def summarize(self, prefix=''):
"""
Summarizes all estimators
Output:
All summarized diffeomorphisms stored in self.diffeo_list
"""
n = len(self.estimators)
action_list = []
for i in range(n):
command = np.array(self.command_list[i])
if len(self.state_list) <= i:
state = 0
else:
state = self.state_list[i]
name = prefix + str(list(command)).replace(' ', '')
diffeo = self.estimators[i].summarize()
# DiffeoAnalysis(self.estimators[i], name, self.estimators[i].shape,
# self.estimators[i].lengths).make_images()
# self.estimators[i].summarize_continuous(prefix + str(command) + '.png')
diffeo_inv = self.estimators_inv[i].summarize()
name = 'Uninterpreted Diffeomorphism' + str(i)
action = DiffeoAction(name, diffeo, diffeo_inv, command, state)
# Use new update uncertainty method if param specifies so
if hasattr(self, 'update_uncertainty') and self.update_uncertainty:
action.update_uncertainty()
action_list.append(action)
name = 'Uninterpreted Diffeomorphism System'
self.system = DiffeoSystem(name, action_list)
return self.system
def summarize(self, prefix=""):
"""
Summarizes all estimators
Output:
All summarized diffeomorphisms stored in self.diffeo_list
"""
n = len(self.estimators)
action_list = []
for i in range(n):
command = np.array(self.command_list[i])
if len(self.state_list) <= i:
state = 0
else:
state = self.state_list[i]
name = prefix + str(list(command)).replace(" ", "")
diffeo = self.estimators[i].summarize()
# DiffeoAnalysis(self.estimators[i], name, self.estimators[i].shape,
# self.estimators[i].lengths).make_images()
# self.estimators[i].summarize_continuous(prefix + str(command) + '.png')
diffeo_inv = self.estimators_inv[i].summarize()
name = "Uninterpreted Diffeomorphism" + str(i)
action = DiffeoAction(name, diffeo, diffeo_inv, command, state)
# Use new update uncertainty method if param specifies so
if hasattr(self, "update_uncertainty") and self.update_uncertainty:
action.update_uncertainty()
action_list.append(action)
name = "Uninterpreted Diffeomorphism System"
self.system = DiffeoSystem(name, action_list)
return self.system
def diffeosystem_display_products(dds, report, nsteps):
# XXX: make separate
for i, a in enumerate(dds.actions):
f = report.figure('cmd%s' % i, cols=nsteps)
A = a
for k in range(nsteps):
A = DiffeoAction.compose(A, a)
rgb = A.get_diffeo2d_forward().get_rgb_info()
f.data_rgb('%s_%s' % (i, k), rgb)
def diffeosystem_display_products(dds, report, nsteps):
# XXX: make separate
for i, a in enumerate(dds.actions):
f = report.figure('cmd%s' % i, cols=nsteps)
A = a
for k in range(nsteps):
A = DiffeoAction.compose(A, a)
rgb = A.get_diffeo2d_forward().get_rgb_info()
f.data_rgb('%s_%s' % (i, k), rgb)