, vz_apex2)
spL = (SR[0], tl, yminl, SR[2])
spR = (SL[0], tr, yminr, SL[2])
# compute necessary model parameters
paramsL = fl.calcSlipParams3D(spL, PL, startParams)
paramsR = fl.calcSlipParams3D(spR, PR, startParams)
return ([SL, paramsL, dEL], [SR, paramsR, dER])
def getPeriodicOrbit(statesL, T_L, ymin_L,
statesR, T_R, ymin_R,
baseParams ,
startParams=[14000, 1.16, 1, 0.] ):
"""
returns a tuple of SLIP parameters, that result in the two-step periodic
solution defined by <statesL> -> <statesR> -> >statesL>,
with step time left (right) = <T_L> (<T_R>)
minimal vertical position left (right) = <ymin_L> (<ymin_R>)
statesL/R: a list of (left/right) apex states y, vx, vz
baseParams: dict of base SLIP parameters: g, m (gravity acceleration, mass)
returns: [SL, paramsL, dEL], [SR, paramsR, dER]
two tuples of initial apex states and corresponding SLIP
parameters that yield the two-step periodic solution
(dE: energy fluctuation)
"""
SL = mean(vstack(statesL), axis=0) if len(statesL) > 1 else statesL
SR = mean(vstack(statesR), axis=0) if len(statesR) > 1 else statesR
tr = mean(hstack(T_R))
tl = mean(hstack(T_L))
yminl = mean(hstack(ymin_L))
yminr = mean(hstack(ymin_R))
m = baseParams['m']
g = baseParams['g']
# energy input right (left) step
dER = (SL[0]-SR[0])*m*abs(g) + .5*m*(SL[1]**2 + SL[2]**2
- SR[1]**2 - SR[2]**2)
dEL = -dER
# initialize parameters
PR = copy.deepcopy( baseParams )
PL = copy.deepcopy( baseParams )
PL['IC'] = SL
PL['dE'] = dEL
PR['IC'] = SR
PR['dE'] = dER
# define step params: (y_apex2, T, y_min, vz_apex2)
spL = (SR[0], tl, yminl, SR[2])
spR = (SL[0], tr, yminr, SL[2])
# compute necessary model parameters
paramsL = fl.calcSlipParams3D(spL, PL, startParams)
paramsR = fl.calcSlipParams3D(spR, PR, startParams)
return ([SL, paramsL, dEL],[SR, paramsR, dER])
def stackSimRes(simRes):
"""
input: a *list* of single steps
returns: an array that contains the complete gait (consecutive time & way)
"""
resDat = []
res_t = []
for part in simRes:
if len(resDat) == 0:
res_t.append(part['t'])
resDat.append(
vstack([
part['x'],
part['y'],
part['z'],
part['vx'],
part['vy'],
part['vz'],
]).T)
else:
res_t.append(part['t'][1:] + res_t[-1][-1])
# compensate x and z translation
resDat.append(
vstack([
part['x'][1:] + resDat[-1][-1, 0],
part['y'][1:],
part['z'][1:] + resDat[-1][-1, 2],
part['vx'][1:],
part['vy'][1:],
part['vz'][1:],
]).T)
return hstack(res_t), vstack(resDat)
def my_medfilt(data, tailLength):
"""
returns the median-filtered data; edges are "extrapolated" (constant)
"""
data1 = hstack([data[tailLength:0:-1], data, data[-tailLength:]])
out = medfilt(data1, 2 * tailLength + 1)
return out[tailLength:-tailLength]
def my_medfilt(data, tailLength):
"""
returns the median-filtered data; edges are "extrapolated" (constant)
"""
data1 = hstack([data[tailLength:0:-1], data, data[-tailLength:]])
out = medfilt(data1, 2 * tailLength + 1)
return out[tailLength:-tailLength]
def createSimilarAR(data):
"""
creates an AR-process that is similar to a given data set.
data must be given in n x d-format
"""
# step 1: get "average" fit matrix
l_A = []
for rep in arange(100):
idx = randint(0,data.shape[0]-1,data.shape[0]-1)
idat = data[idx,:]
odat = data[idx+1,:]
l_A.append(lstsq(idat,odat)[0])
sysmat = meanMat(l_A).T
# idea: get "dynamic noise" from input data as difference of
# expected vs. predicted data:
# eta_i = (sysmat*(data[:,i-1]).T - data[:,i])
# however, in order to destroy any possible correlations in the
# input noise (they would also occur in the output), the
# noise per section has to be permuted.
prediction = dot(sysmat,data[:-1,:].T)
dynNoise = data[1:,:].T - prediction
res = [zeros((dynNoise.shape[0],1)), ]
for nidx in permutation(dynNoise.shape[1]):
res.append( dot(sysmat,res[-1]) + dynNoise[:,nidx][:,newaxis] )
return hstack(res).T
def generatePath(self, T):
"""
T: time period
r: rate of return
sigma: standard deviation
dt: time steps
drift: mean movement price
zn: array of random numbers with dimension(nPaths, nSteps)
"""
assert (T > 0), 'Time needs to be a positive number'
try:
S0 = self.initialPrice
r = self.rateOfReturn
sigma = self.stdev
nPaths = self.nPaths
nSteps = self.nSteps
dt = T/float(nSteps)
drift = r-0.5*(sigma**2)
zn = pylab.randn(nPaths, nSteps)
zn = np.vstack((zn, -zn))
S = pylab.zeros((nPaths, nSteps))
start = S0*pylab.ones((2*nPaths, 1))
next = S0*pylab.cumprod(pylab.exp(drift*dt +
sigma*pylab.sqrt(dt)*zn), 1)
except ValueError:
return 'Please check the value of the initial parameters.'
