Example #1
0
def Rb2q(Rb):
    global s
    init_matlab()

    pymat.put(s, 'Rb', array(Rb))
    pymat.eval(s, 'q = Rb2q(Rb)')
    q = pymat.get(s, 'q')

    return q
Example #2
0
def q2Rb(r, p, y):
    global s
    init_matlab()

    pymat.put(s, 'R_glob', array([r, p, y]))
    pymat.eval(s, 'Rb = q2Rb(R_glob)')
    Rb = pymat.get(s, 'Rb')

    return Rb
Example #3
0
def xrel2xabs(q, xbody):
    global s
    init_matlab()

    pymat.put(s, 'q', array(q))
    pymat.put(s, 'xbody', array(xbody))
    pymat.eval(s, 'x_curr = xrel2xabs(q, xbody)')
    x_curr = pymat.get(s, 'x_curr')

    return x_curr
Example #4
0
def footpos(encoders):
    global s
    init_matlab()

    arry = encoders.toarray()
    pymat.put(s, 'encoders', arry)
    pymat.eval(s, 'encoders')
    pymat.eval(s, 'fp = footpos(encoders)')
    feet_pos_rel = pymat.get(s, 'fp')

    return feet_pos_rel
Example #5
0
def kin_body_qa(encoder_angles, x_st, swing_leg):
    global s
    init_matlab()

    x_st = transpose(x_st).tolist()
    x_st.pop(swing_leg - 1)
    x_st = transpose(x_st)

    enc_ary = encoder_angles.toarray()

    pymat.put(s, 'enc_ary', array(enc_ary))
    pymat.put(s, 'x_st', array(x_st))
    pymat.put(s, 'swing_leg', [swing_leg])
    pymat.eval(s, 'swing_leg=swing_leg(1)')

    pymat.eval(
        s, '[x_body, R_body, valid] = kin_body_qa(enc_ary, x_st, swing_leg)')
    x_body = pymat.get(s, 'x_body')
    R_body = pymat.get(s, 'R_body')
    valid = pymat.get(s, 'valid')

    return x_body, R_body, valid
Example #6
0
    def get(self, name):
	return pymat.get(self.H, name)
Example #7
0
#!/usr/bin/env python
from Numeric import *
import os, sys

# plot NumPy arrays in Matlab, if pymat is present:
try:
    import pymat
except:
    print "pymat module is not available..."; sys.exit(1)

x = arrayrange(0,4*math.pi,0.1)
m = pymat.open()
pymat.put(m, 'x', x);
pymat.eval(m, 'y = sin(x)')
pymat.eval(m, 'plot(x,y)')
y = pymat.get(m, 'y')
import time; time.sleep(4)  # wait before killing the plot...
pymat.close(m)

# compare sin(x) in Matlab and Python:
print "Matlab: sin(%g)=%g. Python: sin(%g)=%g" % \
      (x[1], sin(x[1]), x[1], y[1])
Example #8
0
#!/usr/bin/python
# Simple test file for the PyMat interface

import pymat
from Numeric import *
x = array([1, 2, 3, 4, 5, 6])
H = pymat.open()
pymat.put(H, 'x', x)
pymat.eval(H, 'y = dct(x)')

y = pymat.get(H, 'y')
pymat.close(H)

expect = asarray([8.573214099741124e+000,
                  -4.162561795878958e+000,
                  -1.785561006679121e-015,
                  -4.082482904638622e-001,
                  -1.638955159695808e-015,
                  -8.007889124033019e-002])
err = sum((y-expect)*(y-expect)) 
print 'Norm of the error is:', err
if err < 1e-15:
  print "(That's pretty small -- the test passes)"
else:
  print "UMMM...THAT'S A BIT BIG! The test has failed."