def __init__(self, bodyA, bodyB):
Joint.__init__(self, bodyA, bodyB)
self.Xj = sv.Xrot(np.matrix([[1.0,0.0,0.0],
[0.0,1.0,0.0],
[0.0,0.0,1.0]]))*sv.Xtrans([0.0,0.0,0.0])
self.S = np.matrix([0.0, 0.0, 0.0, 0.0, 0.0, 0.0]).transpose()
def load_model(config):
"""
:param config: config
:return: nn model
"""
print("********************************************************")
model = Joint(config)
if config.use_cuda is True:
model = model.cuda()
return model
def hang():
j1 = Joint(x=-6, y=4, mutatable_x=False, mutatable_y=False)
j2 = Joint(x=-2, y=4, mutatable_x=False, mutatable_y=False)
j3 = Joint(x= 2, y=4, mutatable_x=False, mutatable_y=False)
j4 = Joint(x= 6, y=4, mutatable_x=False, mutatable_y=False)
j5 = Joint(x= 0, y=-4, mutatable_x=False, mutatable_y=False, movable_x=True, movable_y=True, force_y=1)
mat = steels[4]
elems = [
Element(joint1=j1, joint2=j5, material=mat),
Element(joint1=j2, joint2=j5, material=mat),
Element(joint1=j3, joint2=j5, material=mat),
Element(joint1=j4, joint2=j5, material=mat),
]
return Construction(joints=[j1,j2,j3,j4,j5], elements=elems, available_element_materials=steels, element_deleted_material=air, force_magnitude=10000., width=14, height=10)
def __init__(self, transform, a, b, qe = None, qr = None):
Joint.__init__(self, transform, a, b)
self.qe = qe
self.qr = qr
if qe is None:
theta = 0.0
ux = 0.0
uy = 0.0
uz = 0.0
p0 = np.cos(theta/2)
p1 = np.sin(theta/2)*ux
p2 = np.sin(theta/2)*uy
p3 = np.sin(theta/2)*uz
self.qe = np.matrix([p0, p1, p2, p3]).transpose()
if qr is None:
self.qr = np.matrix([0.0,0.0,0.0]).transpose()
self.qe_norm = normalize(self.qe)
self.qd = np.resize(0.0, (6,1))
self.qdd = np.resize(0.0, (6,1))
self.describe(" 6DoF Joint")
self.update(self.qe, self.qr)
def bridge2():
# j6--j7--j8
# / |\/| \/| \
# / |/\| /\| \
#j1--j2-j3--j4--j5
j1 = Joint(x=-6, y=0, movable_x=False, movable_y=False,
mutatable_x=False, mutatable_y=False)
j2 = Joint(x=-3, y=0, movable_x=True, movable_y=True,
mutatable_x=True, mutatable_y=False, force_y=-1)
j3 = Joint(x=0, y=0, movable_x=True, movable_y=True,
mutatable_x=True, mutatable_y=False, force_y=-1)
j4 = Joint(x=3, y=0, movable_x=True, movable_y=True,
mutatable_x=True, mutatable_y=False, force_y=-1)
j5 = Joint(x=6, y=0, movable_x=False, movable_y=False,
mutatable_x=False, mutatable_y=False)
j6 = Joint(x=-4, y=3, movable_x=True, movable_y=True,
mutatable_x=True, mutatable_y=True)
j7 = Joint(x=0, y=3, movable_x=True, movable_y=True,
mutatable_x=True, mutatable_y=True)
j8 = Joint(x=4, y=3, movable_x=True, movable_y=True,
mutatable_x=True, mutatable_y=True)
mat = steels[2]
elems = [
Element(joint1=j1, joint2=j6, material=mat),
Element(joint1=j1, joint2=j2, material=mat),
Element(joint1=j2, joint2=j6, material=mat),
Element(joint1=j2, joint2=j3, material=mat),
Element(joint1=j2, joint2=j7, material=mat),
Element(joint1=j3, joint2=j6, material=mat),
Element(joint1=j3, joint2=j4, material=mat),
Element(joint1=j3, joint2=j7, material=mat),
Element(joint1=j3, joint2=j8, material=mat),
Element(joint1=j4, joint2=j7, material=mat),
Element(joint1=j4, joint2=j8, material=mat),
Element(joint1=j4, joint2=j5, material=mat),
Element(joint1=j5, joint2=j8, material=mat),
Element(joint1=j6, joint2=j7, material=mat),
Element(joint1=j7, joint2=j8, material=mat),
]
return Construction(joints=[j1,j2,j3,j4,j5,j6,j7,j8], elements=elems, force_magnitude=10000.)
# ev=Eval('../model/ner/four.testb.hdf5','../model/ner/four.testb.hdf5.data')
_dict = load_data_from_h5('../model/ner/chinese.train.hdf5')
# new
if args.corpus == 'new':
ev = Eval(args.test_h5, args.test_pkl)
_dict = load_data_from_h5(args.train_h5)
samples = np.array(_dict['sentences_ix'])
sample_amount = samples.shape[0]
sample_shape = samples.shape[1]
if args.algorithm == 'LSTMCRF':
model = LSTMCRF(args)
if args.algorithm == 'Joint':
model = Joint(args)
init = tf.global_variables_initializer()
configs = tf.ConfigProto(allow_soft_placement=True, log_device_placement=False)
configs.gpu_options.allow_growth = True
sess = tf.Session(config=configs)
sess.run(init)
if args.mode == 'restore':
saver = tf.train.Saver(max_to_keep=None)
saver.restore(sess, args.model_path)
elif args.mode == 'train':
saver = tf.train.Saver(max_to_keep=None)
elif args.mode == 'tune':
pass
def __init__(self, bodyA, bodyB, q, d):
Joint.__init__(self, bodyA, bodyB)
self.update(q, d)