return pylab.hstack((start, next))
def createSimilarAR(data):
"""
creates an AR-process that is similar to a given data set.
data must be given in n x d-format
"""
# step 1: get "average" fit matrix
l_A = []
for rep in arange(100):
idx = randint(0, data.shape[0] - 1, data.shape[0] - 1)
idat = data[idx, :]
odat = data[idx + 1, :]
l_A.append(lstsq(idat, odat)[0])
sysmat = meanMat(l_A).T
# idea: get "dynamic noise" from input data as difference of
# expected vs. predicted data:
# eta_i = (sysmat*(data[:,i-1]).T - data[:,i])
# however, in order to destroy any possible correlations in the
# input noise (they would also occur in the output), the
# noise per section has to be permuted.
prediction = dot(sysmat, data[:-1, :].T)
dynNoise = data[1:, :].T - prediction
res = [
zeros((dynNoise.shape[0], 1)),
]
for nidx in permutation(dynNoise.shape[1]):
res.append(dot(sysmat, res[-1]) + dynNoise[:, nidx][:, newaxis])
return hstack(res).T
def SLIP_ode(y,t,params):
"""
defines the ODE of the SLIP, under stance condition
state:
[x
y
z
vx
vy
vz]
params:
{'L0' : leg rest length
'x0' : leg touchdown position
'k' : spring stiffness
'm' : mass
'xF' : anterior foot position
'zF' : lateral foot position }
"""
dy0 = y[3]
dy1 = y[4]
dy2 = y[5]
L = sqrt((y[0]-params['xF'])**2 + y[1]**2 + (y[2]-params['zF'])**2)
F = params['k']*(params['L0']-L)
Fx = F*(y[0]-params['xF'])/L
Fy = F*y[1]/L
Fz = F*(y[2]-params['zF'])/L
dy3 = Fx/m
dy4 = Fy/m + params['g']
dy5 = Fz/m
return hstack([dy0,dy1,dy2,dy3,dy4,dy5])
def SLIP_ode(y, t, params):
"""
defines the ODE of the SLIP, under stance condition
state:
[x
y
z
vx
vy
vz]
params:
{'L0' : leg rest length
'x0' : leg touchdown position
'k' : spring stiffness
'm' : mass
'xF' : anterior foot position
'zF' : lateral foot position }
"""
dy0 = y[3]
dy1 = y[4]
dy2 = y[5]
L = sqrt((y[0] - params['xF'])**2 + y[1]**2 + (y[2] - params['zF'])**2)
F = params['k'] * (params['L0'] - L)
Fx = F * (y[0] - params['xF']) / L
Fy = F * y[1] / L
Fz = F * (y[2] - params['zF']) / L
dy3 = Fx / m
dy4 = Fy / m + params['g']
dy5 = Fz / m
return hstack([dy0, dy1, dy2, dy3, dy4, dy5])
def stackSimRes(simRes):
"""
input: a *list* of single steps
returns: an array that contains the complete gait (consecutive time & way)
"""
resDat = []
res_t = []
for part in simRes:
if len(resDat) == 0:
res_t.append(part['t'])
resDat.append(vstack( [ part['x'],
part['y'],
part['z'],
part['vx'],
part['vy'],
part['vz'],
]).T)
else:
res_t.append(part['t'][1:] + res_t[-1][-1])
# compensate x and z translation
resDat.append(vstack( [ part['x'][1:] + resDat[-1][-1,0],
part['y'][1:],
part['z'][1:] + resDat[-1][-1,2],
part['vx'][1:],
part['vy'][1:],
part['vz'][1:],
]).T)
return hstack(res_t), vstack(resDat)
def SVMAF(self,freq,n,l):
#Apply the SVMAF filter to the material parameters
runningMean=lambda x,N: py.hstack((x[:N-1],py.convolve(x,py.ones((N,))/N,mode='same')[N-1:-N+1],x[(-N+1):]))
#calculate the moving average of 3 points
n_smoothed=runningMean(n,3)
#evaluate H_smoothed from n_smoothed
H_smoothed=self.H_theory(freq,[n_smoothed.real,n_smoothed.imag],l)
H_r=H_smoothed.real
H_i=H_smoothed.imag
f=1
#the uncertainty margins
lb_r=self.H.getFReal()-self.H.getFRealUnc()*f
lb_i=self.H.getFImag()-self.H.getFImagUnc()*f
ub_r=self.H.getFReal()+self.H.getFRealUnc()*f
ub_i=self.H.getFImag()+self.H.getFImagUnc()*f
#ix=all indices for which after smoothening n H is still inbetwen the bounds
ix=py.all([H_r>=lb_r,H_r<ub_r,H_i>=lb_i,H_i<ub_i],axis=0)
# #dont have a goood idea at the moment, so manually:
for i in range(len(n_smoothed)):
if ix[i]==0:
n_smoothed[i]=n[i]
print("SVMAF changed the refractive index at " + str(sum(ix)) + " frequencies")
return n_smoothed
def getDiff(t, y):
""" returns the difference in desired params """
