def extract_static_features(data_dict, norm_dict):
features = StaticFeatureObj()
feature_array = []
# PDC
pdc_features = upenn_features.pdc_features(data_dict['pdc'],
norm_dict['pdc'])
features.pdc_area = pdc_features[0:2]
features.pdc_max = pdc_features[2:4]
features.pdc_rise_count = pdc_features[4:6]
feature_array.append(pdc_features)
# PAC
pac_features = upenn_features.pac_features(data_dict['pac'],
norm_dict['pac'])
features.pac_energy = np.array((pac_features[0], pac_features[5]))
features.pac_sc = np.array((pac_features[1], pac_features[6]))
features.pac_sv = np.array((pac_features[2], pac_features[7]))
features.pac_ss = np.array((pac_features[3], pac_features[8]))
features.pac_sk = np.array((pac_features[4], pac_features[9]))
feature_array.append(pac_features)
# TAC
tac_features = upenn_features.tac_features(data_dict['tac'],
norm_dict['tac'])
features.tac_area = tac_features
feature_array.append(tac_features)
# TDC
tdc_features = upenn_features.tdc_features(data_dict['tdc'],
norm_dict['tdc'])
features.tdc_exp_fit = tdc_features
# electrodes
electrode_features = upenn_features.electrodes_features(
data_dict['electrodes'], norm_dict['electrodes'])
polyfit = []
polyfit.append(electrode_features[0:12])
polyfit.append(electrode_features[12:24])
features.electrode_polyfit = np.array(polyfit)
feature_array.append(electrode_features)
# Gripper
gripper_features = upenn_features.gripper_features(
data_dict['gripper_aperture'])
features.gripper_min = gripper_features[0]
features.gripper_mean = gripper_features[1]
# Transform
transform_features = upenn_features.transform_features(
data_dict['transforms'])
features.transform_distance = transform_features
return features, np.hstack(
(pdc_features, pac_features, tac_features, tdc_features,
electrode_features, gripper_features, transform_features))
def extract_static_features(bolt_obj, norm_obj):
features = StaticFeatureObj()
feature_array = []
# PDC
pdc_features_arr = pdc_features(
np.array(bolt_obj.pdc).T,
np.array(norm_obj.pdc).T)
features.pdc_area = pdc_features_arr[0:2]
features.pdc_max = pdc_features_arr[2:4]
features.pdc_rise_count = pdc_features_arr[4:6]
feature_array.append(pdc_features_arr)
# PAC
pac_features_arr = pac_features(bolt_obj.pac, norm_obj.pac)
features.pac_energy = np.array((pac_features_arr[0], pac_features_arr[5]))
features.pac_sc = np.array((pac_features_arr[1], pac_features_arr[6]))
features.pac_sv = np.array((pac_features_arr[2], pac_features_arr[7]))
features.pac_ss = np.array((pac_features_arr[3], pac_features_arr[8]))
features.pac_sk = np.array((pac_features_arr[4], pac_features_arr[9]))
feature_array.append(pac_features_arr)
# TAC
tac_features_arr = tac_features(
np.array(bolt_obj.tac).T,
np.array(norm_obj.tac).T)
features.tac_area = tac_features_arr
feature_array.append(tac_features_arr)
# TDC
tdc_features_arr = tdc_features(
np.array(bolt_obj.tdc).T,
np.array(norm_obj.tdc).T)
features.tdc_exp_fit = tdc_features_arr
# electrodes
electrode_features_arr = electrodes_features(bolt_obj.electrodes,
norm_obj.electrodes)
polyfit = []
polyfit.append(electrode_features_arr[0:12])
polyfit.append(electrode_features_arr[12:24])
features.electrode_polyfit = np.array(polyfit)
feature_array.append(electrode_features_arr)
# Gripper
gripper_features_arr = gripper_features(bolt_obj.gripper_position)
features.gripper_min = gripper_features_arr[0]
features.gripper_mean = gripper_features_arr[1]
feature_array.append(gripper_features_arr)
# Transform
transform_features_arr = transform_features(
bolt_obj.l_tool_frame_transform_trans)
features.transform_distance = transform_features_arr
feature_array.append(transform_features)
return features, np.hstack(
(pdc_features_arr, pac_features_arr, tac_features_arr,
tdc_features_arr, electrode_features_arr, gripper_features_arr,
