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diff --git a/.idea/navipy.iml b/.idea/navipy.iml
new file mode 100644
index 0000000000000000000000000000000000000000..6037995f3d84d6bc1a59a8e02591a058ab335f8f
--- /dev/null
+++ b/.idea/navipy.iml
@@ -0,0 +1,17 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<module type="JAVA_MODULE" version="4">
+ <component name="FacetManager">
+ <facet type="Python" name="Python">
+ <configuration sdkName="" />
+ </facet>
+ </component>
+ <component name="NewModuleRootManager" inherit-compiler-output="true">
+ <exclude-output />
+ <content url="file://$MODULE_DIR$" />
+ <orderEntry type="inheritedJdk" />
+ <orderEntry type="sourceFolder" forTests="false" />
+ </component>
+ <component name="PyDocumentationSettings">
+ <option name="renderExternalDocumentation" value="true" />
+ </component>
+</module>
\ No newline at end of file
diff --git a/.idea/other.xml b/.idea/other.xml
new file mode 100644
index 0000000000000000000000000000000000000000..640fd80b829a36c6ae5382d4aeeb511d00e869f3
--- /dev/null
+++ b/.idea/other.xml
@@ -0,0 +1,7 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+ <component name="PySciProjectComponent">
+ <option name="PY_SCI_VIEW" value="true" />
+ <option name="PY_SCI_VIEW_SUGGESTED" value="true" />
+ </component>
+</project>
\ No newline at end of file
diff --git a/.idea/vcs.xml b/.idea/vcs.xml
new file mode 100644
index 0000000000000000000000000000000000000000..35eb1ddfbbc029bcab630581847471d7f238ec53
--- /dev/null
+++ b/.idea/vcs.xml
@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+ <component name="VcsDirectoryMappings">
+ <mapping directory="" vcs="Git" />
+ </component>
+</project>
\ No newline at end of file
diff --git a/.idea/workspace.xml b/.idea/workspace.xml
new file mode 100644
index 0000000000000000000000000000000000000000..a809f86991b97277fc2c755335f6ff06cdbd9002
--- /dev/null
+++ b/.idea/workspace.xml
@@ -0,0 +1,366 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+ <component name="ChangeListManager">
+ <list default="true" id="ce009ef4-7b11-4f12-b786-bce3842c65e3" name="Default Changelist" comment="">
+ <change beforePath="$PROJECT_DIR$/navipy/maths/test_euler.py" beforeDir="false" afterPath="$PROJECT_DIR$/navipy/maths/test_euler.py" afterDir="false" />
+ </list>
+ <option name="EXCLUDED_CONVERTED_TO_IGNORED" value="true" />
+ <option name="SHOW_DIALOG" value="false" />
+ <option name="HIGHLIGHT_CONFLICTS" value="true" />
+ <option name="HIGHLIGHT_NON_ACTIVE_CHANGELIST" value="false" />
+ <option name="LAST_RESOLUTION" value="IGNORE" />
+ </component>
+ <component name="FileEditorManager">
+ <leaf SIDE_TABS_SIZE_LIMIT_KEY="300">
+ <file pinned="false" current-in-tab="true">
+ <entry file="file://$PROJECT_DIR$/navipy/maths/test_euler.py">
+ <provider selected="true" editor-type-id="text-editor">
+ <state relative-caret-position="307">
+ <caret line="96" column="38" selection-start-line="96" selection-start-column="38" selection-end-line="96" selection-end-column="38" />
+ <folding>
+ <element signature="e#0#18#0" expanded="true" />
+ </folding>
+ </state>
+ </provider>
+ </entry>
+ </file>
+ <file pinned="false" current-in-tab="false">
+ <entry file="file://$PROJECT_DIR$/navipy/maths/euler.py">
+ <provider selected="true" editor-type-id="text-editor">
+ <state relative-caret-position="115">
+ <caret line="33" column="22" lean-forward="true" selection-start-line="33" selection-start-column="22" selection-end-line="33" selection-end-column="22" />
+ <folding>
+ <element signature="e#0#18#0" expanded="true" />
+ </folding>
+ </state>
+ </provider>
+ </entry>
+ </file>
+ <file pinned="false" current-in-tab="false">
+ <entry file="file://$PROJECT_DIR$/navipy/trajectories/triangle.py">
+ <provider selected="true" editor-type-id="text-editor">
+ <state relative-caret-position="120">
+ <caret line="8" column="6" selection-start-line="8" selection-start-column="6" selection-end-line="8" selection-end-column="6" />
+ <folding>
+ <element signature="e#8#26#0" expanded="true" />
+ </folding>
+ </state>
+ </provider>
+ </entry>
+ </file>
+ </leaf>
+ </component>
+ <component name="FindInProjectRecents">
+ <findStrings>
+ <find>veloc</find>
+ <find>velo</find>
+ </findStrings>
+ </component>
+ <component name="Git.Settings">
+ <option name="RECENT_GIT_ROOT_PATH" value="$PROJECT_DIR$" />
+ </component>
+ <component name="IdeDocumentHistory">
+ <option name="CHANGED_PATHS">
+ <list>
+ <option value="$PROJECT_DIR$/navipy/maths/test_euler.py" />
+ </list>
+ </option>
+ </component>
+ <component name="ProjectFrameBounds">
+ <option name="x" value="20" />
+ <option name="y" value="43" />
+ <option name="width" value="1400" />
+ <option name="height" value="837" />
+ </component>
+ <component name="ProjectView">
+ <navigator proportions="" version="1">
+ <foldersAlwaysOnTop value="true" />
+ </navigator>
+ <panes>
+ <pane id="PackagesPane" />
+ <pane id="Scope" />
+ <pane id="ProjectPane">
+ <subPane>
+ <expand>
+ <path>
+ <item name="navipy" type="b2602c69:ProjectViewProjectNode" />
+ <item name="navipy" type="462c0819:PsiDirectoryNode" />
+ </path>
+ <path>
+ <item name="navipy" type="b2602c69:ProjectViewProjectNode" />
+ <item name="navipy" type="462c0819:PsiDirectoryNode" />
+ <item name="navipy" type="462c0819:PsiDirectoryNode" />
+ </path>
+ <path>
+ <item name="navipy" type="b2602c69:ProjectViewProjectNode" />
+ <item name="navipy" type="462c0819:PsiDirectoryNode" />
+ <item name="navipy" type="462c0819:PsiDirectoryNode" />
+ <item name="maths" type="462c0819:PsiDirectoryNode" />
+ </path>
+ <path>
+ <item name="navipy" type="b2602c69:ProjectViewProjectNode" />
+ <item name="navipy" type="462c0819:PsiDirectoryNode" />
+ <item name="orientation" type="462c0819:PsiDirectoryNode" />
+ </path>
+ </expand>
+ <select />
+ </subPane>
+ </pane>
+ </panes>
+ </component>
+ <component name="PropertiesComponent">
+ <property name="WebServerToolWindowFactoryState" value="false" />
+ <property name="aspect.path.notification.shown" value="true" />
+ <property name="com.android.tools.idea.instantapp.provision.ProvisionBeforeRunTaskProvider.myTimeStamp" value="1547576439561" />
+ <property name="last_opened_file_path" value="$PROJECT_DIR$" />
+ <property name="project.structure.last.edited" value="Project" />
+ <property name="project.structure.proportion" value="0.0" />
+ <property name="project.structure.side.proportion" value="0.0" />
+ </component>
+ <component name="RunDashboard">
+ <option name="ruleStates">
+ <list>
+ <RuleState>
+ <option name="name" value="ConfigurationTypeDashboardGroupingRule" />
+ </RuleState>
+ <RuleState>
+ <option name="name" value="StatusDashboardGroupingRule" />
+ </RuleState>
+ </list>
+ </option>
+ </component>
+ <component name="RunManager">
+ <configuration default="true" type="PythonConfigurationType" factoryName="Python">
+ <module name="navipy" />
+ <option name="INTERPRETER_OPTIONS" value="" />
+ <option name="PARENT_ENVS" value="true" />
+ <envs>
+ <env name="PYTHONUNBUFFERED" value="1" />
+ </envs>
+ <option name="SDK_HOME" value="" />
+ <option name="WORKING_DIRECTORY" value="" />
+ <option name="IS_MODULE_SDK" value="false" />
+ <option name="ADD_CONTENT_ROOTS" value="true" />
+ <option name="ADD_SOURCE_ROOTS" value="true" />
+ <EXTENSION ID="PythonCoverageRunConfigurationExtension" runner="coverage.py" />
+ <option name="SCRIPT_NAME" value="" />
+ <option name="PARAMETERS" value="" />
+ <option name="SHOW_COMMAND_LINE" value="true" />
+ <option name="EMULATE_TERMINAL" value="false" />
+ <option name="MODULE_MODE" value="false" />
+ <option name="REDIRECT_INPUT" value="false" />
+ <option name="INPUT_FILE" value="" />
+ <method v="2" />
+ </configuration>
+ </component>
+ <component name="SvnConfiguration">
+ <configuration />
+ </component>
+ <component name="TaskManager">
+ <task active="true" id="Default" summary="Default task">
+ <changelist id="ce009ef4-7b11-4f12-b786-bce3842c65e3" name="Default Changelist" comment="" />
+ <created>1547415875214</created>
+ <option name="number" value="Default" />
+ <option name="presentableId" value="Default" />
+ <updated>1547415875214</updated>
+ <workItem from="1547415880176" duration="372000" />
+ <workItem from="1547416580488" duration="8268000" />
+ </task>
+ <servers />
+ </component>
+ <component name="TimeTrackingManager">
+ <option name="totallyTimeSpent" value="8640000" />
+ </component>
+ <component name="ToolWindowManager">
+ <frame x="20" y="43" width="1400" height="837" extended-state="0" />
+ <editor active="true" />
+ <layout>
+ <window_info active="true" content_ui="combo" id="Project" order="0" visible="true" weight="0.2533137" />
+ <window_info id="Structure" order="1" side_tool="true" weight="0.25" />
+ <window_info id="Image Layers" order="2" />
+ <window_info id="Designer" order="3" />
+ <window_info id="UI Designer" order="4" />
+ <window_info id="Capture Tool" order="5" />
+ <window_info id="Favorites" order="6" side_tool="true" />
+ <window_info anchor="bottom" id="Message" order="0" />
+ <window_info anchor="bottom" id="Find" order="1" />
+ <window_info anchor="bottom" id="Run" order="2" />
+ <window_info anchor="bottom" id="Debug" order="3" weight="0.4" />
+ <window_info anchor="bottom" id="Cvs" order="4" weight="0.25" />
+ <window_info anchor="bottom" id="Inspection" order="5" weight="0.4" />
+ <window_info anchor="bottom" id="TODO" order="6" />
+ <window_info anchor="bottom" id="Docker" order="7" show_stripe_button="false" />
+ <window_info anchor="bottom" id="Version Control" order="8" />
+ <window_info anchor="bottom" id="Database Changes" order="9" />
+ <window_info anchor="bottom" id="Terminal" order="10" />
+ <window_info anchor="bottom" id="Event Log" order="11" side_tool="true" weight="0.32885906" />
+ <window_info anchor="right" id="SciView" order="0" />
+ <window_info anchor="right" x="0" y="0" width="300" height="637" id="Documentation" order="1" side_tool="true" weight="0.3298969" />
+ <window_info anchor="right" id="Commander" internal_type="SLIDING" order="2" type="SLIDING" weight="0.4" />
+ <window_info anchor="right" id="Ant Build" order="3" weight="0.25" />
+ <window_info anchor="right" content_ui="combo" id="Hierarchy" order="4" weight="0.25" />
+ <window_info anchor="right" id="Palette" order="5" />
+ <window_info anchor="right" id="Theme Preview" order="6" />
+ <window_info anchor="right" id="Maven" order="7" />
+ <window_info anchor="right" id="Capture Analysis" order="8" />
+ <window_info anchor="right" id="Palette	" order="9" />
+ <window_info anchor="right" id="Database" order="10" />
+ </layout>
+ </component>
+ <component name="TypeScriptGeneratedFilesManager">
+ <option name="version" value="1" />
+ </component>
+ <component name="editorHistoryManager">
+ <entry file="file://$PROJECT_DIR$/.coverage">
+ <provider selected="true" editor-type-id="text-editor" />
+ </entry>
+ <entry file="file://$PROJECT_DIR$/navipy/trajectories/__init__.py">
+ <provider selected="true" editor-type-id="text-editor" />
+ </entry>
+ <entry file="file://$PROJECT_DIR$/navipy/processing/mcode.py">
+ <provider selected="true" editor-type-id="text-editor" />
+ </entry>
+ <entry file="file://$PROJECT_DIR$/navipy/trajectories/test_markers.py">
+ <provider selected="true" editor-type-id="text-editor">
+ <state relative-caret-position="75">
+ <caret line="5" column="49" selection-start-line="5" selection-start-column="41" selection-end-line="5" selection-end-column="49" />
+ <folding>
+ <element signature="e#0#15#0" expanded="true" />
+ </folding>
+ </state>
+ </provider>
+ </entry>
+ <entry file="file://$PROJECT_DIR$/navipy/scene.py">
+ <provider selected="true" editor-type-id="text-editor">
+ <state relative-caret-position="135">
+ <caret line="9" selection-start-line="9" selection-end-line="9" />
+ </state>
+ </provider>
+ </entry>
+ <entry file="file://$PROJECT_DIR$/navipy/processing/test_opticflow.py">
+ <provider selected="true" editor-type-id="text-editor">
+ <state relative-caret-position="90">
+ <caret line="6" column="46" selection-start-line="6" selection-start-column="25" selection-end-line="6" selection-end-column="46" />
+ <folding>
+ <element signature="e#0#15#0" expanded="true" />
+ </folding>
+ </state>
+ </provider>
+ </entry>
+ <entry file="file://$PROJECT_DIR$/navipy/processing/test_mcode.py">
+ <provider selected="true" editor-type-id="text-editor" />
+ </entry>
+ <entry file="file://$PROJECT_DIR$/navipy/processing/pcode.py">
+ <provider selected="true" editor-type-id="text-editor" />
+ </entry>
+ <entry file="file://$PROJECT_DIR$/navipy/processing/__init__.py">
+ <provider selected="true" editor-type-id="text-editor" />
+ </entry>
+ <entry file="file://$PROJECT_DIR$/navipy/trajectories/triangle.py">
+ <provider selected="true" editor-type-id="text-editor">
+ <state relative-caret-position="120">
+ <caret line="8" column="6" selection-start-line="8" selection-start-column="6" selection-end-line="8" selection-end-column="6" />
+ <folding>
+ <element signature="e#8#26#0" expanded="true" />
+ </folding>
+ </state>
+ </provider>
+ </entry>
+ <entry file="file://$PROJECT_DIR$/navipy/maths/euler.py">
+ <provider selected="true" editor-type-id="text-editor">
+ <state relative-caret-position="115">
+ <caret line="33" column="22" lean-forward="true" selection-start-line="33" selection-start-column="22" selection-end-line="33" selection-end-column="22" />
+ <folding>
+ <element signature="e#0#18#0" expanded="true" />
+ </folding>
+ </state>
+ </provider>
+ </entry>
+ <entry file="file://$PROJECT_DIR$/navipy/maths/test_euler.py">
+ <provider selected="true" editor-type-id="text-editor">
+ <state relative-caret-position="307">
+ <caret line="96" column="38" selection-start-line="96" selection-start-column="38" selection-end-line="96" selection-end-column="38" />
+ <folding>
+ <element signature="e#0#18#0" expanded="true" />
+ </folding>
+ </state>
+ </provider>
+ </entry>
+ </component>
+ <component name="masterDetails">
+ <states>
+ <state key="ArtifactsStructureConfigurable.UI">
+ <settings>
+ <artifact-editor />
+ <splitter-proportions>
+ <option name="proportions">
+ <list>
+ <option value="0.2" />
+ </list>
+ </option>
+ </splitter-proportions>
+ </settings>
+ </state>
+ <state key="FacetStructureConfigurable.UI">
+ <settings>
+ <last-edited>Python</last-edited>
+ <splitter-proportions>
+ <option name="proportions">
+ <list>
+ <option value="0.2" />
+ </list>
+ </option>
+ </splitter-proportions>
+ </settings>
+ </state>
+ <state key="GlobalLibrariesConfigurable.UI">
+ <settings>
+ <last-edited>Python 2.7 interpreter library</last-edited>
+ <splitter-proportions>
+ <option name="proportions">
+ <list>
+ <option value="0.2" />
+ </list>
+ </option>
+ </splitter-proportions>
+ </settings>
+ </state>
+ <state key="JdkListConfigurable.UI">
+ <settings>
+ <last-edited>Python 2.7</last-edited>
+ <splitter-proportions>
+ <option name="proportions">
+ <list>
+ <option value="0.2" />
+ </list>
+ </option>
+ </splitter-proportions>
+ </settings>
+ </state>
+ <state key="ModuleStructureConfigurable.UI">
+ <settings>
+ <last-edited>navipy</last-edited>
+ <splitter-proportions>
+ <option name="proportions">
+ <list>
+ <option value="0.2" />
+ <option value="0.6" />
+ </list>
+ </option>
+ </splitter-proportions>
+ </settings>
+ </state>
+ <state key="ProjectLibrariesConfigurable.UI">
+ <settings>
+ <splitter-proportions>
+ <option name="proportions">
+ <list>
+ <option value="0.2" />
+ </list>
+ </option>
+ </splitter-proportions>
+ </settings>
+ </state>
+ </states>
+ </component>
+</project>
\ No newline at end of file
diff --git a/coverage_html_report/coverage_html.js b/coverage_html_report/coverage_html.js
new file mode 100644
index 0000000000000000000000000000000000000000..f6f5de20771ce0e4bdc1b6c826e25c7c47808599
--- /dev/null
+++ b/coverage_html_report/coverage_html.js
@@ -0,0 +1,584 @@
+// Licensed under the Apache License: http://www.apache.org/licenses/LICENSE-2.0
+// For details: https://bitbucket.org/ned/coveragepy/src/default/NOTICE.txt
+
+// Coverage.py HTML report browser code.
+/*jslint browser: true, sloppy: true, vars: true, plusplus: true, maxerr: 50, indent: 4 */
+/*global coverage: true, document, window, $ */
+
+coverage = {};
+
+// Find all the elements with shortkey_* class, and use them to assign a shortcut key.
+coverage.assign_shortkeys = function () {
+ $("*[class*='shortkey_']").each(function (i, e) {
+ $.each($(e).attr("class").split(" "), function (i, c) {
+ if (/^shortkey_/.test(c)) {
+ $(document).bind('keydown', c.substr(9), function () {
+ $(e).click();
+ });
+ }
+ });
+ });
+};
+
+// Create the events for the help panel.
+coverage.wire_up_help_panel = function () {
+ $("#keyboard_icon").click(function () {
+ // Show the help panel, and position it so the keyboard icon in the
+ // panel is in the same place as the keyboard icon in the header.
+ $(".help_panel").show();
+ var koff = $("#keyboard_icon").offset();
+ var poff = $("#panel_icon").position();
+ $(".help_panel").offset({
+ top: koff.top-poff.top,
+ left: koff.left-poff.left
+ });
+ });
+ $("#panel_icon").click(function () {
+ $(".help_panel").hide();
+ });
+};
+
+// Create the events for the filter box.
+coverage.wire_up_filter = function () {
+ // Cache elements.
+ var table = $("table.index");
+ var table_rows = table.find("tbody tr");
+ var table_row_names = table_rows.find("td.name a");
+ var no_rows = $("#no_rows");
+
+ // Create a duplicate table footer that we can modify with dynamic summed values.
+ var table_footer = $("table.index tfoot tr");
+ var table_dynamic_footer = table_footer.clone();
+ table_dynamic_footer.attr('class', 'total_dynamic hidden');
+ table_footer.after(table_dynamic_footer);
+
+ // Observe filter keyevents.
+ $("#filter").on("keyup change", $.debounce(150, function (event) {
+ var filter_value = $(this).val();
+
+ if (filter_value === "") {
+ // Filter box is empty, remove all filtering.
+ table_rows.removeClass("hidden");
+
+ // Show standard footer, hide dynamic footer.
+ table_footer.removeClass("hidden");
+ table_dynamic_footer.addClass("hidden");
+
+ // Hide placeholder, show table.
+ if (no_rows.length > 0) {
+ no_rows.hide();
+ }
+ table.show();
+
+ }
+ else {
+ // Filter table items by value.
+ var hidden = 0;
+ var shown = 0;
+
+ // Hide / show elements.
+ $.each(table_row_names, function () {
+ var element = $(this).parents("tr");
+
+ if ($(this).text().indexOf(filter_value) === -1) {
+ // hide
+ element.addClass("hidden");
+ hidden++;
+ }
+ else {
+ // show
+ element.removeClass("hidden");
+ shown++;
+ }
+ });
+
+ // Show placeholder if no rows will be displayed.
+ if (no_rows.length > 0) {
+ if (shown === 0) {
+ // Show placeholder, hide table.
+ no_rows.show();
+ table.hide();
+ }
+ else {
+ // Hide placeholder, show table.
+ no_rows.hide();
+ table.show();
+ }
+ }
+
+ // Manage dynamic header:
+ if (hidden > 0) {
+ // Calculate new dynamic sum values based on visible rows.
+ for (var column = 2; column < 20; column++) {
+ // Calculate summed value.
+ var cells = table_rows.find('td:nth-child(' + column + ')');
+ if (!cells.length) {
+ // No more columns...!
+ break;
+ }
+
+ var sum = 0, numer = 0, denom = 0;
+ $.each(cells.filter(':visible'), function () {
+ var ratio = $(this).data("ratio");
+ if (ratio) {
+ var splitted = ratio.split(" ");
+ numer += parseInt(splitted[0], 10);
+ denom += parseInt(splitted[1], 10);
+ }
+ else {
+ sum += parseInt(this.innerHTML, 10);
+ }
+ });
+
+ // Get footer cell element.
+ var footer_cell = table_dynamic_footer.find('td:nth-child(' + column + ')');
+
+ // Set value into dynamic footer cell element.
+ if (cells[0].innerHTML.indexOf('%') > -1) {
+ // Percentage columns use the numerator and denominator,
+ // and adapt to the number of decimal places.
+ var match = /\.([0-9]+)/.exec(cells[0].innerHTML);
+ var places = 0;
+ if (match) {
+ places = match[1].length;
+ }
+ var pct = numer * 100 / denom;
+ footer_cell.text(pct.toFixed(places) + '%');
+ }
+ else {
+ footer_cell.text(sum);
+ }
+ }
+
+ // Hide standard footer, show dynamic footer.
+ table_footer.addClass("hidden");
+ table_dynamic_footer.removeClass("hidden");
+ }
+ else {
+ // Show standard footer, hide dynamic footer.
+ table_footer.removeClass("hidden");
+ table_dynamic_footer.addClass("hidden");
+ }
+ }
+ }));
+
+ // Trigger change event on setup, to force filter on page refresh
+ // (filter value may still be present).
+ $("#filter").trigger("change");
+};
+
+// Loaded on index.html
+coverage.index_ready = function ($) {
+ // Look for a cookie containing previous sort settings:
+ var sort_list = [];
+ var cookie_name = "COVERAGE_INDEX_SORT";
+ var i;
+
+ // This almost makes it worth installing the jQuery cookie plugin:
+ if (document.cookie.indexOf(cookie_name) > -1) {
+ var cookies = document.cookie.split(";");
+ for (i = 0; i < cookies.length; i++) {
+ var parts = cookies[i].split("=");
+
+ if ($.trim(parts[0]) === cookie_name && parts[1]) {
+ sort_list = eval("[[" + parts[1] + "]]");
+ break;
+ }
+ }
+ }
+
+ // Create a new widget which exists only to save and restore
+ // the sort order:
+ $.tablesorter.addWidget({
+ id: "persistentSort",
+
+ // Format is called by the widget before displaying:
+ format: function (table) {
+ if (table.config.sortList.length === 0 && sort_list.length > 0) {
+ // This table hasn't been sorted before - we'll use
+ // our stored settings:
+ $(table).trigger('sorton', [sort_list]);
+ }
+ else {
+ // This is not the first load - something has
+ // already defined sorting so we'll just update
+ // our stored value to match:
+ sort_list = table.config.sortList;
+ }
+ }
+ });
+
+ // Configure our tablesorter to handle the variable number of
+ // columns produced depending on report options:
+ var headers = [];
+ var col_count = $("table.index > thead > tr > th").length;
+
+ headers[0] = { sorter: 'text' };
+ for (i = 1; i < col_count-1; i++) {
+ headers[i] = { sorter: 'digit' };
+ }
+ headers[col_count-1] = { sorter: 'percent' };
+
+ // Enable the table sorter:
+ $("table.index").tablesorter({
+ widgets: ['persistentSort'],
+ headers: headers
+ });
+
+ coverage.assign_shortkeys();
+ coverage.wire_up_help_panel();
+ coverage.wire_up_filter();
+
+ // Watch for page unload events so we can save the final sort settings:
+ $(window).unload(function () {
+ document.cookie = cookie_name + "=" + sort_list.toString() + "; path=/";
+ });
+};
+
+// -- pyfile stuff --
+
+coverage.pyfile_ready = function ($) {
+ // If we're directed to a particular line number, highlight the line.
+ var frag = location.hash;
+ if (frag.length > 2 && frag[1] === 'n') {
+ $(frag).addClass('highlight');
+ coverage.set_sel(parseInt(frag.substr(2), 10));
+ }
+ else {
+ coverage.set_sel(0);
+ }
+
+ $(document)
+ .bind('keydown', 'j', coverage.to_next_chunk_nicely)
+ .bind('keydown', 'k', coverage.to_prev_chunk_nicely)
+ .bind('keydown', '0', coverage.to_top)
+ .bind('keydown', '1', coverage.to_first_chunk)
+ ;
+
+ $(".button_toggle_run").click(function (evt) {coverage.toggle_lines(evt.target, "run");});
+ $(".button_toggle_exc").click(function (evt) {coverage.toggle_lines(evt.target, "exc");});
+ $(".button_toggle_mis").click(function (evt) {coverage.toggle_lines(evt.target, "mis");});
+ $(".button_toggle_par").click(function (evt) {coverage.toggle_lines(evt.target, "par");});
+
+ coverage.assign_shortkeys();
+ coverage.wire_up_help_panel();
+
+ coverage.init_scroll_markers();
+
+ // Rebuild scroll markers after window high changing
+ $(window).resize(coverage.resize_scroll_markers);
+};
+
+coverage.toggle_lines = function (btn, cls) {
+ btn = $(btn);
+ var hide = "hide_"+cls;
+ if (btn.hasClass(hide)) {
+ $("#source ."+cls).removeClass(hide);
+ btn.removeClass(hide);
+ }
+ else {
+ $("#source ."+cls).addClass(hide);
+ btn.addClass(hide);
+ }
+};
+
+// Return the nth line div.
+coverage.line_elt = function (n) {
+ return $("#t" + n);
+};
+
+// Return the nth line number div.
+coverage.num_elt = function (n) {
+ return $("#n" + n);
+};
+
+// Return the container of all the code.
+coverage.code_container = function () {
+ return $(".linenos");
+};
+
+// Set the selection. b and e are line numbers.
+coverage.set_sel = function (b, e) {
+ // The first line selected.
+ coverage.sel_begin = b;
+ // The next line not selected.
+ coverage.sel_end = (e === undefined) ? b+1 : e;
+};
+
+coverage.to_top = function () {
+ coverage.set_sel(0, 1);
+ coverage.scroll_window(0);
+};
+
+coverage.to_first_chunk = function () {
+ coverage.set_sel(0, 1);
+ coverage.to_next_chunk();
+};
+
+coverage.is_transparent = function (color) {
+ // Different browsers return different colors for "none".
+ return color === "transparent" || color === "rgba(0, 0, 0, 0)";
+};
+
+coverage.to_next_chunk = function () {
+ var c = coverage;
+
+ // Find the start of the next colored chunk.
+ var probe = c.sel_end;
+ var color, probe_line;
+ while (true) {
+ probe_line = c.line_elt(probe);
+ if (probe_line.length === 0) {
+ return;
+ }
+ color = probe_line.css("background-color");
+ if (!c.is_transparent(color)) {
+ break;
+ }
+ probe++;
+ }
+
+ // There's a next chunk, `probe` points to it.
+ var begin = probe;
+
+ // Find the end of this chunk.
+ var next_color = color;
+ while (next_color === color) {
+ probe++;
+ probe_line = c.line_elt(probe);
+ next_color = probe_line.css("background-color");
+ }
+ c.set_sel(begin, probe);
+ c.show_selection();
+};
+
+coverage.to_prev_chunk = function () {
+ var c = coverage;
+
+ // Find the end of the prev colored chunk.
+ var probe = c.sel_begin-1;
+ var probe_line = c.line_elt(probe);
+ if (probe_line.length === 0) {
+ return;
+ }
+ var color = probe_line.css("background-color");
+ while (probe > 0 && c.is_transparent(color)) {
+ probe--;
+ probe_line = c.line_elt(probe);
+ if (probe_line.length === 0) {
+ return;
+ }
+ color = probe_line.css("background-color");
+ }
+
+ // There's a prev chunk, `probe` points to its last line.
+ var end = probe+1;
+
+ // Find the beginning of this chunk.
+ var prev_color = color;
+ while (prev_color === color) {
+ probe--;
+ probe_line = c.line_elt(probe);
+ prev_color = probe_line.css("background-color");
+ }
+ c.set_sel(probe+1, end);
+ c.show_selection();
+};
+
+// Return the line number of the line nearest pixel position pos
+coverage.line_at_pos = function (pos) {
+ var l1 = coverage.line_elt(1),
+ l2 = coverage.line_elt(2),
+ result;
+ if (l1.length && l2.length) {
+ var l1_top = l1.offset().top,
+ line_height = l2.offset().top - l1_top,
+ nlines = (pos - l1_top) / line_height;
+ if (nlines < 1) {
+ result = 1;
+ }
+ else {
+ result = Math.ceil(nlines);
+ }
+ }
+ else {
+ result = 1;
+ }
+ return result;
+};
+
+// Returns 0, 1, or 2: how many of the two ends of the selection are on
+// the screen right now?
+coverage.selection_ends_on_screen = function () {
+ if (coverage.sel_begin === 0) {
+ return 0;
+ }
+
+ var top = coverage.line_elt(coverage.sel_begin);
+ var next = coverage.line_elt(coverage.sel_end-1);
+
+ return (
+ (top.isOnScreen() ? 1 : 0) +
+ (next.isOnScreen() ? 1 : 0)
+ );
+};
+
+coverage.to_next_chunk_nicely = function () {
+ coverage.finish_scrolling();
+ if (coverage.selection_ends_on_screen() === 0) {
+ // The selection is entirely off the screen: select the top line on
+ // the screen.
+ var win = $(window);
+ coverage.select_line_or_chunk(coverage.line_at_pos(win.scrollTop()));
+ }
+ coverage.to_next_chunk();
+};
+
+coverage.to_prev_chunk_nicely = function () {
+ coverage.finish_scrolling();
+ if (coverage.selection_ends_on_screen() === 0) {
+ var win = $(window);
+ coverage.select_line_or_chunk(coverage.line_at_pos(win.scrollTop() + win.height()));
+ }
+ coverage.to_prev_chunk();
+};
+
+// Select line number lineno, or if it is in a colored chunk, select the
+// entire chunk
+coverage.select_line_or_chunk = function (lineno) {
+ var c = coverage;
+ var probe_line = c.line_elt(lineno);
+ if (probe_line.length === 0) {
+ return;
+ }
+ var the_color = probe_line.css("background-color");
+ if (!c.is_transparent(the_color)) {
+ // The line is in a highlighted chunk.
+ // Search backward for the first line.
+ var probe = lineno;
+ var color = the_color;
+ while (probe > 0 && color === the_color) {
+ probe--;
+ probe_line = c.line_elt(probe);
+ if (probe_line.length === 0) {
+ break;
+ }
+ color = probe_line.css("background-color");
+ }
+ var begin = probe + 1;
+
+ // Search forward for the last line.
+ probe = lineno;
+ color = the_color;
+ while (color === the_color) {
+ probe++;
+ probe_line = c.line_elt(probe);
+ color = probe_line.css("background-color");
+ }
+
+ coverage.set_sel(begin, probe);
+ }
+ else {
+ coverage.set_sel(lineno);
+ }
+};
+
+coverage.show_selection = function () {
+ var c = coverage;
+
+ // Highlight the lines in the chunk
+ c.code_container().find(".highlight").removeClass("highlight");
+ for (var probe = c.sel_begin; probe > 0 && probe < c.sel_end; probe++) {
+ c.num_elt(probe).addClass("highlight");
+ }
+
+ c.scroll_to_selection();
+};
+
+coverage.scroll_to_selection = function () {
+ // Scroll the page if the chunk isn't fully visible.
+ if (coverage.selection_ends_on_screen() < 2) {
+ // Need to move the page. The html,body trick makes it scroll in all
+ // browsers, got it from http://stackoverflow.com/questions/3042651
+ var top = coverage.line_elt(coverage.sel_begin);
+ var top_pos = parseInt(top.offset().top, 10);
+ coverage.scroll_window(top_pos - 30);
+ }
+};
+
+coverage.scroll_window = function (to_pos) {
+ $("html,body").animate({scrollTop: to_pos}, 200);
+};
+
+coverage.finish_scrolling = function () {
+ $("html,body").stop(true, true);
+};
+
+coverage.init_scroll_markers = function () {
+ var c = coverage;
+ // Init some variables
+ c.lines_len = $('td.text p').length;
+ c.body_h = $('body').height();
+ c.header_h = $('div#header').height();
+ c.missed_lines = $('td.text p.mis, td.text p.par');
+
+ // Build html
+ c.resize_scroll_markers();
+};
+
+coverage.resize_scroll_markers = function () {
+ var c = coverage,
+ min_line_height = 3,
+ max_line_height = 10,
+ visible_window_h = $(window).height();
+
+ $('#scroll_marker').remove();
+ // Don't build markers if the window has no scroll bar.
+ if (c.body_h <= visible_window_h) {
+ return;
+ }
+
+ $("body").append("<div id='scroll_marker'> </div>");
+ var scroll_marker = $('#scroll_marker'),
+ marker_scale = scroll_marker.height() / c.body_h,
+ line_height = scroll_marker.height() / c.lines_len;
+
+ // Line height must be between the extremes.
+ if (line_height > min_line_height) {
+ if (line_height > max_line_height) {
+ line_height = max_line_height;
+ }
+ }
+ else {
+ line_height = min_line_height;
+ }
+
+ var previous_line = -99,
+ last_mark,
+ last_top;
+
+ c.missed_lines.each(function () {
+ var line_top = Math.round($(this).offset().top * marker_scale),
+ id_name = $(this).attr('id'),
+ line_number = parseInt(id_name.substring(1, id_name.length));
+
+ if (line_number === previous_line + 1) {
+ // If this solid missed block just make previous mark higher.
+ last_mark.css({
+ 'height': line_top + line_height - last_top
+ });
+ }
+ else {
+ // Add colored line in scroll_marker block.
+ scroll_marker.append('<div id="m' + line_number + '" class="marker"></div>');
+ last_mark = $('#m' + line_number);
+ last_mark.css({
+ 'height': line_height,
+ 'top': line_top
+ });
+ last_top = line_top;
+ }
+
+ previous_line = line_number;
+ });
+};
diff --git a/coverage_html_report/index.html b/coverage_html_report/index.html
new file mode 100644
index 0000000000000000000000000000000000000000..7dc92fc92404b90e20a17d4716206613fa0838c2
--- /dev/null
+++ b/coverage_html_report/index.html
@@ -0,0 +1,536 @@
+
+
+
+<!DOCTYPE html>
+<html>
+<head>
+ <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
+ <title>Coverage report</title>
+ <link rel="stylesheet" href="style.css" type="text/css">
+
+ <script type="text/javascript" src="jquery.min.js"></script>
+ <script type="text/javascript" src="jquery.ba-throttle-debounce.min.js"></script>
+ <script type="text/javascript" src="jquery.tablesorter.min.js"></script>
+ <script type="text/javascript" src="jquery.hotkeys.js"></script>
+ <script type="text/javascript" src="coverage_html.js"></script>
+ <script type="text/javascript">
+ jQuery(document).ready(coverage.index_ready);
+ </script>
+</head>
+<body class="indexfile">
+
+<div id="header">
+ <div class="content">
+ <h1>Coverage report:
+ <span class="pc_cov">47%</span>
+ </h1>
+
+ <img id="keyboard_icon" src="keybd_closed.png" alt="Show keyboard shortcuts" />
+
+ <form id="filter_container">
+ <input id="filter" type="text" value="" placeholder="filter..." />
+ </form>
+ </div>
+</div>
+
+<div class="help_panel">
+ <img id="panel_icon" src="keybd_open.png" alt="Hide keyboard shortcuts" />
+ <p class="legend">Hot-keys on this page</p>
+ <div>
+ <p class="keyhelp">
+ <span class="key">n</span>
+ <span class="key">s</span>
+ <span class="key">m</span>
+ <span class="key">x</span>
+
+ <span class="key">c</span> change column sorting
+ </p>
+ </div>
+</div>
+
+<div id="index">
+ <table class="index">
+ <thead>
+
+ <tr class="tablehead" title="Click to sort">
+ <th class="name left headerSortDown shortkey_n">Module</th>
+ <th class="shortkey_s">statements</th>
+ <th class="shortkey_m">missing</th>
+ <th class="shortkey_x">excluded</th>
+
+ <th class="right shortkey_c">coverage</th>
+ </tr>
+ </thead>
+
+ <tfoot>
+ <tr class="total">
+ <td class="name left">Total</td>
+ <td>5236</td>
+ <td>2770</td>
+ <td>0</td>
+
+ <td class="right" data-ratio="2466 5236">47%</td>
+ </tr>
+ </tfoot>
+ <tbody>
+
+ <tr class="file">
+ <td class="name left"><a href="navipy___init___py.html">navipy/__init__.py</a></td>
+ <td>34</td>
+ <td>7</td>
+ <td>0</td>
+
+ <td class="right" data-ratio="27 34">79%</td>
+ </tr>
+
+ <tr class="file">
+ <td class="name left"><a href="navipy_arenatools___init___py.html">navipy/arenatools/__init__.py</a></td>
+ <td>0</td>
+ <td>0</td>
+ <td>0</td>
+
+ <td class="right" data-ratio="0 0">100%</td>
+ </tr>
+
+ <tr class="file">
+ <td class="name left"><a href="navipy_arenatools_cam_calib_py.html">navipy/arenatools/cam_calib.py</a></td>
+ <td>82</td>
+ <td>82</td>
+ <td>0</td>
+
+ <td class="right" data-ratio="0 82">0%</td>
+ </tr>
+
+ <tr class="file">
+ <td class="name left"><a href="navipy_arenatools_cam_dlt_py.html">navipy/arenatools/cam_dlt.py</a></td>
+ <td>165</td>
+ <td>165</td>
+ <td>0</td>
+
+ <td class="right" data-ratio="0 165">0%</td>
+ </tr>
+
+ <tr class="file">
+ <td class="name left"><a href="navipy_arenatools_patterns_py.html">navipy/arenatools/patterns.py</a></td>
+ <td>34</td>
+ <td>34</td>
+ <td>0</td>
+
+ <td class="right" data-ratio="0 34">0%</td>
+ </tr>
+
+ <tr class="file">
+ <td class="name left"><a href="navipy_arenatools_triangulate_py.html">navipy/arenatools/triangulate.py</a></td>
+ <td>106</td>
+ <td>106</td>
+ <td>0</td>
+
+ <td class="right" data-ratio="0 106">0%</td>
+ </tr>
+
+ <tr class="file">
+ <td class="name left"><a href="navipy_comparing___init___py.html">navipy/comparing/__init__.py</a></td>
+ <td>82</td>
+ <td>29</td>
+ <td>0</td>
+
+ <td class="right" data-ratio="53 82">65%</td>
+ </tr>
+
+ <tr class="file">
+ <td class="name left"><a href="navipy_comparing_test_py.html">navipy/comparing/test.py</a></td>
+ <td>178</td>
+ <td>1</td>
+ <td>0</td>
+
+ <td class="right" data-ratio="177 178">99%</td>
+ </tr>
+
+ <tr class="file">
+ <td class="name left"><a href="navipy_database___init___py.html">navipy/database/__init__.py</a></td>
+ <td>558</td>
+ <td>175</td>
+ <td>0</td>
+
+ <td class="right" data-ratio="383 558">69%</td>
+ </tr>
+
+ <tr class="file">
+ <td class="name left"><a href="navipy_database_test_py.html">navipy/database/test.py</a></td>
+ <td>384</td>
+ <td>167</td>
+ <td>0</td>
+
+ <td class="right" data-ratio="217 384">57%</td>
+ </tr>
+
+ <tr class="file">
+ <td class="name left"><a href="navipy_database_tools_py.html">navipy/database/tools.py</a></td>
+ <td>11</td>
+ <td>11</td>
+ <td>0</td>
+
+ <td class="right" data-ratio="0 11">0%</td>
+ </tr>
+
+ <tr class="file">
+ <td class="name left"><a href="navipy_errorprop___init___py.html">navipy/errorprop/__init__.py</a></td>
+ <td>38</td>
+ <td>10</td>
+ <td>0</td>
+
+ <td class="right" data-ratio="28 38">74%</td>
+ </tr>
+
+ <tr class="file">
+ <td class="name left"><a href="navipy_errorprop_test_py.html">navipy/errorprop/test.py</a></td>
+ <td>36</td>
+ <td>1</td>
+ <td>0</td>
+
+ <td class="right" data-ratio="35 36">97%</td>
+ </tr>
+
+ <tr class="file">
+ <td class="name left"><a href="navipy_io___init___py.html">navipy/io/__init__.py</a></td>
+ <td>0</td>
+ <td>0</td>
+ <td>0</td>
+
+ <td class="right" data-ratio="0 0">100%</td>
+ </tr>
+
+ <tr class="file">
+ <td class="name left"><a href="navipy_io_ivfile_py.html">navipy/io/ivfile.py</a></td>
+ <td>146</td>
+ <td>146</td>
+ <td>0</td>
+
+ <td class="right" data-ratio="0 146">0%</td>
+ </tr>
+
+ <tr class="file">
+ <td class="name left"><a href="navipy_io_opencv_py.html">navipy/io/opencv.py</a></td>
+ <td>55</td>
+ <td>55</td>
+ <td>0</td>
+
+ <td class="right" data-ratio="0 55">0%</td>
+ </tr>
+
+ <tr class="file">
+ <td class="name left"><a href="navipy_maths___init___py.html">navipy/maths/__init__.py</a></td>
+ <td>0</td>
+ <td>0</td>
+ <td>0</td>
+
+ <td class="right" data-ratio="0 0">100%</td>
+ </tr>
+
+ <tr class="file">
+ <td class="name left"><a href="navipy_maths_constants_py.html">navipy/maths/constants.py</a></td>
+ <td>4</td>
+ <td>0</td>
+ <td>0</td>
+
+ <td class="right" data-ratio="4 4">100%</td>
+ </tr>
+
+ <tr class="file">
+ <td class="name left"><a href="navipy_maths_coordinates_py.html">navipy/maths/coordinates.py</a></td>
+ <td>46</td>
+ <td>14</td>
+ <td>0</td>
+
+ <td class="right" data-ratio="32 46">70%</td>
+ </tr>
+
+ <tr class="file">
+ <td class="name left"><a href="navipy_maths_euler_py.html">navipy/maths/euler.py</a></td>
+ <td>119</td>
+ <td>11</td>
+ <td>0</td>
+
+ <td class="right" data-ratio="108 119">91%</td>
+ </tr>
+
+ <tr class="file">
+ <td class="name left"><a href="navipy_maths_homogeneous_transformations_py.html">navipy/maths/homogeneous_transformations.py</a></td>
+ <td>234</td>
+ <td>47</td>
+ <td>0</td>
+
+ <td class="right" data-ratio="187 234">80%</td>
+ </tr>
+
+ <tr class="file">
+ <td class="name left"><a href="navipy_maths_quaternion_py.html">navipy/maths/quaternion.py</a></td>
+ <td>70</td>
+ <td>16</td>
+ <td>0</td>
+
+ <td class="right" data-ratio="54 70">77%</td>
+ </tr>
+
+ <tr class="file">
+ <td class="name left"><a href="navipy_maths_random_py.html">navipy/maths/random.py</a></td>
+ <td>26</td>
+ <td>1</td>
+ <td>0</td>
+
+ <td class="right" data-ratio="25 26">96%</td>
+ </tr>
+
+ <tr class="file">
+ <td class="name left"><a href="navipy_maths_tools_py.html">navipy/maths/tools.py</a></td>
+ <td>29</td>
+ <td>12</td>
+ <td>0</td>
+
+ <td class="right" data-ratio="17 29">59%</td>
+ </tr>
+
+ <tr class="file">
+ <td class="name left"><a href="navipy_models___init___py.html">navipy/models/__init__.py</a></td>
+ <td>0</td>
+ <td>0</td>
+ <td>0</td>
+
+ <td class="right" data-ratio="0 0">100%</td>
+ </tr>
+
+ <tr class="file">
+ <td class="name left"><a href="navipy_models_dewar_2014_py.html">navipy/models/dewar_2014.py</a></td>
+ <td>34</td>
+ <td>34</td>
+ <td>0</td>
+
+ <td class="right" data-ratio="0 34">0%</td>
+ </tr>
+
+ <tr class="file">
+ <td class="name left"><a href="navipy_models_hafner_2000_py.html">navipy/models/hafner_2000.py</a></td>
+ <td>29</td>
+ <td>29</td>
+ <td>0</td>
+
+ <td class="right" data-ratio="0 29">0%</td>
+ </tr>
+
+ <tr class="file">
+ <td class="name left"><a href="navipy_models_irdf_2003_py.html">navipy/models/irdf_2003.py</a></td>
+ <td>36</td>
+ <td>36</td>
+ <td>0</td>
+
+ <td class="right" data-ratio="0 36">0%</td>
+ </tr>
+
+ <tr class="file">
+ <td class="name left"><a href="navipy_moving___init___py.html">navipy/moving/__init__.py</a></td>
+ <td>0</td>
+ <td>0</td>
+ <td>0</td>
+
+ <td class="right" data-ratio="0 0">100%</td>
+ </tr>
+
+ <tr class="file">
+ <td class="name left"><a href="navipy_moving_agent_py.html">navipy/moving/agent.py</a></td>
+ <td>312</td>
+ <td>158</td>
+ <td>0</td>
+
+ <td class="right" data-ratio="154 312">49%</td>
+ </tr>
+
+ <tr class="file">
+ <td class="name left"><a href="navipy_moving_maths_py.html">navipy/moving/maths.py</a></td>
+ <td>51</td>
+ <td>4</td>
+ <td>0</td>
+
+ <td class="right" data-ratio="47 51">92%</td>
+ </tr>
+
+ <tr class="file">
+ <td class="name left"><a href="navipy_processing___init___py.html">navipy/processing/__init__.py</a></td>
+ <td>0</td>
+ <td>0</td>
+ <td>0</td>
+
+ <td class="right" data-ratio="0 0">100%</td>
+ </tr>
+
+ <tr class="file">
+ <td class="name left"><a href="navipy_processing_mcode_py.html">navipy/processing/mcode.py</a></td>
+ <td>299</td>
+ <td>112</td>
+ <td>0</td>
+
+ <td class="right" data-ratio="187 299">63%</td>
+ </tr>
+
+ <tr class="file">
+ <td class="name left"><a href="navipy_processing_pcode_py.html">navipy/processing/pcode.py</a></td>
+ <td>140</td>
+ <td>62</td>
+ <td>0</td>
+
+ <td class="right" data-ratio="78 140">56%</td>
+ </tr>
+
+ <tr class="file">
+ <td class="name left"><a href="navipy_processing_test_py.html">navipy/processing/test.py</a></td>
+ <td>257</td>
+ <td>70</td>
+ <td>0</td>
+
+ <td class="right" data-ratio="187 257">73%</td>
+ </tr>
+
+ <tr class="file">
+ <td class="name left"><a href="navipy_scene_py.html">navipy/scene.py</a></td>
+ <td>82</td>
+ <td>30</td>
+ <td>0</td>
+
+ <td class="right" data-ratio="52 82">63%</td>
+ </tr>
+
+ <tr class="file">
+ <td class="name left"><a href="navipy_scripts___init___py.html">navipy/scripts/__init__.py</a></td>
+ <td>19</td>
+ <td>15</td>
+ <td>0</td>
+
+ <td class="right" data-ratio="4 19">21%</td>
+ </tr>
+
+ <tr class="file">
+ <td class="name left"><a href="navipy_scripts_check_blender_versions_py.html">navipy/scripts/check_blender_versions.py</a></td>
+ <td>29</td>
+ <td>29</td>
+ <td>0</td>
+
+ <td class="right" data-ratio="0 29">0%</td>
+ </tr>
+
+ <tr class="file">
+ <td class="name left"><a href="navipy_scripts_config_matplotlib_server_py.html">navipy/scripts/config_matplotlib_server.py</a></td>
+ <td>10</td>
+ <td>10</td>
+ <td>0</td>
+
+ <td class="right" data-ratio="0 10">0%</td>
+ </tr>
+
+ <tr class="file">
+ <td class="name left"><a href="navipy_scripts_dlt_calibrator_py.html">navipy/scripts/dlt_calibrator.py</a></td>
+ <td>118</td>
+ <td>118</td>
+ <td>0</td>
+
+ <td class="right" data-ratio="0 118">0%</td>
+ </tr>
+
+ <tr class="file">
+ <td class="name left"><a href="navipy_sensors___init___py.html">navipy/sensors/__init__.py</a></td>
+ <td>0</td>
+ <td>0</td>
+ <td>0</td>
+
+ <td class="right" data-ratio="0 0">100%</td>
+ </tr>
+
+ <tr class="file">
+ <td class="name left"><a href="navipy_sensors_renderer_py.html">navipy/sensors/renderer.py</a></td>
+ <td>350</td>
+ <td>350</td>
+ <td>0</td>
+
+ <td class="right" data-ratio="0 350">0%</td>
+ </tr>
+
+ <tr class="file">
+ <td class="name left"><a href="navipy_tools___init___py.html">navipy/tools/__init__.py</a></td>
+ <td>31</td>
+ <td>27</td>
+ <td>0</td>
+
+ <td class="right" data-ratio="4 31">13%</td>
+ </tr>
+
+ <tr class="file">
+ <td class="name left"><a href="navipy_tools_plots_py.html">navipy/tools/plots.py</a></td>
+ <td>46</td>
+ <td>35</td>
+ <td>0</td>
+
+ <td class="right" data-ratio="11 46">24%</td>
+ </tr>
+
+ <tr class="file">
+ <td class="name left"><a href="navipy_trajectories___init___py.html">navipy/trajectories/__init__.py</a></td>
+ <td>511</td>
+ <td>339</td>
+ <td>0</td>
+
+ <td class="right" data-ratio="172 511">34%</td>
+ </tr>
+
+ <tr class="file">
+ <td class="name left"><a href="navipy_trajectories_random_py.html">navipy/trajectories/random.py</a></td>
+ <td>71</td>
+ <td>71</td>
+ <td>0</td>
+
+ <td class="right" data-ratio="0 71">0%</td>
+ </tr>
+
+ <tr class="file">
+ <td class="name left"><a href="navipy_trajectories_tools_py.html">navipy/trajectories/tools.py</a></td>
+ <td>85</td>
+ <td>85</td>
+ <td>0</td>
+
+ <td class="right" data-ratio="0 85">0%</td>
+ </tr>
+
+ <tr class="file">
+ <td class="name left"><a href="navipy_trajectories_transformations_py.html">navipy/trajectories/transformations.py</a></td>
+ <td>183</td>
+ <td>27</td>
+ <td>0</td>
+
+ <td class="right" data-ratio="156 183">85%</td>
+ </tr>
+
+ <tr class="file">
+ <td class="name left"><a href="navipy_trajectories_triangle_py.html">navipy/trajectories/triangle.py</a></td>
+ <td>106</td>
+ <td>39</td>
+ <td>0</td>
+
+ <td class="right" data-ratio="67 106">63%</td>
+ </tr>
+
+ </tbody>
+ </table>
+
+ <p id="no_rows">
+ No items found using the specified filter.
