def extract_static_features(data_dict, norm_dict): features = StaticFeatureObj() feature_array = [] # PDC pdc_features = upenn_features.pdc_features(data_dict['pdc'], norm_dict['pdc']) features.pdc_area = pdc_features[0:2] features.pdc_max = pdc_features[2:4] features.pdc_rise_count = pdc_features[4:6] feature_array.append(pdc_features) # PAC pac_features = upenn_features.pac_features(data_dict['pac'], norm_dict['pac']) features.pac_energy = np.array((pac_features[0], pac_features[5])) features.pac_sc = np.array((pac_features[1], pac_features[6])) features.pac_sv = np.array((pac_features[2], pac_features[7])) features.pac_ss = np.array((pac_features[3], pac_features[8])) features.pac_sk = np.array((pac_features[4], pac_features[9])) feature_array.append(pac_features) # TAC tac_features = upenn_features.tac_features(data_dict['tac'], norm_dict['tac']) features.tac_area = tac_features feature_array.append(tac_features) # TDC tdc_features = upenn_features.tdc_features(data_dict['tdc'], norm_dict['tdc']) features.tdc_exp_fit = tdc_features # electrodes electrode_features = upenn_features.electrodes_features( data_dict['electrodes'], norm_dict['electrodes']) polyfit = [] polyfit.append(electrode_features[0:12]) polyfit.append(electrode_features[12:24]) features.electrode_polyfit = np.array(polyfit) feature_array.append(electrode_features) # Gripper gripper_features = upenn_features.gripper_features( data_dict['gripper_aperture']) features.gripper_min = gripper_features[0] features.gripper_mean = gripper_features[1] # Transform transform_features = upenn_features.transform_features( data_dict['transforms']) features.transform_distance = transform_features return features, np.hstack( (pdc_features, pac_features, tac_features, tdc_features, electrode_features, gripper_features, transform_features))
def extract_static_features(bolt_obj, norm_obj): features = StaticFeatureObj() feature_array = [] # PDC pdc_features_arr = pdc_features(np.array(bolt_obj.pdc).T, np.array(norm_obj.pdc).T) features.pdc_area = pdc_features_arr[0:2] features.pdc_max = pdc_features_arr[2:4] features.pdc_rise_count = pdc_features_arr[4:6] feature_array.append(pdc_features_arr) # PAC pac_features_arr = pac_features(bolt_obj.pac, norm_obj.pac) features.pac_energy = np.array((pac_features_arr[0],pac_features_arr[5])) features.pac_sc= np.array((pac_features_arr[1],pac_features_arr[6])) features.pac_sv = np.array((pac_features_arr[2],pac_features_arr[7])) features.pac_ss= np.array((pac_features_arr[3],pac_features_arr[8])) features.pac_sk = np.array((pac_features_arr[4],pac_features_arr[9])) feature_array.append(pac_features_arr) # TAC tac_features_arr = tac_features(np.array(bolt_obj.tac).T, np.array(norm_obj.tac).T) features.tac_area = tac_features_arr feature_array.append(tac_features_arr) # TDC tdc_features_arr = tdc_features(np.array(bolt_obj.tdc).T, np.array(norm_obj.tdc).T) features.tdc_exp_fit = tdc_features_arr # electrodes electrode_features_arr = electrodes_features(bolt_obj.electrodes, norm_obj.electrodes) polyfit = [] polyfit.append(electrode_features_arr[0:12]) polyfit.append(electrode_features_arr[12:24]) features.electrode_polyfit = np.array(polyfit) feature_array.append(electrode_features_arr) # Gripper gripper_features_arr = gripper_features(bolt_obj.gripper_position) features.gripper_min = gripper_features_arr[0] features.gripper_mean = gripper_features_arr[1] feature_array.append(gripper_features_arr) # Transform transform_features_arr = transform_features(bolt_obj.l_tool_frame_transform_trans) features.transform_distance = transform_features_arr feature_array.append(transform_features) return features, np.hstack((pdc_features_arr, pac_features_arr, tac_features_arr,tdc_features_arr, electrode_features_arr, gripper_features_arr, transform_features_arr))
