def step(self):
self.sensors = rk4(self._derivs, self.sensors, [0, self.dt])
self.sensors = self.sensors[-1]
if self.hasRenderer():
self.getRenderer().updateData(self.sensors)
if self.delay:
time.sleep(0.05)
def step(self):
self.sensors = rk4(self._derivs, self.sensors, [0, self.dt])
self.sensors = self.sensors[-1]
if self.hasRenderer():
self.getRenderer().updateData(self.sensors)
if self.delay:
time.sleep(0.05)
def iterate(self,
fullt,
steps,
autogen_fname=None,
localdefs=None,
autogen='autogen'):
"""
Iterates over the system of equations
"""
if autogen_fname is not None:
autogen = autogen_fname
del autogen_fname
util.warn(
"parameter 'autogen_fname' is deprecated. Use 'autogen' instead."
)
# setting up the timesteps
dt = fullt / float(steps)
self.t = [dt * i for i in range(steps)]
# generates the initializator and adds the timestep
self.init_text = self.generate_init(localdefs=localdefs)
self.init_text += '\ndt = %s' % dt
#print init_text
# generates the derivatives
self.func_text = self.generate_function()
#print func_text
self.dynamic_code = self.init_text + '\n' + self.func_text
try:
fp = open('%s.py' % autogen, 'wt')
fp.write('%s\n' % self.init_text)
fp.write('%s\n' % self.func_text)
fp.close()
import os
import sys
path_backup = sys.path
sys.path.append(os.path.split(os.path.abspath('autogen.py'))[0])
autogen_mod = __import__(autogen)
sys.path = path_backup
try:
os.remove('%s.pyc' % autogen)
except OSError:
pass # must be a read only filesystem
reload(autogen_mod)
except Exception as exc:
msg = "'%s' in:\n%s\n*** dynamic code error ***\n%s" % (
exc, self.dynamic_code, exc)
util.error(msg)
# x0 has been auto generated in the initialization
self.alldata = rk4(autogen_mod.derivs, autogen_mod.x0, self.t)
for index, node in enumerate(self.nodes):
self.lazy_data[node] = [row[index] for row in self.alldata]
def rk4(f, pts, dt):
new_pts = [mlab.rk4(f, xy, [0, dt])[-1] for xy in pts]
return new_pts
def rk4(f, pts, dt):
new_pts = [mlab.rk4(f, p, [0, dt])[-1] for p in pts]
return new_pts
def _step(self):
"""
perform a single step within the episode and update the rendering
"""
self.sensors = rk4(self._derivs, self.sensors, [0, self.dt])
self.sensors = self.sensors[-1]
def _update(self):
self.sensors = rk4(self._derivs, self.sensors, [0, self.dt])
self.sensors = self.sensors[-1]
if self.renderer:
self.renderer.updateData(self.sensors)
time.sleep(0.05)
