def create_report_fields(result, report_id=None):
report = Node(report_id)
fields = [('x_y', result.lattice_x_y, result.fields_x_y),
('x_theta', result.lattice_x_theta, result.fields_x_theta),
('theta_y', result.lattice_theta_y, result.fields_theta_y) ]
fig_fields = report.figure('fields', caption='Inner products', shape=(3, 3))
# Compute inner product w/ right direction
fig_inner = report.figure(id='inner', caption='Inner products')
fig_success = report.figure(id='success', caption='Success')
for field_name, lattice, field in fields:
field = array(field)
average = numpy.mean(field, 0)
#print "List shape: %s " % str(field.shape)
#print "Mean shape: %s " % str(average.shape)
require_shape((gt(0), gt(0), 3), average)
for i, cmd_name in [(0, 'vx'), (1, 'vy'), (2, 'vtheta')]:
image_name = '%s-%s' % (field_name, cmd_name)
fi = average[:, :, i].squeeze()
require_shape((gt(0), gt(0)), fi)
max_value = abs(fi).max()
# let's allow a matrix with all 0
if max_value == 0:
max_value = 1
report.data(image_name, fi)
fig_fields.sub(image_name, display='posneg', max_value=max_value,
caption=field_name)
def lattice2pose(lattice):
def rbs2pose(rbs):
p = rbs.get_2d_position()
theta = rbs.get_2d_orientation()
return array([p[0, 0], p[1, 0], theta])
return map(lambda x: map(rbs2pose, x), lattice)
for field_name, lattice, field in fields:
lattice = array(lattice2pose(lattice))
inners = []
for commands in field:
print "lattice shape", lattice.shape
#print "commands shape", commands.shape
inner = numpy.sum(lattice * commands, axis=2)
inners.append(inner)
average_inner = numpy.mean(array(inners), 0)
require_shape((gt(0), gt(0)), average_inner)
success = numpy.mean(array(inners) > 0, 0) # XXX should be < 0
require_shape((gt(0), gt(0)), success)
image_name = 'inner-%s' % (field_name)
max_value = abs(fi).max()
# let's allow a matrix with all 0
if max_value == 0:
max_value = 1
report.data(image_name, average_inner)
fig_inner.sub(image_name, display='posneg',
max_value=max_value, caption=field_name)
image_name = 'success-%s' % (field_name)
report.data(image_name, success)
fig_success.sub(image_name, display='success')
return report
