Commit bdf9df88 authored by Steve Tonneau's avatar Steve Tonneau
Browse files

bug fix in draw

parent 420e260d
......@@ -173,7 +173,7 @@ def draw_trajectory(fullBody, states, state_id, computeCones = False, mu = 1, d
ax = fig.add_subplot(111)
points = var_final['dc']
#~ print "points", points
ys = [el for el in points]
ys = [norm(el) for el in points]
xs = [i * params['dt'] for i in range(0,len(points))]
ax.scatter(xs, ys, c='b')
......@@ -184,7 +184,7 @@ def draw_trajectory(fullBody, states, state_id, computeCones = False, mu = 1, d
fig = plt.figure()
ax = fig.add_subplot(111)
points = var_final['ddc']
ys = [el for el in points]
ys = [norm(el) for el in points]
xs = [i * params['dt'] for i in range(0,len(points))]
ax.scatter(xs, ys, c='b')
......
......@@ -133,8 +133,8 @@ def step(fullBody, configs, i, optim, pp, limbsCOMConstraints, friction = 0.5,
global errorid
global stat_data
fail = 0
try:
#~ if(True):
#~ try:
if(True):
times = [];
dt = 1000;
distance = __getTimes(fullBody, configs, i, time_scale)
......@@ -177,7 +177,7 @@ def step(fullBody, configs, i, optim, pp, limbsCOMConstraints, friction = 0.5,
Ps = Ps[1:]
Ns = Ns[1:]
trajec = trajec + new_traj
trajec_mil = new_traj_andrea
trajec_mil += new_traj_andrea
global contacts
contacts += new_contacts
global pos
......@@ -188,41 +188,41 @@ def step(fullBody, configs, i, optim, pp, limbsCOMConstraints, friction = 0.5,
stat_data["num_success"] += 1
else:
print "TODO, NO CONTACT VARIATION, LINEAR INTERPOLATION REQUIRED"
except hpperr as e:
print "hpperr failed at id " + str(i) , e.strerror
stat_data["error_com_proj"] += 1
stat_data["num_errors"] += 1
errorid += [i]
fail+=1
except OptimError as e:
print "OptimError failed at id " + str(i) , e.strerror
stat_data["error_optim_fail"] += 1
stat_data["num_errors"] += 1
errorid += [i]
fail+=1
except ValueError as e:
print "ValueError failed at id " + str(i) , e
stat_data["error_unknown"] += 1
stat_data["num_errors"] += 1
errorid += [i]
fail+=1
except IndexError as e:
print "IndexError failed at id " + str(i) , e
stat_data["error_unknown"] += 1
stat_data["num_errors"] += 1
errorid += [i]
fail+=1
except Exception as e:
stat_data["error_unknown"] += 1
stat_data["num_errors"] += 1
print e
errorid += [i]
fail+=1
except:
stat_data["error_unknown"] += 1
stat_data["num_errors"] += 1
errorid += [i]
fail+=1
#~ except hpperr as e:
#~ print "hpperr failed at id " + str(i) , e.strerror
#~ stat_data["error_com_proj"] += 1
#~ stat_data["num_errors"] += 1
#~ errorid += [i]
#~ fail+=1
#~ except OptimError as e:
#~ print "OptimError failed at id " + str(i) , e.strerror
#~ stat_data["error_optim_fail"] += 1
#~ stat_data["num_errors"] += 1
#~ errorid += [i]
#~ fail+=1
#~ except ValueError as e:
#~ print "ValueError failed at id " + str(i) , e
#~ stat_data["error_unknown"] += 1
#~ stat_data["num_errors"] += 1
#~ errorid += [i]
#~ fail+=1
#~ except IndexError as e:
#~ print "IndexError failed at id " + str(i) , e
#~ stat_data["error_unknown"] += 1
#~ stat_data["num_errors"] += 1
#~ errorid += [i]
#~ fail+=1
#~ except Exception as e:
#~ stat_data["error_unknown"] += 1
#~ stat_data["num_errors"] += 1
#~ print e
#~ errorid += [i]
#~ fail+=1
#~ except:
#~ stat_data["error_unknown"] += 1
#~ stat_data["num_errors"] += 1
#~ errorid += [i]
#~ fail+=1
return fail
def step_profile(fullBody, configs, i, optim, limbsCOMConstraints, friction = 0.5, optim_effectors = True, time_scale = 20., useCOMConstraints = False):
......
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