def test_simple_pyfunc(self):
dt = 0.001
m = nengo.Model("test_simple_pyfunc")
time = Signal(np.zeros(1), name='time')
sig = Signal(np.zeros(1), name='sig')
pop = nengo.PythonFunction(fn=lambda t, x: np.sin(x), n_in=1)
m.operators = []
b = Builder()
b.model = m
b.build_pyfunc(pop)
m.operators += [
ProdUpdate(Signal(dt), Signal(1), Signal(1), time),
DotInc(Signal([[1.0]]), time, pop.input_signal),
ProdUpdate(Signal([[1.0]]), pop.output_signal, Signal(0), sig),
]
sim = self.Simulator(m, dt=dt, builder=testbuilder)
sim.step()
for i in range(5):
sim.step()
t = (i + 2) * dt
self.assertTrue(np.allclose(sim.signals[time], t),
msg='%s != %s' % (sim.signals[time], t))
self.assertTrue(
np.allclose(
sim.signals[sig], np.sin(t - dt*2)),
msg='%s != %s' % (sim.signals[sig], np.sin(t - dt*2)))
def test_encoder_decoder_pathway(self):
"""Verifies (like by hand) that the simulator does the right
things in the right order."""
m = nengo.Model("")
dt = 0.001
foo = Signal([1.0], name='foo')
pop = nengo.PythonFunction(fn=lambda t, x: x + 1, n_in=2, label='pop')
decoders = np.asarray([.2, .1])
decs = Signal(decoders * 0.5)
m.operators = []
b = Builder()
b.model = m
b.build_pyfunc(pop)
m.operators += [
DotInc(Signal([[1.0], [2.0]]), foo, pop.input_signal),
ProdUpdate(decs, pop.output_signal, Signal(0.2), foo)
]
def check(sig, target):
self.assertTrue(np.allclose(sim.signals[sig], target),
"%s: value %s is not close to target %s" %
(sig, sim.signals[sig], target))
sim = self.Simulator(m, dt=dt, builder=testbuilder)
check(foo, 1.0)
check(pop.input_signal, 0)
check(pop.output_signal, 0)
sim.step()
#DotInc to pop.input_signal (input=[1.0,2.0])
#produpdate updates foo (foo=[0.2])
#pop updates pop.output_signal (output=[2,3])
check(pop.input_signal, [1, 2])
check(pop.output_signal, [2, 3])
check(foo, .2)
check(decs, [.1, .05])
sim.step()
#DotInc to pop.input_signal (input=[0.2,0.4])
# (note that pop resets its own input signal each timestep)
#produpdate updates foo (foo=[0.39]) 0.2*0.5*2+0.1*0.5*3 + 0.2*0.2
#pop updates pop.output_signal (output=[1.2,1.4])
check(decs, [.1, .05])
check(pop.input_signal, [0.2, 0.4])
check(pop.output_signal, [1.2, 1.4])
# -- foo is computed as a prodUpdate of the *previous* output signal
# foo <- .2 * foo + dot(decoders * .5, output_signal)
# .2 * .2 + dot([.2, .1] * .5, [2, 3])
# .04 + (.2 + .15)
# <- .39
check(foo, .39)
def test_encoder_decoder_with_views(self):
m = nengo.Model("")
dt = 0.001
foo = Signal([1.0], name='foo')
pop = nengo.PythonFunction(fn=lambda t, x: x + 1, n_in=2, label='pop')
decoders = np.asarray([.2, .1])
m.operators = []
b = Builder()
b.model = m
b.build_pyfunc(pop)
m.operators += [
DotInc(Signal([[1.0], [2.0]]), foo[:], pop.input_signal),
ProdUpdate(
Signal(decoders * 0.5), pop.output_signal, Signal(0.2), foo[:])
]
def check(sig, target):
self.assertTrue(np.allclose(sim.signals[sig], target),
"%s: value %s is not close to target %s" %
(sig, sim.signals[sig], target))
sim = self.Simulator(m, dt=dt, builder=testbuilder)
#pop.input_signal = [0,0]
#pop.output_signal = [0,0]
sim.step()
#DotInc to pop.input_signal (input=[1.0,2.0])
#produpdate updates foo (foo=[0.2])
#pop updates pop.output_signal (output=[2,3])
check(foo, .2)
check(pop.input_signal, [1, 2])
check(pop.output_signal, [2, 3])
sim.step()
#DotInc to pop.input_signal (input=[0.2,0.4])
# (note that pop resets its own input signal each timestep)
#produpdate updates foo (foo=[0.39]) 0.2*0.5*2+0.1*0.5*3 + 0.2*0.2
#pop updates pop.output_signal (output=[1.2,1.4])
check(foo, .39)
check(pop.input_signal, [0.2, 0.4])
check(pop.output_signal, [1.2, 1.4])
def test_pyfunc(self):
"""Test Python Function nonlinearity"""
dt = 0.001
d = 3
n_steps = 3
n_trials = 3
rng = np.random.RandomState(seed=987)
for i in range(n_trials):
A = rng.normal(size=(d, d))
fn = lambda t, x: np.cos(np.dot(A, x))
x = np.random.normal(size=d)
m = nengo.Model("")
ins = Signal(x, name='ins')
pop = nengo.PythonFunction(fn=fn, n_in=d)
m.operators = []
b = Builder()
b.model = m
b.build_pyfunc(pop)
m.operators += [
DotInc(Signal(np.eye(d)), ins, pop.input_signal),
ProdUpdate(
Signal(np.eye(d)), pop.output_signal, Signal(0), ins)
]
sim = self.Simulator(m, dt=dt, builder=testbuilder)
p0 = np.zeros(d)
s0 = np.array(x)
for j in range(n_steps):
tmp = p0
p0 = fn(0, s0)
s0 = tmp
sim.step()
assert_allclose(self, logger, s0, sim.signals[ins])
assert_allclose(
self, logger, p0, sim.signals[pop.output_signal])
