#!/usr/bin/env python
# this code tries to count how many of the lateral force disturbances were too
# strong and saturated the sensor, making the signal unusable
import sys
sys.path.append('..')
import dataprocessor.dataprocessor as dp
import numpy as np
database = dp.load_database(filename='../InstrumentedBicycleData.h5')
runTable = database.root.data.datatable
withSaturationPull = []
withSaturationPushPull = []
for row in runTable.iterrows():
isDisturbance = row['Maneuver'].endswith('Disturbance')
isPull = int(row['RunID']) < 227 # only pull lateral force
isPushPull = not isPull # push and pull lateral force
isLow = (row['PullForceBridge'] < 0.05).any()
isPullSat = isDisturbance and isPull and isLow
isPushPullSat = isDisturbance and isPushPull and (isLow or (row['PullForceBridge'] > 5.8).any())
if isPullSat:
withSaturationPull.append(row['RunID'])
if isPushPullSat:
withSaturationPushPull.append(row['RunID'])
print withSaturationPull
import dataprocessor.dataprocessor as dp
import matplotlib.pyplot as plt
database = dp.load_database()
run = dp.Run("00124", database, forceRecalc=True, filterSigs=True)
steerAngle = run.computedSignals["YawAngle"]
steerRate = run.computedSignals["YawRate"]
steerAngFromInt = steerRate.integrate(initialCondition=steerAngle[0])
time = steerAngle.time()
plt.figure()
plt.plot(time, steerAngle)
plt.plot(time, steerAngFromInt)
plt.legend(("Steer Angle", "Integrated Steer Rate"))
steerAngFromInt2 = steerRate.integrate(initialCondition=steerAngle[0], subtractMean=True)
plt.figure()
plt.plot(time, steerAngle)
plt.plot(time, steerAngFromInt2)
plt.legend(("Steer Angle", "Integrated Steer Rate (drift fixed)"))
plt.show()