delta = [T - t[-1],
ymin - min(y[:,1]),
#FS - y[-1,[1,3,5]],
FS[[0,2]] - y[-1,[1,5]]
]
return hstack(delta)
def sp_d2a(params):
"""
transforms a given SLIP parameter set (dict) into an array
"""
return hstack([
params['k'], params['alpha'], params['L0'], params['beta'],
params['dE']
])[:, newaxis]
def _sample_posteriors(self,true_N_A,p_A,N_samples):
true_N_B = self.N_u-true_N_A
N_values = pl.shape(true_N_A)[0]
posteriors = pl.zeros((N_samples,N_values))
for i in range(N_samples):
for (j,(t_N_A,t_N_B)) in enumerate(zip(true_N_A,true_N_B)):
A_given_A = pl.ones(t_N_A)*self.p_uA_given_A
A_given_B = pl.ones(t_N_B)*self.p_uA_given_B
A_probs = pl.hstack((A_given_A,A_given_B))
B_given_A = pl.ones(t_N_A)*self.p_uB_given_A
B_given_B = pl.ones(t_N_B)*self.p_uB_given_B
B_probs = pl.hstack((B_given_A,B_given_B))
N_A = pl.sum(A_probs>pl.rand(self.N_u))
N_B = pl.sum(B_probs>pl.rand(self.N_u))
posteriors[i,j] = self._p_A_given_N_A(N_A,N_B)
return pl.mean(posteriors,0)
def _sample_posteriors(self, true_N_A, p_A, N_samples):
true_N_B = self.N_u - true_N_A
N_values = pl.shape(true_N_A)[0]
posteriors = pl.zeros((N_samples, N_values))
for i in range(N_samples):
for (j, (t_N_A, t_N_B)) in enumerate(zip(true_N_A, true_N_B)):
A_given_A = pl.ones(t_N_A) * self.p_uA_given_A
A_given_B = pl.ones(t_N_B) * self.p_uA_given_B
A_probs = pl.hstack((A_given_A, A_given_B))
B_given_A = pl.ones(t_N_A) * self.p_uB_given_A
B_given_B = pl.ones(t_N_B) * self.p_uB_given_B
B_probs = pl.hstack((B_given_A, B_given_B))
N_A = pl.sum(A_probs > pl.rand(self.N_u))
N_B = pl.sum(B_probs > pl.rand(self.N_u))
posteriors[i, j] = self._p_A_given_N_A(N_A, N_B)
return pl.mean(posteriors, 0)
def pos_from_xml(mesh, results):
# read files into dolfin format
mesh = dolf.Mesh(mesh)
Q = dolf.FunctionSpace(mesh, 'CG', 1)
field = dolf.Function(Q)
dolf.File(results) >> field
results = results.rstrip("xml") + "pos"
output = open(results, 'w')
cell_type = mesh.type().cell_type()
nodes = mesh.coordinates()
n_nodes = mesh.num_vertices()
nodes = p.hstack(
(nodes, p.zeros((n_nodes, 3 - p.shape(mesh.coordinates())[1]))))
f = lambda a: [field(a[0], a[1])]
nodes = p.hstack((nodes, map(f, nodes)))
cells = mesh.cells()
n_cells = mesh.num_cells()
# write each triangular elment and the values at each corner
output.write("View \"NodalValues\" { \n")
for ii, cell in enumerate(cells):
# ST(first vierice of triangual elment, second, third){value at first, second, third};\n
output.write(
"ST({0:g},{1:g},{2:g},{3:g},{4:g},{5:g},{6:g},{7:g},{8:g}){{{9:g},{10:g},{11:g}}};\n"
.format(nodes[cell[0]][0], nodes[cell[0]][1], nodes[cell[0]][2],
nodes[cell[1]][0], nodes[cell[1]][1], nodes[cell[1]][2],
nodes[cell[2]][0], nodes[cell[2]][1], nodes[cell[2]][2],
nodes[cell[0]][3], nodes[cell[1]][3], nodes[cell[2]][3]))
output.write("};")
output.close()
# to get the rounding on the numbers write we mus oepn it and re-save in gmsh
output = open('temp.geo', 'w')
output.write("Include '{0}'; \n".format(results))
output.close()
print "please click on post processing view and hit save"
s.call(['gmsh', 'temp.geo'])
os.remove('temp.geo')
def block_hankel(data, f):
"""
Create a block hankel matrix.
f : number of rows
"""
data = pl.matrix(data)
assert len(data.shape) == 2
n = data.shape[1] - f
return pl.matrix(pl.hstack([
pl.vstack([data[:, i+j] for i in range(f)])
for j in range(n)]))
def block_hankel(data, f):
"""
Create a block hankel matrix.
f : number of rows
"""
data = np.matrix(data)
assert len(data.shape) == 2
n = data.shape[1] - f
return np.matrix(pl.hstack([
pl.vstack([data[:, i+j] for i in range(f)])
for j in range(n)]))
def __insert_used_time(self, utcdatetime):
"""
Inserts the given UTCDateTime at the right position in the list keeping
the order intact.
