def main(argv=None):
if argv is None:
argv = sys.argv
parser = OptionParser(add_help_option=False)
parser.add_option("-i", dest="iFile")
parser.add_option("-t", dest="iType")
parser.add_option("-o", dest="oFile")
parser.add_option("-n", dest="nStates", type="int", default=5)
parser.add_option("-h", dest="shoHelp", action="store_true", default=False)
parser.add_option("-v", dest="verbose", action="store_true", default=False)
opt, args = parser.parse_args()
if opt.shoHelp:
usage()
dataMat = None
dataSiz = None
try:
if opt.iType == 'vFile':
(dataMat, dataSiz) = dsutil.loadDataFromVideoFile(opt.iFile)
elif opt.iType == 'aFile':
(dataMat, dataSiz) = dsutil.loadDataFromASCIIFile(opt.iFile)
elif opt.iType == 'lFile':
(dataMat, dataSiz) = dsutil.loadDataFromIListFile(opt.iFile)
else:
dsinfo.fail("Unsupported file type : %s" % opt.iType)
return -1
# catch pyds exceptions
except ErrorDS as e:
msg.fail(e)
return -1
try:
kpcaP = KPCAParam()
kpcaP._kPar = RBFParam()
kpcaP._kPar._kCen = True
kpcaP._kFun = rbfK
kdt = NonLinearDS(opt.nStates, kpcaP, opt.verbose)
kdt.suboptimalSysID(dataMat)
if not opt.oFile is None:
if not kdt.check():
dsinfo.fail('cannot write invalid model!')
return -1
dsinfo.info('writing model to %s' % opt.oFile)
with open(opt.oFile, 'w') as fid:
pickle.dump(kdt, fid)
except ErrorDS as e:
dsinfo.fail(e)
return -1
def main(argv=None):
if argv is None:
argv = sys.argv
parser = OptionParser(add_help_option=False)
parser.add_option("-i", dest="iFile")
parser.add_option("-t", dest="iType")
parser.add_option("-o", dest="oFile")
parser.add_option("-n", dest="nStates", type="int", default=5)
parser.add_option("-h", dest="shoHelp", action="store_true", default=False)
parser.add_option("-v", dest="verbose", action="store_true", default=False)
opt, args = parser.parse_args()
if opt.shoHelp:
usage()
dataMat = None
dataSiz = None
try:
if opt.iType == 'vFile':
(dataMat, dataSiz) = dsutil.loadDataFromVideoFile(opt.iFile)
elif opt.iType == 'aFile':
(dataMat, dataSiz) = dsutil.loadDataFromASCIIFile(opt.iFile)
elif opt.iType == 'lFile':
(dataMat, dataSiz) = dsutil.loadDataFromIListFile(opt.iFile)
else:
dsinfo.fail("Unsupported file type : %s" % opt.iType)
return -1
# catch pyds exceptions
except ErrorDS as e:
msg.fail(e)
return -1
try:
kpcaP = KPCAParam()
kpcaP._kPar = RBFParam()
kpcaP._kPar._kCen = True
kpcaP._kFun = rbfK
kdt = NonLinearDS(opt.nStates, kpcaP, opt.verbose)
kdt.suboptimalSysID(dataMat)
if not opt.oFile is None:
if not kdt.check():
dsinfo.fail('cannot write invalid model!')
return -1
dsinfo.info('writing model to %s' % opt.oFile)
with open(opt.oFile, 'w') as fid:
pickle.dump(kdt, fid)
except ErrorDS as e:
dsinfo.fail(e)
return -1
def test_NonLinearDS_check():
"""Test NonLinearDS parameter checking.
"""
kpcaP = KPCAParam()
kpcaP._kPar = RBFParam()
kpcaP._kPar._kCen = True
kpcaP._kFun = rbfK
nlds = NonLinearDS(5, kpcaP, False)
assert nlds.check() is False
def test_NonLinearDS_check():
"""Test NonLinearDS parameter checking.
"""
kpcaP = KPCAParam()
kpcaP._kPar = RBFParam()
kpcaP._kPar._kCen = True
kpcaP._kFun = rbfK
nlds = NonLinearDS(5, kpcaP, False)
assert nlds.check() is False
def test_NonLinearDS_suboptimalSysID():
"""Test NonLinearDS system identification.
"""
dataFile = os.path.join(TESTBASE, "data/data1.txt")
data, _ = loadDataFromASCIIFile(dataFile)
kpcaP = KPCAParam()
kpcaP._kPar = RBFParam()
kpcaP._kPar._kCen = True
kpcaP._kFun = rbfK
nlds = NonLinearDS(5, kpcaP, False)
nlds.suboptimalSysID(data)
baseNLDSFile = os.path.join(TESTBASE, "data/data1-rbf-kdt-5c-center.pkl")
baseNLDS = pickle.load(open(baseNLDSFile))
err = NonLinearDS.naiveCompare(baseNLDS, nlds)
assert np.allclose(err, 0.0) == True
def test_NonLinearDS_suboptimalSysID():
"""Test NonLinearDS system identification.
"""
dataFile = os.path.join(TESTBASE, "data/data1.txt")
data, _ = loadDataFromASCIIFile(dataFile)
kpcaP = KPCAParam()
kpcaP._kPar = RBFParam()
kpcaP._kPar._kCen = True
kpcaP._kFun = rbfK
nlds = NonLinearDS(5, kpcaP, False)
nlds.suboptimalSysID(data)
baseNLDSFile = os.path.join(TESTBASE, "data/data1-rbf-kdt-5c-center.pkl")
baseNLDS = pickle.load(open(baseNLDSFile))
err = NonLinearDS.naiveCompare(baseNLDS, nlds)
np.testing.assert_almost_equal(err, 0, 2)
def test_nldsMartinDistance():
"""Test Martin distance computation for NLDS's.
Config: 5 states, kernel centering
"""
fileA = os.path.join(TESTBASE, "data/data1.txt")
fileB = os.path.join(TESTBASE, "data/data2.txt")
# load data files
dataA, _ = loadDataFromASCIIFile(fileA)
dataB, _ = loadDataFromASCIIFile(fileB)
# configure kernels
kpcaPA = KPCAParam()
kpcaPA._kPar = RBFParam()
kpcaPA._kPar._kCen = True
kpcaPA._kFun = rbfK
kpcaPB = KPCAParam()
kpcaPB._kPar = RBFParam()
kpcaPB._kPar._kCen = True
kpcaPB._kFun = rbfK
nldsA = NonLinearDS(5, kpcaPA, False)
nldsB = NonLinearDS(5, kpcaPB, False)
# estimate NLDS's
nldsA.suboptimalSysID(dataA)
nldsB.suboptimalSysID(dataB)
# compute distances A<->A, A<->B
dAA = nldsMartinDistance(nldsA, nldsA, 20)
dAB = nldsMartinDistance(nldsA, nldsB, 20)
truth = np.genfromtxt(os.path.join(TESTBASE,
"data/nldsMartinDistanceData1Data2.txt" ))
np.testing.assert_almost_equal(dAA, 0, 2)
np.testing.assert_almost_equal(dAB, truth, 2)
