def testRegression(setupFile, thetaFile): """ """ rs=ReadXmlFile(setupFile) stateAll, commandAll = loadTrajs(pathDataFolder + "Brent/", 0.01, rs.det) stateAll=np.array(stateAll) arm=ArmType[rs.Arm]() trajReg = np.empty_like(stateAll) trajMaker = TrajMaker(rs,0.02,None,rs.path+thetaFile) for i in range(stateAll.shape[0]): coordHand = arm.mgdEndEffector(stateAll[i][0][2:]) trajReg[i]=trajMaker.runTrajectory2(coordHand[0], coordHand[1])[0] plotRegBrent(trajReg, stateAll)