def get_descent_direction(self, observations, goal): # if np.linalg.norm(observations - goal) == 0: # print observations # print goal # raise Exception('woah') # print id(observations), id(goal) y2, goal2 = get_censored_y_goal(observations, goal) u = self.bdse_model.get_servo_descent_direction_L1(y2, goal2) # print('servorobustL1: %s' % str(u)) return u
def get_distance(self, y1, y2): a, b = get_censored_y_goal(y1, y2) return np.abs(a - b).sum()