Commit d05bcb63 authored by Rohan Budhiraja's avatar Rohan Budhiraja
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[spline] correct force curves

parent 9349f817
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####CONFIG######################
CONTACT_SEQUENCE_WHOLEBODY_FILE="../data/seq1/contact_sequence_trajectory.xml"
CONTACT_SEQUENCE_WHOLEBODY_FILE="../data/traj_com_y_0.08/contact_sequence_trajectory.xml"
CONTACT_SEQUENCE_XML_TAG="ContactSequence"
COM_SPLINE_OUTPUT_FILE="../data/seq1/com_spline.curve"
RF_FORCE_OUTPUT_FILE ="../data/seq1/rf_force.curve"
LF_FORCE_OUTPUT_FILE ="../data/seq1/lf_force.curve"
RH_FORCE_OUTPUT_FILE ="../data/seq1/rh_force.curve"
LH_FORCE_OUTPUT_FILE ="../data/seq1/lh_force.curve"
COM_SPLINE_OUTPUT_FILE="../data/traj_com_y_0.08/com_spline.curve"
RF_FORCE_OUTPUT_FILE ="../data/traj_com_y_0.08/rf_force.curve"
LF_FORCE_OUTPUT_FILE ="../data/traj_com_y_0.08/lf_force.curve"
RH_FORCE_OUTPUT_FILE ="../data/traj_com_y_0.08/rh_force.curve"
LH_FORCE_OUTPUT_FILE ="../data/traj_com_y_0.08/lh_force.curve"
VERIFY=True
WRITE_OUTPUT =False
WRITE_OUTPUT =True
PLOT =True
####CONFIG######################
from parametriccurves import spline, forcecurve
from locomote import ContactSequenceHumanoid
from numpy import polyfit
......@@ -24,8 +24,9 @@ def array_polyfit(x, y, deg, rcond=None, full=False, w=None, cov=False, eps=1e-1
assert len(x.shape)==1;
p = np.zeros((y.shape[0], deg+1))
for i,y_a in enumerate(y):
assert y_a.size ==y_a.shape[1]
p_a , residual, _, _, _ = np.polyfit(x, np.asarray(y_a).squeeze(), deg, rcond, full, w, cov);
p[i, :] = p_a
p[i, :] = p_a[::-1]
assert(residual <=eps)
return p
......@@ -71,7 +72,7 @@ poly_control_list_lf_lin = []; poly_control_list_lf_ang = []
poly_control_list_rh_lin = []; poly_control_list_rh_ang = []
poly_control_list_lh_lin = []; poly_control_list_lh_ang = []
time_vector = np.zeros(len(cs.ms_interval_data))
control_list = np.array([])
for spl in cs.ms_interval_data:
x = np.array([]);
y_com = np.array([]); y_dcom = np.array([]); y_ddcom = np.array([]);
......@@ -100,6 +101,11 @@ for spl in cs.ms_interval_data:
y_ddcom = np.append(y_ddcom, y[3:6], axis=1)
y_dL = np.append(y_dL, y[6:9], axis=1)
for y in spl.control_trajectory:
if control_list.size ==0:
control_list = y
else:
control_list = np.append(control_list, y, axis=1)
if y_control_rf_lin.size==0:
y_control_rf_lin = y[0:3]
y_control_rf_ang = y[3:6]
......@@ -118,7 +124,6 @@ for spl in cs.ms_interval_data:
y_control_rh_ang = np.append(y_control_rh_ang, y[15:18], axis=1)
y_control_lh_lin = np.append(y_control_lh_lin, y[18:21], axis=1)
y_control_lh_ang = np.append(y_control_lh_ang, y[21:24], axis=1)
print x.shape, y_com.shape, y_control_rf_lin.shape
traj_times.append(x)
poly_com_list.append(dd_polyfit(x, y_com, y_dcom, y_ddcom, deg_y=5, eps=1e-20))
......@@ -148,6 +153,7 @@ rh_force = forcecurve(spline(poly_control_list_rh_lin, time_vector),
spline(poly_control_list_rh_ang, time_vector))
lh_force = forcecurve(spline(poly_control_list_lh_lin, time_vector),
spline(poly_control_list_lh_ang, time_vector))
print "Trajectories created"
if WRITE_OUTPUT:
com_spline.save_to_file(COM_SPLINE_OUTPUT_FILE)
rf_force.save_to_file(RF_FORCE_OUTPUT_FILE)
......@@ -161,7 +167,12 @@ if VERIFY:
for spl in cs.ms_interval_data:
for j,t in enumerate(spl.time_trajectory):
assert(np.isclose(spl.state_trajectory[j][0:3],com_spline(t)).all())
print j, spl.state_trajectory[j][3:6],com_spline.derivate(t,1)
if not np.isclose(spl.control_trajectory[j][0:6],rf_force(t)).all():
print t, spl.control_trajectory[j][0:6], rf_force(t)
raw_input("Error in xml vs spline rf force")
if not np.isclose(spl.control_trajectory[j][6:12],lf_force(t)).all():
print t, spl.control_trajectory[j][6:12], lf_force(t)
raw_input("Error in xml vs spline lf force")
if not np.isclose(spl.state_trajectory[j][3:6],com_spline.derivate(t,1)).all():
raw_input("Oops")
if not np.isclose(spl.dot_state_trajectory[j][3:6],com_spline.derivate(t,2)).all():
......
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