+ </p>
+</div>
+
+<div id="footer">
+ <div class="content">
+ <p>
+ <a class="nav" href="https://coverage.readthedocs.io">coverage.py v4.5.2</a>,
+ created at 2019-01-15 12:18
+ </p>
+ </div>
+</div>
+
+</body>
+</html>
diff --git a/coverage_html_report/jquery.ba-throttle-debounce.min.js b/coverage_html_report/jquery.ba-throttle-debounce.min.js
new file mode 100644
index 0000000000000000000000000000000000000000..648fe5d3c22ceadb769337e20fe699abec8e078d
--- /dev/null
+++ b/coverage_html_report/jquery.ba-throttle-debounce.min.js
@@ -0,0 +1,9 @@
+/*
+ * jQuery throttle / debounce - v1.1 - 3/7/2010
+ * http://benalman.com/projects/jquery-throttle-debounce-plugin/
+ *
+ * Copyright (c) 2010 "Cowboy" Ben Alman
+ * Dual licensed under the MIT and GPL licenses.
+ * http://benalman.com/about/license/
+ */
+(function(b,c){var $=b.jQuery||b.Cowboy||(b.Cowboy={}),a;$.throttle=a=function(e,f,j,i){var h,d=0;if(typeof f!=="boolean"){i=j;j=f;f=c}function g(){var o=this,m=+new Date()-d,n=arguments;function l(){d=+new Date();j.apply(o,n)}function k(){h=c}if(i&&!h){l()}h&&clearTimeout(h);if(i===c&&m>e){l()}else{if(f!==true){h=setTimeout(i?k:l,i===c?e-m:e)}}}if($.guid){g.guid=j.guid=j.guid||$.guid++}return g};$.debounce=function(d,e,f){return f===c?a(d,e,false):a(d,f,e!==false)}})(this);
diff --git a/coverage_html_report/jquery.hotkeys.js b/coverage_html_report/jquery.hotkeys.js
new file mode 100644
index 0000000000000000000000000000000000000000..09b21e03c7f058af138ef3ae7767ee24477ef6d1
--- /dev/null
+++ b/coverage_html_report/jquery.hotkeys.js
@@ -0,0 +1,99 @@
+/*
+ * jQuery Hotkeys Plugin
+ * Copyright 2010, John Resig
+ * Dual licensed under the MIT or GPL Version 2 licenses.
+ *
+ * Based upon the plugin by Tzury Bar Yochay:
+ * http://github.com/tzuryby/hotkeys
+ *
+ * Original idea by:
+ * Binny V A, http://www.openjs.com/scripts/events/keyboard_shortcuts/
+*/
+
+(function(jQuery){
+
+ jQuery.hotkeys = {
+ version: "0.8",
+
+ specialKeys: {
+ 8: "backspace", 9: "tab", 13: "return", 16: "shift", 17: "ctrl", 18: "alt", 19: "pause",
+ 20: "capslock", 27: "esc", 32: "space", 33: "pageup", 34: "pagedown", 35: "end", 36: "home",
+ 37: "left", 38: "up", 39: "right", 40: "down", 45: "insert", 46: "del",
+ 96: "0", 97: "1", 98: "2", 99: "3", 100: "4", 101: "5", 102: "6", 103: "7",
+ 104: "8", 105: "9", 106: "*", 107: "+", 109: "-", 110: ".", 111 : "/",
+ 112: "f1", 113: "f2", 114: "f3", 115: "f4", 116: "f5", 117: "f6", 118: "f7", 119: "f8",
+ 120: "f9", 121: "f10", 122: "f11", 123: "f12", 144: "numlock", 145: "scroll", 191: "/", 224: "meta"
+ },
+
+ shiftNums: {
+ "`": "~", "1": "!", "2": "@", "3": "#", "4": "$", "5": "%", "6": "^", "7": "&",
+ "8": "*", "9": "(", "0": ")", "-": "_", "=": "+", ";": ": ", "'": "\"", ",": "<",
+ ".": ">", "/": "?", "\\": "|"
+ }
+ };
+
+ function keyHandler( handleObj ) {
+ // Only care when a possible input has been specified
+ if ( typeof handleObj.data !== "string" ) {
+ return;
+ }
+
+ var origHandler = handleObj.handler,
+ keys = handleObj.data.toLowerCase().split(" ");
+
+ handleObj.handler = function( event ) {
+ // Don't fire in text-accepting inputs that we didn't directly bind to
+ if ( this !== event.target && (/textarea|select/i.test( event.target.nodeName ) ||
+ event.target.type === "text") ) {
+ return;
+ }
+
+ // Keypress represents characters, not special keys
+ var special = event.type !== "keypress" && jQuery.hotkeys.specialKeys[ event.which ],
+ character = String.fromCharCode( event.which ).toLowerCase(),
+ key, modif = "", possible = {};
+
+ // check combinations (alt|ctrl|shift+anything)
+ if ( event.altKey && special !== "alt" ) {
+ modif += "alt+";
+ }
+
+ if ( event.ctrlKey && special !== "ctrl" ) {
+ modif += "ctrl+";
+ }
+
+ // TODO: Need to make sure this works consistently across platforms
+ if ( event.metaKey && !event.ctrlKey && special !== "meta" ) {
+ modif += "meta+";
+ }
+
+ if ( event.shiftKey && special !== "shift" ) {
+ modif += "shift+";
+ }
+
+ if ( special ) {
+ possible[ modif + special ] = true;
+
+ } else {
+ possible[ modif + character ] = true;
+ possible[ modif + jQuery.hotkeys.shiftNums[ character ] ] = true;
+
+ // "$" can be triggered as "Shift+4" or "Shift+$" or just "$"
+ if ( modif === "shift+" ) {
+ possible[ jQuery.hotkeys.shiftNums[ character ] ] = true;
+ }
+ }
+
+ for ( var i = 0, l = keys.length; i < l; i++ ) {
+ if ( possible[ keys[i] ] ) {
+ return origHandler.apply( this, arguments );
+ }
+ }
+ };
+ }
+
+ jQuery.each([ "keydown", "keyup", "keypress" ], function() {
+ jQuery.event.special[ this ] = { add: keyHandler };
+ });
+
+})( jQuery );
diff --git a/coverage_html_report/jquery.isonscreen.js b/coverage_html_report/jquery.isonscreen.js
new file mode 100644
index 0000000000000000000000000000000000000000..0182ebd21372e5f84fa0aeb6d7c10f9f724002da
--- /dev/null
+++ b/coverage_html_report/jquery.isonscreen.js
@@ -0,0 +1,53 @@
+/* Copyright (c) 2010
+ * @author Laurence Wheway
+ * Dual licensed under the MIT (http://www.opensource.org/licenses/mit-license.php)
+ * and GPL (http://www.opensource.org/licenses/gpl-license.php) licenses.
+ *
+ * @version 1.2.0
+ */
+(function($) {
+ jQuery.extend({
+ isOnScreen: function(box, container) {
+ //ensure numbers come in as intgers (not strings) and remove 'px' is it's there
+ for(var i in box){box[i] = parseFloat(box[i])};
+ for(var i in container){container[i] = parseFloat(container[i])};
+
+ if(!container){
+ container = {
+ left: $(window).scrollLeft(),
+ top: $(window).scrollTop(),
+ width: $(window).width(),
+ height: $(window).height()
+ }
+ }
+
+ if( box.left+box.width-container.left > 0 &&
+ box.left < container.width+container.left &&
+ box.top+box.height-container.top > 0 &&
+ box.top < container.height+container.top
+ ) return true;
+ return false;
+ }
+ })
+
+
+ jQuery.fn.isOnScreen = function (container) {
+ for(var i in container){container[i] = parseFloat(container[i])};
+
+ if(!container){
+ container = {
+ left: $(window).scrollLeft(),
+ top: $(window).scrollTop(),
+ width: $(window).width(),
+ height: $(window).height()
+ }
+ }
+
+ if( $(this).offset().left+$(this).width()-container.left > 0 &&
+ $(this).offset().left < container.width+container.left &&
+ $(this).offset().top+$(this).height()-container.top > 0 &&
+ $(this).offset().top < container.height+container.top
+ ) return true;
+ return false;
+ }
+})(jQuery);
diff --git a/coverage_html_report/jquery.min.js b/coverage_html_report/jquery.min.js
new file mode 100644
index 0000000000000000000000000000000000000000..d1608e37ffa979b8689bfb868ad8b061b191f6f6
--- /dev/null
+++ b/coverage_html_report/jquery.min.js
@@ -0,0 +1,4 @@
+/*! jQuery v1.11.1 | (c) 2005, 2014 jQuery Foundation, Inc. | jquery.org/license */
+!function(a,b){"object"==typeof module&&"object"==typeof module.exports?module.exports=a.document?b(a,!0):function(a){if(!a.document)throw new Error("jQuery requires a window with a document");return b(a)}:b(a)}("undefined"!=typeof window?window:this,function(a,b){var c=[],d=c.slice,e=c.concat,f=c.push,g=c.indexOf,h={},i=h.toString,j=h.hasOwnProperty,k={},l="1.11.1",m=function(a,b){return new m.fn.init(a,b)},n=/^[\s\uFEFF\xA0]+|[\s\uFEFF\xA0]+$/g,o=/^-ms-/,p=/-([\da-z])/gi,q=function(a,b){return b.toUpperCase()};m.fn=m.prototype={jquery:l,constructor:m,selector:"",length:0,toArray:function(){return d.call(this)},get:function(a){return null!=a?0>a?this[a+this.length]:this[a]:d.call(this)},pushStack:function(a){var b=m.merge(this.constructor(),a);return b.prevObject=this,b.context=this.context,b},each:function(a,b){return m.each(this,a,b)},map:function(a){return this.pushStack(m.map(this,function(b,c){return a.call(b,c,b)}))},slice:function(){return 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\ No newline at end of file
diff --git a/coverage_html_report/keybd_closed.png b/coverage_html_report/keybd_closed.png
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diff --git a/coverage_html_report/keybd_open.png b/coverage_html_report/keybd_open.png
new file mode 100644
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diff --git a/coverage_html_report/navipy___init___py.html b/coverage_html_report/navipy___init___py.html
new file mode 100644
index 0000000000000000000000000000000000000000..dc1f8ca6998fc9558dd3b47b5eee1e2304bc0575
--- /dev/null
+++ b/coverage_html_report/navipy___init___py.html
@@ -0,0 +1,277 @@
+
+
+
+<!DOCTYPE html>
+<html>
+<head>
+ <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
+
+
+ <meta http-equiv="X-UA-Compatible" content="IE=emulateIE7" />
+ <title>Coverage for navipy/__init__.py: 79%</title>
+ <link rel="stylesheet" href="style.css" type="text/css">
+
+ <script type="text/javascript" src="jquery.min.js"></script>
+ <script type="text/javascript" src="jquery.hotkeys.js"></script>
+ <script type="text/javascript" src="jquery.isonscreen.js"></script>
+ <script type="text/javascript" src="coverage_html.js"></script>
+ <script type="text/javascript">
+ jQuery(document).ready(coverage.pyfile_ready);
+ </script>
+</head>
+<body class="pyfile">
+
+<div id="header">
+ <div class="content">
+ <h1>Coverage for <b>navipy/__init__.py</b> :
+ <span class="pc_cov">79%</span>
+ </h1>
+
+ <img id="keyboard_icon" src="keybd_closed.png" alt="Show keyboard shortcuts" />
+
+ <h2 class="stats">
+ 34 statements
+ <span class="run hide_run shortkey_r button_toggle_run">27 run</span>
+ <span class="mis shortkey_m button_toggle_mis">7 missing</span>
+ <span class="exc shortkey_x button_toggle_exc">0 excluded</span>
+
+
+ </h2>
+ </div>
+</div>
+
+<div class="help_panel">
+ <img id="panel_icon" src="keybd_open.png" alt="Hide keyboard shortcuts" />
+ <p class="legend">Hot-keys on this page</p>
+ <div>
+ <p class="keyhelp">
+ <span class="key">r</span>
+ <span class="key">m</span>
+ <span class="key">x</span>
+ <span class="key">p</span> toggle line displays
+ </p>
+ <p class="keyhelp">
+ <span class="key">j</span>
+ <span class="key">k</span> next/prev highlighted chunk
+ </p>
+ <p class="keyhelp">
+ <span class="key">0</span> (zero) top of page
+ </p>
+ <p class="keyhelp">
+ <span class="key">1</span> (one) first highlighted chunk
+ </p>
+ </div>
+</div>
+
+<div id="source">
+ <table>
+ <tr>
+ <td class="linenos">
+<p id="n1" class="pln"><a href="#n1">1</a></p>
+<p id="n2" class="pln"><a href="#n2">2</a></p>
+<p id="n3" class="pln"><a href="#n3">3</a></p>
+<p id="n4" class="pln"><a href="#n4">4</a></p>
+<p id="n5" class="pln"><a href="#n5">5</a></p>
+<p id="n6" class="pln"><a href="#n6">6</a></p>
+<p id="n7" class="pln"><a href="#n7">7</a></p>
+<p id="n8" class="pln"><a href="#n8">8</a></p>
+<p id="n9" class="pln"><a href="#n9">9</a></p>
+<p id="n10" class="pln"><a href="#n10">10</a></p>
+<p id="n11" class="pln"><a href="#n11">11</a></p>
+<p id="n12" class="pln"><a href="#n12">12</a></p>
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+<p id="n79" class="stm run hide_run"><a href="#n79">79</a></p>
+<p id="n80" class="stm run hide_run"><a href="#n80">80</a></p>
+<p id="n81" class="pln"><a href="#n81">81</a></p>
+<p id="n82" class="stm run hide_run"><a href="#n82">82</a></p>
+<p id="n83" class="stm mis"><a href="#n83">83</a></p>
+<p id="n84" class="stm mis"><a href="#n84">84</a></p>
+<p id="n85" class="pln"><a href="#n85">85</a></p>
+<p id="n86" class="stm mis"><a href="#n86">86</a></p>
+<p id="n87" class="pln"><a href="#n87">87</a></p>
+<p id="n88" class="stm mis"><a href="#n88">88</a></p>
+<p id="n89" class="pln"><a href="#n89">89</a></p>
+<p id="n90" class="stm mis"><a href="#n90">90</a></p>
+<p id="n91" class="pln"><a href="#n91">91</a></p>
+<p id="n92" class="pln"><a href="#n92">92</a></p>
+<p id="n93" class="stm run hide_run"><a href="#n93">93</a></p>
+<p id="n94" class="stm run hide_run"><a href="#n94">94</a></p>
+
+ </td>
+ <td class="text">
+<p id="t1" class="pln"><span class="str">"""</span><span class="strut"> </span></p>
+<p id="t2" class="pln"><span class="str">Every agent comes with a brain processing the about of \</span><span class="strut"> </span></p>
+<p id="t3" class="pln"><span class="str">senses or sensors for biological or technical agent, respectively.</span><span class="strut"> </span></p>
+<p id="t4" class="pln"><span class="strut"> </span></p>
+<p id="t5" class="pln"><span class="str">The senses of agents in navipy are limited</span><span class="strut"> </span></p>
+<p id="t6" class="pln"><span class="str">to:</span><span class="strut"> </span></p>
+<p id="t7" class="pln"><span class="strut"> </span></p>
+<p id="t8" class="pln"><span class="str">* 4d vision (brighness + depth)</span><span class="strut"> </span></p>
+<p id="t9" class="pln"><span class="strut"> </span></p>
+<p id="t10" class="pln"><span class="str">The 4d vision sense is controlled by rendering module, either an \</span><span class="strut"> </span></p>
+<p id="t11" class="pln"><span class="str">online rendering or loaded from a database containing pre-rendered images.</span><span class="strut"> </span></p>
+<p id="t12" class="pln"><span class="strut"> </span></p>
+<p id="t13" class="pln"><span class="str">For example to use pre-rendered images from a database:</span><span class="strut"> </span></p>
+<p id="t14" class="pln"><span class="strut"> </span></p>
+<p id="t15" class="pln"><span class="str">.. literalinclude:: example/processing/apcv.py</span><span class="strut"> </span></p>
+<p id="t16" class="pln"><span class="str"> :lines: 10-11</span><span class="strut"> </span></p>
+<p id="t17" class="pln"><span class="strut"> </span></p>
+<p id="t18" class="pln"><span class="str">Then the brain can be updated at a new position orientation:</span><span class="strut"> </span></p>
+<p id="t19" class="pln"><span class="strut"> </span></p>
+<p id="t20" class="pln"><span class="str">.. literalinclude:: example/processing/apcv.py</span><span class="strut"> </span></p>
+<p id="t21" class="pln"><span class="str"> :lines: 15</span><span class="strut"> </span></p>
+<p id="t22" class="pln"><span class="strut"> </span></p>
+<p id="t23" class="pln"><span class="str">Building your own brain</span><span class="strut"> </span></p>
+<p id="t24" class="pln"><span class="str">-----------------------</span><span class="strut"> </span></p>
+<p id="t25" class="pln"><span class="strut"> </span></p>
+<p id="t26" class="pln"><span class="str">The Brain class is an abstract Brain, such that it can not control an agent. \</span><span class="strut"> </span></p>
+<p id="t27" class="pln"><span class="str">To control, an agent, the Brain should have a function called velocity.</span><span class="strut"> </span></p>
+<p id="t28" class="pln"><span class="strut"> </span></p>
+<p id="t29" class="pln"><span class="str">For example, an stationary agent should always return a null velocity.</span><span class="strut"> </span></p>
+<p id="t30" class="pln"><span class="strut"> </span></p>
+<p id="t31" class="pln"><span class="str">.. literalinclude:: example/brain/static_brain.py</span><span class="strut"> </span></p>
+<p id="t32" class="pln"><span class="str"> :lines: 3,9-17</span><span class="strut"> </span></p>
+<p id="t33" class="pln"><span class="strut"> </span></p>
+<p id="t34" class="pln"><span class="str">An agent using an average skyline homing vector, could be build as follow</span><span class="strut"> </span></p>
+<p id="t35" class="pln"><span class="strut"> </span></p>
+<p id="t36" class="pln"><span class="str">.. literalinclude:: example/brain/asv_brain.py</span><span class="strut"> </span></p>
+<p id="t37" class="pln"><span class="str"> :lines: 4-5,11-36</span><span class="strut"> </span></p>
+<p id="t38" class="pln"><span class="strut"> </span></p>
+<p id="t39" class="pln"><span class="str">"""</span><span class="strut"> </span></p>
+<p id="t40" class="stm run hide_run"><span class="key">from</span> <span class="nam">navipy</span><span class="op">.</span><span class="nam">database</span> <span class="key">import</span> <span class="nam">DataBase</span><span class="strut"> </span></p>
+<p id="t41" class="stm run hide_run"><span class="key">import</span> <span class="nam">logging</span><span class="strut"> </span></p>
+<p id="t42" class="pln"><span class="strut"> </span></p>
+<p id="t43" class="pln"><span class="strut"> </span></p>
+<p id="t44" class="stm run hide_run"><span class="key">class</span> <span class="nam">Bunch</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t45" class="stm run hide_run"> <span class="key">def</span> <span class="nam">__init__</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span> <span class="op">**</span><span class="nam">kwds</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t46" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">__dict__</span><span class="op">.</span><span class="nam">update</span><span class="op">(</span><span class="nam">kwds</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t47" class="pln"><span class="strut"> </span></p>
+<p id="t48" class="pln"><span class="strut"> </span></p>
+<p id="t49" class="stm run hide_run"><span class="key">class</span> <span class="nam">Brain</span><span class="op">(</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t50" class="stm run hide_run"> <span class="key">def</span> <span class="nam">__init__</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t51" class="pln"> <span class="nam">renderer</span><span class="op">=</span><span class="key">None</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t52" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">vision</span> <span class="op">=</span> <span class="nam">Bunch</span><span class="op">(</span><span class="nam">scene</span><span class="op">=</span><span class="key">None</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t53" class="pln"> <span class="nam">viewing_directions</span><span class="op">=</span><span class="key">None</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t54" class="pln"> <span class="nam">channels</span><span class="op">=</span><span class="key">None</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t55" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">renderer</span> <span class="op">=</span> <span class="nam">renderer</span><span class="strut"> </span></p>
+<p id="t56" class="stm run hide_run"> <span class="key">if</span> <span class="nam">self</span><span class="op">.</span><span class="nam">renderer</span> <span class="key">is</span> <span class="key">not</span> <span class="key">None</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t57" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">vision</span><span class="op">.</span><span class="nam">scene</span> <span class="op">=</span> <span class="key">None</span><span class="strut"> </span></p>
+<p id="t58" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">vision</span><span class="op">.</span><span class="nam">viewing_directions</span> <span class="op">=</span> <span class="nam">renderer</span><span class="op">.</span><span class="nam">viewing_directions</span><span class="strut"> </span></p>
+<p id="t59" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">vision</span><span class="op">.</span><span class="nam">channels</span> <span class="op">=</span> <span class="nam">renderer</span><span class="op">.</span><span class="nam">channels</span><span class="strut"> </span></p>
+<p id="t60" class="pln"><span class="strut"> </span></p>
+<p id="t61" class="stm run hide_run"> <span class="key">def</span> <span class="nam">velocity</span><span class="op">(</span><span class="nam">self</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t62" class="stm mis"> <span class="key">raise</span> <span class="nam">NotImplementedError</span><span class="op">(</span><span class="str">"Subclasses should implement this"</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t63" class="pln"><span class="strut"> </span></p>
+<p id="t64" class="stm run hide_run"> <span class="key">def</span> <span class="nam">update</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span> <span class="nam">posorient</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t65" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">posorient</span> <span class="op">=</span> <span class="nam">posorient</span><span class="strut"> </span></p>
+<p id="t66" class="stm run hide_run"> <span class="key">if</span> <span class="nam">self</span><span class="op">.</span><span class="nam">renderer</span> <span class="key">is</span> <span class="key">not</span> <span class="key">None</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t67" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">vision</span><span class="op">.</span><span class="nam">scene</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">renderer</span><span class="op">.</span><span class="nam">scene</span><span class="op">(</span><span class="nam">posorient</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t68" class="pln"><span class="strut"> </span></p>
+<p id="t69" class="stm run hide_run"> <span class="op">@</span><span class="nam">property</span><span class="strut"> </span></p>
+<p id="t70" class="pln"> <span class="key">def</span> <span class="nam">posorients</span><span class="op">(</span><span class="nam">self</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t71" class="stm run hide_run"> <span class="key">if</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">self</span><span class="op">.</span><span class="nam">renderer</span><span class="op">,</span> <span class="nam">DataBase</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t72" class="stm run hide_run"> <span class="key">return</span> <span class="nam">self</span><span class="op">.</span><span class="nam">renderer</span><span class="op">.</span><span class="nam">posorients</span><span class="strut"> </span></p>
+<p id="t73" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t74" class="stm mis"> <span class="key">raise</span> <span class="nam">NotImplementedError</span><span class="op">(</span><span class="str">"Subclasses should implement this, "</span> <span class="op">+</span><span class="strut"> </span></p>
+<p id="t75" class="pln"> <span class="str">"when renderer is not DataBaseLoad"</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t76" class="pln"><span class="strut"> </span></p>
+<p id="t77" class="pln"><span class="strut"> </span></p>
+<p id="t78" class="stm run hide_run"><span class="key">def</span> <span class="nam">logger</span><span class="op">(</span><span class="nam">level</span><span class="op">=</span><span class="nam">logging</span><span class="op">.</span><span class="nam">INFO</span><span class="op">,</span> <span class="nam">filename</span><span class="op">=</span><span class="str">'navipy.log'</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t79" class="stm run hide_run"> <span class="nam">logger</span> <span class="op">=</span> <span class="nam">logging</span><span class="op">.</span><span class="nam">getLogger</span><span class="op">(</span><span class="str">'navipy'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t80" class="stm run hide_run"> <span class="nam">logger</span><span class="op">.</span><span class="nam">setLevel</span><span class="op">(</span><span class="nam">level</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t81" class="pln"> <span class="com"># create a file handler</span><span class="strut"> </span></p>
+<p id="t82" class="stm run hide_run"> <span class="key">if</span> <span class="nam">filename</span> <span class="key">is</span> <span class="key">not</span> <span class="key">None</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t83" class="stm mis"> <span class="nam">handler</span> <span class="op">=</span> <span class="nam">logging</span><span class="op">.</span><span class="nam">FileHandler</span><span class="op">(</span><span class="nam">filename</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t84" class="stm mis"> <span class="nam">handler</span><span class="op">.</span><span class="nam">setLevel</span><span class="op">(</span><span class="nam">level</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t85" class="pln"> <span class="com"># create a logging format</span><span class="strut"> </span></p>
+<p id="t86" class="stm mis"> <span class="nam">formatter</span> <span class="op">=</span> <span class="nam">logging</span><span class="op">.</span><span class="nam">Formatter</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t87" class="pln"> <span class="str">'%(asctime)s - %(name)s - %(levelname)s - %(message)s'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t88" class="stm mis"> <span class="nam">handler</span><span class="op">.</span><span class="nam">setFormatter</span><span class="op">(</span><span class="nam">formatter</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t89" class="pln"> <span class="com"># add the handlers to the logger</span><span class="strut"> </span></p>
+<p id="t90" class="stm mis"> <span class="nam">logger</span><span class="op">.</span><span class="nam">addHandler</span><span class="op">(</span><span class="nam">handler</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t91" class="pln"><span class="strut"> </span></p>
+<p id="t92" class="pln"><span class="strut"> </span></p>
+<p id="t93" class="stm run hide_run"><span class="key">def</span> <span class="nam">unittestlogger</span><span class="op">(</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t94" class="stm run hide_run"> <span class="nam">logger</span><span class="op">(</span><span class="nam">level</span><span class="op">=</span><span class="nam">logging</span><span class="op">.</span><span class="nam">CRITICAL</span><span class="op">,</span> <span class="nam">filename</span><span class="op">=</span><span class="key">None</span><span class="op">)</span><span class="strut"> </span></p>
+
+ </td>
+ </tr>
+ </table>
+</div>
+
+<div id="footer">
+ <div class="content">
+ <p>
+ <a class="nav" href="index.html">« index</a> <a class="nav" href="https://coverage.readthedocs.io">coverage.py v4.5.2</a>,
+ created at 2019-01-13 14:34
+ </p>
+ </div>
+</div>
+
+</body>
+</html>
diff --git a/coverage_html_report/navipy_arenatools___init___py.html b/coverage_html_report/navipy_arenatools___init___py.html
new file mode 100644
index 0000000000000000000000000000000000000000..9443e3acdbff4a7be703bee37080c80e8a0c117b
--- /dev/null
+++ b/coverage_html_report/navipy_arenatools___init___py.html
@@ -0,0 +1,89 @@
+
+
+
+<!DOCTYPE html>
+<html>
+<head>
+ <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
+
+
+ <meta http-equiv="X-UA-Compatible" content="IE=emulateIE7" />
+ <title>Coverage for navipy/arenatools/__init__.py: 100%</title>
+ <link rel="stylesheet" href="style.css" type="text/css">
+
+ <script type="text/javascript" src="jquery.min.js"></script>
+ <script type="text/javascript" src="jquery.hotkeys.js"></script>
+ <script type="text/javascript" src="jquery.isonscreen.js"></script>
+ <script type="text/javascript" src="coverage_html.js"></script>
+ <script type="text/javascript">
+ jQuery(document).ready(coverage.pyfile_ready);
+ </script>
+</head>
+<body class="pyfile">
+
+<div id="header">
+ <div class="content">
+ <h1>Coverage for <b>navipy/arenatools/__init__.py</b> :
+ <span class="pc_cov">100%</span>
+ </h1>
+
+ <img id="keyboard_icon" src="keybd_closed.png" alt="Show keyboard shortcuts" />
+
+ <h2 class="stats">
+ 0 statements
+ <span class="run hide_run shortkey_r button_toggle_run">0 run</span>
+ <span class="mis shortkey_m button_toggle_mis">0 missing</span>
+ <span class="exc shortkey_x button_toggle_exc">0 excluded</span>
+
+
+ </h2>
+ </div>
+</div>
+
+<div class="help_panel">
+ <img id="panel_icon" src="keybd_open.png" alt="Hide keyboard shortcuts" />
+ <p class="legend">Hot-keys on this page</p>
+ <div>
+ <p class="keyhelp">
+ <span class="key">r</span>
+ <span class="key">m</span>
+ <span class="key">x</span>
+ <span class="key">p</span> toggle line displays
+ </p>
+ <p class="keyhelp">
+ <span class="key">j</span>
+ <span class="key">k</span> next/prev highlighted chunk
+ </p>
+ <p class="keyhelp">
+ <span class="key">0</span> (zero) top of page
+ </p>
+ <p class="keyhelp">
+ <span class="key">1</span> (one) first highlighted chunk
+ </p>
+ </div>
+</div>
+
+<div id="source">
+ <table>
+ <tr>
+ <td class="linenos">
+
+ </td>
+ <td class="text">
+
+ </td>
+ </tr>
+ </table>
+</div>
+
+<div id="footer">
+ <div class="content">
+ <p>
+ <a class="nav" href="index.html">« index</a> <a class="nav" href="https://coverage.readthedocs.io">coverage.py v4.5.2</a>,
+ created at 2019-01-13 14:34
+ </p>
+ </div>
+</div>
+
+</body>
+</html>
diff --git a/coverage_html_report/navipy_arenatools_cam_calib_py.html b/coverage_html_report/navipy_arenatools_cam_calib_py.html
new file mode 100644
index 0000000000000000000000000000000000000000..901c94b8378313388d6a8bf504337591034a5d3e
--- /dev/null
+++ b/coverage_html_report/navipy_arenatools_cam_calib_py.html
@@ -0,0 +1,395 @@
+
+
+
+<!DOCTYPE html>
+<html>
+<head>
+ <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
+
+
+ <meta http-equiv="X-UA-Compatible" content="IE=emulateIE7" />
+ <title>Coverage for navipy/arenatools/cam_calib.py: 0%</title>
+ <link rel="stylesheet" href="style.css" type="text/css">
+
+ <script type="text/javascript" src="jquery.min.js"></script>
+ <script type="text/javascript" src="jquery.hotkeys.js"></script>
+ <script type="text/javascript" src="jquery.isonscreen.js"></script>
+ <script type="text/javascript" src="coverage_html.js"></script>
+ <script type="text/javascript">
+ jQuery(document).ready(coverage.pyfile_ready);
+ </script>
+</head>
+<body class="pyfile">
+
+<div id="header">
+ <div class="content">
+ <h1>Coverage for <b>navipy/arenatools/cam_calib.py</b> :
+ <span class="pc_cov">0%</span>
+ </h1>
+
+ <img id="keyboard_icon" src="keybd_closed.png" alt="Show keyboard shortcuts" />
+
+ <h2 class="stats">
+ 82 statements
+ <span class="run hide_run shortkey_r button_toggle_run">0 run</span>
+ <span class="mis shortkey_m button_toggle_mis">82 missing</span>
+ <span class="exc shortkey_x button_toggle_exc">0 excluded</span>
+
+
+ </h2>
+ </div>
+</div>
+
+<div class="help_panel">
+ <img id="panel_icon" src="keybd_open.png" alt="Hide keyboard shortcuts" />
+ <p class="legend">Hot-keys on this page</p>
+ <div>
+ <p class="keyhelp">
+ <span class="key">r</span>
+ <span class="key">m</span>
+ <span class="key">x</span>
+ <span class="key">p</span> toggle line displays
+ </p>
+ <p class="keyhelp">
+ <span class="key">j</span>
+ <span class="key">k</span> next/prev highlighted chunk
+ </p>
+ <p class="keyhelp">
+ <span class="key">0</span> (zero) top of page
+ </p>
+ <p class="keyhelp">
+ <span class="key">1</span> (one) first highlighted chunk
+ </p>
+ </div>
+</div>
+
+<div id="source">
+ <table>
+ <tr>
+ <td class="linenos">
+<p id="n1" class="pln"><a href="#n1">1</a></p>
+<p id="n2" class="pln"><a href="#n2">2</a></p>
+<p id="n3" class="pln"><a href="#n3">3</a></p>
+<p id="n4" class="stm mis"><a href="#n4">4</a></p>
+<p id="n5" class="stm mis"><a href="#n5">5</a></p>
+<p id="n6" class="stm mis"><a href="#n6">6</a></p>
+<p id="n7" class="stm mis"><a href="#n7">7</a></p>
+<p id="n8" class="stm mis"><a href="#n8">8</a></p>
+<p id="n9" class="stm mis"><a href="#n9">9</a></p>
+<p id="n10" class="stm mis"><a href="#n10">10</a></p>
+<p id="n11" class="pln"><a href="#n11">11</a></p>
+<p id="n12" class="pln"><a href="#n12">12</a></p>
+<p id="n13" class="stm mis"><a href="#n13">13</a></p>
+<p id="n14" class="pln"><a href="#n14">14</a></p>
+<p id="n15" class="stm mis"><a href="#n15">15</a></p>
+<p id="n16" class="stm mis"><a href="#n16">16</a></p>
+<p id="n17" class="stm mis"><a href="#n17">17</a></p>
+<p id="n18" class="stm mis"><a href="#n18">18</a></p>
+<p id="n19" class="stm mis"><a href="#n19">19</a></p>
+<p id="n20" class="stm mis"><a href="#n20">20</a></p>
+<p id="n21" class="stm mis"><a href="#n21">21</a></p>
+<p id="n22" class="stm mis"><a href="#n22">22</a></p>
+<p id="n23" class="pln"><a href="#n23">23</a></p>
+<p id="n24" class="pln"><a href="#n24">24</a></p>
+<p id="n25" class="stm mis"><a href="#n25">25</a></p>
+<p id="n26" class="pln"><a href="#n26">26</a></p>
+<p id="n27" class="pln"><a href="#n27">27</a></p>
+<p id="n28" class="pln"><a href="#n28">28</a></p>
+<p id="n29" class="pln"><a href="#n29">29</a></p>
+<p id="n30" class="stm mis"><a href="#n30">30</a></p>
+<p id="n31" class="stm mis"><a href="#n31">31</a></p>
+<p id="n32" class="stm mis"><a href="#n32">32</a></p>
+<p id="n33" class="pln"><a href="#n33">33</a></p>
+<p id="n34" class="pln"><a href="#n34">34</a></p>
+<p id="n35" class="pln"><a href="#n35">35</a></p>
+<p id="n36" class="stm mis"><a href="#n36">36</a></p>
+<p id="n37" class="pln"><a href="#n37">37</a></p>
+<p id="n38" class="pln"><a href="#n38">38</a></p>
+<p id="n39" class="pln"><a href="#n39">39</a></p>
+<p id="n40" class="pln"><a href="#n40">40</a></p>
+<p id="n41" class="stm mis"><a href="#n41">41</a></p>
+<p id="n42" class="stm mis"><a href="#n42">42</a></p>
+<p id="n43" class="stm mis"><a href="#n43">43</a></p>
+<p id="n44" class="pln"><a href="#n44">44</a></p>
+<p id="n45" class="pln"><a href="#n45">45</a></p>
+<p id="n46" class="stm mis"><a href="#n46">46</a></p>
+<p id="n47" class="pln"><a href="#n47">47</a></p>
+<p id="n48" class="pln"><a href="#n48">48</a></p>
+<p id="n49" class="stm mis"><a href="#n49">49</a></p>
+<p id="n50" class="stm mis"><a href="#n50">50</a></p>
+<p id="n51" class="stm mis"><a href="#n51">51</a></p>
+<p id="n52" class="stm mis"><a href="#n52">52</a></p>
+<p id="n53" class="pln"><a href="#n53">53</a></p>
+<p id="n54" class="pln"><a href="#n54">54</a></p>
+<p id="n55" class="stm mis"><a href="#n55">55</a></p>
+<p id="n56" class="pln"><a href="#n56">56</a></p>
+<p id="n57" class="pln"><a href="#n57">57</a></p>
+<p id="n58" class="pln"><a href="#n58">58</a></p>
+<p id="n59" class="pln"><a href="#n59">59</a></p>
+<p id="n60" class="stm mis"><a href="#n60">60</a></p>
+<p id="n61" class="stm mis"><a href="#n61">61</a></p>
+<p id="n62" class="pln"><a href="#n62">62</a></p>
+<p id="n63" class="stm mis"><a href="#n63">63</a></p>
+<p id="n64" class="stm mis"><a href="#n64">64</a></p>
+<p id="n65" class="stm mis"><a href="#n65">65</a></p>
+<p id="n66" class="pln"><a href="#n66">66</a></p>
+<p id="n67" class="stm mis"><a href="#n67">67</a></p>
+<p id="n68" class="pln"><a href="#n68">68</a></p>
+<p id="n69" class="pln"><a href="#n69">69</a></p>
+<p id="n70" class="stm mis"><a href="#n70">70</a></p>
+<p id="n71" class="pln"><a href="#n71">71</a></p>
+<p id="n72" class="pln"><a href="#n72">72</a></p>
+<p id="n73" class="stm mis"><a href="#n73">73</a></p>
+<p id="n74" class="pln"><a href="#n74">74</a></p>
+<p id="n75" class="pln"><a href="#n75">75</a></p>
+<p id="n76" class="pln"><a href="#n76">76</a></p>
+<p id="n77" class="pln"><a href="#n77">77</a></p>
+<p id="n78" class="pln"><a href="#n78">78</a></p>
+<p id="n79" class="pln"><a href="#n79">79</a></p>
+<p id="n80" class="pln"><a href="#n80">80</a></p>
+<p id="n81" class="pln"><a href="#n81">81</a></p>
+<p id="n82" class="pln"><a href="#n82">82</a></p>
+<p id="n83" class="pln"><a href="#n83">83</a></p>
+<p id="n84" class="pln"><a href="#n84">84</a></p>
+<p id="n85" class="pln"><a href="#n85">85</a></p>
+<p id="n86" class="pln"><a href="#n86">86</a></p>
+<p id="n87" class="pln"><a href="#n87">87</a></p>
+<p id="n88" class="pln"><a href="#n88">88</a></p>
+<p id="n89" class="stm mis"><a href="#n89">89</a></p>
+<p id="n90" class="stm mis"><a href="#n90">90</a></p>
+<p id="n91" class="stm mis"><a href="#n91">91</a></p>
+<p id="n92" class="stm mis"><a href="#n92">92</a></p>
+<p id="n93" class="stm mis"><a href="#n93">93</a></p>
+<p id="n94" class="stm mis"><a href="#n94">94</a></p>
+<p id="n95" class="stm mis"><a href="#n95">95</a></p>
+<p id="n96" class="pln"><a href="#n96">96</a></p>
+<p id="n97" class="pln"><a href="#n97">97</a></p>
+<p id="n98" class="stm mis"><a href="#n98">98</a></p>
+<p id="n99" class="stm mis"><a href="#n99">99</a></p>
+<p id="n100" class="stm mis"><a href="#n100">100</a></p>
+<p id="n101" class="pln"><a href="#n101">101</a></p>
+<p id="n102" class="stm mis"><a href="#n102">102</a></p>
+<p id="n103" class="stm mis"><a href="#n103">103</a></p>
+<p id="n104" class="stm mis"><a href="#n104">104</a></p>
+<p id="n105" class="stm mis"><a href="#n105">105</a></p>
+<p id="n106" class="pln"><a href="#n106">106</a></p>
+<p id="n107" class="stm mis"><a href="#n107">107</a></p>
+<p id="n108" class="pln"><a href="#n108">108</a></p>
+<p id="n109" class="pln"><a href="#n109">109</a></p>
+<p id="n110" class="stm mis"><a href="#n110">110</a></p>
+<p id="n111" class="pln"><a href="#n111">111</a></p>
+<p id="n112" class="pln"><a href="#n112">112</a></p>
+<p id="n113" class="pln"><a href="#n113">113</a></p>
+<p id="n114" class="pln"><a href="#n114">114</a></p>
+<p id="n115" class="pln"><a href="#n115">115</a></p>
+<p id="n116" class="pln"><a href="#n116">116</a></p>
+<p id="n117" class="pln"><a href="#n117">117</a></p>
+<p id="n118" class="stm mis"><a href="#n118">118</a></p>
+<p id="n119" class="stm mis"><a href="#n119">119</a></p>
+<p id="n120" class="stm mis"><a href="#n120">120</a></p>
+<p id="n121" class="stm mis"><a href="#n121">121</a></p>
+<p id="n122" class="stm mis"><a href="#n122">122</a></p>
+<p id="n123" class="stm mis"><a href="#n123">123</a></p>
+<p id="n124" class="stm mis"><a href="#n124">124</a></p>
+<p id="n125" class="pln"><a href="#n125">125</a></p>
+<p id="n126" class="stm mis"><a href="#n126">126</a></p>
+<p id="n127" class="stm mis"><a href="#n127">127</a></p>
+<p id="n128" class="stm mis"><a href="#n128">128</a></p>
+<p id="n129" class="stm mis"><a href="#n129">129</a></p>
+<p id="n130" class="stm mis"><a href="#n130">130</a></p>
+<p id="n131" class="pln"><a href="#n131">131</a></p>
+<p id="n132" class="pln"><a href="#n132">132</a></p>
+<p id="n133" class="stm mis"><a href="#n133">133</a></p>
+<p id="n134" class="stm mis"><a href="#n134">134</a></p>
+<p id="n135" class="stm mis"><a href="#n135">135</a></p>
+<p id="n136" class="stm mis"><a href="#n136">136</a></p>
+<p id="n137" class="pln"><a href="#n137">137</a></p>
+<p id="n138" class="pln"><a href="#n138">138</a></p>
+<p id="n139" class="stm mis"><a href="#n139">139</a></p>
+<p id="n140" class="stm mis"><a href="#n140">140</a></p>
+<p id="n141" class="stm mis"><a href="#n141">141</a></p>
+<p id="n142" class="stm mis"><a href="#n142">142</a></p>
+<p id="n143" class="stm mis"><a href="#n143">143</a></p>
+<p id="n144" class="pln"><a href="#n144">144</a></p>
+<p id="n145" class="stm mis"><a href="#n145">145</a></p>
+<p id="n146" class="stm mis"><a href="#n146">146</a></p>
+<p id="n147" class="stm mis"><a href="#n147">147</a></p>
+<p id="n148" class="pln"><a href="#n148">148</a></p>
+<p id="n149" class="pln"><a href="#n149">149</a></p>
+<p id="n150" class="stm mis"><a href="#n150">150</a></p>
+<p id="n151" class="stm mis"><a href="#n151">151</a></p>
+<p id="n152" class="stm mis"><a href="#n152">152</a></p>
+<p id="n153" class="stm mis"><a href="#n153">153</a></p>
+
+ </td>
+ <td class="text">
+<p id="t1" class="pln"><span class="str">"""</span><span class="strut"> </span></p>
+<p id="t2" class="pln"><span class="str">Function for camera calibrations</span><span class="strut"> </span></p>
+<p id="t3" class="pln"><span class="str">"""</span><span class="strut"> </span></p>
+<p id="t4" class="stm mis"><span class="key">import</span> <span class="nam">pandas</span> <span class="key">as</span> <span class="nam">pd</span><span class="strut"> </span></p>
+<p id="t5" class="stm mis"><span class="key">import</span> <span class="nam">numpy</span> <span class="key">as</span> <span class="nam">np</span><span class="strut"> </span></p>
+<p id="t6" class="stm mis"><span class="key">import</span> <span class="nam">cv2</span><span class="strut"> </span></p>
+<p id="t7" class="stm mis"><span class="key">import</span> <span class="nam">os</span><span class="strut"> </span></p>
+<p id="t8" class="stm mis"><span class="key">from</span> <span class="nam">navipy</span><span class="op">.</span><span class="nam">io</span> <span class="key">import</span> <span class="nam">ivfile</span><span class="strut"> </span></p>
+<p id="t9" class="stm mis"><span class="key">import</span> <span class="nam">matplotlib</span><span class="op">.</span><span class="nam">pyplot</span> <span class="key">as</span> <span class="nam">plt</span><span class="strut"> </span></p>
+<p id="t10" class="stm mis"><span class="key">from</span> <span class="nam">mpl_toolkits</span><span class="op">.</span><span class="nam">mplot3d</span> <span class="key">import</span> <span class="nam">Axes3D</span> <span class="com"># noqa F401</span><span class="strut"> </span></p>
+<p id="t11" class="pln"><span class="strut"> </span></p>
+<p id="t12" class="pln"><span class="strut"> </span></p>
+<p id="t13" class="stm mis"><span class="key">def</span> <span class="nam">concatenate_manhattan_2d3d</span><span class="op">(</span><span class="nam">manhattan_3d</span><span class="op">,</span> <span class="nam">manhattan_2d</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t14" class="pln"> <span class="str">""" Join 3D and 2D points for pose estimation """</span><span class="strut"> </span></p>
+<p id="t15" class="stm mis"> <span class="key">if</span> <span class="key">not</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">manhattan_2d</span><span class="op">,</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">DataFrame</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t16" class="stm mis"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="str">'manhattan_2d should be a DataFrame'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t17" class="stm mis"> <span class="key">if</span> <span class="key">not</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">manhattan_3d</span><span class="op">,</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">DataFrame</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t18" class="stm mis"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="str">'manhattan_3d should be a DataFrame'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t19" class="stm mis"> <span class="nam">d</span> <span class="op">=</span> <span class="op">{</span><span class="str">'three_d'</span><span class="op">:</span> <span class="nam">manhattan_3d</span><span class="op">,</span> <span class="str">'two_d'</span><span class="op">:</span> <span class="nam">manhattan_2d</span><span class="op">}</span><span class="strut"> </span></p>
+<p id="t20" class="stm mis"> <span class="nam">manhattan_3d2d</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">concat</span><span class="op">(</span><span class="nam">d</span><span class="op">.</span><span class="nam">values</span><span class="op">(</span><span class="op">)</span><span class="op">,</span> <span class="nam">axis</span><span class="op">=</span><span class="num">1</span><span class="op">,</span> <span class="nam">keys</span><span class="op">=</span><span class="nam">d</span><span class="op">.</span><span class="nam">keys</span><span class="op">(</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t21" class="stm mis"> <span class="nam">manhattan_3d2d</span> <span class="op">=</span> <span class="nam">manhattan_3d2d</span><span class="op">.</span><span class="nam">astype</span><span class="op">(</span><span class="nam">float</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t22" class="stm mis"> <span class="key">return</span> <span class="nam">manhattan_3d2d</span><span class="strut"> </span></p>
+<p id="t23" class="pln"><span class="strut"> </span></p>
+<p id="t24" class="pln"><span class="strut"> </span></p>
+<p id="t25" class="stm mis"><span class="key">def</span> <span class="nam">objects_points_from_manhattan</span><span class="op">(</span><span class="nam">manhattan_3d2d</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t26" class="pln"> <span class="str">"""return objects points from a join manhatta</span><span class="strut"> </span></p>
+<p id="t27" class="pln"><span class="strut"> </span></p>
+<p id="t28" class="pln"><span class="str"> .. seealso: concatenate_manhattan_2d3d</span><span class="strut"> </span></p>
+<p id="t29" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t30" class="stm mis"> <span class="key">if</span> <span class="key">not</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">manhattan_3d2d</span><span class="op">,</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">DataFrame</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t31" class="stm mis"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="str">'manhattan_3d2d should be a DataFrame'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t32" class="stm mis"> <span class="key">return</span> <span class="nam">manhattan_3d2d</span><span class="op">.</span><span class="nam">dropna</span><span class="op">(</span><span class="op">)</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="str">'three_d'</span><span class="op">]</span><span class="xx">\</span><span class="strut"> </span></p>
+<p id="t33" class="pln"> <span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="op">[</span><span class="str">'x'</span><span class="op">,</span> <span class="str">'y'</span><span class="op">,</span> <span class="str">'z'</span><span class="op">]</span><span class="op">]</span><span class="op">.</span><span class="nam">values</span><span class="strut"> </span></p>
+<p id="t34" class="pln"><span class="strut"> </span></p>
+<p id="t35" class="pln"><span class="strut"> </span></p>
+<p id="t36" class="stm mis"><span class="key">def</span> <span class="nam">image_points_from_manhattan</span><span class="op">(</span><span class="nam">manhattan_3d2d</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t37" class="pln"> <span class="str">"""return image points from a joined manhattan</span><span class="strut"> </span></p>
+<p id="t38" class="pln"><span class="strut"> </span></p>
+<p id="t39" class="pln"><span class="str"> .. seelso: concatenate_manhattan_2d3d</span><span class="strut"> </span></p>
+<p id="t40" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t41" class="stm mis"> <span class="key">if</span> <span class="key">not</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">manhattan_3d2d</span><span class="op">,</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">DataFrame</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t42" class="stm mis"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="str">'manhattan_3d2d should be a DataFrame'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t43" class="stm mis"> <span class="key">return</span> <span class="nam">manhattan_3d2d</span><span class="op">.</span><span class="nam">dropna</span><span class="op">(</span><span class="op">)</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="str">'two_d'</span><span class="op">]</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="op">[</span><span class="str">'x'</span><span class="op">,</span> <span class="str">'y'</span><span class="op">]</span><span class="op">]</span><span class="op">.</span><span class="nam">values</span><span class="strut"> </span></p>
+<p id="t44" class="pln"><span class="strut"> </span></p>
+<p id="t45" class="pln"><span class="strut"> </span></p>
+<p id="t46" class="stm mis"><span class="key">def</span> <span class="nam">compose_from_vectors</span><span class="op">(</span><span class="nam">rvec</span><span class="op">,</span> <span class="nam">tvec</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t47" class="pln"> <span class="str">"""return camera pose from rotation and translation vectors</span><span class="strut"> </span></p>
+<p id="t48" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t49" class="stm mis"> <span class="nam">r</span> <span class="op">=</span> <span class="nam">cv2</span><span class="op">.</span><span class="nam">Rodrigues</span><span class="op">(</span><span class="nam">rvec</span><span class="op">)</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t50" class="stm mis"> <span class="nam">camera_pose</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">hstack</span><span class="op">(</span><span class="op">(</span><span class="nam">r</span><span class="op">,</span> <span class="nam">tvec</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t51" class="stm mis"> <span class="nam">camera_pose</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">vstack</span><span class="op">(</span><span class="op">(</span><span class="nam">camera_pose</span><span class="op">,</span> <span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="num">0</span><span class="op">,</span> <span class="num">0</span><span class="op">,</span> <span class="num">1</span><span class="op">]</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t52" class="stm mis"> <span class="key">return</span> <span class="nam">camera_pose</span><span class="strut"> </span></p>
+<p id="t53" class="pln"><span class="strut"> </span></p>
+<p id="t54" class="pln"><span class="strut"> </span></p>
+<p id="t55" class="stm mis"><span class="key">def</span> <span class="nam">camera_pose</span><span class="op">(</span><span class="nam">manhattan_2d</span><span class="op">,</span> <span class="nam">manhattan_3d</span><span class="op">,</span> <span class="nam">camera_intrinsics</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t56" class="pln"> <span class="str">"""solvePnP with 3D-2D points correspondance.</span><span class="strut"> </span></p>
+<p id="t57" class="pln"><span class="strut"> </span></p>
+<p id="t58" class="pln"><span class="str"> The camera intrinsics have to be known appriori</span><span class="strut"> </span></p>
+<p id="t59" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t60" class="stm mis"> <span class="nam">camera_matrix</span> <span class="op">=</span> <span class="nam">camera_intrinsics</span><span class="op">[</span><span class="str">'intrinsic_matrix'</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t61" class="stm mis"> <span class="nam">distcoeffs</span> <span class="op">=</span> <span class="nam">camera_intrinsics</span><span class="op">[</span><span class="str">'distortion'</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t62" class="pln"><span class="strut"> </span></p>
+<p id="t63" class="stm mis"> <span class="nam">manhattan_2d3d</span> <span class="op">=</span> <span class="nam">concatenate_manhattan_2d3d</span><span class="op">(</span><span class="nam">manhattan_3d</span><span class="op">,</span> <span class="nam">manhattan_2d</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t64" class="stm mis"> <span class="nam">objects_points</span> <span class="op">=</span> <span class="nam">objects_points_from_manhattan</span><span class="op">(</span><span class="nam">manhattan_2d3d</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t65" class="stm mis"> <span class="nam">image_points</span> <span class="op">=</span> <span class="nam">image_points_from_manhattan</span><span class="op">(</span><span class="nam">manhattan_2d3d</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t66" class="pln"><span class="strut"> </span></p>