Add sorting of self.psd and self.spikes arrays
"""
if len(self.times_used) > 1:
i = hstack((array(self.times_used), utcdatetime)).argsort()
self.psd = self.psd[i]
self.spikes = self.spikes[i]
bisect.insort(self.times_used, utcdatetime)
def getWindowedData(self,windowlength_time=1e-12):
#returns the blackmanwindowed tdData
N=int(windowlength_time/self.dt)
w=py.blackman(N*2)
w=py.hstack((w[0:N],py.ones((self.getLength()-N*2),),w[N:]))
windowedData=self.tdData
#this could be written more elegantly?!
windowedData[:,1]*=w
windowedData[:,2]*=w
windowedData[:,3]*=w
windowedData[:,4]*=w
return windowedData
def computeDistances(positions, ranked_bonds_ids):
"""Compute all the distances using the map
Argument(s):
positions {np.ndarray} -- Array of the positions of the atoms of the molecules. Dimension(s) should be in (n_frames, n_molecules, n_atoms_per_molecule, 3).
ranked_bonds_ids {np.ndarray} -- Array containing all the distance pairs at a specific rank. Dimension(s) should be in (n_distances, 2).
Output(s):
distances {np.ndarray} -- Array of the distances of the atoms of the molecules. Dimension(s) are in (n_frames, n_molecules, n_distances).
"""
# Reshape the position array
moleculeNbr = positions.shape[1]
atomNbr = positions.shape[2]
positions = np.reshape(positions,
(positions.shape[0], moleculeNbr * atomNbr, 3))
# Loop over all the frames
all_distances = []
for frame in tqdm(range(positions.shape[0]),
desc='Computing distances...'):
# Loop over all the distance pairs
a = arange(0)
b = arange(0)
for (i, j) in ranked_bonds_ids:
a = hstack((a, (i + arange(moleculeNbr) * atomNbr)))
b = hstack((b, (j + arange(moleculeNbr) * atomNbr)))
# Calculate the distances and return the resulting array
vectdist = (positions[frame][a] - positions[frame][b])
all_distances.append((vectdist**2).sum(axis=1)**0.5)
# Reshape the distance array
all_distances = np.array(all_distances)
all_distances = np.reshape(
all_distances,
(all_distances.shape[0], ranked_bonds_ids.shape[0], moleculeNbr))
all_distances = np.swapaxes(all_distances, 1, 2)
return all_distances
def jetWoGn(reverse=False):
"""
jetWoGn(reverse=False)
- returning a colormap similar to cm.jet, but without green.
if reverse=True, the map starts with red instead of blue.
"""
m=18 # magic number, which works fine
m0=pylab.floor(m*0.0)
m1=pylab.floor(m*0.2)
m2=pylab.floor(m*0.2)
m3=pylab.floor(m/2)-m2-m1
b_ = pylab.hstack( (0.4*pylab.arange(m1)/(m1-1.)+0.6, pylab.ones((m2+m3,)) ) )
g_ = pylab.hstack( (pylab.zeros((m1,)),pylab.arange(m2)/(m2-1.),pylab.ones((m3,))) )
r_ = pylab.hstack( (pylab.zeros((m1,)),pylab.zeros((m2,)),pylab.arange(m3)/(m3-1.)))
r = pylab.hstack((r_,pylab.flipud(b_)))
g = pylab.hstack((g_,pylab.flipud(g_)))
b = pylab.hstack((b_,pylab.flipud(r_)))
if reverse:
r = pylab.flipud(r)
g = pylab.flipud(g)
b = pylab.flipud(b)
ra = pylab.linspace(0.0,1.0,m)
cdict = {'red': zip(ra,r,r),
'green': zip(ra,g,g),
'blue': zip(ra,b,b)}
return LinearSegmentedColormap('new_RdBl',cdict,256)
def twoD_oneD(data2D,nps):
"""
transforms the 2D format into the 1D-format used here
1D-format:
a single row represents one stride;
the first (nps) frames represent coordinate 1, the second (nps)
frames represent coordinate 2, ...
2D-format:
a single row represents one coordinate.
The k-th stride is represented by the subsection [:,k*(nps):(k+1)*nps]
"""
data1D = vstack([hstack(data2D[:,x*nps:(x+1)*nps]) for x in range(data2D.shape[1]/nps)])
return data1D
def oneD_twoD(data1D,nps):
"""
transforms the 1D-format used here into the 2D-format
1D-format:
a single row represents one stride;
the first (nps) frames represent coordinate 1, the second (nps)
frames represent coordinate 2, ...
2D-format:
a single row represents one coordinate.