def extract_static_features(data_dict, norm_dict): features = StaticFeatureObj() feature_array = [] # PDC pdc_features = upenn_features.pdc_features(data_dict['pdc'], norm_dict['pdc']) features.pdc_area = pdc_features[0:2] features.pdc_max = pdc_features[2:4] features.pdc_rise_count = pdc_features[4:6] feature_array.append(pdc_features) # PAC pac_features = upenn_features.pac_features(data_dict['pac'], norm_dict['pac']) features.pac_energy = np.array((pac_features[0],pac_features[5])) features.pac_sc= np.array((pac_features[1],pac_features[6])) features.pac_sv = np.array((pac_features[2],pac_features[7])) features.pac_ss= np.array((pac_features[3],pac_features[8])) features.pac_sk = np.array((pac_features[4],pac_features[9])) feature_array.append(pac_features) # TAC tac_features = upenn_features.tac_features(data_dict['tac'], norm_dict['tac']) features.tac_area = tac_features feature_array.append(tac_features) # TDC tdc_features = upenn_features.tdc_features(data_dict['tdc'], norm_dict['tdc']) features.tdc_exp_fit = tdc_features # electrodes electrode_features = upenn_features.electrodes_features(data_dict['electrodes'], norm_dict['electrodes']) polyfit = [] polyfit.append(electrode_features[0:12]) polyfit.append(electrode_features[12:24]) features.electrode_polyfit = np.array(polyfit) feature_array.append(electrode_features) # Gripper gripper_features = upenn_features.gripper_features(data_dict['gripper_aperture']) features.gripper_min = gripper_features[0] features.gripper_mean = gripper_features[1] # Transform transform_features = upenn_features.transform_features(data_dict['transforms']) features.transform_distance = transform_features return features, np.hstack((pdc_features, pac_features, tac_features,tdc_features, electrode_features, gripper_features, transform_features))
def extract_static_features(bolt_obj, norm_obj): features = StaticFeatureObj() feature_array = [] # PDC pdc_features_arr = pdc_features( np.array(bolt_obj.pdc).T, np.array(norm_obj.pdc).T) features.pdc_area = pdc_features_arr[0:2] features.pdc_max = pdc_features_arr[2:4] features.pdc_rise_count = pdc_features_arr[4:6] feature_array.append(pdc_features_arr) # PAC pac_features_arr = pac_features(bolt_obj.pac, norm_obj.pac) features.pac_energy = np.array((pac_features_arr[0], pac_features_arr[5])) features.pac_sc = np.array((pac_features_arr[1], pac_features_arr[6])) features.pac_sv = np.array((pac_features_arr[2], pac_features_arr[7])) features.pac_ss = np.array((pac_features_arr[3], pac_features_arr[8])) features.pac_sk = np.array((pac_features_arr[4], pac_features_arr[9])) feature_array.append(pac_features_arr) # TAC tac_features_arr = tac_features( np.array(bolt_obj.tac).T, np.array(norm_obj.tac).T) features.tac_area = tac_features_arr feature_array.append(tac_features_arr) # TDC tdc_features_arr = tdc_features( np.array(bolt_obj.tdc).T, np.array(norm_obj.tdc).T) features.tdc_exp_fit = tdc_features_arr # electrodes electrode_features_arr = electrodes_features(bolt_obj.electrodes, norm_obj.electrodes) polyfit = [] polyfit.append(electrode_features_arr[0:12]) polyfit.append(electrode_features_arr[12:24]) features.electrode_polyfit = np.array(polyfit) feature_array.append(electrode_features_arr) # Gripper gripper_features_arr = gripper_features(bolt_obj.gripper_position) features.gripper_min = gripper_features_arr[0] features.gripper_mean = gripper_features_arr[1] feature_array.append(gripper_features_arr) # Transform transform_features_arr = transform_features( bolt_obj.l_tool_frame_transform_trans) features.transform_distance = transform_features_arr feature_array.append(transform_features) return features, np.hstack( (pdc_features_arr, pac_features_arr, tac_features_arr, tdc_features_arr, electrode_features_arr, gripper_features_arr, transform_features_arr))