+<p id="t67" class="stm mis"> <span class="nam">retval</span><span class="op">,</span> <span class="nam">rvec</span><span class="op">,</span> <span class="nam">tvec</span> <span class="op">=</span> <span class="nam">cv2</span><span class="op">.</span><span class="nam">solvePnP</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t68" class="pln"> <span class="nam">objects_points</span><span class="op">,</span> <span class="nam">image_points</span><span class="op">,</span> <span class="nam">camera_matrix</span><span class="op">,</span> <span class="nam">distcoeffs</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t69" class="pln"><span class="strut"> </span></p>
+<p id="t70" class="stm mis"> <span class="key">return</span> <span class="nam">compose_from_vectors</span><span class="op">(</span><span class="nam">rvec</span><span class="op">,</span> <span class="nam">tvec</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t71" class="pln"><span class="strut"> </span></p>
+<p id="t72" class="pln"><span class="strut"> </span></p>
+<p id="t73" class="stm mis"><span class="key">def</span> <span class="nam">calibrates_extrinsic</span><span class="op">(</span><span class="nam">filenames</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t74" class="pln"> <span class="nam">manhattan_3d</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t75" class="pln"> <span class="nam">cameras_intrinsics</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t76" class="pln"> <span class="nam">corner_th</span><span class="op">=</span><span class="op">-</span><span class="num">1</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t77" class="pln"> <span class="nam">manhattan_3d_key</span><span class="op">=</span><span class="str">'manhattan'</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t78" class="pln"> <span class="str">"""Calibrate from files.</span><span class="strut"> </span></p>
+<p id="t79" class="pln"><span class="strut"> </span></p>
+<p id="t80" class="pln"><span class="str"> :param filenames: a list of ivfile name with manhattan markers</span><span class="strut"> </span></p>
+<p id="t81" class="pln"><span class="str"> :param file_manhattan_3d: hdf file with manhattan_3d_key to load \</span><span class="strut"> </span></p>
+<p id="t82" class="pln"><span class="str">containing a pandas dataframe with x,y,z coordinates of each points.</span><span class="strut"> </span></p>
+<p id="t83" class="pln"><span class="str"> :param cameras_intrinsics: a list of camera intrinsics</span><span class="strut"> </span></p>
+<p id="t84" class="pln"><span class="str"> :param corner_th: a threshold for points to be ignored on the top\</span><span class="strut"> </span></p>
+<p id="t85" class="pln"><span class="str"> right image corner (useful when certain points are not visible)</span><span class="strut"> </span></p>
+<p id="t86" class="pln"><span class="str"> :param manhattan_3d_key: the key to load the manhattan_3d \</span><span class="strut"> </span></p>
+<p id="t87" class="pln"><span class="str">(default: manhattan)</span><span class="strut"> </span></p>
+<p id="t88" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t89" class="stm mis"> <span class="nam">cameras_extrinsics</span> <span class="op">=</span> <span class="nam">dict</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t90" class="stm mis"> <span class="key">for</span> <span class="nam">cam_i</span><span class="op">,</span> <span class="nam">cfile</span> <span class="key">in</span> <span class="nam">filenames</span><span class="op">.</span><span class="nam">items</span><span class="op">(</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t91" class="stm mis"> <span class="nam">_</span><span class="op">,</span> <span class="nam">ext</span> <span class="op">=</span> <span class="nam">os</span><span class="op">.</span><span class="nam">path</span><span class="op">.</span><span class="nam">splitext</span><span class="op">(</span><span class="nam">cfile</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t92" class="stm mis"> <span class="key">if</span> <span class="nam">ext</span> <span class="op">==</span> <span class="str">'.tra'</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t93" class="stm mis"> <span class="nam">manhattan_2d</span> <span class="op">=</span> <span class="nam">ivfile</span><span class="op">.</span><span class="nam">manhattan</span><span class="op">(</span><span class="nam">cfile</span><span class="op">,</span> <span class="nam">corner_th</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t94" class="stm mis"> <span class="key">elif</span> <span class="nam">ext</span> <span class="op">==</span> <span class="str">'.csv'</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t95" class="stm mis"> <span class="nam">manhattan_2d</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">read_csv</span><span class="op">(</span><span class="nam">cfile</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t96" class="pln"> <span class="nam">names</span><span class="op">=</span><span class="op">[</span><span class="str">'x'</span><span class="op">,</span> <span class="str">'y'</span><span class="op">]</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t97" class="pln"> <span class="nam">header</span><span class="op">=</span><span class="num">0</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t98" class="stm mis"> <span class="nam">idx</span> <span class="op">=</span> <span class="op">(</span><span class="nam">manhattan_2d</span><span class="op">.</span><span class="nam">x</span> <span class="op"><</span> <span class="nam">corner_th</span><span class="op">)</span> <span class="op">&</span> <span class="op">(</span><span class="nam">manhattan_2d</span><span class="op">.</span><span class="nam">y</span> <span class="op"><</span> <span class="nam">corner_th</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t99" class="stm mis"> <span class="nam">manhattan_2d</span><span class="op">.</span><span class="nam">x</span><span class="op">[</span><span class="nam">idx</span><span class="op">]</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">nan</span><span class="strut"> </span></p>
+<p id="t100" class="stm mis"> <span class="nam">manhattan_2d</span><span class="op">.</span><span class="nam">y</span><span class="op">[</span><span class="nam">idx</span><span class="op">]</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">nan</span><span class="strut"> </span></p>
+<p id="t101" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t102" class="stm mis"> <span class="nam">msg</span> <span class="op">=</span> <span class="str">'FileType not understood (only .tra, .csv are supported)'</span><span class="strut"> </span></p>
+<p id="t103" class="stm mis"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t104" class="stm mis"> <span class="nam">cameras_extrinsics</span><span class="op">[</span><span class="nam">cam_i</span><span class="op">]</span> <span class="op">=</span> <span class="nam">dict</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t105" class="stm mis"> <span class="nam">cameras_extrinsics</span><span class="op">[</span><span class="nam">cam_i</span><span class="op">]</span><span class="op">[</span><span class="str">'pose'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">camera_pose</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t106" class="pln"> <span class="nam">manhattan_2d</span><span class="op">,</span> <span class="nam">manhattan_3d</span><span class="op">,</span> <span class="nam">cameras_intrinsics</span><span class="op">[</span><span class="nam">cam_i</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t107" class="stm mis"> <span class="key">return</span> <span class="nam">cameras_extrinsics</span><span class="strut"> </span></p>
+<p id="t108" class="pln"><span class="strut"> </span></p>
+<p id="t109" class="pln"><span class="strut"> </span></p>
+<p id="t110" class="stm mis"><span class="key">def</span> <span class="nam">plot_manhattan</span><span class="op">(</span><span class="nam">manhattan_3d</span><span class="op">,</span> <span class="nam">figsize</span><span class="op">=</span><span class="op">(</span><span class="num">15</span><span class="op">,</span> <span class="num">15</span><span class="op">)</span><span class="op">,</span> <span class="nam">unit</span><span class="op">=</span><span class="key">None</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t111" class="pln"> <span class="str">"""Plot a manhattan dataframe</span><span class="strut"> </span></p>
+<p id="t112" class="pln"><span class="strut"> </span></p>
+<p id="t113" class="pln"><span class="str"> :param manhattan_3d: x,y,z coordinates of each tower</span><span class="strut"> </span></p>
+<p id="t114" class="pln"><span class="str"> :param figsize: figure size</span><span class="strut"> </span></p>
+<p id="t115" class="pln"><span class="str"> :returns: figure and axis handles</span><span class="strut"> </span></p>
+<p id="t116" class="pln"><span class="strut"> </span></p>
+<p id="t117" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t118" class="stm mis"> <span class="key">if</span> <span class="nam">unit</span> <span class="key">is</span> <span class="key">None</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t119" class="stm mis"> <span class="key">try</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t120" class="stm mis"> <span class="nam">unit</span> <span class="op">=</span> <span class="nam">manhattan</span><span class="op">.</span><span class="nam">unit</span><span class="strut"> </span></p>
+<p id="t121" class="stm mis"> <span class="key">except</span> <span class="nam">AttributeError</span> <span class="key">as</span> <span class="nam">e</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t122" class="stm mis"> <span class="key">pass</span><span class="strut"> </span></p>
+<p id="t123" class="stm mis"> <span class="key">if</span> <span class="nam">unit</span> <span class="key">is</span> <span class="key">None</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t124" class="stm mis"> <span class="nam">unit</span> <span class="op">=</span> <span class="str">'no-unit'</span><span class="strut"> </span></p>
+<p id="t125" class="pln"><span class="strut"> </span></p>
+<p id="t126" class="stm mis"> <span class="nam">fig</span> <span class="op">=</span> <span class="nam">plt</span><span class="op">.</span><span class="nam">figure</span><span class="op">(</span><span class="nam">figsize</span><span class="op">=</span><span class="nam">figsize</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t127" class="stm mis"> <span class="nam">ax0</span> <span class="op">=</span> <span class="nam">fig</span><span class="op">.</span><span class="nam">add_subplot</span><span class="op">(</span><span class="num">221</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t128" class="stm mis"> <span class="nam">ax1</span> <span class="op">=</span> <span class="nam">fig</span><span class="op">.</span><span class="nam">add_subplot</span><span class="op">(</span><span class="num">223</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t129" class="stm mis"> <span class="nam">ax3</span> <span class="op">=</span> <span class="nam">fig</span><span class="op">.</span><span class="nam">add_subplot</span><span class="op">(</span><span class="num">224</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t130" class="stm mis"> <span class="key">for</span> <span class="nam">ax</span><span class="op">,</span> <span class="nam">col_i</span><span class="op">,</span> <span class="nam">col_j</span> <span class="key">in</span> <span class="nam">zip</span><span class="op">(</span><span class="op">[</span><span class="nam">ax1</span><span class="op">,</span> <span class="nam">ax0</span><span class="op">,</span> <span class="nam">ax3</span><span class="op">]</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t131" class="pln"> <span class="op">[</span><span class="str">'x'</span><span class="op">,</span> <span class="str">'x'</span><span class="op">,</span> <span class="str">'z'</span><span class="op">]</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t132" class="pln"> <span class="op">[</span><span class="str">'y'</span><span class="op">,</span> <span class="str">'z'</span><span class="op">,</span> <span class="str">'y'</span><span class="op">]</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t133" class="stm mis"> <span class="nam">ax</span><span class="op">.</span><span class="nam">plot</span><span class="op">(</span><span class="nam">manhattan_3d</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="nam">col_i</span><span class="op">]</span><span class="op">,</span> <span class="nam">manhattan_3d</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="nam">col_j</span><span class="op">]</span><span class="op">,</span> <span class="str">'ko'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t134" class="stm mis"> <span class="nam">ax</span><span class="op">.</span><span class="nam">set_xlabel</span><span class="op">(</span><span class="str">'{} [{}]'</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">col_i</span><span class="op">,</span> <span class="nam">unit</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t135" class="stm mis"> <span class="nam">ax</span><span class="op">.</span><span class="nam">set_ylabel</span><span class="op">(</span><span class="str">'{} [{}]'</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">col_j</span><span class="op">,</span> <span class="nam">unit</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t136" class="stm mis"> <span class="nam">ax</span><span class="op">.</span><span class="nam">axis</span><span class="op">(</span><span class="str">'equal'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t137" class="pln"><span class="strut"> </span></p>
+<p id="t138" class="pln"> <span class="com"># Annotate</span><span class="strut"> </span></p>
+<p id="t139" class="stm mis"> <span class="key">for</span> <span class="nam">row_i</span><span class="op">,</span> <span class="nam">row_val</span> <span class="key">in</span> <span class="nam">manhattan_3d</span><span class="op">.</span><span class="nam">iterrows</span><span class="op">(</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t140" class="stm mis"> <span class="nam">shift</span> <span class="op">=</span> <span class="op">[</span><span class="num">10</span><span class="op">,</span> <span class="num">10</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t141" class="stm mis"> <span class="nam">xy</span> <span class="op">=</span> <span class="nam">row_val</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="op">[</span><span class="str">'x'</span><span class="op">,</span> <span class="str">'y'</span><span class="op">]</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t142" class="stm mis"> <span class="nam">xytext</span> <span class="op">=</span> <span class="nam">xy</span> <span class="op">-</span> <span class="num">2</span> <span class="op">*</span> <span class="op">(</span><span class="op">(</span><span class="nam">xy</span> <span class="op">></span> <span class="num">0</span><span class="op">)</span> <span class="op">-</span> <span class="num">0.5</span><span class="op">)</span> <span class="op">*</span> <span class="nam">shift</span><span class="strut"> </span></p>
+<p id="t143" class="stm mis"> <span class="nam">ax1</span><span class="op">.</span><span class="nam">annotate</span><span class="op">(</span><span class="str">'{}'</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">row_i</span><span class="op">)</span><span class="op">,</span> <span class="nam">xy</span><span class="op">,</span> <span class="nam">xytext</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t144" class="pln"><span class="strut"> </span></p>
+<p id="t145" class="stm mis"> <span class="nam">ax4</span> <span class="op">=</span> <span class="nam">fig</span><span class="op">.</span><span class="nam">add_subplot</span><span class="op">(</span><span class="num">222</span><span class="op">,</span> <span class="nam">projection</span><span class="op">=</span><span class="str">'3d'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t146" class="stm mis"> <span class="key">for</span> <span class="nam">i</span><span class="op">,</span> <span class="nam">row</span> <span class="key">in</span> <span class="nam">manhattan_3d</span><span class="op">.</span><span class="nam">iterrows</span><span class="op">(</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t147" class="stm mis"> <span class="nam">ax4</span><span class="op">.</span><span class="nam">plot</span><span class="op">(</span><span class="op">[</span><span class="nam">row</span><span class="op">.</span><span class="nam">x</span><span class="op">,</span> <span class="nam">row</span><span class="op">.</span><span class="nam">x</span><span class="op">]</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t148" class="pln"> <span class="op">[</span><span class="nam">row</span><span class="op">.</span><span class="nam">y</span><span class="op">,</span> <span class="nam">row</span><span class="op">.</span><span class="nam">y</span><span class="op">]</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t149" class="pln"> <span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="nam">row</span><span class="op">.</span><span class="nam">z</span><span class="op">]</span><span class="op">,</span> <span class="str">'k-.'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t150" class="stm mis"> <span class="nam">ax4</span><span class="op">.</span><span class="nam">set_xlabel</span><span class="op">(</span><span class="str">'{} [{}]'</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="str">'x'</span><span class="op">,</span> <span class="nam">unit</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t151" class="stm mis"> <span class="nam">ax4</span><span class="op">.</span><span class="nam">set_ylabel</span><span class="op">(</span><span class="str">'{} [{}]'</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="str">'y'</span><span class="op">,</span> <span class="nam">unit</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t152" class="stm mis"> <span class="nam">ax4</span><span class="op">.</span><span class="nam">set_zlabel</span><span class="op">(</span><span class="str">'{} [{}]'</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="str">'z'</span><span class="op">,</span> <span class="nam">unit</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t153" class="stm mis"> <span class="key">return</span> <span class="nam">fig</span><span class="op">,</span> <span class="op">[</span><span class="nam">ax0</span><span class="op">,</span> <span class="nam">ax1</span><span class="op">,</span> <span class="nam">ax3</span><span class="op">,</span> <span class="nam">ax4</span><span class="op">]</span><span class="strut"> </span></p>
+
+ </td>
+ </tr>
+ </table>
+</div>
+
+<div id="footer">
+ <div class="content">
+ <p>
+ <a class="nav" href="index.html">« index</a> <a class="nav" href="https://coverage.readthedocs.io">coverage.py v4.5.2</a>,
+ created at 2019-01-13 14:34
+ </p>
+ </div>
+</div>
+
+</body>
+</html>
diff --git a/coverage_html_report/navipy_arenatools_cam_dlt_py.html b/coverage_html_report/navipy_arenatools_cam_dlt_py.html
new file mode 100644
index 0000000000000000000000000000000000000000..68396cf702dba3105743d608509e4952b5461ddd
--- /dev/null
+++ b/coverage_html_report/navipy_arenatools_cam_dlt_py.html
@@ -0,0 +1,669 @@
+
+
+
+<!DOCTYPE html>
+<html>
+<head>
+ <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
+
+
+ <meta http-equiv="X-UA-Compatible" content="IE=emulateIE7" />
+ <title>Coverage for navipy/arenatools/cam_dlt.py: 0%</title>
+ <link rel="stylesheet" href="style.css" type="text/css">
+
+ <script type="text/javascript" src="jquery.min.js"></script>
+ <script type="text/javascript" src="jquery.hotkeys.js"></script>
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+ <script type="text/javascript" src="coverage_html.js"></script>
+ <script type="text/javascript">
+ jQuery(document).ready(coverage.pyfile_ready);
+ </script>
+</head>
+<body class="pyfile">
+
+<div id="header">
+ <div class="content">
+ <h1>Coverage for <b>navipy/arenatools/cam_dlt.py</b> :
+ <span class="pc_cov">0%</span>
+ </h1>
+
+ <img id="keyboard_icon" src="keybd_closed.png" alt="Show keyboard shortcuts" />
+
+ <h2 class="stats">
+ 165 statements
+ <span class="run hide_run shortkey_r button_toggle_run">0 run</span>
+ <span class="mis shortkey_m button_toggle_mis">165 missing</span>
+ <span class="exc shortkey_x button_toggle_exc">0 excluded</span>
+
+
+ </h2>
+ </div>
+</div>
+
+<div class="help_panel">
+ <img id="panel_icon" src="keybd_open.png" alt="Hide keyboard shortcuts" />
+ <p class="legend">Hot-keys on this page</p>
+ <div>
+ <p class="keyhelp">
+ <span class="key">r</span>
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+ <span class="key">0</span> (zero) top of page
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+ <p class="keyhelp">
+ <span class="key">1</span> (one) first highlighted chunk
+ </p>
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+</div>
+
+<div id="source">
+ <table>
+ <tr>
+ <td class="linenos">
+<p id="n1" class="stm mis"><a href="#n1">1</a></p>
+<p id="n2" class="stm mis"><a href="#n2">2</a></p>
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+<p id="n56" class="stm mis"><a href="#n56">56</a></p>
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+<p id="n62" class="stm mis"><a href="#n62">62</a></p>
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+<p id="n71" class="pln"><a href="#n71">71</a></p>
+<p id="n72" class="pln"><a href="#n72">72</a></p>
+<p id="n73" class="stm mis"><a href="#n73">73</a></p>
+<p id="n74" class="stm mis"><a href="#n74">74</a></p>
+<p id="n75" class="pln"><a href="#n75">75</a></p>
+<p id="n76" class="stm mis"><a href="#n76">76</a></p>
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+<p id="n78" class="stm mis"><a href="#n78">78</a></p>
+<p id="n79" class="stm mis"><a href="#n79">79</a></p>
+<p id="n80" class="stm mis"><a href="#n80">80</a></p>
+<p id="n81" class="stm mis"><a href="#n81">81</a></p>
+<p id="n82" class="pln"><a href="#n82">82</a></p>
+<p id="n83" class="stm mis"><a href="#n83">83</a></p>
+<p id="n84" class="pln"><a href="#n84">84</a></p>
+<p id="n85" class="stm mis"><a href="#n85">85</a></p>
+<p id="n86" class="pln"><a href="#n86">86</a></p>
+<p id="n87" class="pln"><a href="#n87">87</a></p>
+<p id="n88" class="pln"><a href="#n88">88</a></p>
+<p id="n89" class="stm mis"><a href="#n89">89</a></p>
+<p id="n90" class="pln"><a href="#n90">90</a></p>
+<p id="n91" class="stm mis"><a href="#n91">91</a></p>
+<p id="n92" class="pln"><a href="#n92">92</a></p>
+<p id="n93" class="pln"><a href="#n93">93</a></p>
+<p id="n94" class="stm mis"><a href="#n94">94</a></p>
+<p id="n95" class="stm mis"><a href="#n95">95</a></p>
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+<p id="n99" class="pln"><a href="#n99">99</a></p>
+<p id="n100" class="stm mis"><a href="#n100">100</a></p>
+<p id="n101" class="stm mis"><a href="#n101">101</a></p>
+<p id="n102" class="pln"><a href="#n102">102</a></p>
+<p id="n103" class="pln"><a href="#n103">103</a></p>
+<p id="n104" class="stm mis"><a href="#n104">104</a></p>
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+<p id="n108" class="stm mis"><a href="#n108">108</a></p>
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+<p id="n110" class="pln"><a href="#n110">110</a></p>
+<p id="n111" class="stm mis"><a href="#n111">111</a></p>
+<p id="n112" class="stm mis"><a href="#n112">112</a></p>
+<p id="n113" class="stm mis"><a href="#n113">113</a></p>
+<p id="n114" class="pln"><a href="#n114">114</a></p>
+<p id="n115" class="pln"><a href="#n115">115</a></p>
+<p id="n116" class="stm mis"><a href="#n116">116</a></p>
+<p id="n117" class="stm mis"><a href="#n117">117</a></p>
+<p id="n118" class="pln"><a href="#n118">118</a></p>
+<p id="n119" class="stm mis"><a href="#n119">119</a></p>
+<p id="n120" class="stm mis"><a href="#n120">120</a></p>
+<p id="n121" class="stm mis"><a href="#n121">121</a></p>
+<p id="n122" class="stm mis"><a href="#n122">122</a></p>
+<p id="n123" class="stm mis"><a href="#n123">123</a></p>
+<p id="n124" class="pln"><a href="#n124">124</a></p>
+<p id="n125" class="stm mis"><a href="#n125">125</a></p>
+<p id="n126" class="stm mis"><a href="#n126">126</a></p>
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+<p id="n131" class="pln"><a href="#n131">131</a></p>
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+<p id="n133" class="stm mis"><a href="#n133">133</a></p>
+<p id="n134" class="stm mis"><a href="#n134">134</a></p>
+<p id="n135" class="stm mis"><a href="#n135">135</a></p>
+<p id="n136" class="stm mis"><a href="#n136">136</a></p>
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+<p id="n138" class="stm mis"><a href="#n138">138</a></p>
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+<p id="n140" class="pln"><a href="#n140">140</a></p>
+<p id="n141" class="stm mis"><a href="#n141">141</a></p>
+<p id="n142" class="stm mis"><a href="#n142">142</a></p>
+<p id="n143" class="stm mis"><a href="#n143">143</a></p>
+<p id="n144" class="pln"><a href="#n144">144</a></p>
+<p id="n145" class="stm mis"><a href="#n145">145</a></p>
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+<p id="n148" class="stm mis"><a href="#n148">148</a></p>
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+<p id="n151" class="stm mis"><a href="#n151">151</a></p>
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+<p id="n162" class="stm mis"><a href="#n162">162</a></p>
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+<p id="n171" class="stm mis"><a href="#n171">171</a></p>
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+<p id="n198" class="stm mis"><a href="#n198">198</a></p>
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+<p id="n200" class="stm mis"><a href="#n200">200</a></p>
+<p id="n201" class="pln"><a href="#n201">201</a></p>
+<p id="n202" class="stm mis"><a href="#n202">202</a></p>
+<p id="n203" class="stm mis"><a href="#n203">203</a></p>
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+<p id="n209" class="stm mis"><a href="#n209">209</a></p>
+<p id="n210" class="stm mis"><a href="#n210">210</a></p>
+<p id="n211" class="stm mis"><a href="#n211">211</a></p>
+<p id="n212" class="pln"><a href="#n212">212</a></p>
+<p id="n213" class="stm mis"><a href="#n213">213</a></p>
+<p id="n214" class="pln"><a href="#n214">214</a></p>
+<p id="n215" class="pln"><a href="#n215">215</a></p>
+<p id="n216" class="stm mis"><a href="#n216">216</a></p>
+<p id="n217" class="stm mis"><a href="#n217">217</a></p>
+<p id="n218" class="pln"><a href="#n218">218</a></p>
+<p id="n219" class="stm mis"><a href="#n219">219</a></p>
+<p id="n220" class="stm mis"><a href="#n220">220</a></p>
+<p id="n221" class="stm mis"><a href="#n221">221</a></p>
+<p id="n222" class="stm mis"><a href="#n222">222</a></p>
+<p id="n223" class="pln"><a href="#n223">223</a></p>
+<p id="n224" class="stm mis"><a href="#n224">224</a></p>
+<p id="n225" class="stm mis"><a href="#n225">225</a></p>
+<p id="n226" class="stm mis"><a href="#n226">226</a></p>
+<p id="n227" class="stm mis"><a href="#n227">227</a></p>
+<p id="n228" class="pln"><a href="#n228">228</a></p>
+<p id="n229" class="stm mis"><a href="#n229">229</a></p>
+<p id="n230" class="stm mis"><a href="#n230">230</a></p>
+<p id="n231" class="stm mis"><a href="#n231">231</a></p>
+<p id="n232" class="pln"><a href="#n232">232</a></p>
+<p id="n233" class="pln"><a href="#n233">233</a></p>
+<p id="n234" class="stm mis"><a href="#n234">234</a></p>
+<p id="n235" class="pln"><a href="#n235">235</a></p>
+<p id="n236" class="pln"><a href="#n236">236</a></p>
+<p id="n237" class="pln"><a href="#n237">237</a></p>
+<p id="n238" class="pln"><a href="#n238">238</a></p>
+<p id="n239" class="pln"><a href="#n239">239</a></p>
+<p id="n240" class="pln"><a href="#n240">240</a></p>
+<p id="n241" class="pln"><a href="#n241">241</a></p>
+<p id="n242" class="pln"><a href="#n242">242</a></p>
+<p id="n243" class="pln"><a href="#n243">243</a></p>
+<p id="n244" class="pln"><a href="#n244">244</a></p>
+<p id="n245" class="pln"><a href="#n245">245</a></p>
+<p id="n246" class="pln"><a href="#n246">246</a></p>
+<p id="n247" class="pln"><a href="#n247">247</a></p>
+<p id="n248" class="stm mis"><a href="#n248">248</a></p>
+<p id="n249" class="stm mis"><a href="#n249">249</a></p>
+<p id="n250" class="pln"><a href="#n250">250</a></p>
+<p id="n251" class="stm mis"><a href="#n251">251</a></p>
+<p id="n252" class="stm mis"><a href="#n252">252</a></p>
+<p id="n253" class="pln"><a href="#n253">253</a></p>
+<p id="n254" class="stm mis"><a href="#n254">254</a></p>
+<p id="n255" class="stm mis"><a href="#n255">255</a></p>
+<p id="n256" class="pln"><a href="#n256">256</a></p>
+<p id="n257" class="stm mis"><a href="#n257">257</a></p>
+<p id="n258" class="pln"><a href="#n258">258</a></p>
+<p id="n259" class="pln"><a href="#n259">259</a></p>
+<p id="n260" class="stm mis"><a href="#n260">260</a></p>
+<p id="n261" class="pln"><a href="#n261">261</a></p>
+<p id="n262" class="pln"><a href="#n262">262</a></p>
+<p id="n263" class="stm mis"><a href="#n263">263</a></p>
+<p id="n264" class="stm mis"><a href="#n264">264</a></p>
+<p id="n265" class="stm mis"><a href="#n265">265</a></p>
+<p id="n266" class="pln"><a href="#n266">266</a></p>
+<p id="n267" class="stm mis"><a href="#n267">267</a></p>
+<p id="n268" class="stm mis"><a href="#n268">268</a></p>
+<p id="n269" class="pln"><a href="#n269">269</a></p>
+<p id="n270" class="stm mis"><a href="#n270">270</a></p>
+<p id="n271" class="pln"><a href="#n271">271</a></p>
+<p id="n272" class="stm mis"><a href="#n272">272</a></p>
+<p id="n273" class="pln"><a href="#n273">273</a></p>
+<p id="n274" class="stm mis"><a href="#n274">274</a></p>
+<p id="n275" class="stm mis"><a href="#n275">275</a></p>
+<p id="n276" class="stm mis"><a href="#n276">276</a></p>
+<p id="n277" class="pln"><a href="#n277">277</a></p>
+<p id="n278" class="stm mis"><a href="#n278">278</a></p>
+<p id="n279" class="stm mis"><a href="#n279">279</a></p>
+<p id="n280" class="stm mis"><a href="#n280">280</a></p>
+<p id="n281" class="stm mis"><a href="#n281">281</a></p>
+<p id="n282" class="pln"><a href="#n282">282</a></p>
+<p id="n283" class="pln"><a href="#n283">283</a></p>
+<p id="n284" class="stm mis"><a href="#n284">284</a></p>
+<p id="n285" class="pln"><a href="#n285">285</a></p>
+<p id="n286" class="pln"><a href="#n286">286</a></p>
+<p id="n287" class="stm mis"><a href="#n287">287</a></p>
+<p id="n288" class="stm mis"><a href="#n288">288</a></p>
+<p id="n289" class="pln"><a href="#n289">289</a></p>
+<p id="n290" class="stm mis"><a href="#n290">290</a></p>
+
+ </td>
+ <td class="text">
+<p id="t1" class="stm mis"><span class="key">import</span> <span class="nam">pandas</span> <span class="key">as</span> <span class="nam">pd</span><span class="strut"> </span></p>
+<p id="t2" class="stm mis"><span class="key">import</span> <span class="nam">numpy</span> <span class="key">as</span> <span class="nam">np</span><span class="strut"> </span></p>
+<p id="t3" class="pln"><span class="strut"> </span></p>
+<p id="t4" class="pln"><span class="strut"> </span></p>
+<p id="t5" class="stm mis"><span class="key">def</span> <span class="nam">dlt_reconstruct</span><span class="op">(</span><span class="nam">coeff</span><span class="op">,</span> <span class="nam">campts</span><span class="op">,</span> <span class="nam">z</span><span class="op">=</span><span class="key">None</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t6" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t7" class="pln"><span class="str"> This function reconstructs the 3D position of a coordinate based on a set</span><span class="strut"> </span></p>
+<p id="t8" class="pln"><span class="str"> of DLT coefficients and [u,v] pixel coordinates from 2 or more cameras</span><span class="strut"> </span></p>
+<p id="t9" class="pln"><span class="strut"> </span></p>
+<p id="t10" class="pln"><span class="str"> :param coeff: - 11 DLT coefficients for all n cameras, [11,n] array</span><span class="strut"> </span></p>
+<p id="t11" class="pln"><span class="str"> :param campts: - [u,v] pixel coordinates from all n cameras over f frames</span><span class="strut"> </span></p>
+<p id="t12" class="pln"><span class="str"> :param z: the z coordinate of all points for reconstruction \</span><span class="strut"> </span></p>
+<p id="t13" class="pln"><span class="str">from a single camera</span><span class="strut"> </span></p>
+<p id="t14" class="pln"><span class="str"> :returns: xyz - the xyz location in each frame, an [f,3] array\</span><span class="strut"> </span></p>
+<p id="t15" class="pln"><span class="str">rmse - the root mean square error for each xyz point, and [f,1] array,\</span><span class="strut"> </span></p>
+<p id="t16" class="pln"><span class="str">units are [u,v] i.e. camera coordinates or pixels</span><span class="strut"> </span></p>
+<p id="t17" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t18" class="pln"> <span class="com"># number of cameras</span><span class="strut"> </span></p>
+<p id="t19" class="stm mis"> <span class="nam">ncams</span> <span class="op">=</span> <span class="nam">campts</span><span class="op">.</span><span class="nam">columns</span><span class="op">.</span><span class="nam">levels</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t20" class="stm mis"> <span class="key">if</span> <span class="op">(</span><span class="nam">ncams</span> <span class="op">==</span> <span class="num">1</span><span class="op">)</span> <span class="key">and</span> <span class="op">(</span><span class="nam">z</span> <span class="key">is</span> <span class="key">None</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t21" class="stm mis"> <span class="key">raise</span> <span class="nam">NameError</span><span class="op">(</span><span class="str">'reconstruction from a single camera require z'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t22" class="pln"><span class="strut"> </span></p>
+<p id="t23" class="pln"> <span class="com"># setup output variables</span><span class="strut"> </span></p>
+<p id="t24" class="stm mis"> <span class="nam">xyz</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">DataFrame</span><span class="op">(</span><span class="nam">index</span><span class="op">=</span><span class="nam">campts</span><span class="op">.</span><span class="nam">index</span><span class="op">,</span> <span class="nam">columns</span><span class="op">=</span><span class="op">[</span><span class="strut"> </span></p>
+<p id="t25" class="pln"> <span class="str">'x'</span><span class="op">,</span> <span class="str">'y'</span><span class="op">,</span> <span class="str">'z'</span><span class="op">]</span><span class="op">,</span> <span class="nam">dtype</span><span class="op">=</span><span class="nam">float</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t26" class="stm mis"> <span class="nam">rmse</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">Series</span><span class="op">(</span><span class="nam">index</span><span class="op">=</span><span class="nam">campts</span><span class="op">.</span><span class="nam">index</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t27" class="pln"> <span class="com"># process each frame</span><span class="strut"> </span></p>
+<p id="t28" class="stm mis"> <span class="key">for</span> <span class="nam">ii</span><span class="op">,</span> <span class="nam">frame_i</span> <span class="key">in</span> <span class="nam">enumerate</span><span class="op">(</span><span class="nam">campts</span><span class="op">.</span><span class="nam">index</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t29" class="pln"> <span class="com"># get a list of cameras with non-NaN [u,v]</span><span class="strut"> </span></p>
+<p id="t30" class="stm mis"> <span class="nam">row</span> <span class="op">=</span> <span class="nam">campts</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="nam">frame_i</span><span class="op">,</span> <span class="op">:</span><span class="op">]</span><span class="op">.</span><span class="nam">unstack</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t31" class="stm mis"> <span class="nam">validcam</span> <span class="op">=</span> <span class="nam">row</span><span class="op">.</span><span class="nam">dropna</span><span class="op">(</span><span class="nam">how</span><span class="op">=</span><span class="str">'any'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t32" class="stm mis"> <span class="nam">cdx</span> <span class="op">=</span> <span class="nam">validcam</span><span class="op">.</span><span class="nam">index</span><span class="strut"> </span></p>
+<p id="t33" class="stm mis"> <span class="key">if</span> <span class="nam">validcam</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">0</span><span class="op">]</span> <span class="op">>=</span> <span class="num">2</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t34" class="pln"> <span class="com"># Two or more cameras</span><span class="strut"> </span></p>
+<p id="t35" class="stm mis"> <span class="nam">u</span> <span class="op">=</span> <span class="nam">campts</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="nam">frame_i</span><span class="op">,</span> <span class="nam">cdx</span><span class="op">]</span><span class="op">.</span><span class="nam">swaplevel</span><span class="op">(</span><span class="op">)</span><span class="op">.</span><span class="nam">u</span><span class="strut"> </span></p>
+<p id="t36" class="stm mis"> <span class="nam">v</span> <span class="op">=</span> <span class="nam">campts</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="nam">frame_i</span><span class="op">,</span> <span class="nam">cdx</span><span class="op">]</span><span class="op">.</span><span class="nam">swaplevel</span><span class="op">(</span><span class="op">)</span><span class="op">.</span><span class="nam">v</span><span class="strut"> </span></p>
+<p id="t37" class="pln"><span class="strut"> </span></p>
+<p id="t38" class="pln"> <span class="com"># initialize least-square solution matrices</span><span class="strut"> </span></p>
+<p id="t39" class="stm mis"> <span class="nam">m1</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">zeros</span><span class="op">(</span><span class="op">(</span><span class="nam">cdx</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">*</span><span class="num">2</span><span class="op">,</span> <span class="num">3</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t40" class="stm mis"> <span class="nam">m2</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">zeros</span><span class="op">(</span><span class="op">(</span><span class="nam">cdx</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">*</span><span class="num">2</span><span class="op">,</span> <span class="num">1</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t41" class="pln"><span class="strut"> </span></p>
+<p id="t42" class="stm mis"> <span class="nam">m1</span><span class="op">[</span><span class="num">0</span><span class="op">:</span> <span class="nam">cdx</span><span class="op">.</span><span class="nam">size</span><span class="op">*</span><span class="num">2</span><span class="op">:</span> <span class="num">2</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span> <span class="op">=</span> <span class="nam">u</span><span class="op">*</span><span class="nam">coeff</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="num">8</span><span class="op">,</span> <span class="nam">cdx</span><span class="op">]</span><span class="op">-</span><span class="nam">coeff</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="nam">cdx</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t43" class="stm mis"> <span class="nam">m1</span><span class="op">[</span><span class="num">0</span><span class="op">:</span> <span class="nam">cdx</span><span class="op">.</span><span class="nam">size</span><span class="op">*</span><span class="num">2</span><span class="op">:</span> <span class="num">2</span><span class="op">,</span> <span class="num">1</span><span class="op">]</span> <span class="op">=</span> <span class="nam">u</span><span class="op">*</span><span class="nam">coeff</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="num">9</span><span class="op">,</span> <span class="nam">cdx</span><span class="op">]</span><span class="op">-</span><span class="nam">coeff</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="nam">cdx</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t44" class="stm mis"> <span class="nam">m1</span><span class="op">[</span><span class="num">0</span><span class="op">:</span> <span class="nam">cdx</span><span class="op">.</span><span class="nam">size</span><span class="op">*</span><span class="num">2</span><span class="op">:</span> <span class="num">2</span><span class="op">,</span> <span class="num">2</span><span class="op">]</span> <span class="op">=</span> <span class="nam">u</span><span class="op">*</span><span class="nam">coeff</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="num">10</span><span class="op">,</span> <span class="nam">cdx</span><span class="op">]</span><span class="op">-</span><span class="nam">coeff</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="num">2</span><span class="op">,</span> <span class="nam">cdx</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t45" class="stm mis"> <span class="nam">m1</span><span class="op">[</span><span class="num">1</span><span class="op">:</span> <span class="nam">cdx</span><span class="op">.</span><span class="nam">size</span><span class="op">*</span><span class="num">2</span><span class="op">:</span> <span class="num">2</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span> <span class="op">=</span> <span class="nam">v</span><span class="op">*</span><span class="nam">coeff</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="num">8</span><span class="op">,</span> <span class="nam">cdx</span><span class="op">]</span><span class="op">-</span><span class="nam">coeff</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="num">4</span><span class="op">,</span> <span class="nam">cdx</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t46" class="stm mis"> <span class="nam">m1</span><span class="op">[</span><span class="num">1</span><span class="op">:</span> <span class="nam">cdx</span><span class="op">.</span><span class="nam">size</span><span class="op">*</span><span class="num">2</span><span class="op">:</span> <span class="num">2</span><span class="op">,</span> <span class="num">1</span><span class="op">]</span> <span class="op">=</span> <span class="nam">v</span><span class="op">*</span><span class="nam">coeff</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="num">9</span><span class="op">,</span> <span class="nam">cdx</span><span class="op">]</span><span class="op">-</span><span class="nam">coeff</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="num">5</span><span class="op">,</span> <span class="nam">cdx</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t47" class="stm mis"> <span class="nam">m1</span><span class="op">[</span><span class="num">1</span><span class="op">:</span> <span class="nam">cdx</span><span class="op">.</span><span class="nam">size</span><span class="op">*</span><span class="num">2</span><span class="op">:</span> <span class="num">2</span><span class="op">,</span> <span class="num">2</span><span class="op">]</span> <span class="op">=</span> <span class="nam">v</span><span class="op">*</span><span class="nam">coeff</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="num">10</span><span class="op">,</span> <span class="nam">cdx</span><span class="op">]</span><span class="op">-</span><span class="nam">coeff</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="num">6</span><span class="op">,</span> <span class="nam">cdx</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t48" class="stm mis"> <span class="nam">m2</span><span class="op">[</span><span class="num">0</span><span class="op">:</span> <span class="nam">cdx</span><span class="op">.</span><span class="nam">size</span><span class="op">*</span><span class="num">2</span><span class="op">:</span> <span class="num">2</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span> <span class="op">=</span> <span class="nam">coeff</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="num">3</span><span class="op">,</span> <span class="nam">cdx</span><span class="op">]</span><span class="op">-</span><span class="nam">u</span><span class="strut"> </span></p>
+<p id="t49" class="stm mis"> <span class="nam">m2</span><span class="op">[</span><span class="num">1</span><span class="op">:</span> <span class="nam">cdx</span><span class="op">.</span><span class="nam">size</span><span class="op">*</span><span class="num">2</span><span class="op">:</span> <span class="num">2</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span> <span class="op">=</span> <span class="nam">coeff</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="num">7</span><span class="op">,</span> <span class="nam">cdx</span><span class="op">]</span><span class="op">-</span><span class="nam">v</span><span class="strut"> </span></p>
+<p id="t50" class="pln"><span class="strut"> </span></p>
+<p id="t51" class="pln"> <span class="com"># get the least squares solution to the reconstruction</span><span class="strut"> </span></p>
+<p id="t52" class="stm mis"> <span class="nam">xyz</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="nam">frame_i</span><span class="op">,</span> <span class="op">[</span><span class="str">'x'</span><span class="op">,</span> <span class="str">'y'</span><span class="op">,</span> <span class="str">'z'</span><span class="op">]</span><span class="op">]</span> <span class="op">=</span> <span class="xx">\</span><span class="strut"> </span></p>
+<p id="t53" class="pln"> <span class="nam">np</span><span class="op">.</span><span class="nam">linalg</span><span class="op">.</span><span class="nam">lstsq</span><span class="op">(</span><span class="nam">m1</span><span class="op">,</span> <span class="nam">m2</span><span class="op">,</span> <span class="nam">rcond</span><span class="op">=</span><span class="key">None</span><span class="op">)</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t54" class="pln"><span class="strut"> </span></p>
+<p id="t55" class="pln"> <span class="com"># compute ideal [u,v] for each camera</span><span class="strut"> </span></p>
+<p id="t56" class="stm mis"> <span class="nam">uv</span> <span class="op">=</span> <span class="nam">m1</span><span class="op">.</span><span class="nam">dot</span><span class="op">(</span><span class="nam">xyz</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="nam">frame_i</span><span class="op">,</span> <span class="op">[</span><span class="str">'x'</span><span class="op">,</span> <span class="str">'y'</span><span class="op">,</span> <span class="str">'z'</span><span class="op">]</span><span class="op">]</span><span class="op">.</span><span class="nam">transpose</span><span class="op">(</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t57" class="stm mis"> <span class="nam">uv</span> <span class="op">=</span> <span class="nam">uv</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="nam">np</span><span class="op">.</span><span class="nam">newaxis</span><span class="op">]</span> <span class="com"># because m2 has size n,1</span><span class="strut"> </span></p>
+<p id="t58" class="pln"> <span class="com"># compute the number of degrees of freedom in the reconstruction</span><span class="strut"> </span></p>
+<p id="t59" class="stm mis"> <span class="nam">dof</span> <span class="op">=</span> <span class="nam">m2</span><span class="op">.</span><span class="nam">size</span><span class="op">-</span><span class="num">3</span><span class="strut"> </span></p>
+<p id="t60" class="pln"><span class="strut"> </span></p>
+<p id="t61" class="pln"> <span class="com"># estimate the root mean square reconstruction error</span><span class="strut"> </span></p>
+<p id="t62" class="stm mis"> <span class="nam">rmse</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="nam">frame_i</span><span class="op">]</span> <span class="op">=</span> <span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">sum</span><span class="op">(</span><span class="op">(</span><span class="nam">m2</span><span class="op">-</span><span class="nam">uv</span><span class="op">)</span> <span class="op">**</span> <span class="num">2</span><span class="op">)</span><span class="op">/</span><span class="nam">dof</span><span class="op">)</span> <span class="op">**</span> <span class="num">0.5</span><span class="strut"> </span></p>
+<p id="t63" class="pln"><span class="strut"> </span></p>
+<p id="t64" class="stm mis"> <span class="key">elif</span> <span class="op">(</span><span class="nam">validcam</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">0</span><span class="op">]</span> <span class="op">==</span> <span class="num">1</span><span class="op">)</span> <span class="key">and</span> <span class="op">(</span><span class="nam">z</span> <span class="key">is</span> <span class="key">not</span> <span class="key">None</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t65" class="pln"> <span class="com"># http://www.kwon3d.com/theory/dlt/dlt.html</span><span class="strut"> </span></p>
+<p id="t66" class="pln"> <span class="com"># equation 19 with z = constant</span><span class="strut"> </span></p>
+<p id="t67" class="pln"> <span class="com"># the term with z can be move to right side</span><span class="strut"> </span></p>
+<p id="t68" class="pln"> <span class="com"># then equation 21 can be solved as follow:</span><span class="strut"> </span></p>
+<p id="t69" class="stm mis"> <span class="nam">u</span> <span class="op">=</span> <span class="nam">campts</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="nam">frame_i</span><span class="op">,</span> <span class="nam">cdx</span><span class="op">]</span><span class="op">.</span><span class="nam">unstack</span><span class="op">(</span><span class="op">)</span><span class="op">.</span><span class="nam">u</span><span class="strut"> </span></p>
+<p id="t70" class="stm mis"> <span class="nam">v</span> <span class="op">=</span> <span class="nam">campts</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="nam">frame_i</span><span class="op">,</span> <span class="nam">cdx</span><span class="op">]</span><span class="op">.</span><span class="nam">unstack</span><span class="op">(</span><span class="op">)</span><span class="op">.</span><span class="nam">v</span><span class="strut"> </span></p>
+<p id="t71" class="pln"><span class="strut"> </span></p>
+<p id="t72" class="pln"> <span class="com"># initialize least-square solution matrices</span><span class="strut"> </span></p>