The k-th stride is represented by the subsection [:,k*(nps):(k+1)*nps]
"""
ncoords = data1D.shape[1]/nps
data2D = vstack([hstack(data1D[:,nps*x:nps*(x+1)]) for x in range(ncoords)])
return data2D
def write_gmsh(mesh,path):
"""
This function iterates through the mesh and writes a file to the specified
path
Args:
:mesh: Mesh that is to be written to a file
:path: Path to write the mesh file to
"""
output = open(path,'w')
cell_type = mesh.type().cell_type()
nodes = mesh.coordinates()
n_nodes = mesh.num_vertices()
nodes = pl.hstack((nodes,pl.zeros((n_nodes,3 - pl.shape(mesh.coordinates())[1]))))
cells = mesh.cells()
n_cells = mesh.num_cells()
output.write("$MeshFormat\n" +
"2.2 0 8\n" +
"$EndMeshFormat\n" +
"$Nodes \n" +
"{0:d}\n".format(n_nodes))
for ii,node in enumerate(nodes):
output.write("{0:d} {1:g} {2:g} {3:g}\n".format(ii+1,node[0],node[1],node[2]))
output.write("$EndNodes\n")
output.write("$Elements\n" +
"{0:d}\n".format(n_cells))
for ii,cell in enumerate(cells):
#if cell_type == 1:
# output.write("{0:d} 1 0 {1:d} {2:d}\n".format(ii+1,int(cell[0]+1),int(cell[1]+1)))
if cell_type == 2:
output.write("{0:d} 2 0 {1:d} {2:d} {3:d}\n".format(ii+1,int(cell[0]+1),int(cell[1]+1),int(cell[2]+1)))
#elif cell_type == 3:
# output.write("{0:d} 4 0 {1:d} {2:d} {3:d} {4:d}\n".format(ii+1,int(cell[0]+1),int(cell[1]+1),int(cell[2]+1),int(cell[3]+1)))
else:
print("Unknown cell type")
output.write("$EndElements\n")
output.close()
def gen_cities_avg(climate, multi_cities, years):
"""
Compute the average annual temperature over multiple cities.
Args:
climate: instance of Climate
multi_cities: the names of cities we want to average over (list of str)
years: the range of years of the yearly averaged temperature (list of
int)
Returns:
a pylab 1-d array of floats with length = len(years). Each element in
this array corresponds to the average annual temperature over the given
cities for a given year.
"""
yearly_avgs = pylab.array([])
for year in years:
cities_temps = pylab.array([])
for city in multi_cities:
city_temps = climate.get_yearly_temp(city, year)
cities_temps = pylab.hstack((cities_temps, city_temps))
yearly_avg = pylab.average(cities_temps)
yearly_avgs = pylab.hstack((yearly_avgs, yearly_avg))
return yearly_avgs
def oneD_twoD(data1D, nps):
"""
transforms the 1D-format used here into the 2D-format
1D-format:
a single row represents one stride;
the first (nps) frames represent coordinate 1, the second (nps)
frames represent coordinate 2, ...
2D-format:
a single row represents one coordinate.
The k-th stride is represented by the subsection [:,k*(nps):(k+1)*nps]
"""
ncoords = data1D.shape[1] / nps
data2D = vstack(
[hstack(data1D[:, nps * x:nps * (x + 1)]) for x in range(ncoords)])
return data2D
def pos_from_xml(mesh,results):
# read files into dolfin format
mesh = dolf.Mesh(mesh)
Q = dolf.FunctionSpace(mesh,'CG',1)
field= dolf.Function(Q)
dolf.File(results) >> field
results = results.rstrip("xml")+"pos"
output = open(results,'w')
cell_type = mesh.type().cell_type()
nodes = mesh.coordinates()
n_nodes = mesh.num_vertices()
nodes = p.hstack((nodes,p.zeros((n_nodes,3 - p.shape(mesh.coordinates())[1]))))
f = lambda a: [field(a[0],a[1])]
nodes = p.hstack((nodes,map(f,nodes)))
cells = mesh.cells()
n_cells = mesh.num_cells()
# write each triangular elment and the values at each corner
output.write("View \"NodalValues\" { \n")
for ii,cell in enumerate(cells):
# ST(first vierice of triangual elment, second, third){value at first, second, third};\n
output.write("ST({0:g},{1:g},{2:g},{3:g},{4:g},{5:g},{6:g},{7:g},{8:g}){{{9:g},{10:g},{11:g}}};\n".format(nodes[cell[0]][0], nodes[cell[0]][1], nodes[cell[0]][2], nodes[cell[1]][0], nodes[cell[1]][1], nodes[cell[1]][2], nodes[cell[2]][0], nodes[cell[2]][1], nodes[cell[2]][2], nodes[cell[0]][3], nodes[cell[1]][3], nodes[cell[2]][3]))
output.write("};")
output.close()
# to get the rounding on the numbers write we mus oepn it and re-save in gmsh
output = open('temp.geo','w')
output.write("Include '{0}'; \n".format(results))
output.close()
print "please click on post processing view and hit save"
s.call(['gmsh','temp.geo'])
os.remove('temp.geo')
def write_gmsh(mesh, path):
"""
This function iterates through the mesh and writes a file to the specified
path
Args:
:mesh: Mesh that is to be written to a file
:path: Path to write the mesh file to
"""
output = open(path, 'w')
cell_type = mesh.type().cell_type()
nodes = mesh.coordinates()
n_nodes = mesh.num_vertices()
nodes = pl.hstack(
(nodes, pl.zeros((n_nodes, 3 - pl.shape(mesh.coordinates())[1]))))
cells = mesh.cells()
n_cells = mesh.num_cells()
output.write("$MeshFormat\n" + "2.2 0 8\n" + "$EndMeshFormat\n" +
"$Nodes \n" + "{0:d}\n".format(n_nodes))
for ii, node in enumerate(nodes):
output.write("{0:d} {1:g} {2:g} {3:g}\n".format(
ii + 1, node[0], node[1], node[2]))
output.write("$EndNodes\n")
output.write("$Elements\n" + "{0:d}\n".format(n_cells))
for ii, cell in enumerate(cells):
#if cell_type == 1:
# output.write("{0:d} 1 0 {1:d} {2:d}\n".format(ii+1,int(cell[0]+1),int(cell[1]+1)))
if cell_type == 2:
output.write("{0:d} 2 0 {1:d} {2:d} {3:d}\n".format(
ii + 1, int(cell[0] + 1), int(cell[1] + 1), int(cell[2] + 1)))
#elif cell_type == 3:
# output.write("{0:d} 4 0 {1:d} {2:d} {3:d} {4:d}\n".format(ii+1,int(cell[0]+1),int(cell[1]+1),int(cell[2]+1),int(cell[3]+1)))
else:
print "Unknown cell type"
output.write("$EndElements\n")
output.close()
def twoD_oneD(data2D, nps):
"""
transforms the 2D format into the 1D-format used here
1D-format:
a single row represents one stride;
the first (nps) frames represent coordinate 1, the second (nps)
frames represent coordinate 2, ...
