def __init__(self, name, soma_map, soma_config, minute_interval, window_interval, collection="occurrence_rates"): self.topo_map = None self.soma_map = soma_map self.soma_config = soma_config self.minute_interval = minute_interval self.window_interval = window_interval self.rotm = RegionObservationTimeManager(soma_map, soma_config) self.tre = TrajectoryRegionEstimate(soma_map, soma_config, minute_interval) self.tof = TrajectoryOccurrenceFrequencies( soma_map, soma_config, minute_interval=minute_interval, window_interval=window_interval) self.gs = GeoSpatialStoreProxy('geospatial_store', 'soma') rospy.loginfo("Connect to database collection %s..." % collection) self._ms = MessageStoreProxy(collection=collection) self._soma_db = MessageStoreProxy(collection="soma_roi") rospy.loginfo("Create a service %s/service..." % name) self.service = rospy.Service(name + '/service', TrajectoryOccurrenceRate, self.srv_cb) rospy.loginfo("Create an action server %s..." % name) self._as = actionlib.SimpleActionServer(name, OccurrenceRateLearningAction, execute_cb=self.execute, auto_start=False) self._as.start()
def __init__(self, soma_map, soma_config, minute_interval=1, window_interval=10): """ Initialise analysis for trajectory periodicity. Initialise trajectory occurrence frequencies from database. """ self.tof = TrajectoryOccurrenceFrequencies(soma_map, soma_config, minute_interval, window_interval) self.periodic_type = self.tof.periodic_type self.length_of_periodicity = len(self.tof.periodic_days) self.minute_interval = minute_interval self.window_interval = window_interval self.tof.load_tof() self.tof = self.tof.tof self.regions = self.tof.keys() self.spectrum_selection = 0 self.addition_technique = True
def __init__(self, soma_map, soma_config, minute_interval=1, window_interval=10): """ Initialize plotting, it needs the name of the soma map, specific soma configuration, the minute interval between two different occurrence rate, and the window interval that acts as bins. """ self.tof = TrajectoryOccurrenceFrequencies(soma_map, soma_config, minute_interval, window_interval) self.xticks = time_ticks(minute_interval, window_interval, self.tof.periodic_type) self.x = np.arange(len(self.xticks)) self.minute_interval = minute_interval self.window_interval = window_interval self.periodic_length = len(self.tof.periodic_days) self.tof.load_tof() self.tof = self.tof.tof self.regions = self.tof.keys() self.colors = [ (0., 0., 0.), (0., 0., 1.), (0., 1., 0.), (0., 1., 1.), (1., 0., 0.), (1., 0., 1.), (1., 1., 0.), (.75, .75, .75), (0., 0., 0.), (0., 0., .5), (0., .5, 0.), (0., .5, .5), (.5, 0., 0.), (.5, 0., .5), (.5, .5, 0.), (.25, .25, .25) ]