+<p id="t73" class="stm mis"> <span class="nam">m1</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">zeros</span><span class="op">(</span><span class="op">(</span><span class="nam">cdx</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">*</span><span class="num">2</span><span class="op">,</span> <span class="num">2</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t74" class="stm mis"> <span class="nam">m2</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">zeros</span><span class="op">(</span><span class="op">(</span><span class="nam">cdx</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">*</span><span class="num">2</span><span class="op">,</span> <span class="num">1</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t75" class="pln"><span class="strut"> </span></p>
+<p id="t76" class="stm mis"> <span class="nam">m1</span><span class="op">[</span><span class="num">0</span><span class="op">:</span> <span class="nam">cdx</span><span class="op">.</span><span class="nam">size</span><span class="op">*</span><span class="num">2</span><span class="op">:</span> <span class="num">2</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span> <span class="op">=</span> <span class="nam">u</span><span class="op">*</span><span class="nam">coeff</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="num">8</span><span class="op">,</span> <span class="nam">cdx</span><span class="op">]</span><span class="op">-</span><span class="nam">coeff</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="nam">cdx</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t77" class="stm mis"> <span class="nam">m1</span><span class="op">[</span><span class="num">0</span><span class="op">:</span> <span class="nam">cdx</span><span class="op">.</span><span class="nam">size</span><span class="op">*</span><span class="num">2</span><span class="op">:</span> <span class="num">2</span><span class="op">,</span> <span class="num">1</span><span class="op">]</span> <span class="op">=</span> <span class="nam">u</span><span class="op">*</span><span class="nam">coeff</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="num">9</span><span class="op">,</span> <span class="nam">cdx</span><span class="op">]</span><span class="op">-</span><span class="nam">coeff</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="nam">cdx</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t78" class="stm mis"> <span class="nam">m1</span><span class="op">[</span><span class="num">1</span><span class="op">:</span> <span class="nam">cdx</span><span class="op">.</span><span class="nam">size</span><span class="op">*</span><span class="num">2</span><span class="op">:</span> <span class="num">2</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span> <span class="op">=</span> <span class="nam">v</span><span class="op">*</span><span class="nam">coeff</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="num">8</span><span class="op">,</span> <span class="nam">cdx</span><span class="op">]</span><span class="op">-</span><span class="nam">coeff</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="num">4</span><span class="op">,</span> <span class="nam">cdx</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t79" class="stm mis"> <span class="nam">m1</span><span class="op">[</span><span class="num">1</span><span class="op">:</span> <span class="nam">cdx</span><span class="op">.</span><span class="nam">size</span><span class="op">*</span><span class="num">2</span><span class="op">:</span> <span class="num">2</span><span class="op">,</span> <span class="num">1</span><span class="op">]</span> <span class="op">=</span> <span class="nam">v</span><span class="op">*</span><span class="nam">coeff</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="num">9</span><span class="op">,</span> <span class="nam">cdx</span><span class="op">]</span><span class="op">-</span><span class="nam">coeff</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="num">5</span><span class="op">,</span> <span class="nam">cdx</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t80" class="stm mis"> <span class="nam">m2</span><span class="op">[</span><span class="num">0</span><span class="op">:</span> <span class="nam">cdx</span><span class="op">.</span><span class="nam">size</span><span class="op">*</span><span class="num">2</span><span class="op">:</span> <span class="num">2</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span> <span class="op">=</span> <span class="nam">coeff</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="num">3</span><span class="op">,</span> <span class="nam">cdx</span><span class="op">]</span><span class="op">-</span><span class="nam">u</span><span class="strut"> </span></p>
+<p id="t81" class="stm mis"> <span class="nam">m2</span><span class="op">[</span><span class="num">1</span><span class="op">:</span> <span class="nam">cdx</span><span class="op">.</span><span class="nam">size</span><span class="op">*</span><span class="num">2</span><span class="op">:</span> <span class="num">2</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span> <span class="op">=</span> <span class="nam">coeff</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="num">7</span><span class="op">,</span> <span class="nam">cdx</span><span class="op">]</span><span class="op">-</span><span class="nam">v</span><span class="strut"> </span></p>
+<p id="t82" class="pln"><span class="strut"> </span></p>
+<p id="t83" class="stm mis"> <span class="nam">m2</span><span class="op">[</span><span class="num">0</span><span class="op">:</span> <span class="nam">cdx</span><span class="op">.</span><span class="nam">size</span><span class="op">*</span><span class="num">2</span><span class="op">:</span> <span class="num">2</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span> <span class="op">-=</span> <span class="xx">\</span><span class="strut"> </span></p>
+<p id="t84" class="pln"> <span class="op">(</span><span class="nam">u</span><span class="op">*</span><span class="nam">coeff</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="num">10</span><span class="op">,</span> <span class="nam">cdx</span><span class="op">]</span> <span class="op">-</span> <span class="nam">coeff</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="num">2</span><span class="op">,</span> <span class="nam">cdx</span><span class="op">]</span><span class="op">)</span><span class="op">*</span><span class="nam">z</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="nam">frame_i</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t85" class="stm mis"> <span class="nam">m2</span><span class="op">[</span><span class="num">1</span><span class="op">:</span> <span class="nam">cdx</span><span class="op">.</span><span class="nam">size</span><span class="op">*</span><span class="num">2</span><span class="op">:</span> <span class="num">2</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span> <span class="op">-=</span> <span class="xx">\</span><span class="strut"> </span></p>
+<p id="t86" class="pln"> <span class="op">(</span><span class="nam">v</span><span class="op">*</span><span class="nam">coeff</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="num">10</span><span class="op">,</span> <span class="nam">cdx</span><span class="op">]</span> <span class="op">-</span> <span class="nam">coeff</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="num">6</span><span class="op">,</span> <span class="nam">cdx</span><span class="op">]</span><span class="op">)</span><span class="op">*</span><span class="nam">z</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="nam">frame_i</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t87" class="pln"><span class="strut"> </span></p>
+<p id="t88" class="pln"> <span class="com"># get the least squares solution to the reconstruction</span><span class="strut"> </span></p>
+<p id="t89" class="stm mis"> <span class="nam">xyz</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="nam">frame_i</span><span class="op">,</span> <span class="op">[</span><span class="str">'x'</span><span class="op">,</span> <span class="str">'y'</span><span class="op">]</span><span class="op">]</span> <span class="op">=</span> <span class="xx">\</span><span class="strut"> </span></p>
+<p id="t90" class="pln"> <span class="nam">np</span><span class="op">.</span><span class="nam">squeeze</span><span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">linalg</span><span class="op">.</span><span class="nam">lstsq</span><span class="op">(</span><span class="nam">m1</span><span class="op">,</span> <span class="nam">m2</span><span class="op">,</span> <span class="nam">rcond</span><span class="op">=</span><span class="key">None</span><span class="op">)</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t91" class="stm mis"> <span class="nam">xyz</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="nam">frame_i</span><span class="op">,</span> <span class="str">'z'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">z</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="nam">frame_i</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t92" class="pln"><span class="strut"> </span></p>
+<p id="t93" class="pln"> <span class="com"># compute ideal [u,v] for each camera</span><span class="strut"> </span></p>
+<p id="t94" class="stm mis"> <span class="nam">uv</span> <span class="op">=</span> <span class="nam">m1</span><span class="op">.</span><span class="nam">dot</span><span class="op">(</span><span class="nam">xyz</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="nam">frame_i</span><span class="op">,</span> <span class="op">[</span><span class="str">'x'</span><span class="op">,</span> <span class="str">'y'</span><span class="op">]</span><span class="op">]</span><span class="op">.</span><span class="nam">transpose</span><span class="op">(</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t95" class="stm mis"> <span class="nam">uv</span> <span class="op">=</span> <span class="nam">uv</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="nam">np</span><span class="op">.</span><span class="nam">newaxis</span><span class="op">]</span> <span class="com"># because m2 has size n,1</span><span class="strut"> </span></p>
+<p id="t96" class="pln"> <span class="com"># compute the number of degrees of freedom in the reconstruction</span><span class="strut"> </span></p>
+<p id="t97" class="stm mis"> <span class="nam">dof</span> <span class="op">=</span> <span class="nam">m2</span><span class="op">.</span><span class="nam">size</span><span class="op">-</span><span class="num">3</span><span class="strut"> </span></p>
+<p id="t98" class="pln"><span class="strut"> </span></p>
+<p id="t99" class="pln"> <span class="com"># estimate the root mean square reconstruction error</span><span class="strut"> </span></p>
+<p id="t100" class="stm mis"> <span class="nam">rmse</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="nam">frame_i</span><span class="op">]</span> <span class="op">=</span> <span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">sum</span><span class="op">(</span><span class="op">(</span><span class="nam">m2</span><span class="op">-</span><span class="nam">uv</span><span class="op">)</span> <span class="op">**</span> <span class="num">2</span><span class="op">)</span><span class="op">/</span><span class="nam">dof</span><span class="op">)</span> <span class="op">**</span> <span class="num">0.5</span><span class="strut"> </span></p>
+<p id="t101" class="stm mis"> <span class="key">return</span> <span class="nam">xyz</span><span class="op">,</span> <span class="nam">rmse</span><span class="strut"> </span></p>
+<p id="t102" class="pln"><span class="strut"> </span></p>
+<p id="t103" class="pln"><span class="strut"> </span></p>
+<p id="t104" class="stm mis"><span class="key">def</span> <span class="nam">dlt_principal_point</span><span class="op">(</span><span class="nam">coeff</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t105" class="stm mis"> <span class="nam">normalisation</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">sum</span><span class="op">(</span><span class="nam">coeff</span><span class="op">[</span><span class="num">8</span><span class="op">:</span><span class="num">11</span><span class="op">]</span><span class="op">**</span><span class="num">2</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t106" class="stm mis"> <span class="nam">u_0</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">sum</span><span class="op">(</span><span class="nam">coeff</span><span class="op">[</span><span class="num">0</span><span class="op">:</span><span class="num">3</span><span class="op">]</span><span class="op">*</span><span class="nam">coeff</span><span class="op">[</span><span class="num">8</span><span class="op">:</span><span class="num">11</span><span class="op">]</span><span class="op">)</span><span class="op">/</span><span class="nam">normalisation</span><span class="strut"> </span></p>
+<p id="t107" class="stm mis"> <span class="nam">v_0</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">sum</span><span class="op">(</span><span class="nam">coeff</span><span class="op">[</span><span class="num">4</span><span class="op">:</span><span class="num">7</span><span class="op">]</span><span class="op">*</span><span class="nam">coeff</span><span class="op">[</span><span class="num">8</span><span class="op">:</span><span class="num">11</span><span class="op">]</span><span class="op">)</span><span class="op">/</span><span class="nam">normalisation</span><span class="strut"> </span></p>
+<p id="t108" class="stm mis"> <span class="key">return</span> <span class="nam">u_0</span><span class="op">,</span> <span class="nam">v_0</span><span class="strut"> </span></p>
+<p id="t109" class="pln"><span class="strut"> </span></p>
+<p id="t110" class="pln"><span class="strut"> </span></p>
+<p id="t111" class="stm mis"><span class="key">def</span> <span class="nam">dlt_principal_distance</span><span class="op">(</span><span class="nam">coeff</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t112" class="stm mis"> <span class="nam">normalisation</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">sum</span><span class="op">(</span><span class="nam">coeff</span><span class="op">[</span><span class="num">8</span><span class="op">:</span><span class="num">11</span><span class="op">]</span><span class="op">**</span><span class="num">2</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t113" class="stm mis"> <span class="key">return</span> <span class="num">1</span><span class="op">/</span><span class="nam">np</span><span class="op">.</span><span class="nam">sqrt</span><span class="op">(</span><span class="nam">normalisation</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t114" class="pln"><span class="strut"> </span></p>
+<p id="t115" class="pln"><span class="strut"> </span></p>
+<p id="t116" class="stm mis"><span class="key">def</span> <span class="nam">dlt_scale_factors</span><span class="op">(</span><span class="nam">coeff</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t117" class="stm mis"> <span class="nam">u_0</span><span class="op">,</span> <span class="nam">v_0</span> <span class="op">=</span> <span class="nam">dlt_principal_point</span><span class="op">(</span><span class="nam">coeff</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t118" class="pln"><span class="strut"> </span></p>
+<p id="t119" class="stm mis"> <span class="nam">normalisation</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">sum</span><span class="op">(</span><span class="nam">coeff</span><span class="op">[</span><span class="num">8</span><span class="op">:</span><span class="num">11</span><span class="op">]</span><span class="op">**</span><span class="num">2</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t120" class="stm mis"> <span class="nam">du</span> <span class="op">=</span> <span class="op">(</span><span class="nam">u_0</span><span class="op">*</span><span class="nam">coeff</span><span class="op">[</span><span class="num">8</span><span class="op">]</span> <span class="op">-</span> <span class="nam">coeff</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">)</span><span class="op">**</span><span class="num">2</span><span class="strut"> </span></p>
+<p id="t121" class="stm mis"> <span class="nam">du</span> <span class="op">+=</span> <span class="op">(</span><span class="nam">u_0</span><span class="op">*</span><span class="nam">coeff</span><span class="op">[</span><span class="num">9</span><span class="op">]</span> <span class="op">-</span> <span class="nam">coeff</span><span class="op">[</span><span class="num">1</span><span class="op">]</span><span class="op">)</span><span class="op">**</span><span class="num">2</span><span class="strut"> </span></p>
+<p id="t122" class="stm mis"> <span class="nam">du</span> <span class="op">+=</span> <span class="op">(</span><span class="nam">u_0</span><span class="op">*</span><span class="nam">coeff</span><span class="op">[</span><span class="num">10</span><span class="op">]</span> <span class="op">-</span> <span class="nam">coeff</span><span class="op">[</span><span class="num">2</span><span class="op">]</span><span class="op">)</span><span class="op">**</span><span class="num">2</span><span class="strut"> </span></p>
+<p id="t123" class="stm mis"> <span class="nam">du</span> <span class="op">/=</span> <span class="nam">normalisation</span><span class="strut"> </span></p>
+<p id="t124" class="pln"><span class="strut"> </span></p>
+<p id="t125" class="stm mis"> <span class="nam">dv</span> <span class="op">=</span> <span class="op">(</span><span class="nam">v_0</span><span class="op">*</span><span class="nam">coeff</span><span class="op">[</span><span class="num">8</span><span class="op">]</span> <span class="op">-</span> <span class="nam">coeff</span><span class="op">[</span><span class="num">4</span><span class="op">]</span><span class="op">)</span><span class="op">**</span><span class="num">2</span><span class="strut"> </span></p>
+<p id="t126" class="stm mis"> <span class="nam">dv</span> <span class="op">+=</span> <span class="op">(</span><span class="nam">v_0</span><span class="op">*</span><span class="nam">coeff</span><span class="op">[</span><span class="num">9</span><span class="op">]</span> <span class="op">-</span> <span class="nam">coeff</span><span class="op">[</span><span class="num">5</span><span class="op">]</span><span class="op">)</span><span class="op">**</span><span class="num">2</span><span class="strut"> </span></p>
+<p id="t127" class="stm mis"> <span class="nam">dv</span> <span class="op">+=</span> <span class="op">(</span><span class="nam">v_0</span><span class="op">*</span><span class="nam">coeff</span><span class="op">[</span><span class="num">10</span><span class="op">]</span> <span class="op">-</span> <span class="nam">coeff</span><span class="op">[</span><span class="num">6</span><span class="op">]</span><span class="op">)</span><span class="op">**</span><span class="num">2</span><span class="strut"> </span></p>
+<p id="t128" class="stm mis"> <span class="nam">dv</span> <span class="op">/=</span> <span class="nam">normalisation</span><span class="strut"> </span></p>
+<p id="t129" class="stm mis"> <span class="key">return</span> <span class="nam">du</span><span class="op">,</span> <span class="nam">dv</span><span class="strut"> </span></p>
+<p id="t130" class="pln"><span class="strut"> </span></p>
+<p id="t131" class="pln"><span class="strut"> </span></p>
+<p id="t132" class="stm mis"><span class="key">def</span> <span class="nam">dlt_transformation_matrix</span><span class="op">(</span><span class="nam">coeff</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t133" class="stm mis"> <span class="nam">u_0</span><span class="op">,</span> <span class="nam">v_0</span> <span class="op">=</span> <span class="nam">dlt_principal_point</span><span class="op">(</span><span class="nam">coeff</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t134" class="stm mis"> <span class="nam">d</span> <span class="op">=</span> <span class="nam">dlt_principal_distance</span><span class="op">(</span><span class="nam">coeff</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t135" class="stm mis"> <span class="nam">du</span><span class="op">,</span> <span class="nam">dv</span> <span class="op">=</span> <span class="nam">dlt_scale_factors</span><span class="op">(</span><span class="nam">coeff</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t136" class="stm mis"> <span class="nam">transform</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">zeros</span><span class="op">(</span><span class="op">(</span><span class="num">3</span><span class="op">,</span> <span class="num">3</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t137" class="stm mis"> <span class="nam">transform</span><span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span> <span class="op">=</span> <span class="op">(</span><span class="nam">u_0</span><span class="op">*</span><span class="nam">coeff</span><span class="op">[</span><span class="num">8</span><span class="op">]</span><span class="op">-</span><span class="nam">coeff</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">)</span><span class="op">/</span><span class="nam">du</span><span class="strut"> </span></p>
+<p id="t138" class="stm mis"> <span class="nam">transform</span><span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="num">1</span><span class="op">]</span> <span class="op">=</span> <span class="op">(</span><span class="nam">u_0</span><span class="op">*</span><span class="nam">coeff</span><span class="op">[</span><span class="num">9</span><span class="op">]</span><span class="op">-</span><span class="nam">coeff</span><span class="op">[</span><span class="num">1</span><span class="op">]</span><span class="op">)</span><span class="op">/</span><span class="nam">du</span><span class="strut"> </span></p>
+<p id="t139" class="stm mis"> <span class="nam">transform</span><span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="num">2</span><span class="op">]</span> <span class="op">=</span> <span class="op">(</span><span class="nam">u_0</span><span class="op">*</span><span class="nam">coeff</span><span class="op">[</span><span class="num">10</span><span class="op">]</span><span class="op">-</span><span class="nam">coeff</span><span class="op">[</span><span class="num">2</span><span class="op">]</span><span class="op">)</span><span class="op">/</span><span class="nam">du</span><span class="strut"> </span></p>
+<p id="t140" class="pln"><span class="strut"> </span></p>
+<p id="t141" class="stm mis"> <span class="nam">transform</span><span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span> <span class="op">=</span> <span class="op">(</span><span class="nam">v_0</span><span class="op">*</span><span class="nam">coeff</span><span class="op">[</span><span class="num">8</span><span class="op">]</span><span class="op">-</span><span class="nam">coeff</span><span class="op">[</span><span class="num">4</span><span class="op">]</span><span class="op">)</span><span class="op">/</span><span class="nam">dv</span><span class="strut"> </span></p>
+<p id="t142" class="stm mis"> <span class="nam">transform</span><span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">1</span><span class="op">]</span> <span class="op">=</span> <span class="op">(</span><span class="nam">v_0</span><span class="op">*</span><span class="nam">coeff</span><span class="op">[</span><span class="num">9</span><span class="op">]</span><span class="op">-</span><span class="nam">coeff</span><span class="op">[</span><span class="num">5</span><span class="op">]</span><span class="op">)</span><span class="op">/</span><span class="nam">dv</span><span class="strut"> </span></p>
+<p id="t143" class="stm mis"> <span class="nam">transform</span><span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">2</span><span class="op">]</span> <span class="op">=</span> <span class="op">(</span><span class="nam">v_0</span><span class="op">*</span><span class="nam">coeff</span><span class="op">[</span><span class="num">10</span><span class="op">]</span><span class="op">-</span><span class="nam">coeff</span><span class="op">[</span><span class="num">6</span><span class="op">]</span><span class="op">)</span><span class="op">/</span><span class="nam">dv</span><span class="strut"> </span></p>
+<p id="t144" class="pln"><span class="strut"> </span></p>
+<p id="t145" class="stm mis"> <span class="nam">transform</span><span class="op">[</span><span class="num">2</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span> <span class="op">=</span> <span class="nam">coeff</span><span class="op">[</span><span class="num">8</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t146" class="stm mis"> <span class="nam">transform</span><span class="op">[</span><span class="num">2</span><span class="op">,</span> <span class="num">1</span><span class="op">]</span> <span class="op">=</span> <span class="nam">coeff</span><span class="op">[</span><span class="num">9</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t147" class="stm mis"> <span class="nam">transform</span><span class="op">[</span><span class="num">2</span><span class="op">,</span> <span class="num">2</span><span class="op">]</span> <span class="op">=</span> <span class="nam">coeff</span><span class="op">[</span><span class="num">10</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t148" class="stm mis"> <span class="key">return</span> <span class="nam">d</span><span class="op">*</span><span class="nam">transform</span><span class="strut"> </span></p>
+<p id="t149" class="pln"><span class="strut"> </span></p>
+<p id="t150" class="pln"><span class="strut"> </span></p>
+<p id="t151" class="stm mis"><span class="key">def</span> <span class="nam">dlt_inverse</span><span class="op">(</span><span class="nam">coeff</span><span class="op">,</span> <span class="nam">frames</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t152" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t153" class="pln"><span class="str"> This function reconstructs the pixel coordinates of a 3D coordinate as</span><span class="strut"> </span></p>
+<p id="t154" class="pln"><span class="str"> seen by the camera specificed by DLT coefficients c</span><span class="strut"> </span></p>
+<p id="t155" class="pln"><span class="strut"> </span></p>
+<p id="t156" class="pln"><span class="str"> :param coeff: - 11 DLT coefficients for the camera, [11,1] array</span><span class="strut"> </span></p>
+<p id="t157" class="pln"><span class="str"> :param frames: - [x,y,z] coordinates over f frames,[f,3] array</span><span class="strut"> </span></p>
+<p id="t158" class="pln"><span class="str"> :returns: uv - pixel coordinates in each frame, [f,2] array</span><span class="strut"> </span></p>
+<p id="t159" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t160" class="pln"> <span class="com"># write the matrix solution out longhand for vector operation over</span><span class="strut"> </span></p>
+<p id="t161" class="pln"> <span class="com"># all pointsat once</span><span class="strut"> </span></p>
+<p id="t162" class="stm mis"> <span class="nam">uv</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">zeros</span><span class="op">(</span><span class="op">(</span><span class="nam">frames</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">,</span> <span class="num">2</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t163" class="stm mis"> <span class="nam">frames</span> <span class="op">=</span> <span class="nam">frames</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="op">[</span><span class="str">'x'</span><span class="op">,</span> <span class="str">'y'</span><span class="op">,</span> <span class="str">'z'</span><span class="op">]</span><span class="op">]</span><span class="op">.</span><span class="nam">values</span><span class="strut"> </span></p>
+<p id="t164" class="pln"><span class="strut"> </span></p>
+<p id="t165" class="stm mis"> <span class="nam">normalisation</span> <span class="op">=</span> <span class="nam">frames</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span><span class="op">*</span><span class="nam">coeff</span><span class="op">[</span><span class="num">8</span><span class="op">]</span> <span class="op">+</span> <span class="xx">\</span><span class="strut"> </span></p>
+<p id="t166" class="pln"> <span class="nam">frames</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="num">1</span><span class="op">]</span><span class="op">*</span><span class="nam">coeff</span><span class="op">[</span><span class="num">9</span><span class="op">]</span><span class="op">+</span><span class="nam">frames</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="num">2</span><span class="op">]</span><span class="op">*</span><span class="nam">coeff</span><span class="op">[</span><span class="num">10</span><span class="op">]</span> <span class="op">+</span> <span class="num">1</span><span class="strut"> </span></p>
+<p id="t167" class="stm mis"> <span class="nam">uv</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span> <span class="op">=</span> <span class="nam">frames</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span><span class="op">*</span><span class="nam">coeff</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">+</span><span class="nam">frames</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="num">1</span><span class="op">]</span> <span class="op">*</span> <span class="xx">\</span><span class="strut"> </span></p>
+<p id="t168" class="pln"> <span class="nam">coeff</span><span class="op">[</span><span class="num">1</span><span class="op">]</span><span class="op">+</span><span class="nam">frames</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="num">2</span><span class="op">]</span><span class="op">*</span><span class="nam">coeff</span><span class="op">[</span><span class="num">2</span><span class="op">]</span><span class="op">+</span><span class="nam">coeff</span><span class="op">[</span><span class="num">3</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t169" class="stm mis"> <span class="nam">uv</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="num">1</span><span class="op">]</span> <span class="op">=</span> <span class="nam">frames</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span><span class="op">*</span><span class="nam">coeff</span><span class="op">[</span><span class="num">4</span><span class="op">]</span><span class="op">+</span><span class="nam">frames</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="num">1</span><span class="op">]</span> <span class="op">*</span> <span class="xx">\</span><span class="strut"> </span></p>
+<p id="t170" class="pln"> <span class="nam">coeff</span><span class="op">[</span><span class="num">5</span><span class="op">]</span><span class="op">+</span><span class="nam">frames</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="num">2</span><span class="op">]</span><span class="op">*</span><span class="nam">coeff</span><span class="op">[</span><span class="num">6</span><span class="op">]</span><span class="op">+</span><span class="nam">coeff</span><span class="op">[</span><span class="num">7</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t171" class="stm mis"> <span class="nam">uv</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span> <span class="op">/=</span> <span class="nam">normalisation</span><span class="strut"> </span></p>
+<p id="t172" class="stm mis"> <span class="nam">uv</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="num">1</span><span class="op">]</span> <span class="op">/=</span> <span class="nam">normalisation</span><span class="strut"> </span></p>
+<p id="t173" class="pln"> <span class="com"># Apply distortion</span><span class="strut"> </span></p>
+<p id="t174" class="stm mis"> <span class="nam">delta_uv</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">zeros</span><span class="op">(</span><span class="op">(</span><span class="nam">frames</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">,</span> <span class="num">2</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t175" class="stm mis"> <span class="nam">u_0</span><span class="op">,</span> <span class="nam">v_0</span> <span class="op">=</span> <span class="nam">dlt_principal_point</span><span class="op">(</span><span class="nam">coeff</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t176" class="stm mis"> <span class="nam">zeta</span> <span class="op">=</span> <span class="nam">uv</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span> <span class="op">-</span> <span class="nam">u_0</span><span class="strut"> </span></p>
+<p id="t177" class="stm mis"> <span class="nam">eta</span> <span class="op">=</span> <span class="nam">uv</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="num">1</span><span class="op">]</span> <span class="op">-</span> <span class="nam">v_0</span><span class="strut"> </span></p>
+<p id="t178" class="stm mis"> <span class="nam">rsq</span> <span class="op">=</span> <span class="nam">zeta</span><span class="op">**</span><span class="num">2</span> <span class="op">+</span> <span class="nam">eta</span><span class="op">**</span><span class="num">2</span><span class="strut"> </span></p>
+<p id="t179" class="stm mis"> <span class="key">if</span> <span class="nam">coeff</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">0</span><span class="op">]</span> <span class="op">></span> <span class="num">11</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t180" class="stm mis"> <span class="nam">delta_uv</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span> <span class="op">+=</span> <span class="nam">zeta</span><span class="op">*</span><span class="op">(</span><span class="nam">coeff</span><span class="op">[</span><span class="num">11</span><span class="op">]</span><span class="op">*</span><span class="nam">rsq</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t181" class="stm mis"> <span class="nam">delta_uv</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="num">1</span><span class="op">]</span> <span class="op">+=</span> <span class="nam">eta</span><span class="op">*</span><span class="op">(</span><span class="nam">coeff</span><span class="op">[</span><span class="num">11</span><span class="op">]</span><span class="op">*</span><span class="nam">rsq</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t182" class="stm mis"> <span class="key">if</span> <span class="nam">coeff</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">0</span><span class="op">]</span> <span class="op">></span> <span class="num">13</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t183" class="stm mis"> <span class="nam">delta_uv</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span> <span class="op">+=</span> <span class="nam">zeta</span><span class="op">*</span><span class="op">(</span><span class="nam">coeff</span><span class="op">[</span><span class="num">12</span><span class="op">]</span><span class="op">*</span><span class="op">(</span><span class="nam">rsq</span><span class="op">**</span><span class="num">2</span><span class="op">)</span> <span class="op">+</span> <span class="nam">coeff</span><span class="op">[</span><span class="num">13</span><span class="op">]</span><span class="op">*</span><span class="op">(</span><span class="nam">rsq</span><span class="op">**</span><span class="num">3</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t184" class="stm mis"> <span class="nam">delta_uv</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="num">1</span><span class="op">]</span> <span class="op">+=</span> <span class="nam">eta</span><span class="op">*</span><span class="op">(</span><span class="nam">coeff</span><span class="op">[</span><span class="num">12</span><span class="op">]</span><span class="op">*</span><span class="op">(</span><span class="nam">rsq</span><span class="op">**</span><span class="num">2</span><span class="op">)</span> <span class="op">+</span> <span class="nam">coeff</span><span class="op">[</span><span class="num">13</span><span class="op">]</span><span class="op">*</span><span class="op">(</span><span class="nam">rsq</span><span class="op">**</span><span class="num">3</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t185" class="stm mis"> <span class="key">if</span> <span class="nam">coeff</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">0</span><span class="op">]</span> <span class="op">></span> <span class="num">15</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t186" class="stm mis"> <span class="nam">delta_uv</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span> <span class="op">+=</span> <span class="nam">coeff</span><span class="op">[</span><span class="num">14</span><span class="op">]</span><span class="op">*</span><span class="op">(</span><span class="nam">rsq</span> <span class="op">+</span> <span class="num">2</span><span class="op">*</span><span class="op">(</span><span class="nam">zeta</span><span class="op">**</span><span class="num">2</span><span class="op">)</span><span class="op">)</span> <span class="op">+</span> <span class="nam">coeff</span><span class="op">[</span><span class="num">15</span><span class="op">]</span><span class="op">*</span><span class="nam">eta</span><span class="op">*</span><span class="nam">zeta</span><span class="strut"> </span></p>
+<p id="t187" class="stm mis"> <span class="nam">delta_uv</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="num">1</span><span class="op">]</span> <span class="op">+=</span> <span class="nam">coeff</span><span class="op">[</span><span class="num">15</span><span class="op">]</span><span class="op">*</span><span class="op">(</span><span class="nam">rsq</span> <span class="op">+</span> <span class="num">2</span><span class="op">*</span><span class="op">(</span><span class="nam">eta</span><span class="op">**</span><span class="num">2</span><span class="op">)</span><span class="op">)</span> <span class="op">+</span> <span class="nam">coeff</span><span class="op">[</span><span class="num">14</span><span class="op">]</span><span class="op">*</span><span class="nam">eta</span><span class="op">*</span><span class="nam">zeta</span><span class="strut"> </span></p>
+<p id="t188" class="pln"> <span class="com"># print(eta, zeta, rsq)</span><span class="strut"> </span></p>
+<p id="t189" class="stm mis"> <span class="nam">uv</span> <span class="op">+=</span> <span class="nam">delta_uv</span><span class="strut"> </span></p>
+<p id="t190" class="stm mis"> <span class="key">return</span> <span class="nam">uv</span><span class="strut"> </span></p>
+<p id="t191" class="pln"><span class="strut"> </span></p>
+<p id="t192" class="pln"><span class="strut"> </span></p>
+<p id="t193" class="stm mis"><span class="key">def</span> <span class="nam">_dlt_matrices_calib</span><span class="op">(</span><span class="nam">vframes</span><span class="op">,</span> <span class="nam">vcampts</span><span class="op">,</span> <span class="nam">nparams</span><span class="op">=</span><span class="num">11</span><span class="op">,</span> <span class="nam">l1to11</span><span class="op">=</span><span class="nam">np</span><span class="op">.</span><span class="nam">zeros</span><span class="op">(</span><span class="num">11</span><span class="op">)</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t194" class="pln"> <span class="com"># re arange the frame matrix to facilitate the linear least</span><span class="strut"> </span></p>
+<p id="t195" class="pln"> <span class="com"># sqaures solution</span><span class="strut"> </span></p>
+<p id="t196" class="stm mis"> <span class="key">if</span> <span class="nam">nparams</span> <span class="op"><</span> <span class="num">11</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t197" class="stm mis"> <span class="nam">nparams</span> <span class="op">=</span> <span class="num">11</span><span class="strut"> </span></p>
+<p id="t198" class="stm mis"> <span class="nam">matrix</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">zeros</span><span class="op">(</span><span class="op">(</span><span class="nam">vframes</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">*</span><span class="num">2</span><span class="op">,</span> <span class="num">16</span><span class="op">)</span><span class="op">)</span> <span class="com"># 16 for the dlt</span><span class="strut"> </span></p>
+<p id="t199" class="stm mis"> <span class="nam">u_0</span><span class="op">,</span> <span class="nam">v_0</span> <span class="op">=</span> <span class="nam">dlt_principal_point</span><span class="op">(</span><span class="nam">l1to11</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t200" class="stm mis"> <span class="key">for</span> <span class="nam">num_i</span><span class="op">,</span> <span class="nam">index_i</span> <span class="key">in</span> <span class="nam">enumerate</span><span class="op">(</span><span class="nam">vframes</span><span class="op">.</span><span class="nam">index</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t201" class="pln"> <span class="com"># eta, zeta, Rsq depends on L9to11</span><span class="strut"> </span></p>
+<p id="t202" class="stm mis"> <span class="nam">zeta</span> <span class="op">=</span> <span class="nam">vcampts</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="nam">index_i</span><span class="op">,</span> <span class="str">'u'</span><span class="op">]</span> <span class="op">-</span> <span class="nam">u_0</span> <span class="com"># -u_0 = 0 ??</span><span class="strut"> </span></p>
+<p id="t203" class="stm mis"> <span class="nam">eta</span> <span class="op">=</span> <span class="nam">vcampts</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="nam">index_i</span><span class="op">,</span> <span class="str">'v'</span><span class="op">]</span> <span class="op">-</span> <span class="nam">v_0</span> <span class="com"># -v_0 = 0</span><span class="strut"> </span></p>
+<p id="t204" class="stm mis"> <span class="nam">R</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">sum</span><span class="op">(</span><span class="nam">l1to11</span><span class="op">[</span><span class="op">-</span><span class="num">3</span><span class="op">:</span><span class="op">]</span> <span class="op">*</span> <span class="nam">vframes</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="nam">index_i</span><span class="op">,</span> <span class="op">[</span><span class="str">'x'</span><span class="op">,</span> <span class="str">'y'</span><span class="op">,</span> <span class="str">'z'</span><span class="op">]</span><span class="op">]</span><span class="op">)</span><span class="op">+</span><span class="num">1</span><span class="strut"> </span></p>
+<p id="t205" class="stm mis"> <span class="nam">rsq</span> <span class="op">=</span> <span class="nam">eta</span><span class="op">**</span><span class="num">2</span> <span class="op">+</span> <span class="nam">zeta</span><span class="op">**</span><span class="num">2</span><span class="strut"> </span></p>
+<p id="t206" class="pln"> <span class="com"># populate matrix</span><span class="strut"> </span></p>
+<p id="t207" class="stm mis"> <span class="nam">matrix</span><span class="op">[</span><span class="num">2</span><span class="op">*</span><span class="nam">num_i</span><span class="op">,</span> <span class="num">0</span><span class="op">:</span><span class="num">3</span><span class="op">]</span> <span class="op">=</span> <span class="nam">vframes</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="nam">index_i</span><span class="op">,</span> <span class="op">[</span><span class="str">'x'</span><span class="op">,</span> <span class="str">'y'</span><span class="op">,</span> <span class="str">'z'</span><span class="op">]</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t208" class="stm mis"> <span class="nam">matrix</span><span class="op">[</span><span class="num">2</span><span class="op">*</span><span class="nam">num_i</span><span class="op">+</span><span class="num">1</span><span class="op">,</span> <span class="num">4</span><span class="op">:</span><span class="num">7</span><span class="op">]</span> <span class="op">=</span> <span class="nam">vframes</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="nam">index_i</span><span class="op">,</span> <span class="op">[</span><span class="str">'x'</span><span class="op">,</span> <span class="str">'y'</span><span class="op">,</span> <span class="str">'z'</span><span class="op">]</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t209" class="stm mis"> <span class="nam">matrix</span><span class="op">[</span><span class="num">2</span><span class="op">*</span><span class="nam">num_i</span><span class="op">,</span> <span class="num">3</span><span class="op">]</span> <span class="op">=</span> <span class="num">1</span><span class="strut"> </span></p>
+<p id="t210" class="stm mis"> <span class="nam">matrix</span><span class="op">[</span><span class="num">2</span><span class="op">*</span><span class="nam">num_i</span><span class="op">+</span><span class="num">1</span><span class="op">,</span> <span class="num">7</span><span class="op">]</span> <span class="op">=</span> <span class="num">1</span><span class="strut"> </span></p>
+<p id="t211" class="stm mis"> <span class="nam">matrix</span><span class="op">[</span><span class="num">2</span><span class="op">*</span><span class="nam">num_i</span><span class="op">,</span> <span class="num">8</span><span class="op">:</span><span class="num">11</span><span class="op">]</span> <span class="op">=</span> <span class="nam">vframes</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="nam">index_i</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t212" class="pln"> <span class="op">[</span><span class="str">'x'</span><span class="op">,</span> <span class="str">'y'</span><span class="op">,</span> <span class="str">'z'</span><span class="op">]</span><span class="op">]</span><span class="op">*</span><span class="op">(</span><span class="op">-</span><span class="nam">vcampts</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="nam">index_i</span><span class="op">,</span> <span class="str">'u'</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t213" class="stm mis"> <span class="nam">matrix</span><span class="op">[</span><span class="num">2</span><span class="op">*</span><span class="nam">num_i</span><span class="op">+</span><span class="num">1</span><span class="op">,</span> <span class="num">8</span><span class="op">:</span> <span class="num">11</span><span class="op">]</span> <span class="op">=</span> <span class="nam">vframes</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="nam">index_i</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t214" class="pln"> <span class="op">[</span><span class="str">'x'</span><span class="op">,</span> <span class="str">'y'</span><span class="op">,</span> <span class="str">'z'</span><span class="op">]</span><span class="op">]</span><span class="op">*</span><span class="op">(</span><span class="op">-</span><span class="nam">vcampts</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="nam">index_i</span><span class="op">,</span> <span class="str">'v'</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t215" class="pln"> <span class="com"># 12th parameter</span><span class="strut"> </span></p>
+<p id="t216" class="stm mis"> <span class="nam">matrix</span><span class="op">[</span><span class="num">2</span><span class="op">*</span><span class="nam">num_i</span><span class="op">,</span> <span class="num">11</span><span class="op">]</span> <span class="op">=</span> <span class="nam">zeta</span><span class="op">*</span><span class="nam">rsq</span><span class="op">*</span><span class="nam">R</span><span class="strut"> </span></p>
+<p id="t217" class="stm mis"> <span class="nam">matrix</span><span class="op">[</span><span class="num">2</span><span class="op">*</span><span class="nam">num_i</span><span class="op">+</span><span class="num">1</span><span class="op">,</span> <span class="num">11</span><span class="op">]</span> <span class="op">=</span> <span class="nam">eta</span><span class="op">*</span><span class="nam">rsq</span><span class="op">*</span><span class="nam">R</span><span class="strut"> </span></p>
+<p id="t218" class="pln"> <span class="com"># 13th and 14th parameters</span><span class="strut"> </span></p>
+<p id="t219" class="stm mis"> <span class="nam">matrix</span><span class="op">[</span><span class="num">2</span><span class="op">*</span><span class="nam">num_i</span><span class="op">,</span> <span class="num">12</span><span class="op">]</span> <span class="op">=</span> <span class="nam">zeta</span><span class="op">*</span><span class="op">(</span><span class="nam">rsq</span><span class="op">**</span><span class="num">2</span><span class="op">)</span><span class="op">*</span><span class="nam">R</span><span class="strut"> </span></p>
+<p id="t220" class="stm mis"> <span class="nam">matrix</span><span class="op">[</span><span class="num">2</span><span class="op">*</span><span class="nam">num_i</span><span class="op">+</span><span class="num">1</span><span class="op">,</span> <span class="num">12</span><span class="op">]</span> <span class="op">=</span> <span class="nam">eta</span><span class="op">*</span><span class="op">(</span><span class="nam">rsq</span><span class="op">**</span><span class="num">2</span><span class="op">)</span><span class="op">*</span><span class="nam">R</span><span class="strut"> </span></p>
+<p id="t221" class="stm mis"> <span class="nam">matrix</span><span class="op">[</span><span class="num">2</span><span class="op">*</span><span class="nam">num_i</span><span class="op">,</span> <span class="num">13</span><span class="op">]</span> <span class="op">=</span> <span class="nam">zeta</span><span class="op">*</span><span class="op">(</span><span class="nam">rsq</span><span class="op">**</span><span class="num">3</span><span class="op">)</span><span class="op">*</span><span class="nam">R</span><span class="strut"> </span></p>
+<p id="t222" class="stm mis"> <span class="nam">matrix</span><span class="op">[</span><span class="num">2</span><span class="op">*</span><span class="nam">num_i</span><span class="op">+</span><span class="num">1</span><span class="op">,</span> <span class="num">13</span><span class="op">]</span> <span class="op">=</span> <span class="nam">eta</span><span class="op">*</span><span class="op">(</span><span class="nam">rsq</span><span class="op">**</span><span class="num">3</span><span class="op">)</span><span class="op">*</span><span class="nam">R</span><span class="strut"> </span></p>
+<p id="t223" class="pln"> <span class="com"># 15th and 16th parameters</span><span class="strut"> </span></p>
+<p id="t224" class="stm mis"> <span class="nam">matrix</span><span class="op">[</span><span class="num">2</span><span class="op">*</span><span class="nam">num_i</span><span class="op">,</span> <span class="num">12</span><span class="op">]</span> <span class="op">=</span> <span class="op">(</span><span class="nam">rsq</span> <span class="op">+</span> <span class="num">2</span><span class="op">*</span><span class="op">(</span><span class="nam">zeta</span><span class="op">**</span><span class="num">2</span><span class="op">)</span><span class="op">)</span><span class="op">*</span><span class="nam">R</span><span class="strut"> </span></p>