transform_features_arr))
def extract_static_features(bolt_obj, norm_obj):
features = StaticFeatureObj()
feature_array = []
# PDC
pdc_features_arr = pdc_features(np.array(bolt_obj.pdc).T, np.array(norm_obj.pdc).T)
features.pdc_area = pdc_features_arr[0:2]
features.pdc_max = pdc_features_arr[2:4]
features.pdc_rise_count = pdc_features_arr[4:6]
feature_array.append(pdc_features_arr)
# PAC
pac_features_arr = pac_features(bolt_obj.pac, norm_obj.pac)
features.pac_energy = np.array((pac_features_arr[0],pac_features_arr[5]))
features.pac_sc= np.array((pac_features_arr[1],pac_features_arr[6]))
features.pac_sv = np.array((pac_features_arr[2],pac_features_arr[7]))
features.pac_ss= np.array((pac_features_arr[3],pac_features_arr[8]))
features.pac_sk = np.array((pac_features_arr[4],pac_features_arr[9]))
feature_array.append(pac_features_arr)
# TAC
tac_features_arr = tac_features(np.array(bolt_obj.tac).T, np.array(norm_obj.tac).T)
features.tac_area = tac_features_arr
feature_array.append(tac_features_arr)
# TDC
tdc_features_arr = tdc_features(np.array(bolt_obj.tdc).T, np.array(norm_obj.tdc).T)
features.tdc_exp_fit = tdc_features_arr
# electrodes
electrode_features_arr = electrodes_features(bolt_obj.electrodes, norm_obj.electrodes)
polyfit = []
polyfit.append(electrode_features_arr[0:12])
polyfit.append(electrode_features_arr[12:24])
features.electrode_polyfit = np.array(polyfit)
feature_array.append(electrode_features_arr)
# Gripper
gripper_features_arr = gripper_features(bolt_obj.gripper_position)
features.gripper_min = gripper_features_arr[0]
features.gripper_mean = gripper_features_arr[1]
feature_array.append(gripper_features_arr)
# Transform
transform_features_arr = transform_features(bolt_obj.l_tool_frame_transform_trans)
features.transform_distance = transform_features_arr
feature_array.append(transform_features)
return features, np.hstack((pdc_features_arr, pac_features_arr, tac_features_arr,tdc_features_arr, electrode_features_arr, gripper_features_arr, transform_features_arr))
def extract_static_features(data_dict, norm_dict):
features = StaticFeatureObj()
feature_array = []
# PDC
pdc_features = upenn_features.pdc_features(data_dict['pdc'], norm_dict['pdc'])
features.pdc_area = pdc_features[0:2]
features.pdc_max = pdc_features[2:4]
features.pdc_rise_count = pdc_features[4:6]
feature_array.append(pdc_features)
# PAC
pac_features = upenn_features.pac_features(data_dict['pac'], norm_dict['pac'])
features.pac_energy = np.array((pac_features[0],pac_features[5]))
features.pac_sc= np.array((pac_features[1],pac_features[6]))
features.pac_sv = np.array((pac_features[2],pac_features[7]))
features.pac_ss= np.array((pac_features[3],pac_features[8]))
features.pac_sk = np.array((pac_features[4],pac_features[9]))
feature_array.append(pac_features)
# TAC
tac_features = upenn_features.tac_features(data_dict['tac'], norm_dict['tac'])
features.tac_area = tac_features
feature_array.append(tac_features)
# TDC
tdc_features = upenn_features.tdc_features(data_dict['tdc'], norm_dict['tdc'])
features.tdc_exp_fit = tdc_features
# electrodes
electrode_features = upenn_features.electrodes_features(data_dict['electrodes'], norm_dict['electrodes'])
polyfit = []
polyfit.append(electrode_features[0:12])
polyfit.append(electrode_features[12:24])
features.electrode_polyfit = np.array(polyfit)
feature_array.append(electrode_features)
# Gripper
gripper_features = upenn_features.gripper_features(data_dict['gripper_aperture'])
features.gripper_min = gripper_features[0]
features.gripper_mean = gripper_features[1]
# Transform
transform_features = upenn_features.transform_features(data_dict['transforms'])
features.transform_distance = transform_features
return features, np.hstack((pdc_features, pac_features, tac_features,tdc_features, electrode_features, gripper_features, transform_features))
