def __init__(self,
name,
soma_map,
soma_config,
minute_interval,
window_interval,
collection="occurrence_rates"):
self.topo_map = None
self.soma_map = soma_map
self.soma_config = soma_config
self.minute_interval = minute_interval
self.window_interval = window_interval
self.rotm = RegionObservationTimeManager(soma_map, soma_config)
self.tre = TrajectoryRegionEstimate(soma_map, soma_config,
minute_interval)
self.tof = TrajectoryOccurrenceFrequencies(
soma_map,
soma_config,
minute_interval=minute_interval,
window_interval=window_interval)
self.gs = GeoSpatialStoreProxy('geospatial_store', 'soma')
rospy.loginfo("Connect to database collection %s..." % collection)
self._ms = MessageStoreProxy(collection=collection)
self._soma_db = MessageStoreProxy(collection="soma_roi")
rospy.loginfo("Create a service %s/service..." % name)
self.service = rospy.Service(name + '/service',
TrajectoryOccurrenceRate, self.srv_cb)
rospy.loginfo("Create an action server %s..." % name)
self._as = actionlib.SimpleActionServer(name,
OccurrenceRateLearningAction,
execute_cb=self.execute,
auto_start=False)
self._as.start()
def __init__(self,
soma_map,
soma_config,
minute_interval=1,
window_interval=10):
"""
Initialise analysis for trajectory periodicity.
Initialise trajectory occurrence frequencies from database.
"""
self.tof = TrajectoryOccurrenceFrequencies(soma_map, soma_config,
minute_interval,
window_interval)
self.periodic_type = self.tof.periodic_type
self.length_of_periodicity = len(self.tof.periodic_days)
self.minute_interval = minute_interval
self.window_interval = window_interval
self.tof.load_tof()
self.tof = self.tof.tof
self.regions = self.tof.keys()
self.spectrum_selection = 0
self.addition_technique = True
def __init__(self, soma_map, soma_config, minute_interval=1, window_interval=10):
"""
Initialize plotting, it needs the name of the soma map, specific soma configuration,
the minute interval between two different occurrence rate, and the window interval that
acts as bins.
"""
self.tof = TrajectoryOccurrenceFrequencies(soma_map, soma_config, minute_interval, window_interval)
self.xticks = time_ticks(minute_interval, window_interval, self.tof.periodic_type)
self.x = np.arange(len(self.xticks))
self.minute_interval = minute_interval
self.window_interval = window_interval
self.periodic_length = len(self.tof.periodic_days)
self.tof.load_tof()
self.tof = self.tof.tof
self.regions = self.tof.keys()
self.colors = [
(0., 0., 0.), (0., 0., 1.), (0., 1., 0.), (0., 1., 1.),
(1., 0., 0.), (1., 0., 1.), (1., 1., 0.), (.75, .75, .75),
(0., 0., 0.), (0., 0., .5), (0., .5, 0.), (0., .5, .5),
(.5, 0., 0.), (.5, 0., .5), (.5, .5, 0.), (.25, .25, .25)
]
