def diffeoaction_comm_distance(a1, a2, action_distance):
"""
Returns the commutation-distance between two DiffeoActions
which is d(a1a2, a2a1).
"""
a1a2 = DiffeoAction.compose(a1, a2)
a2a1 = DiffeoAction.compose(a2, a1)
return action_distance(a1a2, a2a1)
def diffeoaction_comm_distance(a1, a2, action_distance):
"""
Returns the commutation-distance between two DiffeoActions
which is d(a1a2, a2a1).
"""
a1a2 = DiffeoAction.compose(a1, a2)
a2a1 = DiffeoAction.compose(a2, a1)
return action_distance(a1a2, a2a1)
def diffeosystem_display_products(dds, report, nsteps):
# XXX: make separate
for i, a in enumerate(dds.actions):
f = report.figure('cmd%s' % i, cols=nsteps)
A = a
for k in range(nsteps):
A = DiffeoAction.compose(A, a)
rgb = A.get_diffeo2d_forward().get_rgb_info()
f.data_rgb('%s_%s' % (i, k), rgb)
def diffeosystem_display_products(dds, report, nsteps):
# XXX: make separate
for i, a in enumerate(dds.actions):
f = report.figure('cmd%s' % i, cols=nsteps)
A = a
for k in range(nsteps):
A = DiffeoAction.compose(A, a)
rgb = A.get_diffeo2d_forward().get_rgb_info()
f.data_rgb('%s_%s' % (i, k), rgb)
def compute_action(self, plan):
if len(plan) == 0:
shape = self.dds.actions[0].diffeo.get_shape()
identity_cmd = np.array([0, 0])
return DiffeoAction.identity('id', shape, identity_cmd) # XXX
last = self.dds.actions[plan[-1]]
if len(plan) == 1:
return last
else:
rest = self.compute_action(plan[:-1])
return DiffeoAction.compose(last, rest)
def compute_action(self, plan):
if len(plan) == 0:
shape = self.dds.actions[0].diffeo.get_shape()
identity_cmd = np.array([0, 0])
return DiffeoAction.identity('id', shape, identity_cmd) # XXX
last = self.dds.actions[plan[-1]]
if len(plan) == 1:
return last
else:
rest = self.compute_action(plan[:-1])
return DiffeoAction.compose(last, rest)