2D-format:
a single row represents one coordinate.
The k-th stride is represented by the subsection [:,k*(nps):(k+1)*nps]
"""
data1D = vstack([
hstack(data2D[:, x * nps:(x + 1) * nps])
for x in range(data2D.shape[1] / nps)
])
return data1D
def _generate_labeled_correlation_matrix(self, label):
""" Concatenates the feature names to the actual correlation matrices.
This is for better overview in stored txt files later on."""
labeled_corr_matrix = pylab.array([])
for i in pylab.array(self.corr_important_feats[label]):
if len(labeled_corr_matrix) == 0:
labeled_corr_matrix = [[('% .2f' % j).rjust(10) for j in i]]
else:
labeled_corr_matrix = pylab.vstack((labeled_corr_matrix,
[[('% .2f' % j).rjust(10) for j in i]]))
labeled_corr_matrix = pylab.c_[self.corr_important_feat_names,
labeled_corr_matrix]
labeled_corr_matrix = pylab.vstack((pylab.hstack((' ',
self.corr_important_feat_names)),
labeled_corr_matrix))
return labeled_corr_matrix
def mu_age_p(logit_C0=logit_C0, i=rate["i"]["mu_age"], r=rate["r"]["mu_age"], f=rate["f"]["mu_age"]):
# for acute conditions, it is silly to use ODE solver to
# derive prevalence, and it can be approximated with a simple
# transformation of incidence
if r.min() > 5.99:
return i / (r + m_all + f)
C0 = mc.invlogit(logit_C0)
x = pl.hstack((i, r, f, 1 - C0, C0))
y = fun.forward(0, x)
susceptible = y[:N]
condition = y[N:]
p = condition / (susceptible + condition)
p[pl.isnan(p)] = 0.0
return p
def augStates(allStates, nAug, start=0, nStride=2):
"""
returns the augmented states
allStates: list of subsequent apex states
nAug: numbers of consecutive states to augment
start: if start=0 -> return even states, start=1: odd states
nStride: number of consecutive states that build a stride
the first (start + nAug) indices of allStates are skipped.
(internal comment: you might want to use paramsL1[nAug:,:], or
paramsR1[nAug:,:])
"""
aug_states = []
startState = start + nStride * nAug
for rep in range(startState, len(allStates), nStride):
lastIdx = rep - nAug - 1 if rep > nAug else None
aug_states.append(hstack(allStates[rep:lastIdx:-1]))
return vstack(aug_states)
def _generate_labeled_correlation_matrix(self, label):
""" Concatenates the feature names to the actual correlation matrices.
This is for better overview in stored txt files later on."""
labeled_corr_matrix = pylab.array([])
for i in pylab.array(self.corr_important_feats[label]):
if len(labeled_corr_matrix) == 0:
labeled_corr_matrix = [[('% .2f' % j).rjust(10) for j in i]]
else:
labeled_corr_matrix = pylab.vstack(
(labeled_corr_matrix, [[('% .2f' % j).rjust(10)
for j in i]]))
labeled_corr_matrix = pylab.c_[self.corr_important_feat_names,
labeled_corr_matrix]
labeled_corr_matrix = pylab.vstack((pylab.hstack(
(' ', self.corr_important_feat_names)),
labeled_corr_matrix))
return labeled_corr_matrix
def augStates(allStates, nAug, start=0, nStride=2):
"""
returns the augmented states
allStates: list of subsequent apex states
nAug: numbers of consecutive states to augment
start: if start=0 -> return even states, start=1: odd states
nStride: number of consecutive states that build a stride
the first (start + nAug) indices of allStates are skipped.