+<p id="t225" class="stm mis"> <span class="nam">matrix</span><span class="op">[</span><span class="num">2</span><span class="op">*</span><span class="nam">num_i</span><span class="op">+</span><span class="num">1</span><span class="op">,</span> <span class="num">12</span><span class="op">]</span> <span class="op">=</span> <span class="nam">eta</span><span class="op">*</span><span class="nam">zeta</span><span class="op">*</span><span class="nam">R</span><span class="strut"> </span></p>
+<p id="t226" class="stm mis"> <span class="nam">matrix</span><span class="op">[</span><span class="num">2</span><span class="op">*</span><span class="nam">num_i</span><span class="op">,</span> <span class="num">13</span><span class="op">]</span> <span class="op">=</span> <span class="nam">eta</span><span class="op">*</span><span class="nam">zeta</span><span class="op">*</span><span class="nam">R</span><span class="strut"> </span></p>
+<p id="t227" class="stm mis"> <span class="nam">matrix</span><span class="op">[</span><span class="num">2</span><span class="op">*</span><span class="nam">num_i</span><span class="op">+</span><span class="num">1</span><span class="op">,</span> <span class="num">13</span><span class="op">]</span> <span class="op">=</span> <span class="op">(</span><span class="nam">rsq</span> <span class="op">+</span> <span class="num">2</span><span class="op">*</span><span class="op">(</span><span class="nam">eta</span><span class="op">**</span><span class="num">2</span><span class="op">)</span><span class="op">)</span><span class="op">*</span><span class="nam">R</span><span class="strut"> </span></p>
+<p id="t228" class="pln"><span class="strut"> </span></p>
+<p id="t229" class="stm mis"> <span class="nam">matrix</span><span class="op">[</span><span class="num">2</span><span class="op">*</span><span class="nam">num_i</span><span class="op">,</span> <span class="op">:</span><span class="op">]</span> <span class="op">/=</span> <span class="nam">R</span><span class="strut"> </span></p>
+<p id="t230" class="stm mis"> <span class="nam">matrix</span><span class="op">[</span><span class="num">2</span><span class="op">*</span><span class="nam">num_i</span><span class="op">+</span><span class="num">1</span><span class="op">,</span> <span class="op">:</span><span class="op">]</span> <span class="op">/=</span> <span class="nam">R</span><span class="strut"> </span></p>
+<p id="t231" class="stm mis"> <span class="key">return</span> <span class="nam">matrix</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="op">:</span> <span class="nam">nparams</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t232" class="pln"><span class="strut"> </span></p>
+<p id="t233" class="pln"><span class="strut"> </span></p>
+<p id="t234" class="stm mis"><span class="key">def</span> <span class="nam">dlt_compute_coeffs</span><span class="op">(</span><span class="nam">frames</span><span class="op">,</span> <span class="nam">campts</span><span class="op">,</span> <span class="nam">nparams</span><span class="op">=</span><span class="num">11</span><span class="op">,</span> <span class="nam">niter</span><span class="op">=</span><span class="num">100</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t235" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t236" class="pln"><span class="str"> A basic implementation of 11 parameters DLT</span><span class="strut"> </span></p>
+<p id="t237" class="pln"><span class="strut"> </span></p>
+<p id="t238" class="pln"><span class="str"> : param frames: an array of x, y, z calibration point coordinates</span><span class="strut"> </span></p>
+<p id="t239" class="pln"><span class="str"> : param campts: an array of u, v pixel coordinates from the camera</span><span class="strut"> </span></p>
+<p id="t240" class="pln"><span class="str"> : returns: dlt coefficients and root mean square error</span><span class="strut"> </span></p>
+<p id="t241" class="pln"><span class="strut"> </span></p>
+<p id="t242" class="pln"><span class="str"> Notes: frame and camera points must have the same number of rows and at \</span><span class="strut"> </span></p>
+<p id="t243" class="pln"><span class="str">least contains six rows. Also the frame points must not all lie within a \</span><span class="strut"> </span></p>
+<p id="t244" class="pln"><span class="str">single plane.</span><span class="strut"> </span></p>
+<p id="t245" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t246" class="pln"><span class="strut"> </span></p>
+<p id="t247" class="pln"> <span class="com"># remove NaNs</span><span class="strut"> </span></p>
+<p id="t248" class="stm mis"> <span class="nam">valid_idx</span> <span class="op">=</span> <span class="nam">frames</span><span class="op">.</span><span class="nam">dropna</span><span class="op">(</span><span class="nam">how</span><span class="op">=</span><span class="str">'any'</span><span class="op">)</span><span class="op">.</span><span class="nam">index</span><span class="strut"> </span></p>
+<p id="t249" class="stm mis"> <span class="nam">valid_idx</span> <span class="op">=</span> <span class="nam">campts</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="nam">valid_idx</span><span class="op">,</span> <span class="op">:</span><span class="op">]</span><span class="op">.</span><span class="nam">dropna</span><span class="op">(</span><span class="nam">how</span><span class="op">=</span><span class="str">'any'</span><span class="op">)</span><span class="op">.</span><span class="nam">index</span><span class="strut"> </span></p>
+<p id="t250" class="pln"> <span class="com"># valid df</span><span class="strut"> </span></p>
+<p id="t251" class="stm mis"> <span class="nam">vframes</span> <span class="op">=</span> <span class="nam">frames</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="nam">valid_idx</span><span class="op">,</span> <span class="op">:</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t252" class="stm mis"> <span class="nam">vcampts</span> <span class="op">=</span> <span class="nam">campts</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="nam">valid_idx</span><span class="op">,</span> <span class="op">:</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t253" class="pln"> <span class="com"># Get the matrices for calib</span><span class="strut"> </span></p>
+<p id="t254" class="stm mis"> <span class="nam">matrix</span> <span class="op">=</span> <span class="nam">_dlt_matrices_calib</span><span class="op">(</span><span class="nam">vframes</span><span class="op">,</span> <span class="nam">vcampts</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t255" class="stm mis"> <span class="nam">vcampts_f</span> <span class="op">=</span> <span class="nam">vcampts</span><span class="op">.</span><span class="nam">values</span><span class="op">.</span><span class="nam">flatten</span><span class="op">(</span><span class="op">)</span> <span class="com"># [u_1, v_1, ... u_n, v_n]</span><span class="strut"> </span></p>
+<p id="t256" class="pln"> <span class="com"># get the linear solution the 11 parameters</span><span class="strut"> </span></p>
+<p id="t257" class="stm mis"> <span class="nam">coeff</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">linalg</span><span class="op">.</span><span class="nam">lstsq</span><span class="op">(</span><span class="nam">matrix</span><span class="op">,</span> <span class="nam">vcampts_f</span><span class="op">,</span> <span class="nam">rcond</span><span class="op">=</span><span class="key">None</span><span class="op">)</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t258" class="pln"> <span class="com"># compute the position of the frame in u,v coordinates given the linear</span><span class="strut"> </span></p>
+<p id="t259" class="pln"> <span class="com"># solution from the previous line</span><span class="strut"> </span></p>
+<p id="t260" class="stm mis"> <span class="nam">matrix_uv</span> <span class="op">=</span> <span class="nam">dlt_inverse</span><span class="op">(</span><span class="nam">coeff</span><span class="op">,</span> <span class="nam">vframes</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t261" class="pln"> <span class="com"># compute the rmse between the ideal frame u,v and the</span><span class="strut"> </span></p>
+<p id="t262" class="pln"> <span class="com"># recorded frame u,v</span><span class="strut"> </span></p>
+<p id="t263" class="stm mis"> <span class="nam">rmse</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">sqrt</span><span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">mean</span><span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">sum</span><span class="op">(</span><span class="op">(</span><span class="nam">matrix_uv</span><span class="op">-</span><span class="nam">vcampts</span><span class="op">)</span><span class="op">**</span><span class="num">2</span><span class="op">)</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t264" class="stm mis"> <span class="key">if</span> <span class="nam">nparams</span> <span class="op">==</span> <span class="num">11</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t265" class="stm mis"> <span class="key">return</span> <span class="nam">coeff</span><span class="op">,</span> <span class="nam">rmse</span><span class="strut"> </span></p>
+<p id="t266" class="pln"> <span class="com"># Now we can try to guess the other coefficients</span><span class="strut"> </span></p>
+<p id="t267" class="stm mis"> <span class="key">if</span> <span class="nam">nparams</span> <span class="key">in</span> <span class="op">[</span><span class="num">12</span><span class="op">,</span> <span class="num">14</span><span class="op">,</span> <span class="num">16</span><span class="op">]</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t268" class="stm mis"> <span class="key">for</span> <span class="nam">_</span> <span class="key">in</span> <span class="nam">range</span><span class="op">(</span><span class="nam">niter</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t269" class="pln"> <span class="com"># 9th to 11th parameters are index 8 to 10 (0 being the 1st param)</span><span class="strut"> </span></p>
+<p id="t270" class="stm mis"> <span class="nam">l1to11</span> <span class="op">=</span> <span class="nam">coeff</span><span class="op">[</span><span class="op">:</span> <span class="num">11</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t271" class="pln"> <span class="com"># Get the matrices for calib</span><span class="strut"> </span></p>
+<p id="t272" class="stm mis"> <span class="nam">matrix</span> <span class="op">=</span> <span class="nam">_dlt_matrices_calib</span><span class="op">(</span><span class="nam">vframes</span><span class="op">,</span> <span class="nam">vcampts</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t273" class="pln"> <span class="nam">nparams</span><span class="op">=</span><span class="nam">nparams</span><span class="op">,</span> <span class="nam">l1to11</span><span class="op">=</span><span class="nam">l1to11</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t274" class="stm mis"> <span class="nam">vcampts_normed</span> <span class="op">=</span> <span class="nam">vcampts_f</span><span class="op">.</span><span class="nam">copy</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t275" class="stm mis"> <span class="key">for</span> <span class="nam">num_i</span><span class="op">,</span> <span class="nam">index_i</span> <span class="key">in</span> <span class="nam">enumerate</span><span class="op">(</span><span class="nam">vframes</span><span class="op">.</span><span class="nam">index</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t276" class="stm mis"> <span class="nam">normalisation</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">sum</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t277" class="pln"> <span class="nam">l1to11</span><span class="op">[</span><span class="op">-</span><span class="num">3</span><span class="op">:</span><span class="op">]</span> <span class="op">*</span> <span class="nam">vframes</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="nam">index_i</span><span class="op">,</span> <span class="op">[</span><span class="str">'x'</span><span class="op">,</span> <span class="str">'y'</span><span class="op">,</span> <span class="str">'z'</span><span class="op">]</span><span class="op">]</span><span class="op">)</span><span class="op">+</span><span class="num">1</span><span class="strut"> </span></p>
+<p id="t278" class="stm mis"> <span class="nam">vcampts_normed</span><span class="op">[</span><span class="num">2</span><span class="op">*</span><span class="nam">num_i</span><span class="op">]</span> <span class="op">/=</span> <span class="nam">normalisation</span><span class="strut"> </span></p>
+<p id="t279" class="stm mis"> <span class="nam">vcampts_normed</span><span class="op">[</span><span class="num">2</span><span class="op">*</span><span class="nam">num_i</span> <span class="op">+</span> <span class="num">1</span><span class="op">]</span> <span class="op">/=</span> <span class="nam">normalisation</span><span class="strut"> </span></p>
+<p id="t280" class="stm mis"> <span class="nam">coeff</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">linalg</span><span class="op">.</span><span class="nam">lstsq</span><span class="op">(</span><span class="nam">matrix</span><span class="op">,</span> <span class="nam">vcampts_normed</span><span class="op">,</span> <span class="nam">rcond</span><span class="op">=</span><span class="key">None</span><span class="op">)</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t281" class="stm mis"> <span class="nam">print</span><span class="op">(</span><span class="nam">coeff</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t282" class="pln"> <span class="com"># compute the position of the frame in u,v coordinates given the linear</span><span class="strut"> </span></p>
+<p id="t283" class="pln"> <span class="com"># solution from the previous line</span><span class="strut"> </span></p>
+<p id="t284" class="stm mis"> <span class="nam">matrix_uv</span> <span class="op">=</span> <span class="nam">dlt_inverse</span><span class="op">(</span><span class="nam">coeff</span><span class="op">,</span> <span class="nam">vframes</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t285" class="pln"> <span class="com"># compute the rmse between the ideal frame u,v and the</span><span class="strut"> </span></p>
+<p id="t286" class="pln"> <span class="com"># recorded frame u,v</span><span class="strut"> </span></p>
+<p id="t287" class="stm mis"> <span class="nam">rmse</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">sqrt</span><span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">mean</span><span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">sum</span><span class="op">(</span><span class="op">(</span><span class="nam">matrix_uv</span><span class="op">-</span><span class="nam">vcampts</span><span class="op">)</span><span class="op">**</span><span class="num">2</span><span class="op">)</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t288" class="stm mis"> <span class="key">return</span> <span class="nam">coeff</span><span class="op">,</span> <span class="nam">rmse</span><span class="strut"> </span></p>
+<p id="t289" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t290" class="stm mis"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="str">'nparams can be either [11,12,14,16]'</span><span class="op">)</span><span class="strut"> </span></p>
+
+ </td>
+ </tr>
+ </table>
+</div>
+
+<div id="footer">
+ <div class="content">
+ <p>
+ <a class="nav" href="index.html">« index</a> <a class="nav" href="https://coverage.readthedocs.io">coverage.py v4.5.2</a>,
+ created at 2019-01-13 14:34
+ </p>
+ </div>
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+
+</body>
+</html>
diff --git a/coverage_html_report/navipy_arenatools_patterns_py.html b/coverage_html_report/navipy_arenatools_patterns_py.html
new file mode 100644
index 0000000000000000000000000000000000000000..8d67c37dede8e826352a12744f8f89b2101c78d4
--- /dev/null
+++ b/coverage_html_report/navipy_arenatools_patterns_py.html
@@ -0,0 +1,285 @@
+
+
+
+<!DOCTYPE html>
+<html>
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+ <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
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+ <h2 class="stats">
+ 34 statements
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+<p id="n27" class="pln"><a href="#n27">27</a></p>
+<p id="n28" class="pln"><a href="#n28">28</a></p>
+<p id="n29" class="stm mis"><a href="#n29">29</a></p>
+<p id="n30" class="stm mis"><a href="#n30">30</a></p>
+<p id="n31" class="pln"><a href="#n31">31</a></p>
+<p id="n32" class="stm mis"><a href="#n32">32</a></p>
+<p id="n33" class="pln"><a href="#n33">33</a></p>
+<p id="n34" class="pln"><a href="#n34">34</a></p>
+<p id="n35" class="stm mis"><a href="#n35">35</a></p>
+<p id="n36" class="pln"><a href="#n36">36</a></p>
+<p id="n37" class="stm mis"><a href="#n37">37</a></p>
+<p id="n38" class="stm mis"><a href="#n38">38</a></p>
+<p id="n39" class="pln"><a href="#n39">39</a></p>
+<p id="n40" class="pln"><a href="#n40">40</a></p>
+<p id="n41" class="stm mis"><a href="#n41">41</a></p>
+<p id="n42" class="stm mis"><a href="#n42">42</a></p>
+<p id="n43" class="pln"><a href="#n43">43</a></p>
+<p id="n44" class="stm mis"><a href="#n44">44</a></p>
+<p id="n45" class="stm mis"><a href="#n45">45</a></p>
+<p id="n46" class="pln"><a href="#n46">46</a></p>
+<p id="n47" class="pln"><a href="#n47">47</a></p>
+<p id="n48" class="stm mis"><a href="#n48">48</a></p>
+<p id="n49" class="pln"><a href="#n49">49</a></p>
+<p id="n50" class="pln"><a href="#n50">50</a></p>
+<p id="n51" class="stm mis"><a href="#n51">51</a></p>
+<p id="n52" class="stm mis"><a href="#n52">52</a></p>
+<p id="n53" class="stm mis"><a href="#n53">53</a></p>
+<p id="n54" class="pln"><a href="#n54">54</a></p>
+<p id="n55" class="pln"><a href="#n55">55</a></p>
+<p id="n56" class="stm mis"><a href="#n56">56</a></p>
+<p id="n57" class="pln"><a href="#n57">57</a></p>
+<p id="n58" class="pln"><a href="#n58">58</a></p>
+<p id="n59" class="pln"><a href="#n59">59</a></p>
+<p id="n60" class="pln"><a href="#n60">60</a></p>
+<p id="n61" class="pln"><a href="#n61">61</a></p>
+<p id="n62" class="pln"><a href="#n62">62</a></p>
+<p id="n63" class="pln"><a href="#n63">63</a></p>
+<p id="n64" class="pln"><a href="#n64">64</a></p>
+<p id="n65" class="stm mis"><a href="#n65">65</a></p>
+<p id="n66" class="stm mis"><a href="#n66">66</a></p>
+<p id="n67" class="stm mis"><a href="#n67">67</a></p>
+<p id="n68" class="stm mis"><a href="#n68">68</a></p>
+<p id="n69" class="stm mis"><a href="#n69">69</a></p>
+<p id="n70" class="stm mis"><a href="#n70">70</a></p>
+<p id="n71" class="stm mis"><a href="#n71">71</a></p>
+<p id="n72" class="pln"><a href="#n72">72</a></p>
+<p id="n73" class="pln"><a href="#n73">73</a></p>
+<p id="n74" class="stm mis"><a href="#n74">74</a></p>
+<p id="n75" class="pln"><a href="#n75">75</a></p>
+<p id="n76" class="pln"><a href="#n76">76</a></p>
+<p id="n77" class="pln"><a href="#n77">77</a></p>
+<p id="n78" class="pln"><a href="#n78">78</a></p>
+<p id="n79" class="stm mis"><a href="#n79">79</a></p>
+<p id="n80" class="stm mis"><a href="#n80">80</a></p>
+<p id="n81" class="stm mis"><a href="#n81">81</a></p>
+<p id="n82" class="stm mis"><a href="#n82">82</a></p>
+<p id="n83" class="stm mis"><a href="#n83">83</a></p>
+<p id="n84" class="pln"><a href="#n84">84</a></p>
+<p id="n85" class="pln"><a href="#n85">85</a></p>
+<p id="n86" class="stm mis"><a href="#n86">86</a></p>
+<p id="n87" class="pln"><a href="#n87">87</a></p>
+<p id="n88" class="pln"><a href="#n88">88</a></p>
+<p id="n89" class="pln"><a href="#n89">89</a></p>
+<p id="n90" class="pln"><a href="#n90">90</a></p>
+<p id="n91" class="pln"><a href="#n91">91</a></p>
+<p id="n92" class="pln"><a href="#n92">92</a></p>
+<p id="n93" class="pln"><a href="#n93">93</a></p>
+<p id="n94" class="pln"><a href="#n94">94</a></p>
+<p id="n95" class="pln"><a href="#n95">95</a></p>
+<p id="n96" class="stm mis"><a href="#n96">96</a></p>
+<p id="n97" class="stm mis"><a href="#n97">97</a></p>
+<p id="n98" class="stm mis"><a href="#n98">98</a></p>
+
+ </td>
+ <td class="text">
+<p id="t1" class="pln"><span class="str">"""</span><span class="strut"> </span></p>
+<p id="t2" class="pln"><span class="str">Tools to generate patterns</span><span class="strut"> </span></p>
+<p id="t3" class="pln"><span class="str">"""</span><span class="strut"> </span></p>
+<p id="t4" class="stm mis"><span class="key">import</span> <span class="nam">numpy</span> <span class="key">as</span> <span class="nam">np</span><span class="strut"> </span></p>
+<p id="t5" class="pln"><span class="strut"> </span></p>
+<p id="t6" class="pln"><span class="strut"> </span></p>
+<p id="t7" class="stm mis"><span class="key">def</span> <span class="nam">generate_1overf_noise</span><span class="op">(</span><span class="nam">img_size</span><span class="op">,</span> <span class="nam">beta</span><span class="op">,</span> <span class="nam">noise</span><span class="op">=</span><span class="key">None</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t8" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t9" class="pln"><span class="str"> Generates the discrete fourier transformation of noise and weights it with weights<0.</span><span class="strut"> </span></p>
+<p id="t10" class="pln"><span class="str"> Where the smallest weights are in the middle columns of the returned noise array and the biggest in the outer columns.</span><span class="strut"> </span></p>
+<p id="t11" class="pln"><span class="str"> First generates the noise and applies the following formula:</span><span class="strut"> </span></p>
+<p id="t12" class="pln"><span class="strut"> </span></p>
+<p id="t13" class="pln"><span class="str"> .. math::</span><span class="strut"> </span></p>
+<p id="t14" class="pln"><span class="strut"> </span></p>
+<p id="t15" class="pln"><span class="str"> DFT(\\frac{1}{f^{\\beta}} * DFT(noise))</span><span class="strut"> </span></p>
+<p id="t16" class="pln"><span class="strut"> </span></p>
+<p id="t17" class="pln"><span class="str"> The noise must be a 2d array.</span><span class="strut"> </span></p>
+<p id="t18" class="pln"><span class="strut"> </span></p>
+<p id="t19" class="pln"><span class="str"> :params img_size: size of the output noise dimensions \</span><span class="strut"> </span></p>
+<p id="t20" class="pln"><span class="str">(array dimension e.g. (4,4))</span><span class="strut"> </span></p>
+<p id="t21" class="pln"><span class="str"> :params beta: used to calculate the weights of the noise, \</span><span class="strut"> </span></p>
+<p id="t22" class="pln"><span class="str">the bigger beta the smaller the weights, can have an arbitrary value \</span><span class="strut"> </span></p>
+<p id="t23" class="pln"><span class="str">(weights are always between 0 and 1)</span><span class="strut"> </span></p>
+<p id="t24" class="pln"><span class="str"> :params noise: array with same size as img_size, that is used as \</span><span class="strut"> </span></p>
+<p id="t25" class="pln"><span class="str">the noise (default: random generated noise)</span><span class="strut"> </span></p>
+<p id="t26" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t27" class="pln"> <span class="com"># Calculate image size -> next biggest power of two,</span><span class="strut"> </span></p>
+<p id="t28" class="pln"> <span class="com"># in which the image fits (s>=max(img_size))</span><span class="strut"> </span></p>
+<p id="t29" class="stm mis"> <span class="nam">s</span> <span class="op">=</span> <span class="num">2</span><span class="op">**</span><span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">ceil</span><span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">log2</span><span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">max</span><span class="op">(</span><span class="nam">img_size</span><span class="op">)</span><span class="op">)</span><span class="op">)</span><span class="op">)</span><span class="op">.</span><span class="nam">astype</span><span class="op">(</span><span class="nam">int</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t30" class="stm mis"> <span class="key">if</span> <span class="nam">noise</span> <span class="key">is</span> <span class="key">None</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t31" class="pln"> <span class="com"># generate white noise</span><span class="strut"> </span></p>
+<p id="t32" class="stm mis"> <span class="nam">noise</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">random</span><span class="op">.</span><span class="nam">randn</span><span class="op">(</span><span class="nam">s</span><span class="op">,</span> <span class="nam">s</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t33" class="pln"><span class="strut"> </span></p>
+<p id="t34" class="pln"> <span class="com"># calculate filter</span><span class="strut"> </span></p>
+<p id="t35" class="stm mis"> <span class="nam">fx</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">arange</span><span class="op">(</span><span class="nam">s</span><span class="op">/</span><span class="num">2</span><span class="op">)</span><span class="op">+</span><span class="num">1</span><span class="strut"> </span></p>
+<p id="t36" class="pln"> <span class="com"># index from 0-s/2,s/2-0 -> middle highest index</span><span class="strut"> </span></p>
+<p id="t37" class="stm mis"> <span class="nam">fx</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">hstack</span><span class="op">(</span><span class="op">[</span><span class="nam">fx</span><span class="op">,</span> <span class="nam">fx</span><span class="op">[</span><span class="op">-</span><span class="num">1</span><span class="op">:</span><span class="op">:</span><span class="op">-</span><span class="num">1</span><span class="op">]</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t38" class="stm mis"> <span class="nam">fx</span> <span class="op">=</span> <span class="nam">fx</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="nam">np</span><span class="op">.</span><span class="nam">newaxis</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t39" class="pln"> <span class="com"># copy first row s times -> fx=[[0..0],[1..],..,[s/2,..s/2],..[0..0]</span><span class="strut"> </span></p>
+<p id="t40" class="pln"> <span class="com"># fx is a symmetric matrix</span><span class="strut"> </span></p>
+<p id="t41" class="stm mis"> <span class="nam">fx</span> <span class="op">=</span> <span class="nam">fx</span><span class="op">.</span><span class="nam">repeat</span><span class="op">(</span><span class="nam">s</span><span class="op">,</span> <span class="nam">axis</span><span class="op">=</span><span class="num">1</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t42" class="stm mis"> <span class="nam">fy</span> <span class="op">=</span> <span class="nam">fx</span><span class="op">.</span><span class="nam">transpose</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t43" class="pln"><span class="strut"> </span></p>
+<p id="t44" class="stm mis"> <span class="nam">f</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">sqrt</span><span class="op">(</span><span class="nam">fx</span><span class="op">**</span><span class="num">2</span> <span class="op">+</span> <span class="nam">fy</span><span class="op">**</span><span class="num">2</span><span class="op">)</span> <span class="com"># Euclidian norm</span><span class="strut"> </span></p>
+<p id="t45" class="stm mis"> <span class="nam">f</span> <span class="op">=</span> <span class="nam">f</span><span class="op">**</span><span class="op">(</span><span class="op">-</span><span class="nam">beta</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t46" class="pln"> <span class="com"># apply filter in frequency domain</span><span class="strut"> </span></p>
+<p id="t47" class="pln"> <span class="com"># calculate disrete furier transformations</span><span class="strut"> </span></p>
+<p id="t48" class="stm mis"> <span class="nam">fnoise</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">fft</span><span class="op">.</span><span class="nam">ifft2</span><span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">fft</span><span class="op">.</span><span class="nam">fft2</span><span class="op">(</span><span class="nam">noise</span><span class="op">)</span><span class="op">*</span><span class="nam">f</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t49" class="pln"><span class="strut"> </span></p>
+<p id="t50" class="pln"> <span class="com"># trim to image size</span><span class="strut"> </span></p>
+<p id="t51" class="stm mis"> <span class="nam">fnoise</span> <span class="op">=</span> <span class="nam">fnoise</span><span class="op">[</span><span class="op">:</span><span class="nam">img_size</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">,</span> <span class="op">:</span><span class="nam">img_size</span><span class="op">[</span><span class="num">1</span><span class="op">]</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t52" class="stm mis"> <span class="nam">fnoise</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">real</span><span class="op">(</span><span class="nam">fnoise</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t53" class="stm mis"> <span class="key">return</span> <span class="nam">fnoise</span><span class="strut"> </span></p>
+<p id="t54" class="pln"><span class="strut"> </span></p>
+<p id="t55" class="pln"><span class="strut"> </span></p>
+<p id="t56" class="stm mis"><span class="key">def</span> <span class="nam">gray2red</span><span class="op">(</span><span class="nam">img</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t57" class="pln"> <span class="str">""" convert a gray image to a red image (black -> red)</span><span class="strut"> </span></p>
+<p id="t58" class="pln"><span class="strut"> </span></p>
+<p id="t59" class="pln"><span class="str"> Many bees and flies are not sensitive to red light, and</span><span class="strut"> </span></p>
+<p id="t60" class="pln"><span class="str"> can be better observed on red background than on a black one</span><span class="strut"> </span></p>
+<p id="t61" class="pln"><span class="str"> due to their dark colour.</span><span class="strut"> </span></p>
+<p id="t62" class="pln"><span class="strut"> </span></p>
+<p id="t63" class="pln"><span class="str"> :params img: Gray image to be converted into red-white one</span><span class="strut"> </span></p>
+<p id="t64" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t65" class="stm mis"> <span class="nam">img</span> <span class="op">=</span> <span class="nam">img</span><span class="op">[</span><span class="op">...</span><span class="op">,</span> <span class="nam">np</span><span class="op">.</span><span class="nam">newaxis</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t66" class="stm mis"> <span class="nam">img</span> <span class="op">=</span> <span class="nam">img</span><span class="op">.</span><span class="nam">repeat</span><span class="op">(</span><span class="num">3</span><span class="op">,</span> <span class="nam">axis</span><span class="op">=</span><span class="num">2</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t67" class="stm mis"> <span class="nam">maxval</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">max</span><span class="op">(</span><span class="nam">img</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t68" class="stm mis"> <span class="nam">img</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="op">:</span><span class="op">,</span> <span class="num">1</span><span class="op">]</span> <span class="op">=</span> <span class="nam">maxval</span><span class="op">-</span><span class="nam">img</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="op">:</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t69" class="stm mis"> <span class="nam">img</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="op">:</span><span class="op">,</span> <span class="num">2</span><span class="op">]</span> <span class="op">=</span> <span class="nam">maxval</span><span class="op">-</span><span class="nam">img</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="op">:</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t70" class="stm mis"> <span class="nam">img</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="op">:</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span> <span class="op">=</span> <span class="nam">maxval</span><span class="strut"> </span></p>
+<p id="t71" class="stm mis"> <span class="key">return</span> <span class="nam">img</span><span class="strut"> </span></p>
+<p id="t72" class="pln"><span class="strut"> </span></p>
+<p id="t73" class="pln"><span class="strut"> </span></p>
+<p id="t74" class="stm mis"><span class="key">def</span> <span class="nam">norm_img</span><span class="op">(</span><span class="nam">img</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t75" class="pln"> <span class="str">""" Normalise an 8bit image between 0 and 255</span><span class="strut"> </span></p>
+<p id="t76" class="pln"><span class="strut"> </span></p>
+<p id="t77" class="pln"><span class="str"> :params img: Image to be normalised</span><span class="strut"> </span></p>
+<p id="t78" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t79" class="stm mis"> <span class="nam">img</span> <span class="op">=</span> <span class="nam">img</span><span class="op">.</span><span class="nam">astype</span><span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">float</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t80" class="stm mis"> <span class="nam">img</span> <span class="op">-=</span> <span class="nam">img</span><span class="op">.</span><span class="nam">min</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t81" class="stm mis"> <span class="nam">img</span> <span class="op">/=</span> <span class="nam">img</span><span class="op">.</span><span class="nam">max</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t82" class="stm mis"> <span class="nam">img</span> <span class="op">*=</span> <span class="num">255</span><span class="strut"> </span></p>
+<p id="t83" class="stm mis"> <span class="key">return</span> <span class="nam">img</span><span class="op">.</span><span class="nam">astype</span><span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">uint8</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t84" class="pln"><span class="strut"> </span></p>
+<p id="t85" class="pln"><span class="strut"> </span></p>
+<p id="t86" class="stm mis"><span class="key">def</span> <span class="nam">rectangular_pattern</span><span class="op">(</span><span class="nam">width</span><span class="op">,</span> <span class="nam">length</span><span class="op">,</span> <span class="nam">beta</span><span class="op">=</span><span class="num">1.4</span><span class="op">,</span> <span class="nam">pixel_per_mm</span><span class="op">=</span><span class="num">1</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t87" class="pln"> <span class="str">"""generate a rectangular pattern</span><span class="strut"> </span></p>
+<p id="t88" class="pln"><span class="strut"> </span></p>
+<p id="t89" class="pln"><span class="str"> :param width: width of the pattern in mm</span><span class="strut"> </span></p>
+<p id="t90" class="pln"><span class="str"> :param length: length of the pattern in mm</span><span class="strut"> </span></p>
+<p id="t91" class="pln"><span class="str"> :param beta: beta coef for generating a 1/(f^beta) pattern</span><span class="strut"> </span></p>
+<p id="t92" class="pln"><span class="str"> :param pixel_per_mm: number of pixel per mm</span><span class="strut"> </span></p>
+<p id="t93" class="pln"><span class="str"> :returns: a rectangular random image</span><span class="strut"> </span></p>
+<p id="t94" class="pln"><span class="str"> :rtype: np.ndarray</span><span class="strut"> </span></p>
+<p id="t95" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t96" class="stm mis"> <span class="nam">corridor</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">array</span><span class="op">(</span><span class="op">[</span><span class="nam">width</span><span class="op">,</span> <span class="nam">length</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t97" class="stm mis"> <span class="nam">corridor_px</span> <span class="op">=</span> <span class="nam">corridor</span><span class="op">*</span><span class="nam">pixel_per_mm</span> <span class="com"># in px</span><span class="strut"> </span></p>
+<p id="t98" class="stm mis"> <span class="key">return</span> <span class="nam">generate_1overf_noise</span><span class="op">(</span><span class="nam">corridor_px</span><span class="op">,</span> <span class="nam">beta</span><span class="op">)</span><span class="strut"> </span></p>
+
+ </td>
+ </tr>
+ </table>
+</div>
+
+<div id="footer">
+ <div class="content">
+ <p>
+ <a class="nav" href="index.html">« index</a> <a class="nav" href="https://coverage.readthedocs.io">coverage.py v4.5.2</a>,
+ created at 2019-01-13 14:34
+ </p>
+ </div>
+</div>
+
+</body>
+</html>
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new file mode 100644
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@@ -0,0 +1,473 @@
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+
+ </td>
+ <td class="text">
+<p id="t1" class="pln"><span class="str">"""</span><span class="strut"> </span></p>
+<p id="t2" class="pln"><span class="str">Function for triangulation of points projected on cameras</span><span class="strut"> </span></p>
+<p id="t3" class="pln"><span class="str">"""</span><span class="strut"> </span></p>
+<p id="t4" class="pln"><span class="strut"> </span></p>
+<p id="t5" class="stm mis"><span class="key">import</span> <span class="nam">cv2</span><span class="strut"> </span></p>
+<p id="t6" class="stm mis"><span class="key">import</span> <span class="nam">numpy</span> <span class="key">as</span> <span class="nam">np</span><span class="strut"> </span></p>
+<p id="t7" class="stm mis"><span class="key">from</span> <span class="nam">scipy</span><span class="op">.</span><span class="nam">sparse</span><span class="op">.</span><span class="nam">linalg</span> <span class="key">import</span> <span class="nam">svds</span><span class="strut"> </span></p>
+<p id="t8" class="stm mis"><span class="key">from</span> <span class="nam">functools</span> <span class="key">import</span> <span class="nam">partial</span><span class="strut"> </span></p>
+<p id="t9" class="pln"><span class="strut"> </span></p>
+<p id="t10" class="pln"><span class="strut"> </span></p>
+<p id="t11" class="stm mis"><span class="key">def</span> <span class="nam">emsvd</span><span class="op">(</span><span class="nam">Y</span><span class="op">,</span> <span class="nam">k</span><span class="op">=</span><span class="key">None</span><span class="op">,</span> <span class="nam">tol</span><span class="op">=</span><span class="num">1E-3</span><span class="op">,</span> <span class="nam">maxiter</span><span class="op">=</span><span class="key">None</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t12" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t13" class="pln"><span class="str"> Approximate SVD on data with missing values via expectation-maximization</span><span class="strut"> </span></p>
+<p id="t14" class="pln"><span class="strut"> </span></p>
+<p id="t15" class="pln"><span class="str"> :param Y: (nobs, ndim) data matrix, missing values denoted by NaN/Inf</span><span class="strut"> </span></p>
+<p id="t16" class="pln"><span class="str"> :param k: number of singular values/vectors to find (default: k=ndim)</span><span class="strut"> </span></p>
+<p id="t17" class="pln"><span class="str"> :param tol: convergence tolerance on change in trace norm</span><span class="strut"> </span></p>
+<p id="t18" class="pln"><span class="str"> :param maxiter: maximum number of EM steps to perform (default: no limit)</span><span class="strut"> </span></p>
+<p id="t19" class="pln"><span class="str"> :returns: Y_hat, mu_hat, U, s, Vt</span><span class="strut"> </span></p>
+<p id="t20" class="pln"><span class="str"> Y_hat: (nobs, ndim) reconstructed data matrix</span><span class="strut"> </span></p>
+<p id="t21" class="pln"><span class="str"> mu_hat: (ndim,) estimated column means for reconstructed data</span><span class="strut"> </span></p>
+<p id="t22" class="pln"><span class="str"> U, s, Vt: singular values and vectors (see np.linalg.svd and</span><span class="strut"> </span></p>
+<p id="t23" class="pln"><span class="str"> scipy.sparse.linalg.svds for details)</span><span class="strut"> </span></p>
+<p id="t24" class="pln"><span class="strut"> </span></p>
+<p id="t25" class="pln"><span class="str"> Methods for large scale SVD with missing values</span><span class="strut"> </span></p>
+<p id="t26" class="pln"><span class="str"> Miklós Kurucz, András A. Benczúr, Károly Csalogány, 2007</span><span class="strut"> </span></p>
+<p id="t27" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t28" class="pln"><span class="strut"> </span></p>
+<p id="t29" class="stm mis"> <span class="key">if</span> <span class="nam">k</span> <span class="key">is</span> <span class="key">None</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t30" class="stm mis"> <span class="nam">svdmethod</span> <span class="op">=</span> <span class="nam">partial</span><span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">linalg</span><span class="op">.</span><span class="nam">svd</span><span class="op">,</span> <span class="nam">full_matrices</span><span class="op">=</span><span class="key">False</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t31" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t32" class="stm mis"> <span class="nam">svdmethod</span> <span class="op">=</span> <span class="nam">partial</span><span class="op">(</span><span class="nam">svds</span><span class="op">,</span> <span class="nam">k</span><span class="op">=</span><span class="nam">k</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t33" class="stm mis"> <span class="key">if</span> <span class="nam">maxiter</span> <span class="key">is</span> <span class="key">None</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t34" class="stm mis"> <span class="nam">maxiter</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">inf</span><span class="strut"> </span></p>
+<p id="t35" class="pln"><span class="strut"> </span></p>
+<p id="t36" class="pln"> <span class="com"># initialize the missing values to their respective column means</span><span class="strut"> </span></p>
+<p id="t37" class="stm mis"> <span class="nam">mu_hat</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">nanmean</span><span class="op">(</span><span class="nam">Y</span><span class="op">,</span> <span class="nam">axis</span><span class="op">=</span><span class="num">0</span><span class="op">,</span> <span class="nam">keepdims</span><span class="op">=</span><span class="num">1</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t38" class="stm mis"> <span class="nam">valid</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">isfinite</span><span class="op">(</span><span class="nam">Y</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t39" class="stm mis"> <span class="nam">Y_hat</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">where</span><span class="op">(</span><span class="nam">valid</span><span class="op">,</span> <span class="nam">Y</span><span class="op">,</span> <span class="nam">mu_hat</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t40" class="pln"><span class="strut"> </span></p>
+<p id="t41" class="stm mis"> <span class="nam">halt</span> <span class="op">=</span> <span class="key">False</span><span class="strut"> </span></p>
+<p id="t42" class="stm mis"> <span class="nam">ii</span> <span class="op">=</span> <span class="num">1</span><span class="strut"> </span></p>
+<p id="t43" class="stm mis"> <span class="nam">v_prev</span> <span class="op">=</span> <span class="num">0</span><span class="strut"> </span></p>
+<p id="t44" class="pln"><span class="strut"> </span></p>
+<p id="t45" class="stm mis"> <span class="key">while</span> <span class="key">not</span> <span class="nam">halt</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t46" class="pln"><span class="strut"> </span></p>
+<p id="t47" class="pln"> <span class="com"># SVD on filled-in data</span><span class="strut"> </span></p>
+<p id="t48" class="stm mis"> <span class="nam">U</span><span class="op">,</span> <span class="nam">s</span><span class="op">,</span> <span class="nam">Vt</span> <span class="op">=</span> <span class="nam">svdmethod</span><span class="op">(</span><span class="nam">Y_hat</span> <span class="op">-</span> <span class="nam">mu_hat</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t49" class="pln"><span class="strut"> </span></p>
+<p id="t50" class="pln"> <span class="com"># impute missing values</span><span class="strut"> </span></p>
+<p id="t51" class="stm mis"> <span class="nam">Y_hat</span><span class="op">[</span><span class="op">~</span><span class="nam">valid</span><span class="op">]</span> <span class="op">=</span> <span class="op">(</span><span class="nam">U</span><span class="op">.</span><span class="nam">dot</span><span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">diag</span><span class="op">(</span><span class="nam">s</span><span class="op">)</span><span class="op">)</span><span class="op">.</span><span class="nam">dot</span><span class="op">(</span><span class="nam">Vt</span><span class="op">)</span> <span class="op">+</span> <span class="nam">mu_hat</span><span class="op">)</span><span class="op">[</span><span class="op">~</span><span class="nam">valid</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t52" class="pln"><span class="strut"> </span></p>
+<p id="t53" class="pln"> <span class="com"># update bias parameter</span><span class="strut"> </span></p>
+<p id="t54" class="stm mis"> <span class="nam">mu_hat</span> <span class="op">=</span> <span class="nam">Y_hat</span><span class="op">.</span><span class="nam">mean</span><span class="op">(</span><span class="nam">axis</span><span class="op">=</span><span class="num">0</span><span class="op">,</span> <span class="nam">keepdims</span><span class="op">=</span><span class="num">1</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t55" class="pln"><span class="strut"> </span></p>
+<p id="t56" class="pln"> <span class="com"># test convergence using relative change in trace norm</span><span class="strut"> </span></p>
+<p id="t57" class="stm mis"> <span class="nam">v</span> <span class="op">=</span> <span class="nam">s</span><span class="op">.</span><span class="nam">sum</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t58" class="stm mis"> <span class="key">if</span> <span class="nam">ii</span> <span class="op">>=</span> <span class="nam">maxiter</span> <span class="key">or</span> <span class="op">(</span><span class="op">(</span><span class="nam">v</span> <span class="op">-</span> <span class="nam">v_prev</span><span class="op">)</span> <span class="op">/</span> <span class="nam">v_prev</span><span class="op">)</span> <span class="op"><</span> <span class="nam">tol</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t59" class="stm mis"> <span class="nam">halt</span> <span class="op">=</span> <span class="key">True</span><span class="strut"> </span></p>
+<p id="t60" class="stm mis"> <span class="nam">ii</span> <span class="op">+=</span> <span class="num">1</span><span class="strut"> </span></p>
+<p id="t61" class="stm mis"> <span class="nam">v_prev</span> <span class="op">=</span> <span class="nam">v</span><span class="strut"> </span></p>
+<p id="t62" class="pln"><span class="strut"> </span></p>
+<p id="t63" class="stm mis"> <span class="key">return</span> <span class="nam">Y_hat</span><span class="op">,</span> <span class="nam">mu_hat</span><span class="op">,</span> <span class="nam">U</span><span class="op">,</span> <span class="nam">s</span><span class="op">,</span> <span class="nam">Vt</span><span class="strut"> </span></p>
+<p id="t64" class="pln"><span class="strut"> </span></p>
+<p id="t65" class="pln"><span class="strut"> </span></p>
+<p id="t66" class="stm mis"><span class="key">def</span> <span class="nam">projects_points</span><span class="op">(</span><span class="nam">pts_3d</span><span class="op">,</span> <span class="nam">cameras_calib</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t67" class="stm mis"> <span class="nam">ncameras</span> <span class="op">=</span> <span class="nam">len</span><span class="op">(</span><span class="nam">cameras_calib</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t68" class="stm mis"> <span class="nam">pts_cam</span> <span class="op">=</span> <span class="nam">list</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t69" class="stm mis"> <span class="key">for</span> <span class="nam">cam_i</span> <span class="key">in</span> <span class="nam">range</span><span class="op">(</span><span class="nam">ncameras</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t70" class="stm mis"> <span class="nam">cam_pose</span> <span class="op">=</span> <span class="nam">cameras_calib</span><span class="op">[</span><span class="nam">cam_i</span><span class="op">]</span><span class="op">[</span><span class="str">'pose'</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t71" class="stm mis"> <span class="nam">cam_mat</span> <span class="op">=</span> <span class="nam">cameras_calib</span><span class="op">[</span><span class="nam">cam_i</span><span class="op">]</span><span class="op">[</span><span class="str">'intrinsic_matrix'</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t72" class="stm mis"> <span class="nam">cam_dist</span> <span class="op">=</span> <span class="nam">cameras_calib</span><span class="op">[</span><span class="nam">cam_i</span><span class="op">]</span><span class="op">[</span><span class="str">'distortion'</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t73" class="stm mis"> <span class="nam">rvec</span><span class="op">,</span> <span class="nam">jacobian</span> <span class="op">=</span> <span class="nam">cv2</span><span class="op">.</span><span class="nam">Rodrigues</span><span class="op">(</span><span class="nam">cam_pose</span><span class="op">[</span><span class="op">:</span><span class="num">3</span><span class="op">,</span> <span class="op">:</span><span class="num">3</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t74" class="stm mis"> <span class="nam">tvec</span> <span class="op">=</span> <span class="nam">cam_pose</span><span class="op">[</span><span class="op">:</span><span class="num">3</span><span class="op">,</span> <span class="num">3</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t75" class="stm mis"> <span class="nam">impoints</span><span class="op">,</span> <span class="nam">jacobian</span> <span class="op">=</span> <span class="nam">cv2</span><span class="op">.</span><span class="nam">projectPoints</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t76" class="pln"> <span class="nam">pts_3d</span><span class="op">,</span> <span class="nam">rvec</span><span class="op">,</span> <span class="nam">tvec</span><span class="op">,</span> <span class="nam">cam_mat</span><span class="op">,</span> <span class="nam">cam_dist</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t77" class="stm mis"> <span class="nam">pts_cam</span><span class="op">.</span><span class="nam">append</span><span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">squeeze</span><span class="op">(</span><span class="nam">impoints</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t78" class="stm mis"> <span class="nam">pts_cam</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">array</span><span class="op">(</span><span class="nam">pts_cam</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t79" class="stm mis"> <span class="key">return</span> <span class="nam">pts_cam</span><span class="strut"> </span></p>
