def pub_gp_result_callback(self):
if self.isSetController is None:
return
x_sampling_points = np.linspace(self.controller.bounds[0][0],
self.controller.bounds[0][1],
500) # Number of sampling points
x_sampling_points = x_sampling_points[:,
None] # Reshape For GPy input shape
msg = GP()
mean, var = self.controller.model.predict(x_sampling_points)
train_x = self.controller.X
train_y = self.controller.Y
msg.x_sampling_points = encode_array(x_sampling_points,
msg.x_sampling_points)
msg.mean = encode_array(mean, msg.mean)
msg.var = encode_array(var, msg.var)
msg.train_x = encode_array(train_x, msg.train_x)
msg.train_y = encode_array(train_y, msg.train_y)
msg.iter_num = self.iter_num
self.pub_gp_result.publish(msg)
def update(self):
self.get_logger().info('on update')
x_star = self.controller.calc_next_point() # Loop 1) 2) 3)
# Wait for response
response = self.request_service_sync(
self.cli_target_object,
encode_array(array=x_star.x, comm_data=self.req))
# Do something about response
y_star = decode_array(response)
self.controller.add_x_y_to_T(x_star.x, y_star) # Loop 5)
def obtain_y_at_x(self, x):
self.req = encode_array(array=x, comm_data=self.req)
self.future = self.cli_target_object.call_async(self.req)
while True:
if not self.isSetController:
rclpy.spin_once(self)
if self.future.done():
try:
response = self.future.result()
except Exception as e:
self.get_logger().info('Service call failed %r' % (e, ))
else:
self.get_logger().info('Success!')
break
y = decode_array(response)
return y
def update(self):
self.get_logger().info('on update')
# 1) 2) 3) in Loop
x_star = self.controller.calc_next_point()
# 4) in Loop # Wait for response
response = self.request_service_sync(
self.cli_target_object,
encode_array(array=x_star.x, comm_data=self.req))
# 5) in Loop
y_star = decode_array(response)
self.controller.add_x_y_to_T(x_star.x, y_star)
self.iter_num += 1
def surface_shape_callback(self, request, response):
x = decode_array(request)
surface_array = self.target_object.surface_shape(x)
# surface_shape's type is np.array, so it should be transform to list (not nest)
response = encode_array(surface_array, response)
return response