(internal comment: you might want to use paramsL1[nAug:,:], or
paramsR1[nAug:,:])
"""
aug_states = []
startState = start + nStride * nAug
for rep in range(startState, len(allStates), nStride):
lastIdx = rep - nAug - 1 if rep > nAug else None
aug_states.append(hstack(allStates[rep:lastIdx:-1]))
return vstack(aug_states)
def LS(self,X): """ estimate the connectivity kernel parameters and the time constant parameter using Least Square method Arguments ---------- X: list of matrix state vectors Returns --------- Least Square estimation of the the connectivity kernel parameters and the time constant parameter """ q=self.q_calc(X) Z=pb.vstack(X[1:]) X_t_1=pb.vstack(X[:-1]) q_t_1=pb.vstack(q[:-1]) X_ls=pb.hstack((q_t_1,X_t_1)) W=(X_ls.T*X_ls).I*X_ls.T*Z return [float( W[0]),float(W[1]),float(W[2]),float(W[3])]
def CalculateRates(self, times, levels):
N = len(levels)
t_mat = pylab.matrix(times).T
# normalize the cell_count data by its minimum
count_matrix = pylab.matrix(levels).T
norm_counts = count_matrix - min(levels)
c_mat = pylab.matrix(norm_counts)
if c_mat[-1, 0] == 0:
ge_zero = c_mat[pylab.find(c_mat > 0)]
if ge_zero.any():
c_mat[-1, 0] = min(ge_zero)
for i in pylab.arange(N - 1, 0, -1):
if c_mat[i - 1, 0] <= 0:
c_mat[i - 1, 0] = c_mat[i, 0]
c_mat = pylab.log(c_mat)
res_mat = pylab.zeros(
(N, 5)) # columns are: slope, offset, error, avg_value, max_value
for i in xrange(N - self.window_size):
i_range = range(i, i + self.window_size)
x = pylab.hstack(
[t_mat[i_range, 0],
pylab.ones((len(i_range), 1))])
y = c_mat[i_range, 0]
# Measurements in window must all be above the min.
if min(pylab.exp(y)) < self.minimum_level:
continue
(a, residues) = pylab.lstsq(x, y)[0:2]
res_mat[i, 0] = a[0]
res_mat[i, 1] = a[1]
res_mat[i, 2] = residues
res_mat[i, 3] = pylab.mean(count_matrix[i_range, 0])
res_mat[i, 4] = max(pylab.exp(y))
return res_mat
def generatePath(self, T):
"""
r: rate of return
sigma: standard deviation
dt: time steps
drift: mean movement price
zn: array of random numbers with dimension(nPaths,nSteps)
ld: poisson arrival rate
a: mean drift of jump
d: standard deviation of jump
k: expected value of jump
"""
assert (T > 0), 'Time needs to be a positive number'
try:
S0 = self.initialPrice
r = self.rateOfReturn
sigma = self.stdev
ld = self.jumpParameters[0]
a = self.jumpParameters[1]
d = self.jumpParameters[2]
k = pylab.exp(a+0.5*(d**2))-1
nPaths = self.nPaths
nSteps = self.nSteps
dt = T/float(nSteps)
drift = r-ld*k-0.5*(sigma**2)
zn = pylab.randn(nPaths, nSteps)
zn = np.vstack((zn, -zn))
zp = pylab.randn(nPaths, nSteps)
zp = np.vstack((zp, -zp))
S = pylab.zeros((2*nPaths, nSteps))
p = pylab.poisson(ld*dt, (2*nPaths, nSteps))
j = a*p+d*pylab.sqrt(p)*zp
start = S0*pylab.ones((2*nPaths, 1))
next = S0*pylab.cumprod(pylab.exp(drift*dt +
sigma*pylab.sqrt(dt)*zn + j), 1)
except ValueError:
return 'Please check the value' + \
'of the properties.'
return pylab.hstack((start, next))
def CalculateGrowthInternal(self, times, levels):
res_mat = self.CalculateRates(times, levels)
max_i = self.FindMaximumGrowthRate(res_mat)
t_mat = pylab.matrix(times).T
count_matrix = pylab.matrix(levels).T
norm_counts = count_matrix - min(levels)
abs_res_mat = pylab.array(res_mat)
abs_res_mat[:,0] = pylab.absolute(res_mat[:,0])
order = abs_res_mat[:,0].argsort(axis=0)
stationary_indices = filter(lambda x: x >= max_i, order)
stationary_indices = pylab.array(filter(lambda x: res_mat[x,3] > 0,
stationary_indices))
stationary_level = 0.0
if stationary_indices.any():
stationary_level = res_mat[stationary_indices[0], 3]
pylab.hold(True)
pylab.plot(times, norm_counts)
pylab.plot(times, res_mat[:,0])
pylab.plot([0, times.max()], [self.minimum_level, self.minimum_level], 'r--')
pylab.plot([0, times.max()], [self.maximum_level, self.maximum_level], 'r--')
i_range = range(max_i, max_i+self.window_size)
x = pylab.hstack([t_mat[i_range, 0], pylab.ones((len(i_range), 1))])
y = x * pylab.matrix(res_mat[max_i, 0:2]).T
pylab.plot(x[:,0], pylab.exp(y), 'k:', linewidth=4)
#pylab.plot([0, max(times)], [stationary_level, stationary_level], 'k-')
pylab.yscale('log')
pylab.legend(['OD', 'growth rate', 'threshold', 'fit'])
#, 'stationary'])
return res_mat[max_i, 0], stationary_level
def CalculateGrowthInternal(self, times, levels):
res_mat = self.CalculateRates(times, levels)
max_i = self.FindMaximumGrowthRate(res_mat)
t_mat = pylab.matrix(times).T
count_matrix = pylab.matrix(levels).T
norm_counts = count_matrix - min(levels)
abs_res_mat = pylab.array(res_mat)
abs_res_mat[:, 0] = pylab.absolute(res_mat[:, 0])
order = abs_res_mat[:, 0].argsort(axis=0)
stationary_indices = filter(lambda x: x >= max_i, order)
stationary_indices = pylab.array(
filter(lambda x: res_mat[x, 3] > 0, stationary_indices))
stationary_level = 0.0
if stationary_indices.any():
stationary_level = res_mat[stationary_indices[0], 3]
pylab.hold(True)
pylab.plot(times, norm_counts)
pylab.plot(times, res_mat[:, 0])
pylab.plot([0, times.max()], [self.minimum_level, self.minimum_level],
'r--')
pylab.plot([0, times.max()], [self.maximum_level, self.maximum_level],
'r--')
i_range = range(max_i, max_i + self.window_size)
x = pylab.hstack([t_mat[i_range, 0], pylab.ones((len(i_range), 1))])
y = x * pylab.matrix(res_mat[max_i, 0:2]).T
pylab.plot(x[:, 0], pylab.exp(y), 'k:', linewidth=4)
#pylab.plot([0, max(times)], [stationary_level, stationary_level], 'k-')
pylab.yscale('log')
pylab.legend(['OD', 'growth rate', 'threshold', 'fit'])
#, 'stationary'])
return res_mat[max_i, 0], stationary_level
def ReverseTransformWithT(self):
"""Transform preserving temperature data."""