+<p id="t80" class="pln"><span class="strut"> </span></p>
+<p id="t81" class="pln"><span class="strut"> </span></p>
+<p id="t82" class="stm mis"><span class="key">def</span> <span class="nam">random_projects_points</span><span class="op">(</span><span class="nam">npoints</span><span class="op">,</span> <span class="nam">edge_length</span><span class="op">,</span> <span class="nam">cameras_calib</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t83" class="stm mis"> <span class="nam">pts_3d</span> <span class="op">=</span> <span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">random</span><span class="op">.</span><span class="nam">rand</span><span class="op">(</span><span class="nam">npoints</span><span class="op">,</span> <span class="num">3</span><span class="op">)</span> <span class="op">-</span> <span class="num">0.5</span><span class="op">)</span> <span class="op">*</span> <span class="num">2</span><span class="strut"> </span></p>
+<p id="t84" class="stm mis"> <span class="nam">pts_3d</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="num">2</span><span class="op">]</span> <span class="op">+=</span> <span class="num">1</span><span class="strut"> </span></p>
+<p id="t85" class="stm mis"> <span class="nam">pts_3d</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="num">2</span><span class="op">]</span> <span class="op">*=</span> <span class="nam">edge_length</span><span class="strut"> </span></p>
+<p id="t86" class="stm mis"> <span class="nam">pts_3d</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="num">1</span><span class="op">]</span> <span class="op">*=</span> <span class="nam">edge_length</span><span class="strut"> </span></p>
+<p id="t87" class="stm mis"> <span class="nam">pts_3d</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span> <span class="op">*=</span> <span class="nam">edge_length</span><span class="strut"> </span></p>
+<p id="t88" class="pln"><span class="strut"> </span></p>
+<p id="t89" class="stm mis"> <span class="nam">pts_cam</span> <span class="op">=</span> <span class="nam">projects_points</span><span class="op">(</span><span class="nam">pts_3d</span><span class="op">,</span> <span class="nam">cameras_calib</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t90" class="stm mis"> <span class="key">return</span> <span class="nam">pts_cam</span><span class="op">,</span> <span class="nam">pts_3d</span><span class="strut"> </span></p>
+<p id="t91" class="pln"><span class="strut"> </span></p>
+<p id="t92" class="pln"><span class="strut"> </span></p>
+<p id="t93" class="stm mis"><span class="key">def</span> <span class="nam">undistord_ncam_points</span><span class="op">(</span><span class="nam">cameras_calib</span><span class="op">,</span> <span class="nam">pts_cam</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t94" class="stm mis"> <span class="nam">ncameras</span> <span class="op">=</span> <span class="nam">len</span><span class="op">(</span><span class="nam">cameras_calib</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t95" class="stm mis"> <span class="key">if</span> <span class="nam">np</span><span class="op">.</span><span class="nam">shape</span><span class="op">(</span><span class="nam">pts_cam</span><span class="op">)</span><span class="op">[</span><span class="num">0</span><span class="op">]</span> <span class="op">!=</span> <span class="nam">ncameras</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t96" class="stm mis"> <span class="key">raise</span> <span class="nam">IndexError</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t97" class="pln"> <span class="str">'Cameras points should have the same length than cameras_calib'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t98" class="stm mis"> <span class="key">if</span> <span class="nam">len</span><span class="op">(</span><span class="nam">pts_cam</span><span class="op">.</span><span class="nam">shape</span><span class="op">)</span> <span class="op">==</span> <span class="num">2</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t99" class="stm mis"> <span class="nam">pts_cam</span> <span class="op">=</span> <span class="nam">pts_cam</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="nam">np</span><span class="op">.</span><span class="nam">newaxis</span><span class="op">,</span> <span class="op">:</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t100" class="stm mis"> <span class="key">if</span> <span class="nam">len</span><span class="op">(</span><span class="nam">pts_cam</span><span class="op">.</span><span class="nam">shape</span><span class="op">)</span> <span class="op">!=</span> <span class="num">3</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t101" class="stm mis"> <span class="key">raise</span> <span class="nam">IndexError</span><span class="op">(</span><span class="str">'Camera points should be of shape 3'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t102" class="stm mis"> <span class="key">for</span> <span class="nam">cam_i</span> <span class="key">in</span> <span class="nam">range</span><span class="op">(</span><span class="nam">ncameras</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t103" class="stm mis"> <span class="nam">dst</span> <span class="op">=</span> <span class="nam">cv2</span><span class="op">.</span><span class="nam">undistortPoints</span><span class="op">(</span><span class="nam">pts_cam</span><span class="op">[</span><span class="nam">cam_i</span><span class="op">,</span> <span class="op">...</span><span class="op">]</span><span class="op">[</span><span class="nam">np</span><span class="op">.</span><span class="nam">newaxis</span><span class="op">,</span> <span class="op">...</span><span class="op">]</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t104" class="pln"> <span class="nam">cameras_calib</span><span class="op">[</span><span class="nam">cam_i</span><span class="op">]</span><span class="op">[</span><span class="str">'intrinsic_matrix'</span><span class="op">]</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t105" class="pln"> <span class="nam">cameras_calib</span><span class="op">[</span><span class="nam">cam_i</span><span class="op">]</span><span class="op">[</span><span class="str">'distortion'</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t106" class="stm mis"> <span class="nam">pts_cam</span><span class="op">[</span><span class="nam">cam_i</span><span class="op">,</span> <span class="op">...</span><span class="op">]</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">squeeze</span><span class="op">(</span><span class="nam">dst</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t107" class="pln"><span class="strut"> </span></p>
+<p id="t108" class="stm mis"> <span class="key">return</span> <span class="nam">pts_cam</span><span class="strut"> </span></p>
+<p id="t109" class="pln"><span class="strut"> </span></p>
+<p id="t110" class="pln"><span class="strut"> </span></p>
+<p id="t111" class="stm mis"><span class="key">def</span> <span class="nam">triangulate_pair</span><span class="op">(</span><span class="nam">cameras_calib</span><span class="op">,</span> <span class="nam">pts_cam</span><span class="op">,</span> <span class="nam">cam_indeces</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t112" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t113" class="pln"><span class="str"> Triangulate two points on two cameras</span><span class="strut"> </span></p>
+<p id="t114" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t115" class="stm mis"> <span class="nam">cam_i</span> <span class="op">=</span> <span class="nam">cam_indeces</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t116" class="stm mis"> <span class="nam">cam_j</span> <span class="op">=</span> <span class="nam">cam_indeces</span><span class="op">[</span><span class="num">1</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t117" class="stm mis"> <span class="nam">point_4d_hom</span> <span class="op">=</span> <span class="nam">cv2</span><span class="op">.</span><span class="nam">triangulatePoints</span><span class="op">(</span><span class="nam">cameras_calib</span><span class="op">[</span><span class="nam">cam_i</span><span class="op">]</span><span class="op">[</span><span class="str">'pose'</span><span class="op">]</span><span class="op">[</span><span class="op">:</span><span class="num">3</span><span class="op">]</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t118" class="pln"> <span class="nam">cameras_calib</span><span class="op">[</span><span class="nam">cam_j</span><span class="op">]</span><span class="op">[</span><span class="str">'pose'</span><span class="op">]</span><span class="op">[</span><span class="op">:</span><span class="num">3</span><span class="op">]</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t119" class="pln"> <span class="nam">pts_cam</span><span class="op">[</span><span class="nam">cam_i</span><span class="op">]</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="nam">np</span><span class="op">.</span><span class="nam">newaxis</span><span class="op">,</span> <span class="op">:</span><span class="op">]</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t120" class="pln"> <span class="nam">pts_cam</span><span class="op">[</span><span class="nam">cam_j</span><span class="op">]</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="nam">np</span><span class="op">.</span><span class="nam">newaxis</span><span class="op">,</span> <span class="op">:</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t121" class="pln"><span class="strut"> </span></p>
+<p id="t122" class="stm mis"> <span class="nam">point_4d</span> <span class="op">=</span> <span class="nam">point_4d_hom</span> <span class="op">/</span> <span class="nam">np</span><span class="op">.</span><span class="nam">tile</span><span class="op">(</span><span class="nam">point_4d_hom</span><span class="op">[</span><span class="op">-</span><span class="num">1</span><span class="op">,</span> <span class="op">:</span><span class="op">]</span><span class="op">,</span> <span class="op">(</span><span class="num">4</span><span class="op">,</span> <span class="num">1</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t123" class="stm mis"> <span class="key">return</span> <span class="nam">point_4d</span><span class="op">[</span><span class="op">:</span><span class="num">3</span><span class="op">,</span> <span class="op">:</span><span class="op">]</span><span class="op">.</span><span class="nam">T</span><span class="strut"> </span></p>
+<p id="t124" class="pln"><span class="strut"> </span></p>
+<p id="t125" class="pln"><span class="strut"> </span></p>
+<p id="t126" class="stm mis"><span class="key">def</span> <span class="nam">triangulate_multiview_single_pts</span><span class="op">(</span><span class="nam">cameras_calib</span><span class="op">,</span> <span class="nam">pts_cam</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t127" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t128" class="pln"><span class="str"> Methods for large scale SVD with missing values</span><span class="strut"> </span></p>
+<p id="t129" class="pln"><span class="str"> Miklós Kurucz, András A. Benczúr, Károly Csalogány, 2007</span><span class="strut"> </span></p>
+<p id="t130" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t131" class="stm mis"> <span class="nam">ncameras</span> <span class="op">=</span> <span class="nam">len</span><span class="op">(</span><span class="nam">cameras_calib</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t132" class="stm mis"> <span class="key">if</span> <span class="nam">len</span><span class="op">(</span><span class="nam">pts_cam</span><span class="op">)</span> <span class="op">!=</span> <span class="nam">ncameras</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t133" class="stm mis"> <span class="key">raise</span> <span class="nam">IndexError</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t134" class="pln"> <span class="str">'Cameras points should have the same length than cameras_calib'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t135" class="pln"> <span class="com"># Undistord the camera point via the camera model</span><span class="strut"> </span></p>
+<p id="t136" class="stm mis"> <span class="nam">pts_cam</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">squeeze</span><span class="op">(</span><span class="nam">undistord_ncam_points</span><span class="op">(</span><span class="nam">cameras_calib</span><span class="op">,</span> <span class="nam">pts_cam</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t137" class="pln"> <span class="com">#</span><span class="strut"> </span></p>
+<p id="t138" class="stm mis"> <span class="nam">A</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">zeros</span><span class="op">(</span><span class="op">(</span><span class="num">4</span><span class="op">,</span> <span class="nam">ncameras</span> <span class="op">*</span> <span class="num">2</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t139" class="pln"><span class="strut"> </span></p>
+<p id="t140" class="stm mis"> <span class="key">for</span> <span class="nam">cam_i</span> <span class="key">in</span> <span class="nam">range</span><span class="op">(</span><span class="nam">ncameras</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t141" class="stm mis"> <span class="nam">pose</span> <span class="op">=</span> <span class="nam">cameras_calib</span><span class="op">[</span><span class="nam">cam_i</span><span class="op">]</span><span class="op">[</span><span class="str">'pose'</span><span class="op">]</span><span class="op">[</span><span class="op">:</span><span class="num">3</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t142" class="stm mis"> <span class="nam">idx</span> <span class="op">=</span> <span class="num">2</span> <span class="op">*</span> <span class="nam">cam_i</span><span class="strut"> </span></p>
+<p id="t143" class="stm mis"> <span class="nam">A</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="nam">idx</span><span class="op">:</span> <span class="op">(</span><span class="nam">idx</span> <span class="op">+</span> <span class="num">2</span><span class="op">)</span><span class="op">]</span> <span class="op">=</span> <span class="xx">\</span><span class="strut"> </span></p>
+<p id="t144" class="pln"> <span class="nam">pts_cam</span><span class="op">[</span><span class="nam">cam_i</span><span class="op">,</span> <span class="op">:</span><span class="op">]</span><span class="op">[</span><span class="nam">np</span><span class="op">.</span><span class="nam">newaxis</span><span class="op">,</span> <span class="op">:</span><span class="op">]</span> <span class="op">*</span> <span class="nam">pose</span><span class="op">[</span><span class="num">2</span><span class="op">,</span> <span class="op">:</span><span class="op">]</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="nam">np</span><span class="op">.</span><span class="nam">newaxis</span><span class="op">]</span> <span class="op">-</span><span class="xx">\</span><span class="strut"> </span></p>
+<p id="t145" class="pln"> <span class="nam">pose</span><span class="op">[</span><span class="num">0</span><span class="op">:</span><span class="num">2</span><span class="op">]</span><span class="op">.</span><span class="nam">transpose</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t146" class="pln"><span class="strut"> </span></p>
+<p id="t147" class="stm mis"> <span class="nam">_</span><span class="op">,</span> <span class="nam">_</span><span class="op">,</span> <span class="nam">_</span><span class="op">,</span> <span class="nam">_</span><span class="op">,</span> <span class="nam">values</span> <span class="op">=</span> <span class="nam">emsvd</span><span class="op">(</span><span class="nam">A</span><span class="op">.</span><span class="nam">transpose</span><span class="op">(</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t148" class="stm mis"> <span class="nam">X</span> <span class="op">=</span> <span class="nam">values</span><span class="op">[</span><span class="op">-</span><span class="num">1</span><span class="op">,</span> <span class="op">:</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t149" class="stm mis"> <span class="nam">X</span> <span class="op">=</span> <span class="nam">X</span> <span class="op">/</span> <span class="nam">X</span><span class="op">[</span><span class="op">-</span><span class="num">1</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t150" class="stm mis"> <span class="nam">point3d</span> <span class="op">=</span> <span class="nam">X</span><span class="op">[</span><span class="op">:</span><span class="num">3</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t151" class="stm mis"> <span class="key">return</span> <span class="nam">point3d</span><span class="strut"> </span></p>
+<p id="t152" class="pln"><span class="strut"> </span></p>
+<p id="t153" class="pln"><span class="strut"> </span></p>
+<p id="t154" class="stm mis"><span class="key">def</span> <span class="nam">triangulate_multiview</span><span class="op">(</span><span class="nam">cameras_calib</span><span class="op">,</span> <span class="nam">pts_cam</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t155" class="stm mis"> <span class="nam">npoints</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">shape</span><span class="op">(</span><span class="nam">pts_cam</span><span class="op">)</span><span class="op">[</span><span class="num">1</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t156" class="stm mis"> <span class="nam">point3d</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">zeros</span><span class="op">(</span><span class="op">(</span><span class="nam">npoints</span><span class="op">,</span> <span class="num">3</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t157" class="stm mis"> <span class="key">for</span> <span class="nam">p_i</span> <span class="key">in</span> <span class="nam">range</span><span class="op">(</span><span class="nam">npoints</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t158" class="stm mis"> <span class="nam">point3d</span><span class="op">[</span><span class="nam">p_i</span><span class="op">,</span> <span class="op">:</span><span class="op">]</span> <span class="op">=</span> <span class="nam">triangulate_multiview_single_pts</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t159" class="pln"> <span class="nam">cameras_calib</span><span class="op">,</span> <span class="nam">pts_cam</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="nam">p_i</span><span class="op">,</span> <span class="op">:</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t160" class="stm mis"> <span class="key">return</span> <span class="nam">point3d</span><span class="strut"> </span></p>
+<p id="t161" class="pln"><span class="strut"> </span></p>
+<p id="t162" class="pln"><span class="strut"> </span></p>
+<p id="t163" class="stm mis"><span class="key">def</span> <span class="nam">triangulate_ncam_pairwise</span><span class="op">(</span><span class="nam">cameras_calib</span><span class="op">,</span> <span class="nam">pts_cam</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t164" class="stm mis"> <span class="nam">ncameras</span> <span class="op">=</span> <span class="nam">len</span><span class="op">(</span><span class="nam">cameras_calib</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t165" class="stm mis"> <span class="key">if</span> <span class="nam">pts_cam</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">0</span><span class="op">]</span> <span class="op">!=</span> <span class="nam">ncameras</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t166" class="stm mis"> <span class="nam">msg</span> <span class="op">=</span> <span class="str">'Cameras points should have the same '</span><span class="strut"> </span></p>
+<p id="t167" class="stm mis"> <span class="nam">msg</span> <span class="op">+=</span> <span class="str">'length than cameras_calib {}!={}'</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">pts_cam</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t168" class="pln"> <span class="nam">ncameras</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t169" class="stm mis"> <span class="key">raise</span> <span class="nam">IndexError</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t170" class="pln"> <span class="com"># Undistord the camera point via the camera model</span><span class="strut"> </span></p>
+<p id="t171" class="stm mis"> <span class="nam">pts_cam</span> <span class="op">=</span> <span class="nam">undistord_ncam_points</span><span class="op">(</span><span class="nam">cameras_calib</span><span class="op">,</span> <span class="nam">pts_cam</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t172" class="pln"><span class="strut"> </span></p>
+<p id="t173" class="pln"> <span class="com"># Init variables</span><span class="strut"> </span></p>
+<p id="t174" class="stm mis"> <span class="nam">n_points</span> <span class="op">=</span> <span class="nam">pts_cam</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">1</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t175" class="stm mis"> <span class="nam">max_comb</span> <span class="op">=</span> <span class="nam">int</span><span class="op">(</span><span class="nam">ncameras</span> <span class="op">*</span> <span class="op">(</span><span class="nam">ncameras</span> <span class="op">-</span> <span class="num">1</span><span class="op">)</span> <span class="op">/</span> <span class="num">2</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t176" class="stm mis"> <span class="nam">point_3d</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">nan</span> <span class="op">*</span> <span class="nam">np</span><span class="op">.</span><span class="nam">zeros</span><span class="op">(</span><span class="op">(</span><span class="nam">max_comb</span><span class="op">,</span> <span class="num">3</span><span class="op">,</span> <span class="nam">n_points</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t177" class="stm mis"> <span class="nam">nvalid_comb</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">zeros</span><span class="op">(</span><span class="op">(</span><span class="num">1</span><span class="op">,</span> <span class="nam">n_points</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t178" class="stm mis"> <span class="nam">comb_i</span> <span class="op">=</span> <span class="num">0</span><span class="strut"> </span></p>
+<p id="t179" class="pln"><span class="strut"> </span></p>
+<p id="t180" class="pln"> <span class="com"># Reconstruct pairwise (every combination)</span><span class="strut"> </span></p>
+<p id="t181" class="stm mis"> <span class="key">for</span> <span class="nam">cam_i</span> <span class="key">in</span> <span class="nam">range</span><span class="op">(</span><span class="nam">ncameras</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t182" class="stm mis"> <span class="key">for</span> <span class="nam">cam_j</span> <span class="key">in</span> <span class="nam">range</span><span class="op">(</span><span class="nam">cam_i</span> <span class="op">+</span> <span class="num">1</span><span class="op">,</span> <span class="nam">ncameras</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t183" class="stm mis"> <span class="nam">cpoint_3d</span> <span class="op">=</span> <span class="nam">triangulate_pair</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t184" class="pln"> <span class="nam">cameras_calib</span><span class="op">,</span> <span class="nam">pts_cam</span><span class="op">,</span> <span class="op">[</span><span class="nam">cam_i</span><span class="op">,</span> <span class="nam">cam_j</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t185" class="pln"><span class="strut"> </span></p>
+<p id="t186" class="stm mis"> <span class="nam">cvalid_id</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">any</span><span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">isnan</span><span class="op">(</span><span class="nam">cpoint_3d</span><span class="op">)</span> <span class="op">!=</span> <span class="num">1</span><span class="op">,</span> <span class="nam">axis</span><span class="op">=</span><span class="num">1</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t187" class="stm mis"> <span class="nam">nvalid_comb</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="nam">cvalid_id</span><span class="op">]</span> <span class="op">+=</span> <span class="num">1</span><span class="strut"> </span></p>
+<p id="t188" class="stm mis"> <span class="nam">point_3d</span><span class="op">[</span><span class="nam">comb_i</span><span class="op">,</span> <span class="op">:</span><span class="op">,</span> <span class="nam">cvalid_id</span><span class="op">]</span> <span class="op">=</span> <span class="nam">cpoint_3d</span><span class="op">[</span><span class="nam">cvalid_id</span><span class="op">,</span> <span class="op">:</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t189" class="stm mis"> <span class="nam">comb_i</span> <span class="op">+=</span> <span class="num">1</span><span class="strut"> </span></p>
+<p id="t190" class="pln"><span class="strut"> </span></p>
+<p id="t191" class="stm mis"> <span class="key">return</span> <span class="op">(</span><span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">nansum</span><span class="op">(</span><span class="nam">point_3d</span><span class="op">,</span> <span class="nam">axis</span><span class="op">=</span><span class="num">0</span><span class="op">)</span> <span class="op">/</span> <span class="nam">np</span><span class="op">.</span><span class="nam">tile</span><span class="op">(</span><span class="nam">nvalid_comb</span><span class="op">,</span> <span class="op">(</span><span class="num">3</span><span class="op">,</span> <span class="num">1</span><span class="op">)</span><span class="op">)</span><span class="op">)</span><span class="op">.</span><span class="nam">T</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t192" class="pln"> <span class="nam">point_3d</span><span class="op">,</span> <span class="nam">nvalid_comb</span><span class="op">)</span><span class="strut"> </span></p>
+
+ </td>
+ </tr>
+ </table>
+</div>
+
+<div id="footer">
+ <div class="content">
+ <p>
+ <a class="nav" href="index.html">« index</a> <a class="nav" href="https://coverage.readthedocs.io">coverage.py v4.5.2</a>,
+ created at 2019-01-13 14:34
+ </p>
+ </div>
+</div>
+
+</body>
+</html>
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+++ b/coverage_html_report/navipy_comparing___init___py.html
@@ -0,0 +1,485 @@
+
+
+
+<!DOCTYPE html>
+<html>
+<head>
+ <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
+
+
+ <meta http-equiv="X-UA-Compatible" content="IE=emulateIE7" />
+ <title>Coverage for navipy/comparing/__init__.py: 65%</title>
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+ <h1>Coverage for <b>navipy/comparing/__init__.py</b> :
+ <span class="pc_cov">65%</span>
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+ 82 statements
+ <span class="run hide_run shortkey_r button_toggle_run">53 run</span>
+ <span class="mis shortkey_m button_toggle_mis">29 missing</span>
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+
+ </td>
+ <td class="text">
+<p id="t1" class="pln"><span class="str">"""</span><span class="strut"> </span></p>
+<p id="t2" class="pln"><span class="str">Comparing</span><span class="strut"> </span></p>
+<p id="t3" class="pln"><span class="str">"""</span><span class="strut"> </span></p>
+<p id="t4" class="stm run hide_run"><span class="key">import</span> <span class="nam">numpy</span> <span class="key">as</span> <span class="nam">np</span><span class="strut"> </span></p>
+<p id="t5" class="stm run hide_run"><span class="key">import</span> <span class="nam">pandas</span> <span class="key">as</span> <span class="nam">pd</span><span class="strut"> </span></p>
+<p id="t6" class="stm run hide_run"><span class="key">from</span> <span class="nam">navipy</span><span class="op">.</span><span class="nam">scene</span> <span class="key">import</span> <span class="nam">is_ibpc</span><span class="op">,</span> <span class="nam">is_obpc</span><span class="op">,</span> <span class="nam">check_scene</span><span class="strut"> </span></p>
+<p id="t7" class="stm run hide_run"><span class="key">from</span> <span class="nam">navipy</span><span class="op">.</span><span class="nam">scene</span> <span class="key">import</span> <span class="nam">__spherical_indeces__</span><span class="strut"> </span></p>
+<p id="t8" class="pln"><span class="strut"> </span></p>
+<p id="t9" class="pln"><span class="strut"> </span></p>
+<p id="t10" class="stm run hide_run"><span class="key">def</span> <span class="nam">simple_imagediff</span><span class="op">(</span><span class="nam">current</span><span class="op">,</span> <span class="nam">memory</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t11" class="pln"> <span class="str">"""Compute the difference between</span><span class="strut"> </span></p>
+<p id="t12" class="pln"><span class="str">the current and memorised place code</span><span class="strut"> </span></p>
+<p id="t13" class="pln"><span class="strut"> </span></p>
+<p id="t14" class="pln"><span class="str"> :param current: current place code</span><span class="strut"> </span></p>
+<p id="t15" class="pln"><span class="str"> :param memory: memorised place code</span><span class="strut"> </span></p>
+<p id="t16" class="pln"><span class="str"> :returns: the image difference</span><span class="strut"> </span></p>
+<p id="t17" class="pln"><span class="str"> :rtype: float</span><span class="strut"> </span></p>
+<p id="t18" class="pln"><span class="strut"> </span></p>
+<p id="t19" class="pln"><span class="str"> ..ref: Zeil, J., 2012. Visual homing: an insect perspective.</span><span class="strut"> </span></p>
+<p id="t20" class="pln"><span class="str"> Current opinion in neurobiology</span><span class="strut"> </span></p>
+<p id="t21" class="pln"><span class="strut"> </span></p>
+<p id="t22" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t23" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">current</span><span class="op">,</span> <span class="nam">np</span><span class="op">.</span><span class="nam">ndarray</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t24" class="stm mis"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="str">'current place code should be a numpy array'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t25" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">memory</span><span class="op">,</span> <span class="nam">np</span><span class="op">.</span><span class="nam">ndarray</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t26" class="stm mis"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="str">'memory place code should be a numpy array'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t27" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="nam">np</span><span class="op">.</span><span class="nam">all</span><span class="op">(</span><span class="nam">current</span><span class="op">.</span><span class="nam">shape</span> <span class="op">==</span> <span class="nam">memory</span><span class="op">.</span><span class="nam">shape</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t28" class="stm run hide_run"> <span class="key">raise</span> <span class="nam">Exception</span><span class="op">(</span><span class="str">'memory and current place code should\</span><span class="strut"> </span></p>
+<p id="t29" class="pln"><span class="str"> have the same shape'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t30" class="stm run hide_run"> <span class="nam">check_scene</span><span class="op">(</span><span class="nam">current</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t31" class="stm run hide_run"> <span class="nam">check_scene</span><span class="op">(</span><span class="nam">memory</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t32" class="stm run hide_run"> <span class="nam">diff</span> <span class="op">=</span> <span class="nam">current</span> <span class="op">-</span> <span class="nam">memory</span><span class="strut"> </span></p>
+<p id="t33" class="stm run hide_run"> <span class="key">if</span> <span class="nam">is_ibpc</span><span class="op">(</span><span class="nam">current</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t34" class="stm run hide_run"> <span class="key">return</span> <span class="nam">diff</span><span class="strut"> </span></p>
+<p id="t35" class="stm mis"> <span class="key">elif</span> <span class="nam">is_obpc</span><span class="op">(</span><span class="nam">current</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t36" class="stm mis"> <span class="key">return</span> <span class="nam">diff</span><span class="strut"> </span></p>
+<p id="t37" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t38" class="stm mis"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="str">'place code is neither an ibpc nor obpc'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t39" class="pln"><span class="strut"> </span></p>
+<p id="t40" class="pln"><span class="strut"> </span></p>
+<p id="t41" class="stm run hide_run"><span class="key">def</span> <span class="nam">imagediff</span><span class="op">(</span><span class="nam">current</span><span class="op">,</span> <span class="nam">memory</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t42" class="pln"> <span class="str">"""Compute the root mean square difference between</span><span class="strut"> </span></p>
+<p id="t43" class="pln"><span class="str">the current and memorised place code</span><span class="strut"> </span></p>
+<p id="t44" class="pln"><span class="strut"> </span></p>
+<p id="t45" class="pln"><span class="str"> :param current: current place code</span><span class="strut"> </span></p>
+<p id="t46" class="pln"><span class="str"> :param memory: memorised place code</span><span class="strut"> </span></p>
+<p id="t47" class="pln"><span class="str"> :returns: the image difference</span><span class="strut"> </span></p>
+<p id="t48" class="pln"><span class="str"> :rtype: float #array(1,4) for ibpc and float for obpc</span><span class="strut"> </span></p>
+<p id="t49" class="pln"><span class="strut"> </span></p>
+<p id="t50" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t51" class="stm run hide_run"> <span class="nam">simple_diff</span> <span class="op">=</span> <span class="nam">simple_imagediff</span><span class="op">(</span><span class="nam">current</span><span class="op">,</span> <span class="nam">memory</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t52" class="stm run hide_run"> <span class="nam">diff</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">power</span><span class="op">(</span><span class="nam">simple_diff</span><span class="op">,</span> <span class="num">2</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t53" class="stm run hide_run"> <span class="key">if</span> <span class="nam">is_ibpc</span><span class="op">(</span><span class="nam">current</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t54" class="stm run hide_run"> <span class="key">return</span> <span class="nam">np</span><span class="op">.</span><span class="nam">sqrt</span><span class="op">(</span><span class="nam">diff</span><span class="op">.</span><span class="nam">mean</span><span class="op">(</span><span class="nam">axis</span><span class="op">=</span><span class="num">0</span><span class="op">)</span><span class="op">.</span><span class="nam">mean</span><span class="op">(</span><span class="nam">axis</span><span class="op">=</span><span class="num">0</span><span class="op">)</span><span class="op">)</span> <span class="com"># 1</span><span class="strut"> </span></p>
+<p id="t55" class="stm mis"> <span class="key">elif</span> <span class="nam">is_obpc</span><span class="op">(</span><span class="nam">current</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t56" class="stm mis"> <span class="key">return</span> <span class="nam">np</span><span class="op">.</span><span class="nam">sqrt</span><span class="op">(</span><span class="nam">diff</span><span class="op">.</span><span class="nam">mean</span><span class="op">(</span><span class="nam">axis</span><span class="op">=</span><span class="num">0</span><span class="op">)</span><span class="op">.</span><span class="nam">mean</span><span class="op">(</span><span class="nam">axis</span><span class="op">=</span><span class="num">0</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t57" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t58" class="stm mis"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="str">'place code is neither an ibpc nor obpc'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t59" class="pln"><span class="strut"> </span></p>
+<p id="t60" class="pln"><span class="strut"> </span></p>
+<p id="t61" class="stm run hide_run"><span class="key">def</span> <span class="nam">rot_imagediff</span><span class="op">(</span><span class="nam">current</span><span class="op">,</span> <span class="nam">memory</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t62" class="pln"> <span class="str">"""Compute the rotational image difference between</span><span class="strut"> </span></p>
+<p id="t63" class="pln"><span class="str">the current and memorised place code.</span><span class="strut"> </span></p>
+<p id="t64" class="pln"><span class="strut"> </span></p>
+<p id="t65" class="pln"><span class="str"> :param current: current place code</span><span class="strut"> </span></p>
+<p id="t66" class="pln"><span class="str"> :param memory: memorised place code</span><span class="strut"> </span></p>
+<p id="t67" class="pln"><span class="str"> :returns: the rotational image difference</span><span class="strut"> </span></p>
+<p id="t68" class="pln"><span class="str"> :rtype: (np.ndarray)</span><span class="strut"> </span></p>
+<p id="t69" class="pln"><span class="strut"> </span></p>
+<p id="t70" class="pln"><span class="str"> ..ref: Zeil, J., 2012. Visual homing: an insect perspective.</span><span class="strut"> </span></p>
+<p id="t71" class="pln"><span class="str"> Current opinion in neurobiology</span><span class="strut"> </span></p>
+<p id="t72" class="pln"><span class="str"> ..note: assume that the image is periodic along the x axis</span><span class="strut"> </span></p>
+<p id="t73" class="pln"><span class="str"> (the left-right axis)</span><span class="strut"> </span></p>
+<p id="t74" class="pln"><span class="strut"> </span></p>
+<p id="t75" class="pln"><span class="strut"> </span></p>
+<p id="t76" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t77" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="nam">is_ibpc</span><span class="op">(</span><span class="nam">current</span><span class="op">)</span><span class="op">:</span> <span class="com"># and not is_obpc(current):</span><span class="strut"> </span></p>
+<p id="t78" class="stm run hide_run"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="str">'The current and memory place code\</span><span class="strut"> </span></p>
+<p id="t79" class="pln"><span class="str"> should be image based'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t80" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="nam">is_ibpc</span><span class="op">(</span><span class="nam">memory</span><span class="op">)</span><span class="op">:</span> <span class="com"># and not is_obpc(memory):</span><span class="strut"> </span></p>
+<p id="t81" class="stm run hide_run"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="str">'The current and memory place code\</span><span class="strut"> </span></p>
+<p id="t82" class="pln"><span class="str"> should be image based'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t83" class="stm run hide_run"> <span class="nam">check_scene</span><span class="op">(</span><span class="nam">current</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t84" class="stm run hide_run"> <span class="nam">check_scene</span><span class="op">(</span><span class="nam">memory</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t85" class="pln"> <span class="com"># ridf is a NxM matrix,</span><span class="strut"> </span></p>
+<p id="t86" class="pln"> <span class="com"># because one value per azimuth (N) and n values per channel</span><span class="strut"> </span></p>
+<p id="t87" class="pln"> <span class="com"># (M)</span><span class="strut"> </span></p>
+<p id="t88" class="stm run hide_run"> <span class="nam">ridf</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">zeros</span><span class="op">(</span><span class="op">(</span><span class="nam">current</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">1</span><span class="op">]</span><span class="op">,</span> <span class="nam">current</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">2</span><span class="op">]</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t89" class="stm run hide_run"> <span class="key">for</span> <span class="nam">azimuth_i</span> <span class="key">in</span> <span class="nam">range</span><span class="op">(</span><span class="num">0</span><span class="op">,</span> <span class="nam">current</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">1</span><span class="op">]</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t90" class="pln"> <span class="com"># Perform a counter clock wise rotation</span><span class="strut"> </span></p>
+<p id="t91" class="stm run hide_run"> <span class="nam">rot_im</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">roll</span><span class="op">(</span><span class="nam">current</span><span class="op">,</span> <span class="op">-</span><span class="nam">azimuth_i</span><span class="op">,</span> <span class="nam">axis</span><span class="op">=</span><span class="num">1</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t92" class="stm run hide_run"> <span class="nam">ridf</span><span class="op">[</span><span class="nam">azimuth_i</span><span class="op">,</span> <span class="op">:</span><span class="op">]</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">squeeze</span><span class="op">(</span><span class="nam">imagediff</span><span class="op">(</span><span class="nam">rot_im</span><span class="op">,</span> <span class="nam">memory</span><span class="op">)</span><span class="op">)</span> <span class="com"># rot_im</span><span class="strut"> </span></p>
+<p id="t93" class="stm run hide_run"> <span class="key">return</span> <span class="nam">ridf</span><span class="strut"> </span></p>
+<p id="t94" class="pln"><span class="strut"> </span></p>
+<p id="t95" class="pln"><span class="strut"> </span></p>
+<p id="t96" class="stm run hide_run"><span class="key">def</span> <span class="nam">diff_optic_flow</span><span class="op">(</span><span class="nam">current</span><span class="op">,</span> <span class="nam">memory</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t97" class="pln"> <span class="str">"""Computes the direction of motion from current</span><span class="strut"> </span></p>
+<p id="t98" class="pln"><span class="str">to memory by using the optic flow under the</span><span class="strut"> </span></p>
+<p id="t99" class="pln"><span class="str">constrain that the brightness is constant, (small movement),</span><span class="strut"> </span></p>
+<p id="t100" class="pln"><span class="str">using a taylor expansion and solving the equation:</span><span class="strut"> </span></p>
+<p id="t101" class="pln"><span class="str">.. math::</span><span class="strut"> </span></p>
+<p id="t102" class="pln"><span class="strut"> </span></p>
+<p id="t103" class="pln"><span class="str"> 0=I_t+\delta I*<u,v> or I_x+I_y+I_t=0</span><span class="strut"> </span></p>
+<p id="t104" class="pln"><span class="strut"> </span></p>
+<p id="t105" class="pln"><span class="str">afterwards the aperture problem is solved by a</span><span class="strut"> </span></p>
+<p id="t106" class="pln"><span class="str">Matrix equation Ax=b, where x=(u,v) and</span><span class="strut"> </span></p>
+<p id="t107" class="pln"><span class="str">.. math::</span><span class="strut"> </span></p>
+<p id="t108" class="pln"><span class="strut"> </span></p>
+<p id="t109" class="pln"><span class="str"> A=(I_x,I_y) and b = I_t</span><span class="strut"> </span></p>
+<p id="t110" class="pln"><span class="strut"> </span></p>
+<p id="t111" class="pln"><span class="str">The intput parameters are the following:</span><span class="strut"> </span></p>
+<p id="t112" class="pln"><span class="str"> :param current: current place code</span><span class="strut"> </span></p>
+<p id="t113" class="pln"><span class="str"> :param memory: memorised place code</span><span class="strut"> </span></p>
+<p id="t114" class="pln"><span class="str"> :returns: a directional vectors</span><span class="strut"> </span></p>
+<p id="t115" class="pln"><span class="str"> :rtype: (np.ndarray)</span><span class="strut"> </span></p>
+<p id="t116" class="pln"><span class="strut"> </span></p>
+<p id="t117" class="pln"><span class="str"> ..ref: aperture problem:</span><span class="strut"> </span></p>
+<p id="t118" class="pln"><span class="str"> Shimojo, Shinsuke, Gerald H. Silverman, and Ken Nakayama:</span><span class="strut"> </span></p>
+<p id="t119" class="pln"><span class="str"> "Occlusion and the solution to the aperture problem for motion."</span><span class="strut"> </span></p>
+<p id="t120" class="pln"><span class="str"> Vision research 29.5 (1989): 619-626.</span><span class="strut"> </span></p>
+<p id="t121" class="pln"><span class="str"> optic flow:</span><span class="strut"> </span></p>
+<p id="t122" class="pln"><span class="str"> Horn, Berthold KP, and Brian G. Schunck.:</span><span class="strut"> </span></p>
+<p id="t123" class="pln"><span class="str"> "Determining optical flow."</span><span class="strut"> </span></p>
+<p id="t124" class="pln"><span class="str"> Artificial intelligence 17.1-3 (1981): 185-203.</span><span class="strut"> </span></p>
+<p id="t125" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t126" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="nam">is_ibpc</span><span class="op">(</span><span class="nam">current</span><span class="op">)</span><span class="op">:</span> <span class="com"># and not is_obpc(current):</span><span class="strut"> </span></p>
+<p id="t127" class="stm run hide_run"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="str">'The current and memory place code\</span><span class="strut"> </span></p>
+<p id="t128" class="pln"><span class="str"> should be image based'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t129" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="nam">is_ibpc</span><span class="op">(</span><span class="nam">memory</span><span class="op">)</span><span class="op">:</span> <span class="com"># and not is_obpc(memory):</span><span class="strut"> </span></p>
+<p id="t130" class="stm run hide_run"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="str">'The current and memory place code\</span><span class="strut"> </span></p>
+<p id="t131" class="pln"><span class="str"> should be image based'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t132" class="stm run hide_run"> <span class="nam">check_scene</span><span class="op">(</span><span class="nam">current</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t133" class="stm run hide_run"> <span class="nam">check_scene</span><span class="op">(</span><span class="nam">memory</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t134" class="stm run hide_run"> <span class="nam">currroll</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">roll</span><span class="op">(</span><span class="nam">current</span><span class="op">,</span> <span class="num">1</span><span class="op">,</span> <span class="nam">axis</span><span class="op">=</span><span class="num">1</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t135" class="stm run hide_run"> <span class="nam">dx</span> <span class="op">=</span> <span class="nam">current</span> <span class="op">-</span> <span class="nam">currroll</span><span class="strut"> </span></p>
+<p id="t136" class="stm run hide_run"> <span class="nam">memroll</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">roll</span><span class="op">(</span><span class="nam">memory</span><span class="op">,</span> <span class="num">1</span><span class="op">,</span> <span class="nam">axis</span><span class="op">=</span><span class="num">1</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t137" class="stm run hide_run"> <span class="nam">dy</span> <span class="op">=</span> <span class="nam">memory</span> <span class="op">-</span> <span class="nam">memroll</span><span class="strut"> </span></p>
+<p id="t138" class="stm run hide_run"> <span class="nam">dy</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">reshape</span><span class="op">(</span><span class="nam">dy</span><span class="op">,</span> <span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">prod</span><span class="op">(</span><span class="nam">dy</span><span class="op">.</span><span class="nam">shape</span><span class="op">)</span><span class="op">,</span> <span class="num">1</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t139" class="stm run hide_run"> <span class="nam">dx</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">reshape</span><span class="op">(</span><span class="nam">dx</span><span class="op">,</span> <span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">prod</span><span class="op">(</span><span class="nam">dx</span><span class="op">.</span><span class="nam">shape</span><span class="op">)</span><span class="op">,</span> <span class="num">1</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t140" class="stm run hide_run"> <span class="nam">di</span> <span class="op">=</span> <span class="nam">current</span> <span class="op">-</span> <span class="nam">memory</span><span class="strut"> </span></p>
