def connectionParameterMatrix(self, parameter): if utils.isCallable(parameter): matrix = parameter((self.noNodes, self.noNodes)) * self.connections matrix = np.tril(matrix) + np.tril(matrix).T # ensure symmetry else: matrix = parameter * np.ones((self.noNodes, self.noNodes)) * self.connections return matrix
def __init__(self, initialPos, connections, noNodes, mass, environment): """--- Initialise a morphology of a robot --- -- parameters -- - noNodes : integer the number of nodes the robot consists of - mass : float or callable the initial mass of the nodes - spring : float or callable the initial spring constant value - damping : float or callable the initial damping factor - initHeight : float initial height of the robot in construction - noNeighbours : int number of neighbours to which a spring connection is made - environment : Environment physical environment in which the robot will move """ # init robot self.noNodes = noNodes # the number of nodes the robot consists of self.environment = environment self.initialPos = initialPos self.connections = connections # set initial masses if utils.isCallable(mass): self.mass = mass((self.noNodes,)) else: self.mass = mass * np.ones((self.noNodes,)) # map connectionNumber to start and end position indexMatrix = np.tile(np.arange(noNodes), [noNodes,1]) self.start = utils.connections2Array(indexMatrix, self.connections) self.end = utils.connections2Array(indexMatrix.T, self.connections)
def writeMember(self, obj, memberName):
if isString(obj):
logging.warning(u"String as object provided! " +
self._warningPrefix(obj, memberName))
if isInteger(memberName) and isList(obj):
member = obj[memberName]
memberName = str(memberName)
else:
member = getattr(obj, memberName, None)
if member is None:
self.log(u"skipped " + self._warningPrefix(obj, memberName) +
u"It is empty or does not exist (=None).")
return
if isCallable(member) and not hasattr(member, "hdfWrite"):
member = member()
if hasattr(member, "hdfWrite"): # support instances and types
# store the member in a group of its own
oldLocation = self.location
self._location = "/".join((oldLocation.rstrip('/'), memberName))
member.hdfWrite(self) # recursion entry, mind the loops!
self._location = oldLocation
elif isList(member):
self.writeDataset(memberName, member)
elif isString(member) or isNumber(member):
self.writeAttribute(memberName, member)
else:
self.log(u"skipped " + self._warningPrefix(obj, memberName) +
"(={}) It is not a compatible value type!".format(
classname(member)))
def register(self, what, *func):
# check for the correct number of arguments of func as well?
assert all((isCallable(f) for f in func))
self._assertPurpose(what)
if self._callbacks is None: # lazy init
self._callbacks = dict()
if what not in self._callbacks:
self._callbacks[what] = []
for f in func:
if funcNotInFuncList(f, self._callbacks[what]):
self._callbacks[what].append(f)
def callback(self, what, *args, **kwargs):
self._assertPurpose(what)
if self._callbacks is None:
return
funcLst = []
for func in self._callbacks.get(what, []):
if not isCallable(func):
continue
func(*args, **kwargs)
funcLst.append(func)
# update the callback list, invalid functions removed
self._callbacks[what] = funcLst
def registerUpdateFunc(self, func):
assert isCallable(func)
self._updateFunc.append(func)