def calculate_error(self, correct_states, error_norms=(2, 4, 8)):
"""Generate error matrices.
First dimension: Index of the tracked object
Second dimension: P in the L^P norm: 2, 4, 8
Third dimension: Time step
"""
self.absolute_error = []
self.relative_error = []
for track, correct in izip(self.tracks, correct_states):
distances = []
relative_errors = []
for P in error_norms:
distances_P = numpy.array(wmath.spline_lp_distances(track, correct, self.renderer_length, P))
correct_norms_P = numpy.array(wmath.spline_lp_norms(correct, self.renderer_length, P))
relative_errors_P = distances_P / correct_norms_P
distances.append(distances_P)
relative_errors.append(relative_errors_P)
self.absolute_error.append(numpy.array(distances))
self.relative_error.append(numpy.array(relative_errors))
self.absolute_error = numpy.array(self.absolute_error)
self.relative_error = numpy.array(self.relative_error)
def weight_function(self, prev_particle, from_states):
return (1.0/(wmath.spline_lp_distances(prev_particle, from_states, self.renderer_length, self.lp_space)))**self.weight_power