+<p id="t141" class="stm run hide_run"> <span class="nam">di</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">reshape</span><span class="op">(</span><span class="nam">di</span><span class="op">,</span> <span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">prod</span><span class="op">(</span><span class="nam">di</span><span class="op">.</span><span class="nam">shape</span><span class="op">)</span><span class="op">,</span> <span class="num">1</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t142" class="stm run hide_run"> <span class="nam">a_matrix</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">column_stack</span><span class="op">(</span><span class="op">[</span><span class="nam">dy</span><span class="op">,</span> <span class="nam">dx</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t143" class="stm run hide_run"> <span class="nam">a_matrix_sqr</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">dot</span><span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">transpose</span><span class="op">(</span><span class="nam">a_matrix</span><span class="op">)</span><span class="op">,</span> <span class="nam">a_matrix</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t144" class="stm run hide_run"> <span class="nam">b_vector</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">dot</span><span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">transpose</span><span class="op">(</span><span class="nam">a_matrix</span><span class="op">)</span><span class="op">,</span> <span class="nam">di</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t145" class="stm run hide_run"> <span class="nam">res</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">linalg</span><span class="op">.</span><span class="nam">solve</span><span class="op">(</span><span class="nam">a_matrix_sqr</span><span class="op">,</span> <span class="nam">b_vector</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t146" class="stm run hide_run"> <span class="key">return</span> <span class="nam">res</span><span class="strut"> </span></p>
+<p id="t147" class="pln"><span class="strut"> </span></p>
+<p id="t148" class="pln"><span class="strut"> </span></p>
+<p id="t149" class="stm run hide_run"><span class="key">def</span> <span class="nam">gradient</span><span class="op">(</span><span class="nam">current</span><span class="op">,</span> <span class="nam">memory</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t150" class="stm mis"> <span class="key">return</span> <span class="num">0</span><span class="strut"> </span></p>
+<p id="t151" class="pln"><span class="strut"> </span></p>
+<p id="t152" class="pln"><span class="strut"> </span></p>
+<p id="t153" class="stm run hide_run"><span class="key">def</span> <span class="nam">weighted_irdf</span><span class="op">(</span><span class="nam">current</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t154" class="pln"> <span class="nam">mem_scenes</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t155" class="pln"> <span class="nam">viewing_directions</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t156" class="pln"> <span class="str">"""Weighted image rotational difference</span><span class="strut"> </span></p>
+<p id="t157" class="pln"><span class="strut"> </span></p>
+<p id="t158" class="pln"><span class="str"> Return an homing vector direction based on an \</span><span class="strut"> </span></p>
+<p id="t159" class="pln"><span class="str"> Image rotational difference weighted between \</span><span class="strut"> </span></p>
+<p id="t160" class="pln"><span class="str"> some reference snapshots</span><span class="strut"> </span></p>
+<p id="t161" class="pln"><span class="strut"> </span></p>
+<p id="t162" class="pln"><span class="str"> :param current: actual scene, np.array</span><span class="strut"> </span></p>
+<p id="t163" class="pln"><span class="str"> :param mem_scenes: list of memorised of views</span><span class="strut"> </span></p>
+<p id="t164" class="pln"><span class="str"> :returns: dx, dy, dz, dyaw, dpitch, droll.</span><span class="strut"> </span></p>
+<p id="t165" class="pln"><span class="str"> :rtypes: pd.Series</span><span class="strut"> </span></p>
+<p id="t166" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t167" class="stm mis"> <span class="key">if</span> <span class="key">not</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">mem_scenes</span><span class="op">,</span> <span class="op">(</span><span class="nam">list</span><span class="op">,</span> <span class="nam">tuple</span><span class="op">)</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t168" class="stm mis"> <span class="nam">msg</span> <span class="op">=</span> <span class="str">'mem_scenes should be of type'</span><span class="strut"> </span></p>
+<p id="t169" class="stm mis"> <span class="nam">msg</span> <span class="op">+=</span> <span class="str">'list or tuple and not {}'</span><span class="strut"> </span></p>
+<p id="t170" class="stm mis"> <span class="nam">msg</span> <span class="op">=</span> <span class="nam">msg</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">type</span><span class="op">(</span><span class="nam">mem_scenes</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t171" class="stm mis"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="nam">mem_scenes</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t172" class="stm mis"> <span class="key">for</span> <span class="nam">scene</span> <span class="key">in</span> <span class="nam">mem_scenes</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t173" class="stm mis"> <span class="nam">check_scene</span><span class="op">(</span><span class="nam">scene</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t174" class="stm mis"> <span class="nam">check_scene</span><span class="op">(</span><span class="nam">current</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t175" class="pln"><span class="strut"> </span></p>
+<p id="t176" class="pln"> <span class="com"># A dataframe to store</span><span class="strut"> </span></p>
+<p id="t177" class="pln"> <span class="com"># the minimum of the irdf and the angle</span><span class="strut"> </span></p>
+<p id="t178" class="pln"> <span class="com"># at which the minimum takes place</span><span class="strut"> </span></p>
+<p id="t179" class="stm mis"> <span class="nam">df_svp</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">DataFrame</span><span class="op">(</span><span class="nam">index</span><span class="op">=</span><span class="nam">range</span><span class="op">(</span><span class="num">0</span><span class="op">,</span> <span class="nam">len</span><span class="op">(</span><span class="nam">mem_scenes</span><span class="op">)</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t180" class="pln"> <span class="nam">columns</span><span class="op">=</span><span class="op">[</span><span class="str">'irdf'</span><span class="op">,</span> <span class="str">'angle'</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t181" class="pln"><span class="strut"> </span></p>
+<p id="t182" class="stm mis"> <span class="key">for</span> <span class="nam">i</span><span class="op">,</span> <span class="nam">scene</span> <span class="key">in</span> <span class="nam">enumerate</span><span class="op">(</span><span class="nam">mem_scenes</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t183" class="stm mis"> <span class="nam">irdf</span> <span class="op">=</span> <span class="nam">rot_imagediff</span><span class="op">(</span><span class="nam">current</span><span class="op">,</span> <span class="nam">scene</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t184" class="stm mis"> <span class="nam">idx</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">argmin</span><span class="op">(</span><span class="nam">irdf</span><span class="op">[</span><span class="op">...</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t185" class="stm mis"> <span class="nam">value</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">min</span><span class="op">(</span><span class="nam">irdf</span><span class="op">[</span><span class="op">...</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t186" class="stm mis"> <span class="nam">df_svp</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="nam">i</span><span class="op">,</span> <span class="str">'angle'</span><span class="op">]</span> <span class="op">=</span> <span class="xx">\</span><span class="strut"> </span></p>
+<p id="t187" class="pln"> <span class="nam">viewing_directions</span><span class="op">[</span><span class="nam">idx</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t188" class="pln"> <span class="nam">__spherical_indeces__</span><span class="op">[</span><span class="str">'azimuth'</span><span class="op">]</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t189" class="stm mis"> <span class="nam">df_svp</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="nam">i</span><span class="op">,</span> <span class="str">'irdf'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">value</span><span class="strut"> </span></p>
+<p id="t190" class="pln"><span class="strut"> </span></p>
+<p id="t191" class="stm mis"> <span class="nam">min_irdf</span> <span class="op">=</span> <span class="nam">df_svp</span><span class="op">.</span><span class="nam">irdf</span><span class="op">.</span><span class="nam">min</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t192" class="pln"> <span class="com"># Take the best svp irdf and make the ratio</span><span class="strut"> </span></p>
+<p id="t193" class="pln"> <span class="com"># for each others that gives the weighted irdf</span><span class="strut"> </span></p>
+<p id="t194" class="stm mis"> <span class="nam">w_svp</span> <span class="op">=</span> <span class="nam">min_irdf</span> <span class="op">/</span> <span class="nam">df_svp</span><span class="op">.</span><span class="nam">irdf</span><span class="strut"> </span></p>
+<p id="t195" class="pln"> <span class="com"># Weighting of the vector direction based on circular statistics</span><span class="strut"> </span></p>
+<p id="t196" class="stm mis"> <span class="nam">j</span> <span class="op">=</span> <span class="nam">complex</span><span class="op">(</span><span class="num">0</span><span class="op">,</span> <span class="num">1</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t197" class="stm mis"> <span class="nam">H</span> <span class="op">=</span> <span class="nam">w_svp</span> <span class="op">*</span> <span class="nam">np</span><span class="op">.</span><span class="nam">exp</span><span class="op">(</span><span class="nam">df_svp</span><span class="op">.</span><span class="nam">angle</span> <span class="op">*</span> <span class="nam">j</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t198" class="stm mis"> <span class="key">return</span> <span class="nam">np</span><span class="op">.</span><span class="nam">sum</span><span class="op">(</span><span class="nam">H</span><span class="op">)</span><span class="strut"> </span></p>
+
+ </td>
+ </tr>
+ </table>
+</div>
+
+<div id="footer">
+ <div class="content">
+ <p>
+ <a class="nav" href="index.html">« index</a> <a class="nav" href="https://coverage.readthedocs.io">coverage.py v4.5.2</a>,
+ created at 2019-01-13 14:34
+ </p>
+ </div>
+</div>
+
+</body>
+</html>
diff --git a/coverage_html_report/navipy_comparing_test_py.html b/coverage_html_report/navipy_comparing_test_py.html
new file mode 100644
index 0000000000000000000000000000000000000000..faaf168afbd20c5e921ae51f5f0411923504c8e7
--- /dev/null
+++ b/coverage_html_report/navipy_comparing_test_py.html
@@ -0,0 +1,723 @@
+
+
+
+<!DOCTYPE html>
+<html>
+<head>
+ <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
+
+
+ <meta http-equiv="X-UA-Compatible" content="IE=emulateIE7" />
+ <title>Coverage for navipy/comparing/test.py: 99%</title>
+ <link rel="stylesheet" href="style.css" type="text/css">
+
+ <script type="text/javascript" src="jquery.min.js"></script>
+ <script type="text/javascript" src="jquery.hotkeys.js"></script>
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+ jQuery(document).ready(coverage.pyfile_ready);
+ </script>
+</head>
+<body class="pyfile">
+
+<div id="header">
+ <div class="content">
+ <h1>Coverage for <b>navipy/comparing/test.py</b> :
+ <span class="pc_cov">99%</span>
+ </h1>
+
+ <img id="keyboard_icon" src="keybd_closed.png" alt="Show keyboard shortcuts" />
+
+ <h2 class="stats">
+ 178 statements
+ <span class="run hide_run shortkey_r button_toggle_run">177 run</span>
+ <span class="mis shortkey_m button_toggle_mis">1 missing</span>
+ <span class="exc shortkey_x button_toggle_exc">0 excluded</span>
+
+
+ </h2>
+ </div>
+</div>
+
+<div class="help_panel">
+ <img id="panel_icon" src="keybd_open.png" alt="Hide keyboard shortcuts" />
+ <p class="legend">Hot-keys on this page</p>
+ <div>
+ <p class="keyhelp">
+ <span class="key">r</span>
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+ <span class="key">x</span>
+ <span class="key">p</span> toggle line displays
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+ <p class="keyhelp">
+ <span class="key">1</span> (one) first highlighted chunk
+ </p>
+ </div>
+</div>
+
+<div id="source">
+ <table>
+ <tr>
+ <td class="linenos">
+<p id="n1" class="stm run hide_run"><a href="#n1">1</a></p>
+<p id="n2" class="stm run hide_run"><a href="#n2">2</a></p>
+<p id="n3" class="stm run hide_run"><a href="#n3">3</a></p>
+<p id="n4" class="stm run hide_run"><a href="#n4">4</a></p>
+<p id="n5" class="stm run hide_run"><a href="#n5">5</a></p>
+<p id="n6" class="stm run hide_run"><a href="#n6">6</a></p>
+<p id="n7" class="pln"><a href="#n7">7</a></p>
+<p id="n8" class="pln"><a href="#n8">8</a></p>
+<p id="n9" class="stm run hide_run"><a href="#n9">9</a></p>
+<p id="n10" class="stm run hide_run"><a href="#n10">10</a></p>
+<p id="n11" class="pln"><a href="#n11">11</a></p>
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+<p id="n252" class="pln"><a href="#n252">252</a></p>
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+<p id="n255" class="pln"><a href="#n255">255</a></p>
+<p id="n256" class="stm run hide_run"><a href="#n256">256</a></p>
+<p id="n257" class="stm run hide_run"><a href="#n257">257</a></p>
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+<p id="n273" class="stm run hide_run"><a href="#n273">273</a></p>
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+<p id="n278" class="pln"><a href="#n278">278</a></p>
+<p id="n279" class="stm run hide_run"><a href="#n279">279</a></p>
+<p id="n280" class="pln"><a href="#n280">280</a></p>
+<p id="n281" class="pln"><a href="#n281">281</a></p>
+<p id="n282" class="pln"><a href="#n282">282</a></p>
+<p id="n283" class="pln"><a href="#n283">283</a></p>
+<p id="n284" class="pln"><a href="#n284">284</a></p>
+<p id="n285" class="pln"><a href="#n285">285</a></p>
+<p id="n286" class="pln"><a href="#n286">286</a></p>
+<p id="n287" class="pln"><a href="#n287">287</a></p>
+<p id="n288" class="pln"><a href="#n288">288</a></p>
+<p id="n289" class="pln"><a href="#n289">289</a></p>
+<p id="n290" class="pln"><a href="#n290">290</a></p>
+<p id="n291" class="pln"><a href="#n291">291</a></p>
+<p id="n292" class="stm run hide_run"><a href="#n292">292</a></p>
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+<p id="n300" class="pln"><a href="#n300">300</a></p>
+<p id="n301" class="stm run hide_run"><a href="#n301">301</a></p>
+<p id="n302" class="stm run hide_run"><a href="#n302">302</a></p>
+<p id="n303" class="stm run hide_run"><a href="#n303">303</a></p>
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+<p id="n306" class="stm run hide_run"><a href="#n306">306</a></p>
+<p id="n307" class="pln"><a href="#n307">307</a></p>
+<p id="n308" class="pln"><a href="#n308">308</a></p>
+<p id="n309" class="stm run hide_run"><a href="#n309">309</a></p>
+<p id="n310" class="stm run hide_run"><a href="#n310">310</a></p>
+<p id="n311" class="stm run hide_run"><a href="#n311">311</a></p>
+<p id="n312" class="stm run hide_run"><a href="#n312">312</a></p>
+<p id="n313" class="stm run hide_run"><a href="#n313">313</a></p>
+<p id="n314" class="pln"><a href="#n314">314</a></p>
+<p id="n315" class="pln"><a href="#n315">315</a></p>
+<p id="n316" class="stm run hide_run"><a href="#n316">316</a></p>
+<p id="n317" class="stm mis"><a href="#n317">317</a></p>
+
+ </td>
+ <td class="text">
+<p id="t1" class="stm run hide_run"><span class="key">import</span> <span class="nam">unittest</span><span class="strut"> </span></p>
+<p id="t2" class="stm run hide_run"><span class="key">import</span> <span class="nam">numpy</span> <span class="key">as</span> <span class="nam">np</span><span class="strut"> </span></p>
+<p id="t3" class="stm run hide_run"><span class="key">from</span> <span class="nam">navipy</span> <span class="key">import</span> <span class="nam">database</span><span class="strut"> </span></p>
+<p id="t4" class="stm run hide_run"><span class="key">from</span> <span class="nam">navipy</span> <span class="key">import</span> <span class="nam">comparing</span><span class="strut"> </span></p>
+<p id="t5" class="stm run hide_run"><span class="key">from</span> <span class="nam">navipy</span><span class="op">.</span><span class="nam">scene</span> <span class="key">import</span> <span class="nam">is_numeric_array</span><span class="strut"> </span></p>
+<p id="t6" class="stm run hide_run"><span class="key">import</span> <span class="nam">pkg_resources</span><span class="strut"> </span></p>
+<p id="t7" class="pln"><span class="strut"> </span></p>
+<p id="t8" class="pln"><span class="strut"> </span></p>
+<p id="t9" class="stm run hide_run"><span class="key">class</span> <span class="nam">TestCase</span><span class="op">(</span><span class="nam">unittest</span><span class="op">.</span><span class="nam">TestCase</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t10" class="stm run hide_run"> <span class="key">def</span> <span class="nam">setUp</span><span class="op">(</span><span class="nam">self</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t11" class="pln"> <span class="str">""" loads the database """</span><span class="strut"> </span></p>
+<p id="t12" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">mydb_filename</span> <span class="op">=</span> <span class="nam">pkg_resources</span><span class="op">.</span><span class="nam">resource_filename</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t13" class="pln"> <span class="str">'navipy'</span><span class="op">,</span> <span class="str">'resources/database.db'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t14" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">mydb</span> <span class="op">=</span> <span class="nam">database</span><span class="op">.</span><span class="nam">DataBase</span><span class="op">(</span><span class="nam">self</span><span class="op">.</span><span class="nam">mydb_filename</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t15" class="pln"><span class="strut"> </span></p>
+<p id="t16" class="stm run hide_run"> <span class="key">def</span> <span class="nam">test_imagediff_curr</span><span class="op">(</span><span class="nam">self</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t17" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t18" class="pln"><span class="str"> this test checks the function imdiff works</span><span class="strut"> </span></p>
+<p id="t19" class="pln"><span class="str"> correctly.</span><span class="strut"> </span></p>
+<p id="t20" class="pln"><span class="str"> it checks if correct errors are raised for:</span><span class="strut"> </span></p>
+<p id="t21" class="pln"><span class="str"> - frame containing nans</span><span class="strut"> </span></p>
+<p id="t22" class="pln"><span class="str"> - frame has wrong dimension</span><span class="strut"> </span></p>
+<p id="t23" class="pln"><span class="strut"> </span></p>
+<p id="t24" class="pln"><span class="str"> and checks if the returned frame is correct:</span><span class="strut"> </span></p>
+<p id="t25" class="pln"><span class="str"> - has correct shape</span><span class="strut"> </span></p>
+<p id="t26" class="pln"><span class="str"> - does not contain nans</span><span class="strut"> </span></p>
+<p id="t27" class="pln"><span class="str"> - contains only numeric values</span><span class="strut"> </span></p>
+<p id="t28" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t29" class="stm run hide_run"> <span class="nam">curr</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">mydb</span><span class="op">.</span><span class="nam">scene</span><span class="op">(</span><span class="nam">rowid</span><span class="op">=</span><span class="num">1</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t30" class="stm run hide_run"> <span class="nam">mem</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">mydb</span><span class="op">.</span><span class="nam">scene</span><span class="op">(</span><span class="nam">rowid</span><span class="op">=</span><span class="num">2</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t31" class="stm run hide_run"> <span class="nam">curr2</span> <span class="op">=</span> <span class="nam">curr</span><span class="op">.</span><span class="nam">copy</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t32" class="stm run hide_run"> <span class="nam">curr2</span><span class="op">[</span><span class="num">3</span><span class="op">,</span> <span class="num">5</span><span class="op">,</span> <span class="num">2</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">nan</span><span class="strut"> </span></p>
+<p id="t33" class="stm run hide_run"> <span class="nam">curr3</span> <span class="op">=</span> <span class="op">[</span><span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">2</span><span class="op">,</span> <span class="num">3</span><span class="op">]</span><span class="op">,</span> <span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">2</span><span class="op">,</span> <span class="num">3</span><span class="op">]</span><span class="op">,</span> <span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">2</span><span class="op">,</span> <span class="num">3</span><span class="op">]</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t34" class="stm run hide_run"> <span class="nam">curr3</span> <span class="op">=</span> <span class="op">[</span><span class="nam">curr3</span><span class="op">,</span> <span class="nam">curr3</span><span class="op">,</span> <span class="nam">curr3</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t35" class="stm run hide_run"> <span class="nam">curr3</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">array</span><span class="op">(</span><span class="nam">curr3</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t36" class="stm run hide_run"> <span class="nam">curr4</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">zeros</span><span class="op">(</span><span class="op">(</span><span class="num">3</span><span class="op">,</span> <span class="num">4</span><span class="op">,</span> <span class="num">5</span><span class="op">,</span> <span class="num">0</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t37" class="pln"><span class="strut"> </span></p>
+<p id="t38" class="pln"> <span class="com"># put useless stuff here</span><span class="strut"> </span></p>
+<p id="t39" class="stm run hide_run"> <span class="key">with</span> <span class="nam">self</span><span class="op">.</span><span class="nam">assertRaises</span><span class="op">(</span><span class="nam">ValueError</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t40" class="stm run hide_run"> <span class="nam">comparing</span><span class="op">.</span><span class="nam">imagediff</span><span class="op">(</span><span class="nam">curr2</span><span class="op">,</span> <span class="nam">mem</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t41" class="stm run hide_run"> <span class="key">with</span> <span class="nam">self</span><span class="op">.</span><span class="nam">assertRaises</span><span class="op">(</span><span class="nam">Exception</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t42" class="stm run hide_run"> <span class="nam">comparing</span><span class="op">.</span><span class="nam">imagediff</span><span class="op">(</span><span class="nam">curr3</span><span class="op">,</span> <span class="nam">mem</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t43" class="stm run hide_run"> <span class="key">with</span> <span class="nam">self</span><span class="op">.</span><span class="nam">assertRaises</span><span class="op">(</span><span class="nam">Exception</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t44" class="stm run hide_run"> <span class="nam">comparing</span><span class="op">.</span><span class="nam">imagediff</span><span class="op">(</span><span class="nam">curr4</span><span class="op">,</span> <span class="nam">mem</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t45" class="pln"><span class="strut"> </span></p>
+<p id="t46" class="pln"> <span class="com"># should be working -> check if result is correct</span><span class="strut"> </span></p>
+<p id="t47" class="stm run hide_run"> <span class="key">for</span> <span class="nam">s</span> <span class="key">in</span> <span class="op">[</span><span class="nam">curr</span><span class="op">]</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t48" class="stm run hide_run"> <span class="nam">diff</span> <span class="op">=</span> <span class="nam">comparing</span><span class="op">.</span><span class="nam">imagediff</span><span class="op">(</span><span class="nam">s</span><span class="op">,</span> <span class="nam">mem</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t49" class="pln"> <span class="com"># self.assertTrue(diff.shape[1] == 1)</span><span class="strut"> </span></p>
+<p id="t50" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertTrue</span><span class="op">(</span><span class="nam">diff</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">0</span><span class="op">]</span> <span class="op">></span> <span class="num">0</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t51" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertFalse</span><span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">any</span><span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">isnan</span><span class="op">(</span><span class="nam">diff</span><span class="op">)</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t52" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertTrue</span><span class="op">(</span><span class="nam">is_numeric_array</span><span class="op">(</span><span class="nam">diff</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t53" class="pln"><span class="strut"> </span></p>
+<p id="t54" class="stm run hide_run"> <span class="key">def</span> <span class="nam">test_imagediff_memory</span><span class="op">(</span><span class="nam">self</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t55" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t56" class="pln"><span class="str"> this test checks the function imagediff works</span><span class="strut"> </span></p>
+<p id="t57" class="pln"><span class="str"> correctly for the parameter memory.</span><span class="strut"> </span></p>
+<p id="t58" class="pln"><span class="str"> it checks if correct errors are raised for:</span><span class="strut"> </span></p>
+<p id="t59" class="pln"><span class="str"> - memory containing nans</span><span class="strut"> </span></p>
+<p id="t60" class="pln"><span class="str"> - memory has wrong dimension</span><span class="strut"> </span></p>
+<p id="t61" class="pln"><span class="strut"> </span></p>
+<p id="t62" class="pln"><span class="str"> and checks if the returned frame is correct:</span><span class="strut"> </span></p>
+<p id="t63" class="pln"><span class="str"> - has correct shape</span><span class="strut"> </span></p>
+<p id="t64" class="pln"><span class="str"> - does not contain nans</span><span class="strut"> </span></p>
+<p id="t65" class="pln"><span class="str"> - contains only numeric values</span><span class="strut"> </span></p>
+<p id="t66" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t67" class="stm run hide_run"> <span class="nam">curr</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">mydb</span><span class="op">.</span><span class="nam">scene</span><span class="op">(</span><span class="nam">rowid</span><span class="op">=</span><span class="num">1</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t68" class="stm run hide_run"> <span class="nam">mem</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">mydb</span><span class="op">.</span><span class="nam">scene</span><span class="op">(</span><span class="nam">rowid</span><span class="op">=</span><span class="num">2</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t69" class="stm run hide_run"> <span class="nam">mem2</span> <span class="op">=</span> <span class="nam">curr</span><span class="op">.</span><span class="nam">copy</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t70" class="stm run hide_run"> <span class="nam">mem2</span><span class="op">[</span><span class="num">3</span><span class="op">,</span> <span class="num">5</span><span class="op">,</span> <span class="num">2</span><span class="op">]</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">nan</span><span class="strut"> </span></p>
+<p id="t71" class="stm run hide_run"> <span class="nam">mem3</span> <span class="op">=</span> <span class="op">[</span><span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">2</span><span class="op">]</span><span class="op">,</span> <span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">2</span><span class="op">]</span><span class="op">,</span> <span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">2</span><span class="op">]</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t72" class="stm run hide_run"> <span class="nam">mem3</span> <span class="op">=</span> <span class="op">[</span><span class="nam">mem3</span><span class="op">,</span> <span class="nam">mem3</span><span class="op">,</span> <span class="nam">mem3</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t73" class="stm run hide_run"> <span class="nam">mem3</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">array</span><span class="op">(</span><span class="nam">mem3</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t74" class="stm run hide_run"> <span class="nam">mem4</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">zeros</span><span class="op">(</span><span class="op">(</span><span class="num">3</span><span class="op">,</span> <span class="num">4</span><span class="op">,</span> <span class="num">5</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t75" class="pln"><span class="strut"> </span></p>
+<p id="t76" class="stm run hide_run"> <span class="key">with</span> <span class="nam">self</span><span class="op">.</span><span class="nam">assertRaises</span><span class="op">(</span><span class="nam">ValueError</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t77" class="stm run hide_run"> <span class="nam">comparing</span><span class="op">.</span><span class="nam">imagediff</span><span class="op">(</span><span class="nam">curr</span><span class="op">,</span> <span class="nam">mem2</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t78" class="stm run hide_run"> <span class="key">with</span> <span class="nam">self</span><span class="op">.</span><span class="nam">assertRaises</span><span class="op">(</span><span class="nam">Exception</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t79" class="stm run hide_run"> <span class="nam">comparing</span><span class="op">.</span><span class="nam">imagediff</span><span class="op">(</span><span class="nam">curr</span><span class="op">,</span> <span class="nam">mem3</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t80" class="stm run hide_run"> <span class="key">with</span> <span class="nam">self</span><span class="op">.</span><span class="nam">assertRaises</span><span class="op">(</span><span class="nam">Exception</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t81" class="stm run hide_run"> <span class="nam">comparing</span><span class="op">.</span><span class="nam">imagediff</span><span class="op">(</span><span class="nam">curr</span><span class="op">,</span> <span class="nam">mem4</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t82" class="pln"><span class="strut"> </span></p>
+<p id="t83" class="pln"> <span class="com"># should be working -> check if result is correct</span><span class="strut"> </span></p>
+<p id="t84" class="stm run hide_run"> <span class="key">for</span> <span class="nam">s</span> <span class="key">in</span> <span class="op">[</span><span class="nam">mem</span><span class="op">]</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t85" class="stm run hide_run"> <span class="nam">diff</span> <span class="op">=</span> <span class="nam">comparing</span><span class="op">.</span><span class="nam">imagediff</span><span class="op">(</span><span class="nam">curr</span><span class="op">,</span> <span class="nam">s</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t86" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertFalse</span><span class="op">(</span><span class="nam">diff</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">0</span><span class="op">]</span> <span class="op"><=</span> <span class="num">0</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t87" class="pln"> <span class="com"># self.assertTrue(diff.shape[1] == 1)</span><span class="strut"> </span></p>
+<p id="t88" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertFalse</span><span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">any</span><span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">isnan</span><span class="op">(</span><span class="nam">diff</span><span class="op">)</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t89" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertTrue</span><span class="op">(</span><span class="nam">is_numeric_array</span><span class="op">(</span><span class="nam">diff</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t90" class="pln"><span class="strut"> </span></p>
+<p id="t91" class="stm run hide_run"> <span class="key">def</span> <span class="nam">test_rot_imagediff_curr</span><span class="op">(</span><span class="nam">self</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t92" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t93" class="pln"><span class="str"> this test checks the function imagediff works</span><span class="strut"> </span></p>
+<p id="t94" class="pln"><span class="str"> correctly for the parameter current.</span><span class="strut"> </span></p>
+<p id="t95" class="pln"><span class="str"> it checks if correct errors are raised for:</span><span class="strut"> </span></p>
+<p id="t96" class="pln"><span class="str"> - memory containing nans</span><span class="strut"> </span></p>
+<p id="t97" class="pln"><span class="str"> - memory has wrong dimension</span><span class="strut"> </span></p>
+<p id="t98" class="pln"><span class="strut"> </span></p>
+<p id="t99" class="pln"><span class="str"> and checks if the returned frame is correct:</span><span class="strut"> </span></p>
+<p id="t100" class="pln"><span class="str"> - has correct shape</span><span class="strut"> </span></p>
+<p id="t101" class="pln"><span class="str"> - does not contain nans</span><span class="strut"> </span></p>
+<p id="t102" class="pln"><span class="str"> - contains only numeric values</span><span class="strut"> </span></p>
+<p id="t103" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t104" class="stm run hide_run"> <span class="nam">curr</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">mydb</span><span class="op">.</span><span class="nam">scene</span><span class="op">(</span><span class="nam">rowid</span><span class="op">=</span><span class="num">1</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t105" class="stm run hide_run"> <span class="nam">mem</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">mydb</span><span class="op">.</span><span class="nam">scene</span><span class="op">(</span><span class="nam">rowid</span><span class="op">=</span><span class="num">2</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t106" class="stm run hide_run"> <span class="nam">curr2</span> <span class="op">=</span> <span class="nam">curr</span><span class="op">.</span><span class="nam">copy</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t107" class="stm run hide_run"> <span class="nam">curr2</span><span class="op">[</span><span class="num">3</span><span class="op">,</span> <span class="num">5</span><span class="op">,</span> <span class="num">2</span><span class="op">]</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">nan</span><span class="strut"> </span></p>
+<p id="t108" class="stm run hide_run"> <span class="nam">curr3</span> <span class="op">=</span> <span class="op">[</span><span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">2</span><span class="op">,</span> <span class="num">3</span><span class="op">]</span><span class="op">,</span> <span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">2</span><span class="op">,</span> <span class="num">3</span><span class="op">]</span><span class="op">,</span> <span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">2</span><span class="op">,</span> <span class="num">3</span><span class="op">]</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t109" class="stm run hide_run"> <span class="nam">curr3</span> <span class="op">=</span> <span class="op">[</span><span class="nam">curr3</span><span class="op">,</span> <span class="nam">curr3</span><span class="op">,</span> <span class="nam">curr3</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t110" class="stm run hide_run"> <span class="nam">curr3</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">array</span><span class="op">(</span><span class="nam">curr3</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t111" class="stm run hide_run"> <span class="nam">curr4</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">zeros</span><span class="op">(</span><span class="op">(</span><span class="num">3</span><span class="op">,</span> <span class="num">4</span><span class="op">,</span> <span class="num">5</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t112" class="pln"><span class="strut"> </span></p>
+<p id="t113" class="stm run hide_run"> <span class="key">with</span> <span class="nam">self</span><span class="op">.</span><span class="nam">assertRaises</span><span class="op">(</span><span class="nam">ValueError</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t114" class="stm run hide_run"> <span class="nam">comparing</span><span class="op">.</span><span class="nam">rot_imagediff</span><span class="op">(</span><span class="nam">curr2</span><span class="op">,</span> <span class="nam">mem</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t115" class="stm run hide_run"> <span class="key">with</span> <span class="nam">self</span><span class="op">.</span><span class="nam">assertRaises</span><span class="op">(</span><span class="nam">Exception</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t116" class="stm run hide_run"> <span class="nam">comparing</span><span class="op">.</span><span class="nam">rot_imagediff</span><span class="op">(</span><span class="nam">curr3</span><span class="op">,</span> <span class="nam">mem</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t117" class="stm run hide_run"> <span class="key">with</span> <span class="nam">self</span><span class="op">.</span><span class="nam">assertRaises</span><span class="op">(</span><span class="nam">Exception</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t118" class="stm run hide_run"> <span class="nam">comparing</span><span class="op">.</span><span class="nam">rot_imagediff</span><span class="op">(</span><span class="nam">curr4</span><span class="op">,</span> <span class="nam">mem</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t119" class="pln"><span class="strut"> </span></p>
+<p id="t120" class="pln"> <span class="com"># should be working -> check if result is correct</span><span class="strut"> </span></p>
+<p id="t121" class="stm run hide_run"> <span class="key">for</span> <span class="nam">s</span> <span class="key">in</span> <span class="op">[</span><span class="nam">curr</span><span class="op">]</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t122" class="stm run hide_run"> <span class="nam">diff</span> <span class="op">=</span> <span class="nam">comparing</span><span class="op">.</span><span class="nam">rot_imagediff</span><span class="op">(</span><span class="nam">s</span><span class="op">,</span> <span class="nam">mem</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t123" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertFalse</span><span class="op">(</span><span class="nam">diff</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">0</span><span class="op">]</span> <span class="op"><=</span> <span class="num">0</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t124" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertTrue</span><span class="op">(</span><span class="nam">diff</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">1</span><span class="op">]</span> <span class="op">==</span> <span class="num">4</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t125" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertFalse</span><span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">any</span><span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">isnan</span><span class="op">(</span><span class="nam">diff</span><span class="op">)</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t126" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertTrue</span><span class="op">(</span><span class="nam">is_numeric_array</span><span class="op">(</span><span class="nam">diff</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t127" class="pln"><span class="strut"> </span></p>
+<p id="t128" class="stm run hide_run"> <span class="key">def</span> <span class="nam">test_rotimagediff_memory</span><span class="op">(</span><span class="nam">self</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t129" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t130" class="pln"><span class="str"> this test checks the function rot_imagediff works</span><span class="strut"> </span></p>
+<p id="t131" class="pln"><span class="str"> correctly for the parameter memory.</span><span class="strut"> </span></p>
+<p id="t132" class="pln"><span class="str"> it checks if correct errors are raised for:</span><span class="strut"> </span></p>
+<p id="t133" class="pln"><span class="str"> - memory containing nans</span><span class="strut"> </span></p>
+<p id="t134" class="pln"><span class="str"> - memory has wrong dimension</span><span class="strut"> </span></p>
+<p id="t135" class="pln"><span class="strut"> </span></p>
+<p id="t136" class="pln"><span class="str"> and checks if the returned frame is correct:</span><span class="strut"> </span></p>
+<p id="t137" class="pln"><span class="str"> - has correct shape</span><span class="strut"> </span></p>
+<p id="t138" class="pln"><span class="str"> - does not contain nans</span><span class="strut"> </span></p>
+<p id="t139" class="pln"><span class="str"> - contains only numeric values</span><span class="strut"> </span></p>
+<p id="t140" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t141" class="stm run hide_run"> <span class="nam">curr</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">mydb</span><span class="op">.</span><span class="nam">scene</span><span class="op">(</span><span class="nam">rowid</span><span class="op">=</span><span class="num">1</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t142" class="stm run hide_run"> <span class="nam">mem</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">mydb</span><span class="op">.</span><span class="nam">scene</span><span class="op">(</span><span class="nam">rowid</span><span class="op">=</span><span class="num">2</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t143" class="stm run hide_run"> <span class="nam">mem2</span> <span class="op">=</span> <span class="nam">curr</span><span class="op">.</span><span class="nam">copy</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t144" class="stm run hide_run"> <span class="nam">mem2</span><span class="op">[</span><span class="num">3</span><span class="op">,</span> <span class="num">5</span><span class="op">,</span> <span class="num">2</span><span class="op">]</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">nan</span><span class="strut"> </span></p>
+<p id="t145" class="stm run hide_run"> <span class="nam">mem3</span> <span class="op">=</span> <span class="op">[</span><span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">2</span><span class="op">,</span> <span class="num">3</span><span class="op">]</span><span class="op">,</span> <span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">2</span><span class="op">,</span> <span class="num">3</span><span class="op">]</span><span class="op">,</span> <span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">2</span><span class="op">,</span> <span class="num">3</span><span class="op">]</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t146" class="stm run hide_run"> <span class="nam">mem3</span> <span class="op">=</span> <span class="op">[</span><span class="nam">mem3</span><span class="op">,</span> <span class="nam">mem3</span><span class="op">,</span> <span class="nam">mem3</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t147" class="stm run hide_run"> <span class="nam">mem3</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">array</span><span class="op">(</span><span class="nam">mem3</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t148" class="stm run hide_run"> <span class="nam">mem4</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">zeros</span><span class="op">(</span><span class="op">(</span><span class="num">3</span><span class="op">,</span> <span class="num">4</span><span class="op">,</span> <span class="num">5</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t149" class="pln"><span class="strut"> </span></p>
+<p id="t150" class="stm run hide_run"> <span class="key">with</span> <span class="nam">self</span><span class="op">.</span><span class="nam">assertRaises</span><span class="op">(</span><span class="nam">ValueError</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t151" class="stm run hide_run"> <span class="nam">comparing</span><span class="op">.</span><span class="nam">rot_imagediff</span><span class="op">(</span><span class="nam">curr</span><span class="op">,</span> <span class="nam">mem2</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t152" class="stm run hide_run"> <span class="key">with</span> <span class="nam">self</span><span class="op">.</span><span class="nam">assertRaises</span><span class="op">(</span><span class="nam">Exception</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t153" class="stm run hide_run"> <span class="nam">comparing</span><span class="op">.</span><span class="nam">rot_imagediff</span><span class="op">(</span><span class="nam">curr</span><span class="op">,</span> <span class="nam">mem3</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t154" class="stm run hide_run"> <span class="key">with</span> <span class="nam">self</span><span class="op">.</span><span class="nam">assertRaises</span><span class="op">(</span><span class="nam">Exception</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t155" class="stm run hide_run"> <span class="nam">comparing</span><span class="op">.</span><span class="nam">rot_imagediff</span><span class="op">(</span><span class="nam">curr</span><span class="op">,</span> <span class="nam">mem4</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t156" class="pln"><span class="strut"> </span></p>
+<p id="t157" class="pln"> <span class="com"># should be working -> check if result is correct</span><span class="strut"> </span></p>
+<p id="t158" class="stm run hide_run"> <span class="key">for</span> <span class="nam">s</span> <span class="key">in</span> <span class="op">[</span><span class="nam">mem</span><span class="op">]</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t159" class="stm run hide_run"> <span class="nam">diff</span> <span class="op">=</span> <span class="nam">comparing</span><span class="op">.</span><span class="nam">rot_imagediff</span><span class="op">(</span><span class="nam">curr</span><span class="op">,</span> <span class="nam">s</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t160" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertFalse</span><span class="op">(</span><span class="nam">diff</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">0</span><span class="op">]</span> <span class="op"><=</span> <span class="num">0</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t161" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertTrue</span><span class="op">(</span><span class="nam">diff</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">1</span><span class="op">]</span> <span class="op">==</span> <span class="num">4</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t162" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertFalse</span><span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">any</span><span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">isnan</span><span class="op">(</span><span class="nam">diff</span><span class="op">)</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t163" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertTrue</span><span class="op">(</span><span class="nam">is_numeric_array</span><span class="op">(</span><span class="nam">diff</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t164" class="pln"><span class="strut"> </span></p>
+<p id="t165" class="stm run hide_run"> <span class="key">def</span> <span class="nam">test_simple_imagediff_curr</span><span class="op">(</span><span class="nam">self</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t166" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t167" class="pln"><span class="str"> this test checks the function simple_imagediff works</span><span class="strut"> </span></p>
+<p id="t168" class="pln"><span class="str"> correctly for the parameter current.</span><span class="strut"> </span></p>
+<p id="t169" class="pln"><span class="str"> it checks if correct errors are raised for:</span><span class="strut"> </span></p>
+<p id="t170" class="pln"><span class="str"> - memory containing nans</span><span class="strut"> </span></p>
+<p id="t171" class="pln"><span class="str"> - memory has wrong dimension</span><span class="strut"> </span></p>
+<p id="t172" class="pln"><span class="strut"> </span></p>
+<p id="t173" class="pln"><span class="str"> and checks if the returned frame is correct:</span><span class="strut"> </span></p>
+<p id="t174" class="pln"><span class="str"> - has correct shape</span><span class="strut"> </span></p>
+<p id="t175" class="pln"><span class="str"> - does not contain nans</span><span class="strut"> </span></p>
