def get_power(self):
max_power = 0.0
if self.audio_power_port.getInputCount():
power_matrix = yarp.Matrix()
self.audio_power_port.read(power_matrix)
power_values = [power_matrix[0, 1], power_matrix[0, 0]]
max_power = np.max(power_values)
info("Max power is {}".format(max_power))
return max_power
def test_vector_copy_costructor(self):
vecSize = 10
vec = yarp.Vector(vecSize)
self.assertEqual(vec.size(), vecSize)
vecCheck = yarp.Vector(vec)
self.assertEqual(vec.size(), vecCheck.size())
# Check copy constructor from a Vector
# returned by a function
mat = yarp.Matrix(3, 3)
mat.eye()
vecTest = yarp.Vector(mat.getRow(0))
self.assertEqual(vecTest.size(), 3)
def np_to_yarp(v):
if len(v.shape) == 1: # Vector
yarp_vec = yarp.Vector(v.shape[0])
for i in range(v.shape[0]):
yarp_vec[i] = v[i]
return yarp_vec
elif len(v.shape) == 2: # Matrix
yarp_mat = yarp.Matrix(v.shape[0], v.shape[1])
for i in range(v.shape[0]):
for j in range(v.shape[1]):
yarp_mat[i, j] = v[i, j]
return yarp_mat
else:
raise Exception("Only 1D or 2D numpy arrays are supported")
def test_vector_copy_costructor(self):
vecSize = 10
vec = yarp.Vector(vecSize)
self.assertEqual(vec.size(), vecSize)
vecCheck = yarp.Vector(vec)
self.assertEqual(vec.size(), vecCheck.size())
# Check copy constructor from a Vector
# returned by a function
mat = yarp.Matrix(3, 3)
mat.eye()
vecTest = yarp.Vector(mat.getRow(0))
self.assertEqual(vecTest.size(), 3)
# Initializer list constructor
vec2 = yarp.Vector([1.0, 2.0, 3.0])
self.assertEqual(vec2.size(), 3)
self.assertEqual(vec2.get(0), 1.0)
self.assertEqual(vec2.get(1), 2.0)
self.assertEqual(vec2.get(2), 3.0)
# And we assume that the standard deviation of the measurement noise is 0.1 V. # Measurement: z = [0.39, 0.50, 0.48, 0.29, 0.25, 0.32, 0.34, 0.48, 0.41, 0.45] # A=1, B=0, H=1, Q=0, R=0.1 from __future__ import (absolute_import, division, print_function) from future import standard_library standard_library.install_aliases() import yarp import icub log = yarp.Log() A = yarp.Matrix(1, 1) A[0, 0] = 1. H = yarp.Matrix(1, 1) H[0, 0] = 1. Q = yarp.Matrix(1, 1) Q[0, 0] = 0. R = yarp.Matrix(1, 1) R[0, 0] = 0.1 x0 = yarp.Vector(1, 0.) P0 = H kal = icub.Kalman(A, H, Q, R) kal.init(x0, P0) z = [0.39, 0.50, 0.48, 0.29, 0.25, 0.32, 0.34, 0.48, 0.41, 0.45]