logging.info("Reverse transforming the NIST data")
nist_rows = self.nist.SelectRowsFromNist()
nist_rows_normalized = [row.Clone() for row in nist_rows]
data = self.GetDissociation().ReverseTransformNistRows(nist_rows_normalized)
stoichiometric_matrix = data['S']
cids_to_estimate = data['cids_to_estimate']
logging.info("%d out of %d NIST measurements can be used" %
(stoichiometric_matrix.shape[0], len(nist_rows_normalized)))
# for every unique row, calculate the average dG0_r of all the rows that
# are the same reaction
dG0_r = data['dG0_r']
temps = data['T']
stoich_temps = stoichiometric_matrix * temps
stoich_and_temps = pylab.hstack((stoichiometric_matrix, stoich_temps))
print stoich_and_temps.shape
return stoich_and_temps, dG0_r, cids_to_estimate
def mu_age_p(logit_C0=logit_C0,
i=rate['i']['mu_age'],
r=rate['r']['mu_age'],
f=rate['f']['mu_age']):
# for acute conditions, it is silly to use ODE solver to
# derive prevalence, and it can be approximated with a simple
# transformation of incidence
if r.min() > 5.99:
return i / (r + m_all + f)
C0 = mc.invlogit(logit_C0)
x = pl.hstack((i, r, f, 1 - C0, C0))
y = fun.forward(0, x)
susceptible = y[:N]
condition = y[N:]
p = condition / (susceptible + condition)
p[pl.isnan(p)] = 0.
return p
def lfilter_zi(b,a):
#compute the zi state from the filter parameters. see [Gust96].
#Based on:
# [Gust96] Fredrik Gustafsson, Determining the initial states in forward-backward
# filtering, IEEE Transactions on Signal Processing, pp. 988--992, April 1996,
# Volume 44, Issue 4
n=max(len(a),len(b))
zin = ( pylab.eye(n-1) - pylab.hstack( (-a[1:n,pylab.newaxis],
pylab.vstack((pylab.eye(n-2), pylab.zeros(n-2))))))
zid= b[1:n] - a[1:n]*b[0]
zi_matrix=pylab.linalg.inv(zin)*(pylab.matrix(zid).transpose())
zi_return=[]
#convert the result into a regular array (not a matrix)
for i in range(len(zi_matrix)):
zi_return.append(float(zi_matrix[i][0]))
return pylab.array(zi_return)
def estimate_kernel(self,X): """ estimate the ide parameters using least squares method Arguments ---------- X: list of ndarray state vectors Returns --------- least squares estimation of the IDE parameters """ Q=self.Q_calc(X) Z=pb.vstack(X[1:]) X_t_1=pb.vstack(X[:-1]) Q_t_1=pb.vstack(Q[:-1]) X_ls=pb.hstack((Q_t_1,X_t_1)) theta=dots(pb.inv(pb.dot(X_ls.T,X_ls)),X_ls.T,Z) parameters=[float(theta[i]) for i in range(theta.shape[0])] return parameters
def CalculateRates(self, times, levels):
N = len(levels)
t_mat = pylab.matrix(times).T
# normalize the cell_count data by its minimum
count_matrix = pylab.matrix(levels).T
norm_counts = count_matrix - min(levels)
c_mat = pylab.matrix(norm_counts)
if c_mat[-1, 0] == 0:
ge_zero = c_mat[pylab.find(c_mat > 0)]
if ge_zero.any():
c_mat[-1, 0] = min(ge_zero)
for i in pylab.arange(N-1, 0, -1):
if c_mat[i-1, 0] <= 0:
c_mat[i-1, 0] = c_mat[i, 0]
c_mat = pylab.log(c_mat)
res_mat = pylab.zeros((N, 5)) # columns are: slope, offset, error, avg_value, max_value
for i in xrange(N-self.window_size):
i_range = range(i, i+self.window_size)
x = pylab.hstack([t_mat[i_range, 0], pylab.ones((len(i_range), 1))])
y = c_mat[i_range, 0]
# Measurements in window must all be above the min.
if min(pylab.exp(y)) < self.minimum_level:
continue
(a, residues) = pylab.lstsq(x, y)[0:2]
res_mat[i, 0] = a[0]
res_mat[i, 1] = a[1]
res_mat[i, 2] = residues
res_mat[i, 3] = pylab.mean(count_matrix[i_range,0])
res_mat[i, 4] = max(pylab.exp(y))
return res_mat