+<p id="t176" class="pln"><span class="str"> - contains only numeric values</span><span class="strut"> </span></p>
+<p id="t177" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t178" class="stm run hide_run"> <span class="nam">curr</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">mydb</span><span class="op">.</span><span class="nam">scene</span><span class="op">(</span><span class="nam">rowid</span><span class="op">=</span><span class="num">1</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t179" class="stm run hide_run"> <span class="nam">mem</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">mydb</span><span class="op">.</span><span class="nam">scene</span><span class="op">(</span><span class="nam">rowid</span><span class="op">=</span><span class="num">2</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t180" class="stm run hide_run"> <span class="nam">curr2</span> <span class="op">=</span> <span class="nam">curr</span><span class="op">.</span><span class="nam">copy</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t181" class="stm run hide_run"> <span class="nam">curr2</span><span class="op">[</span><span class="num">3</span><span class="op">,</span> <span class="num">5</span><span class="op">,</span> <span class="num">2</span><span class="op">]</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">nan</span><span class="strut"> </span></p>
+<p id="t182" class="stm run hide_run"> <span class="nam">curr3</span> <span class="op">=</span> <span class="op">[</span><span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">2</span><span class="op">,</span> <span class="num">3</span><span class="op">]</span><span class="op">,</span> <span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">2</span><span class="op">,</span> <span class="num">3</span><span class="op">]</span><span class="op">,</span> <span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">2</span><span class="op">,</span> <span class="num">3</span><span class="op">]</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t183" class="stm run hide_run"> <span class="nam">curr3</span> <span class="op">=</span> <span class="op">[</span><span class="nam">curr3</span><span class="op">,</span> <span class="nam">curr3</span><span class="op">,</span> <span class="nam">curr3</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t184" class="stm run hide_run"> <span class="nam">curr3</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">array</span><span class="op">(</span><span class="nam">curr3</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t185" class="stm run hide_run"> <span class="nam">curr4</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">zeros</span><span class="op">(</span><span class="op">(</span><span class="num">3</span><span class="op">,</span> <span class="num">4</span><span class="op">,</span> <span class="num">5</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t186" class="pln"><span class="strut"> </span></p>
+<p id="t187" class="stm run hide_run"> <span class="key">with</span> <span class="nam">self</span><span class="op">.</span><span class="nam">assertRaises</span><span class="op">(</span><span class="nam">ValueError</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t188" class="stm run hide_run"> <span class="nam">comparing</span><span class="op">.</span><span class="nam">simple_imagediff</span><span class="op">(</span><span class="nam">curr2</span><span class="op">,</span> <span class="nam">mem</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t189" class="stm run hide_run"> <span class="key">with</span> <span class="nam">self</span><span class="op">.</span><span class="nam">assertRaises</span><span class="op">(</span><span class="nam">Exception</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t190" class="stm run hide_run"> <span class="nam">comparing</span><span class="op">.</span><span class="nam">simple_imagediff</span><span class="op">(</span><span class="nam">curr3</span><span class="op">,</span> <span class="nam">mem</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t191" class="stm run hide_run"> <span class="key">with</span> <span class="nam">self</span><span class="op">.</span><span class="nam">assertRaises</span><span class="op">(</span><span class="nam">Exception</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t192" class="stm run hide_run"> <span class="nam">comparing</span><span class="op">.</span><span class="nam">simple_imagediff</span><span class="op">(</span><span class="nam">curr4</span><span class="op">,</span> <span class="nam">mem</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t193" class="pln"><span class="strut"> </span></p>
+<p id="t194" class="pln"> <span class="com"># should be working -> check if result is correct</span><span class="strut"> </span></p>
+<p id="t195" class="stm run hide_run"> <span class="key">for</span> <span class="nam">s</span> <span class="key">in</span> <span class="op">[</span><span class="nam">curr</span><span class="op">]</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t196" class="stm run hide_run"> <span class="nam">diff</span> <span class="op">=</span> <span class="nam">comparing</span><span class="op">.</span><span class="nam">simple_imagediff</span><span class="op">(</span><span class="nam">s</span><span class="op">,</span> <span class="nam">mem</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t197" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertFalse</span><span class="op">(</span><span class="nam">diff</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">0</span><span class="op">]</span> <span class="op"><=</span> <span class="num">0</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t198" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertTrue</span><span class="op">(</span><span class="nam">diff</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">1</span><span class="op">]</span> <span class="op">></span> <span class="num">0</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t199" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertFalse</span><span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">any</span><span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">isnan</span><span class="op">(</span><span class="nam">diff</span><span class="op">)</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t200" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertTrue</span><span class="op">(</span><span class="nam">is_numeric_array</span><span class="op">(</span><span class="nam">diff</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t201" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertTrue</span><span class="op">(</span><span class="nam">diff</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">2</span><span class="op">]</span> <span class="op">==</span> <span class="num">4</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t202" class="pln"> <span class="com"># self.assertTrue(diff.shape[3] == 1)</span><span class="strut"> </span></p>
+<p id="t203" class="pln"><span class="strut"> </span></p>
+<p id="t204" class="stm run hide_run"> <span class="key">def</span> <span class="nam">test_simple_imagediff_mem</span><span class="op">(</span><span class="nam">self</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t205" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t206" class="pln"><span class="str"> this test checks the function imagediff works</span><span class="strut"> </span></p>
+<p id="t207" class="pln"><span class="str"> correctly for the parameter memory.</span><span class="strut"> </span></p>
+<p id="t208" class="pln"><span class="str"> it checks if correct errors are raised for:</span><span class="strut"> </span></p>
+<p id="t209" class="pln"><span class="str"> - memory containing nans</span><span class="strut"> </span></p>
+<p id="t210" class="pln"><span class="str"> - memory has wrong dimension</span><span class="strut"> </span></p>
+<p id="t211" class="pln"><span class="strut"> </span></p>
+<p id="t212" class="pln"><span class="str"> and checks if the returned frame is correct:</span><span class="strut"> </span></p>
+<p id="t213" class="pln"><span class="str"> - has correct shape</span><span class="strut"> </span></p>
+<p id="t214" class="pln"><span class="str"> - does not contain nans</span><span class="strut"> </span></p>
+<p id="t215" class="pln"><span class="str"> - contains only numeric values</span><span class="strut"> </span></p>
+<p id="t216" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t217" class="stm run hide_run"> <span class="nam">curr</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">mydb</span><span class="op">.</span><span class="nam">scene</span><span class="op">(</span><span class="nam">rowid</span><span class="op">=</span><span class="num">1</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t218" class="stm run hide_run"> <span class="nam">mem</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">mydb</span><span class="op">.</span><span class="nam">scene</span><span class="op">(</span><span class="nam">rowid</span><span class="op">=</span><span class="num">2</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t219" class="stm run hide_run"> <span class="nam">mem2</span> <span class="op">=</span> <span class="nam">curr</span><span class="op">.</span><span class="nam">copy</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t220" class="stm run hide_run"> <span class="nam">mem2</span><span class="op">[</span><span class="num">3</span><span class="op">,</span> <span class="num">5</span><span class="op">,</span> <span class="num">2</span><span class="op">]</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">nan</span><span class="strut"> </span></p>
+<p id="t221" class="stm run hide_run"> <span class="nam">mem3</span> <span class="op">=</span> <span class="op">[</span><span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">2</span><span class="op">,</span> <span class="num">3</span><span class="op">]</span><span class="op">,</span> <span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">2</span><span class="op">,</span> <span class="num">3</span><span class="op">]</span><span class="op">,</span> <span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">2</span><span class="op">,</span> <span class="num">3</span><span class="op">]</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t222" class="stm run hide_run"> <span class="nam">mem3</span> <span class="op">=</span> <span class="op">[</span><span class="nam">mem3</span><span class="op">,</span> <span class="nam">mem3</span><span class="op">,</span> <span class="nam">mem3</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t223" class="stm run hide_run"> <span class="nam">mem3</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">array</span><span class="op">(</span><span class="nam">mem3</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t224" class="stm run hide_run"> <span class="nam">mem4</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">zeros</span><span class="op">(</span><span class="op">(</span><span class="num">3</span><span class="op">,</span> <span class="num">4</span><span class="op">,</span> <span class="num">5</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t225" class="pln"><span class="strut"> </span></p>
+<p id="t226" class="stm run hide_run"> <span class="key">with</span> <span class="nam">self</span><span class="op">.</span><span class="nam">assertRaises</span><span class="op">(</span><span class="nam">ValueError</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t227" class="stm run hide_run"> <span class="nam">comparing</span><span class="op">.</span><span class="nam">simple_imagediff</span><span class="op">(</span><span class="nam">curr</span><span class="op">,</span> <span class="nam">mem2</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t228" class="stm run hide_run"> <span class="key">with</span> <span class="nam">self</span><span class="op">.</span><span class="nam">assertRaises</span><span class="op">(</span><span class="nam">Exception</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t229" class="stm run hide_run"> <span class="nam">comparing</span><span class="op">.</span><span class="nam">simple_imagediff</span><span class="op">(</span><span class="nam">curr</span><span class="op">,</span> <span class="nam">mem3</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t230" class="stm run hide_run"> <span class="key">with</span> <span class="nam">self</span><span class="op">.</span><span class="nam">assertRaises</span><span class="op">(</span><span class="nam">Exception</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t231" class="stm run hide_run"> <span class="nam">comparing</span><span class="op">.</span><span class="nam">simple_imagediff</span><span class="op">(</span><span class="nam">curr</span><span class="op">,</span> <span class="nam">mem4</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t232" class="pln"><span class="strut"> </span></p>
+<p id="t233" class="pln"> <span class="com"># should be working -> check if result is correct</span><span class="strut"> </span></p>
+<p id="t234" class="stm run hide_run"> <span class="key">for</span> <span class="nam">s</span> <span class="key">in</span> <span class="op">[</span><span class="nam">mem</span><span class="op">]</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t235" class="stm run hide_run"> <span class="nam">diff</span> <span class="op">=</span> <span class="nam">comparing</span><span class="op">.</span><span class="nam">simple_imagediff</span><span class="op">(</span><span class="nam">curr</span><span class="op">,</span> <span class="nam">s</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t236" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertFalse</span><span class="op">(</span><span class="nam">diff</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">0</span><span class="op">]</span> <span class="op"><=</span> <span class="num">0</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t237" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertTrue</span><span class="op">(</span><span class="nam">diff</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">1</span><span class="op">]</span> <span class="op">></span> <span class="num">0</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t238" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertFalse</span><span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">any</span><span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">isnan</span><span class="op">(</span><span class="nam">diff</span><span class="op">)</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t239" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertTrue</span><span class="op">(</span><span class="nam">is_numeric_array</span><span class="op">(</span><span class="nam">diff</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t240" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertTrue</span><span class="op">(</span><span class="nam">diff</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">2</span><span class="op">]</span> <span class="op">==</span> <span class="num">4</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t241" class="pln"> <span class="com"># self.assertTrue(diff.shape[3] == 1)</span><span class="strut"> </span></p>
+<p id="t242" class="pln"><span class="strut"> </span></p>
+<p id="t243" class="stm run hide_run"> <span class="key">def</span> <span class="nam">test_diff_optic_flow_memory</span><span class="op">(</span><span class="nam">self</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t244" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t245" class="pln"><span class="str"> this test checks the function diff_optic_flow works</span><span class="strut"> </span></p>
+<p id="t246" class="pln"><span class="str"> correctly for the parameter memory.</span><span class="strut"> </span></p>
+<p id="t247" class="pln"><span class="str"> it checks if correct errors are raised for:</span><span class="strut"> </span></p>
+<p id="t248" class="pln"><span class="str"> - memory containing nans</span><span class="strut"> </span></p>
+<p id="t249" class="pln"><span class="str"> - memory has wrong dimension</span><span class="strut"> </span></p>
+<p id="t250" class="pln"><span class="strut"> </span></p>
+<p id="t251" class="pln"><span class="str"> and checks if the returned frame is correct:</span><span class="strut"> </span></p>
+<p id="t252" class="pln"><span class="str"> - has correct shape</span><span class="strut"> </span></p>
+<p id="t253" class="pln"><span class="str"> - does not contain nans</span><span class="strut"> </span></p>
+<p id="t254" class="pln"><span class="str"> - contains only numeric values</span><span class="strut"> </span></p>
+<p id="t255" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t256" class="stm run hide_run"> <span class="nam">curr</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">mydb</span><span class="op">.</span><span class="nam">scene</span><span class="op">(</span><span class="nam">rowid</span><span class="op">=</span><span class="num">1</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t257" class="stm run hide_run"> <span class="nam">mem</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">mydb</span><span class="op">.</span><span class="nam">scene</span><span class="op">(</span><span class="nam">rowid</span><span class="op">=</span><span class="num">2</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t258" class="stm run hide_run"> <span class="nam">mem2</span> <span class="op">=</span> <span class="nam">curr</span><span class="op">.</span><span class="nam">copy</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t259" class="stm run hide_run"> <span class="nam">mem2</span><span class="op">[</span><span class="num">3</span><span class="op">,</span> <span class="num">5</span><span class="op">,</span> <span class="num">2</span><span class="op">]</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">nan</span><span class="strut"> </span></p>
+<p id="t260" class="stm run hide_run"> <span class="nam">mem3</span> <span class="op">=</span> <span class="op">[</span><span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">2</span><span class="op">,</span> <span class="num">3</span><span class="op">]</span><span class="op">,</span> <span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">2</span><span class="op">,</span> <span class="num">3</span><span class="op">]</span><span class="op">,</span> <span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">2</span><span class="op">,</span> <span class="num">3</span><span class="op">]</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t261" class="stm run hide_run"> <span class="nam">mem3</span> <span class="op">=</span> <span class="op">[</span><span class="nam">mem3</span><span class="op">,</span> <span class="nam">mem3</span><span class="op">,</span> <span class="nam">mem3</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t262" class="stm run hide_run"> <span class="nam">mem3</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">array</span><span class="op">(</span><span class="nam">mem3</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t263" class="stm run hide_run"> <span class="nam">mem4</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">zeros</span><span class="op">(</span><span class="op">(</span><span class="num">3</span><span class="op">,</span> <span class="num">4</span><span class="op">,</span> <span class="num">5</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t264" class="pln"><span class="strut"> </span></p>
+<p id="t265" class="stm run hide_run"> <span class="key">with</span> <span class="nam">self</span><span class="op">.</span><span class="nam">assertRaises</span><span class="op">(</span><span class="nam">ValueError</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t266" class="stm run hide_run"> <span class="nam">comparing</span><span class="op">.</span><span class="nam">diff_optic_flow</span><span class="op">(</span><span class="nam">curr</span><span class="op">,</span> <span class="nam">mem2</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t267" class="stm run hide_run"> <span class="key">with</span> <span class="nam">self</span><span class="op">.</span><span class="nam">assertRaises</span><span class="op">(</span><span class="nam">Exception</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t268" class="stm run hide_run"> <span class="nam">comparing</span><span class="op">.</span><span class="nam">diff_optic_flow</span><span class="op">(</span><span class="nam">curr</span><span class="op">,</span> <span class="nam">mem3</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t269" class="stm run hide_run"> <span class="key">with</span> <span class="nam">self</span><span class="op">.</span><span class="nam">assertRaises</span><span class="op">(</span><span class="nam">Exception</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t270" class="stm run hide_run"> <span class="nam">comparing</span><span class="op">.</span><span class="nam">diff_optic_flow</span><span class="op">(</span><span class="nam">curr</span><span class="op">,</span> <span class="nam">mem4</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t271" class="pln"><span class="strut"> </span></p>
+<p id="t272" class="pln"> <span class="com"># should be working -> check if result is correct</span><span class="strut"> </span></p>
+<p id="t273" class="stm run hide_run"> <span class="key">for</span> <span class="nam">s</span> <span class="key">in</span> <span class="op">[</span><span class="nam">mem</span><span class="op">]</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t274" class="stm run hide_run"> <span class="nam">vec</span> <span class="op">=</span> <span class="nam">comparing</span><span class="op">.</span><span class="nam">diff_optic_flow</span><span class="op">(</span><span class="nam">curr</span><span class="op">,</span> <span class="nam">s</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t275" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertFalse</span><span class="op">(</span><span class="nam">vec</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">1</span><span class="op">]</span> <span class="op">==</span> <span class="op">(</span><span class="num">1</span><span class="op">,</span> <span class="num">2</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t276" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertFalse</span><span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">any</span><span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">isnan</span><span class="op">(</span><span class="nam">vec</span><span class="op">)</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t277" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertTrue</span><span class="op">(</span><span class="nam">is_numeric_array</span><span class="op">(</span><span class="nam">vec</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t278" class="pln"><span class="strut"> </span></p>
+<p id="t279" class="stm run hide_run"> <span class="key">def</span> <span class="nam">test_diff_optic_flow_curr</span><span class="op">(</span><span class="nam">self</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t280" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t281" class="pln"><span class="str"> this test checks the function diff_optic_flow works</span><span class="strut"> </span></p>
+<p id="t282" class="pln"><span class="str"> correctly for the parameter current.</span><span class="strut"> </span></p>
+<p id="t283" class="pln"><span class="str"> it checks if correct errors are raised for:</span><span class="strut"> </span></p>
+<p id="t284" class="pln"><span class="str"> - memory containing nans</span><span class="strut"> </span></p>
+<p id="t285" class="pln"><span class="str"> - memory has wrong dimension</span><span class="strut"> </span></p>
+<p id="t286" class="pln"><span class="strut"> </span></p>
+<p id="t287" class="pln"><span class="str"> and checks if the returned frame is correct:</span><span class="strut"> </span></p>
+<p id="t288" class="pln"><span class="str"> - has correct shape</span><span class="strut"> </span></p>
+<p id="t289" class="pln"><span class="str"> - does not contain nans</span><span class="strut"> </span></p>
+<p id="t290" class="pln"><span class="str"> - contains only numeric values</span><span class="strut"> </span></p>
+<p id="t291" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t292" class="stm run hide_run"> <span class="nam">curr</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">mydb</span><span class="op">.</span><span class="nam">scene</span><span class="op">(</span><span class="nam">rowid</span><span class="op">=</span><span class="num">1</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t293" class="stm run hide_run"> <span class="nam">mem</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">mydb</span><span class="op">.</span><span class="nam">scene</span><span class="op">(</span><span class="nam">rowid</span><span class="op">=</span><span class="num">2</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t294" class="stm run hide_run"> <span class="nam">curr2</span> <span class="op">=</span> <span class="nam">curr</span><span class="op">.</span><span class="nam">copy</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t295" class="stm run hide_run"> <span class="nam">curr2</span><span class="op">[</span><span class="num">3</span><span class="op">,</span> <span class="num">5</span><span class="op">,</span> <span class="num">2</span><span class="op">]</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">nan</span><span class="strut"> </span></p>
+<p id="t296" class="stm run hide_run"> <span class="nam">curr3</span> <span class="op">=</span> <span class="op">[</span><span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">2</span><span class="op">]</span><span class="op">,</span> <span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">2</span><span class="op">]</span><span class="op">,</span> <span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">2</span><span class="op">]</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t297" class="stm run hide_run"> <span class="nam">curr3</span> <span class="op">=</span> <span class="op">[</span><span class="nam">curr3</span><span class="op">,</span> <span class="nam">curr3</span><span class="op">,</span> <span class="nam">curr3</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t298" class="stm run hide_run"> <span class="nam">curr3</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">array</span><span class="op">(</span><span class="nam">curr3</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t299" class="stm run hide_run"> <span class="nam">curr4</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">zeros</span><span class="op">(</span><span class="op">(</span><span class="num">3</span><span class="op">,</span> <span class="num">4</span><span class="op">,</span> <span class="num">5</span><span class="op">,</span> <span class="num">1</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t300" class="pln"><span class="strut"> </span></p>
+<p id="t301" class="stm run hide_run"> <span class="key">with</span> <span class="nam">self</span><span class="op">.</span><span class="nam">assertRaises</span><span class="op">(</span><span class="nam">ValueError</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t302" class="stm run hide_run"> <span class="nam">comparing</span><span class="op">.</span><span class="nam">diff_optic_flow</span><span class="op">(</span><span class="nam">curr2</span><span class="op">,</span> <span class="nam">mem</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t303" class="stm run hide_run"> <span class="key">with</span> <span class="nam">self</span><span class="op">.</span><span class="nam">assertRaises</span><span class="op">(</span><span class="nam">Exception</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t304" class="stm run hide_run"> <span class="nam">comparing</span><span class="op">.</span><span class="nam">diff_optic_flow</span><span class="op">(</span><span class="nam">curr3</span><span class="op">,</span> <span class="nam">mem</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t305" class="stm run hide_run"> <span class="key">with</span> <span class="nam">self</span><span class="op">.</span><span class="nam">assertRaises</span><span class="op">(</span><span class="nam">Exception</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t306" class="stm run hide_run"> <span class="nam">comparing</span><span class="op">.</span><span class="nam">diff_optic_flow</span><span class="op">(</span><span class="nam">curr4</span><span class="op">,</span> <span class="nam">mem</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t307" class="pln"><span class="strut"> </span></p>
+<p id="t308" class="pln"> <span class="com"># should be working -> check if result is correct</span><span class="strut"> </span></p>
+<p id="t309" class="stm run hide_run"> <span class="key">for</span> <span class="nam">s</span> <span class="key">in</span> <span class="op">[</span><span class="nam">mem</span><span class="op">]</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t310" class="stm run hide_run"> <span class="nam">vec</span> <span class="op">=</span> <span class="nam">comparing</span><span class="op">.</span><span class="nam">diff_optic_flow</span><span class="op">(</span><span class="nam">s</span><span class="op">,</span> <span class="nam">curr</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t311" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertFalse</span><span class="op">(</span><span class="nam">vec</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">1</span><span class="op">]</span> <span class="op">==</span> <span class="op">(</span><span class="num">1</span><span class="op">,</span> <span class="num">2</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t312" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertFalse</span><span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">any</span><span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">isnan</span><span class="op">(</span><span class="nam">vec</span><span class="op">)</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t313" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertTrue</span><span class="op">(</span><span class="nam">is_numeric_array</span><span class="op">(</span><span class="nam">vec</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t314" class="pln"><span class="strut"> </span></p>
+<p id="t315" class="pln"><span class="strut"> </span></p>
+<p id="t316" class="stm run hide_run"><span class="key">if</span> <span class="nam">__name__</span> <span class="op">==</span> <span class="str">'__main__'</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t317" class="stm mis"> <span class="nam">unittest</span><span class="op">.</span><span class="nam">main</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+
+ </td>
+ </tr>
+ </table>
+</div>
+
+<div id="footer">
+ <div class="content">
+ <p>
+ <a class="nav" href="index.html">« index</a> <a class="nav" href="https://coverage.readthedocs.io">coverage.py v4.5.2</a>,
+ created at 2019-01-13 14:34
+ </p>
+ </div>
+</div>
+
+</body>
+</html>
diff --git a/coverage_html_report/navipy_database___init___py.html b/coverage_html_report/navipy_database___init___py.html
new file mode 100644
index 0000000000000000000000000000000000000000..1a8076ea195acdd5a74f27013735bc0161ce703c
--- /dev/null
+++ b/coverage_html_report/navipy_database___init___py.html
@@ -0,0 +1,2009 @@
+
+
+
+<!DOCTYPE html>
+<html>
+<head>
+ <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
+
+
+ <meta http-equiv="X-UA-Compatible" content="IE=emulateIE7" />
+ <title>Coverage for navipy/database/__init__.py: 69%</title>
+ <link rel="stylesheet" href="style.css" type="text/css">
+
+ <script type="text/javascript" src="jquery.min.js"></script>
+ <script type="text/javascript" src="jquery.hotkeys.js"></script>
+ <script type="text/javascript" src="jquery.isonscreen.js"></script>
+ <script type="text/javascript" src="coverage_html.js"></script>
+ <script type="text/javascript">
+ jQuery(document).ready(coverage.pyfile_ready);
+ </script>
+</head>
+<body class="pyfile">
+
+<div id="header">
+ <div class="content">
+ <h1>Coverage for <b>navipy/database/__init__.py</b> :
+ <span class="pc_cov">69%</span>
+ </h1>
+
+ <img id="keyboard_icon" src="keybd_closed.png" alt="Show keyboard shortcuts" />
+
+ <h2 class="stats">
+ 558 statements
+ <span class="run hide_run shortkey_r button_toggle_run">383 run</span>
+ <span class="mis shortkey_m button_toggle_mis">175 missing</span>
+ <span class="exc shortkey_x button_toggle_exc">0 excluded</span>
+
+
+ </h2>
+ </div>
+</div>
+
+<div class="help_panel">
+ <img id="panel_icon" src="keybd_open.png" alt="Hide keyboard shortcuts" />
+ <p class="legend">Hot-keys on this page</p>
+ <div>
+ <p class="keyhelp">
+ <span class="key">r</span>
+ <span class="key">m</span>
+ <span class="key">x</span>
+ <span class="key">p</span> toggle line displays
+ </p>
+ <p class="keyhelp">
+ <span class="key">j</span>
+ <span class="key">k</span> next/prev highlighted chunk
+ </p>
+ <p class="keyhelp">
+ <span class="key">0</span> (zero) top of page
+ </p>
+ <p class="keyhelp">
+ <span class="key">1</span> (one) first highlighted chunk
+ </p>
+ </div>
+</div>
+
+<div id="source">
+ <table>
+ <tr>
+ <td class="linenos">
+<p id="n1" class="pln"><a href="#n1">1</a></p>
+<p id="n2" class="pln"><a href="#n2">2</a></p>
+<p id="n3" class="pln"><a href="#n3">3</a></p>
+<p id="n4" class="pln"><a href="#n4">4</a></p>
+<p id="n5" class="stm run hide_run"><a href="#n5">5</a></p>
+<p id="n6" class="stm run hide_run"><a href="#n6">6</a></p>
+<p id="n7" class="stm run hide_run"><a href="#n7">7</a></p>
+<p id="n8" class="stm run hide_run"><a href="#n8">8</a></p>
+<p id="n9" class="stm run hide_run"><a href="#n9">9</a></p>
+<p id="n10" class="stm run hide_run"><a href="#n10">10</a></p>
+<p id="n11" class="stm run hide_run"><a href="#n11">11</a></p>
+<p id="n12" class="stm run hide_run"><a href="#n12">12</a></p>
+<p id="n13" class="stm run hide_run"><a href="#n13">13</a></p>
+<p id="n14" class="stm run hide_run"><a href="#n14">14</a></p>
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+<p id="n16" class="pln"><a href="#n16">16</a></p>
+<p id="n17" class="stm run hide_run"><a href="#n17">17</a></p>
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+<p id="n21" class="stm mis"><a href="#n21">21</a></p>
+<p id="n22" class="stm mis"><a href="#n22">22</a></p>
+<p id="n23" class="stm mis"><a href="#n23">23</a></p>
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+<p id="n31" class="stm mis"><a href="#n31">31</a></p>
+<p id="n32" class="stm run hide_run"><a href="#n32">32</a></p>
+<p id="n33" class="stm run hide_run"><a href="#n33">33</a></p>
+<p id="n34" class="stm run hide_run"><a href="#n34">34</a></p>
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+<p id="n37" class="pln"><a href="#n37">37</a></p>
+<p id="n38" class="stm run hide_run"><a href="#n38">38</a></p>
+<p id="n39" class="pln"><a href="#n39">39</a></p>
+<p id="n40" class="stm run hide_run"><a href="#n40">40</a></p>
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+<p id="n56" class="pln"><a href="#n56">56</a></p>
+<p id="n57" class="pln"><a href="#n57">57</a></p>
+<p id="n58" class="pln"><a href="#n58">58</a></p>
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+<p id="n60" class="pln"><a href="#n60">60</a></p>
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+<p id="n62" class="pln"><a href="#n62">62</a></p>
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+<p id="n64" class="stm run hide_run"><a href="#n64">64</a></p>
+<p id="n65" class="stm run hide_run"><a href="#n65">65</a></p>
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+<p id="n68" class="stm run hide_run"><a href="#n68">68</a></p>
+<p id="n69" class="stm run hide_run"><a href="#n69">69</a></p>
+<p id="n70" class="stm run hide_run"><a href="#n70">70</a></p>
+<p id="n71" class="stm run hide_run"><a href="#n71">71</a></p>
+<p id="n72" class="stm run hide_run"><a href="#n72">72</a></p>
+<p id="n73" class="stm run hide_run"><a href="#n73">73</a></p>
+<p id="n74" class="pln"><a href="#n74">74</a></p>
+<p id="n75" class="pln"><a href="#n75">75</a></p>
+<p id="n76" class="stm run hide_run"><a href="#n76">76</a></p>
+<p id="n77" class="pln"><a href="#n77">77</a></p>
+<p id="n78" class="pln"><a href="#n78">78</a></p>
+<p id="n79" class="stm mis"><a href="#n79">79</a></p>
+<p id="n80" class="stm mis"><a href="#n80">80</a></p>
+<p id="n81" class="stm mis"><a href="#n81">81</a></p>
+<p id="n82" class="stm mis"><a href="#n82">82</a></p>
+<p id="n83" class="stm run hide_run"><a href="#n83">83</a></p>
+<p id="n84" class="pln"><a href="#n84">84</a></p>
+<p id="n85" class="pln"><a href="#n85">85</a></p>
+<p id="n86" class="stm run hide_run"><a href="#n86">86</a></p>
+<p id="n87" class="stm run hide_run"><a href="#n87">87</a></p>
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+<p id="n90" class="stm run hide_run"><a href="#n90">90</a></p>
+<p id="n91" class="pln"><a href="#n91">91</a></p>
+<p id="n92" class="pln"><a href="#n92">92</a></p>
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+<p id="n94" class="pln"><a href="#n94">94</a></p>
+<p id="n95" class="stm run hide_run"><a href="#n95">95</a></p>
+<p id="n96" class="stm run hide_run"><a href="#n96">96</a></p>
+<p id="n97" class="pln"><a href="#n97">97</a></p>
+<p id="n98" class="stm run hide_run"><a href="#n98">98</a></p>
+<p id="n99" class="stm run hide_run"><a href="#n99">99</a></p>
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+<p id="n108" class="stm mis"><a href="#n108">108</a></p>
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+<p id="n110" class="stm mis"><a href="#n110">110</a></p>
+<p id="n111" class="stm run hide_run"><a href="#n111">111</a></p>
+<p id="n112" class="stm mis"><a href="#n112">112</a></p>
+<p id="n113" class="stm mis"><a href="#n113">113</a></p>
+<p id="n114" class="stm mis"><a href="#n114">114</a></p>
+<p id="n115" class="stm run hide_run"><a href="#n115">115</a></p>
+<p id="n116" class="stm mis"><a href="#n116">116</a></p>
+<p id="n117" class="pln"><a href="#n117">117</a></p>
+<p id="n118" class="stm mis"><a href="#n118">118</a></p>
+<p id="n119" class="stm mis"><a href="#n119">119</a></p>
+<p id="n120" class="stm run hide_run"><a href="#n120">120</a></p>
+<p id="n121" class="pln"><a href="#n121">121</a></p>
+<p id="n122" class="stm run hide_run"><a href="#n122">122</a></p>
+<p id="n123" class="stm run hide_run"><a href="#n123">123</a></p>
+<p id="n124" class="stm run hide_run"><a href="#n124">124</a></p>
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+<p id="n127" class="stm run hide_run"><a href="#n127">127</a></p>
+<p id="n128" class="stm run hide_run"><a href="#n128">128</a></p>
+<p id="n129" class="pln"><a href="#n129">129</a></p>
+<p id="n130" class="stm run hide_run"><a href="#n130">130</a></p>
+<p id="n131" class="stm run hide_run"><a href="#n131">131</a></p>
+<p id="n132" class="stm run hide_run"><a href="#n132">132</a></p>
+<p id="n133" class="stm run hide_run"><a href="#n133">133</a></p>
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+<p id="n135" class="stm run hide_run"><a href="#n135">135</a></p>
+<p id="n136" class="stm run hide_run"><a href="#n136">136</a></p>
+<p id="n137" class="stm run hide_run"><a href="#n137">137</a></p>
+<p id="n138" class="stm run hide_run"><a href="#n138">138</a></p>
+<p id="n139" class="stm run hide_run"><a href="#n139">139</a></p>
+<p id="n140" class="stm run hide_run"><a href="#n140">140</a></p>
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+<p id="n146" class="stm run hide_run"><a href="#n146">146</a></p>
+<p id="n147" class="stm run hide_run"><a href="#n147">147</a></p>
+<p id="n148" class="pln"><a href="#n148">148</a></p>
+<p id="n149" class="stm run hide_run"><a href="#n149">149</a></p>
+<p id="n150" class="stm run hide_run"><a href="#n150">150</a></p>
+<p id="n151" class="pln"><a href="#n151">151</a></p>
+<p id="n152" class="stm run hide_run"><a href="#n152">152</a></p>
+<p id="n153" class="pln"><a href="#n153">153</a></p>
+<p id="n154" class="pln"><a href="#n154">154</a></p>
+<p id="n155" class="pln"><a href="#n155">155</a></p>
+<p id="n156" class="stm run hide_run"><a href="#n156">156</a></p>
+<p id="n157" class="pln"><a href="#n157">157</a></p>
+<p id="n158" class="stm run hide_run"><a href="#n158">158</a></p>
+<p id="n159" class="stm run hide_run"><a href="#n159">159</a></p>
+<p id="n160" class="stm run hide_run"><a href="#n160">160</a></p>
+<p id="n161" class="stm mis"><a href="#n161">161</a></p>
+<p id="n162" class="pln"><a href="#n162">162</a></p>
+<p id="n163" class="stm mis"><a href="#n163">163</a></p>
+<p id="n164" class="stm mis"><a href="#n164">164</a></p>
+<p id="n165" class="pln"><a href="#n165">165</a></p>
+<p id="n166" class="stm run hide_run"><a href="#n166">166</a></p>
+<p id="n167" class="stm run hide_run"><a href="#n167">167</a></p>
+<p id="n168" class="pln"><a href="#n168">168</a></p>
+<p id="n169" class="pln"><a href="#n169">169</a></p>
+<p id="n170" class="pln"><a href="#n170">170</a></p>
+<p id="n171" class="stm run hide_run"><a href="#n171">171</a></p>
+<p id="n172" class="pln"><a href="#n172">172</a></p>
+<p id="n173" class="stm run hide_run"><a href="#n173">173</a></p>
+<p id="n174" class="stm run hide_run"><a href="#n174">174</a></p>
+<p id="n175" class="stm run hide_run"><a href="#n175">175</a></p>
+<p id="n176" class="stm run hide_run"><a href="#n176">176</a></p>
+<p id="n177" class="stm run hide_run"><a href="#n177">177</a></p>
+<p id="n178" class="stm run hide_run"><a href="#n178">178</a></p>
+<p id="n179" class="stm run hide_run"><a href="#n179">179</a></p>
+<p id="n180" class="pln"><a href="#n180">180</a></p>
+<p id="n181" class="stm run hide_run"><a href="#n181">181</a></p>
+<p id="n182" class="stm run hide_run"><a href="#n182">182</a></p>
+<p id="n183" class="stm run hide_run"><a href="#n183">183</a></p>
+<p id="n184" class="stm run hide_run"><a href="#n184">184</a></p>
+<p id="n185" class="pln"><a href="#n185">185</a></p>
+<p id="n186" class="stm run hide_run"><a href="#n186">186</a></p>
+<p id="n187" class="pln"><a href="#n187">187</a></p>
+<p id="n188" class="stm run hide_run"><a href="#n188">188</a></p>
+<p id="n189" class="stm run hide_run"><a href="#n189">189</a></p>
+<p id="n190" class="stm run hide_run"><a href="#n190">190</a></p>
+<p id="n191" class="stm run hide_run"><a href="#n191">191</a></p>
+<p id="n192" class="pln"><a href="#n192">192</a></p>
+<p id="n193" class="pln"><a href="#n193">193</a></p>
+<p id="n194" class="pln"><a href="#n194">194</a></p>
+<p id="n195" class="pln"><a href="#n195">195</a></p>
+<p id="n196" class="pln"><a href="#n196">196</a></p>
+<p id="n197" class="stm run hide_run"><a href="#n197">197</a></p>
+<p id="n198" class="stm run hide_run"><a href="#n198">198</a></p>
+<p id="n199" class="pln"><a href="#n199">199</a></p>
+<p id="n200" class="stm run hide_run"><a href="#n200">200</a></p>
+<p id="n201" class="pln"><a href="#n201">201</a></p>
+<p id="n202" class="pln"><a href="#n202">202</a></p>
+<p id="n203" class="pln"><a href="#n203">203</a></p>
+<p id="n204" class="pln"><a href="#n204">204</a></p>
+<p id="n205" class="pln"><a href="#n205">205</a></p>
+<p id="n206" class="pln"><a href="#n206">206</a></p>
+<p id="n207" class="pln"><a href="#n207">207</a></p>
+<p id="n208" class="pln"><a href="#n208">208</a></p>
+<p id="n209" class="pln"><a href="#n209">209</a></p>
+<p id="n210" class="stm mis"><a href="#n210">210</a></p>
+<p id="n211" class="stm mis"><a href="#n211">211</a></p>
+<p id="n212" class="stm mis"><a href="#n212">212</a></p>
+<p id="n213" class="stm mis"><a href="#n213">213</a></p>
+<p id="n214" class="stm mis"><a href="#n214">214</a></p>
+<p id="n215" class="stm mis"><a href="#n215">215</a></p>
+<p id="n216" class="stm mis"><a href="#n216">216</a></p>
+<p id="n217" class="stm mis"><a href="#n217">217</a></p>
+<p id="n218" class="stm mis"><a href="#n218">218</a></p>
+<p id="n219" class="pln"><a href="#n219">219</a></p>
+<p id="n220" class="stm mis"><a href="#n220">220</a></p>
+<p id="n221" class="stm mis"><a href="#n221">221</a></p>
+<p id="n222" class="stm mis"><a href="#n222">222</a></p>
+<p id="n223" class="stm mis"><a href="#n223">223</a></p>
+<p id="n224" class="pln"><a href="#n224">224</a></p>
+<p id="n225" class="stm mis"><a href="#n225">225</a></p>
+<p id="n226" class="stm mis"><a href="#n226">226</a></p>
+<p id="n227" class="stm mis"><a href="#n227">227</a></p>
+<p id="n228" class="pln"><a href="#n228">228</a></p>
+<p id="n229" class="stm run hide_run"><a href="#n229">229</a></p>
+<p id="n230" class="pln"><a href="#n230">230</a></p>
+<p id="n231" class="pln"><a href="#n231">231</a></p>
+<p id="n232" class="pln"><a href="#n232">232</a></p>
+<p id="n233" class="pln"><a href="#n233">233</a></p>
+<p id="n234" class="pln"><a href="#n234">234</a></p>
+<p id="n235" class="pln"><a href="#n235">235</a></p>
+<p id="n236" class="pln"><a href="#n236">236</a></p>
+<p id="n237" class="stm run hide_run"><a href="#n237">237</a></p>
+<p id="n238" class="stm run hide_run"><a href="#n238">238</a></p>
+<p id="n239" class="stm run hide_run"><a href="#n239">239</a></p>
+<p id="n240" class="stm run hide_run"><a href="#n240">240</a></p>
+<p id="n241" class="stm run hide_run"><a href="#n241">241</a></p>
+<p id="n242" class="pln"><a href="#n242">242</a></p>
+<p id="n243" class="pln"><a href="#n243">243</a></p>
+<p id="n244" class="pln"><a href="#n244">244</a></p>
+<p id="n245" class="pln"><a href="#n245">245</a></p>
+<p id="n246" class="pln"><a href="#n246">246</a></p>
+<p id="n247" class="stm run hide_run"><a href="#n247">247</a></p>
+<p id="n248" class="pln"><a href="#n248">248</a></p>
+<p id="n249" class="stm run hide_run"><a href="#n249">249</a></p>
+<p id="n250" class="pln"><a href="#n250">250</a></p>
+<p id="n251" class="pln"><a href="#n251">251</a></p>
+<p id="n252" class="pln"><a href="#n252">252</a></p>
+<p id="n253" class="pln"><a href="#n253">253</a></p>
+<p id="n254" class="pln"><a href="#n254">254</a></p>
+<p id="n255" class="pln"><a href="#n255">255</a></p>
+<p id="n256" class="pln"><a href="#n256">256</a></p>
+<p id="n257" class="pln"><a href="#n257">257</a></p>
+<p id="n258" class="pln"><a href="#n258">258</a></p>
+<p id="n259" class="stm run hide_run"><a href="#n259">259</a></p>
+<p id="n260" class="stm run hide_run"><a href="#n260">260</a></p>
+<p id="n261" class="stm run hide_run"><a href="#n261">261</a></p>
+<p id="n262" class="stm run hide_run"><a href="#n262">262</a></p>
+<p id="n263" class="stm run hide_run"><a href="#n263">263</a></p>
+<p id="n264" class="stm run hide_run"><a href="#n264">264</a></p>
+<p id="n265" class="stm run hide_run"><a href="#n265">265</a></p>
+<p id="n266" class="stm run hide_run"><a href="#n266">266</a></p>
+<p id="n267" class="stm run hide_run"><a href="#n267">267</a></p>
+<p id="n268" class="stm mis"><a href="#n268">268</a></p>
+<p id="n269" class="stm mis"><a href="#n269">269</a></p>
+<p id="n270" class="stm mis"><a href="#n270">270</a></p>
+<p id="n271" class="stm run hide_run"><a href="#n271">271</a></p>
+<p id="n272" class="pln"><a href="#n272">272</a></p>
+<p id="n273" class="pln"><a href="#n273">273</a></p>
+<p id="n274" class="pln"><a href="#n274">274</a></p>
+<p id="n275" class="pln"><a href="#n275">275</a></p>
+<p id="n276" class="pln"><a href="#n276">276</a></p>
+<p id="n277" class="stm run hide_run"><a href="#n277">277</a></p>
+<p id="n278" class="stm run hide_run"><a href="#n278">278</a></p>
+<p id="n279" class="pln"><a href="#n279">279</a></p>
+<p id="n280" class="pln"><a href="#n280">280</a></p>
+<p id="n281" class="pln"><a href="#n281">281</a></p>
+<p id="n282" class="pln"><a href="#n282">282</a></p>
+<p id="n283" class="pln"><a href="#n283">283</a></p>
+<p id="n284" class="stm run hide_run"><a href="#n284">284</a></p>
+<p id="n285" class="stm run hide_run"><a href="#n285">285</a></p>
+<p id="n286" class="pln"><a href="#n286">286</a></p>
+<p id="n287" class="pln"><a href="#n287">287</a></p>
+<p id="n288" class="pln"><a href="#n288">288</a></p>
+<p id="n289" class="pln"><a href="#n289">289</a></p>
+<p id="n290" class="pln"><a href="#n290">290</a></p>
+<p id="n291" class="stm run hide_run"><a href="#n291">291</a></p>
+<p id="n292" class="stm run hide_run"><a href="#n292">292</a></p>
+<p id="n293" class="pln"><a href="#n293">293</a></p>
+<p id="n294" class="stm run hide_run"><a href="#n294">294</a></p>
+<p id="n295" class="pln"><a href="#n295">295</a></p>
+<p id="n296" class="pln"><a href="#n296">296</a></p>
+<p id="n297" class="pln"><a href="#n297">297</a></p>
+<p id="n298" class="pln"><a href="#n298">298</a></p>
+<p id="n299" class="pln"><a href="#n299">299</a></p>
+<p id="n300" class="pln"><a href="#n300">300</a></p>
+<p id="n301" class="pln"><a href="#n301">301</a></p>
+<p id="n302" class="pln"><a href="#n302">302</a></p>
+<p id="n303" class="pln"><a href="#n303">303</a></p>
+<p id="n304" class="pln"><a href="#n304">304</a></p>
+<p id="n305" class="pln"><a href="#n305">305</a></p>
+<p id="n306" class="pln"><a href="#n306">306</a></p>
+<p id="n307" class="pln"><a href="#n307">307</a></p>
+<p id="n308" class="pln"><a href="#n308">308</a></p>
+<p id="n309" class="pln"><a href="#n309">309</a></p>
+<p id="n310" class="pln"><a href="#n310">310</a></p>
+<p id="n311" class="pln"><a href="#n311">311</a></p>
+<p id="n312" class="pln"><a href="#n312">312</a></p>
+<p id="n313" class="pln"><a href="#n313">313</a></p>
+<p id="n314" class="pln"><a href="#n314">314</a></p>
+<p id="n315" class="pln"><a href="#n315">315</a></p>
+<p id="n316" class="pln"><a href="#n316">316</a></p>
+<p id="n317" class="pln"><a href="#n317">317</a></p>
+<p id="n318" class="pln"><a href="#n318">318</a></p>
+<p id="n319" class="pln"><a href="#n319">319</a></p>
+<p id="n320" class="pln"><a href="#n320">320</a></p>
+<p id="n321" class="pln"><a href="#n321">321</a></p>
+<p id="n322" class="pln"><a href="#n322">322</a></p>
+<p id="n323" class="stm run hide_run"><a href="#n323">323</a></p>
+<p id="n324" class="stm run hide_run"><a href="#n324">324</a></p>
+<p id="n325" class="stm run hide_run"><a href="#n325">325</a></p>
+<p id="n326" class="stm run hide_run"><a href="#n326">326</a></p>
+<p id="n327" class="stm run hide_run"><a href="#n327">327</a></p>
+<p id="n328" class="stm mis"><a href="#n328">328</a></p>
+<p id="n329" class="stm mis"><a href="#n329">329</a></p>
+<p id="n330" class="stm mis"><a href="#n330">330</a></p>
+<p id="n331" class="stm run hide_run"><a href="#n331">331</a></p>
+<p id="n332" class="stm run hide_run"><a href="#n332">332</a></p>
+<p id="n333" class="stm run hide_run"><a href="#n333">333</a></p>
+<p id="n334" class="stm run hide_run"><a href="#n334">334</a></p>
+<p id="n335" class="stm run hide_run"><a href="#n335">335</a></p>
+<p id="n336" class="stm run hide_run"><a href="#n336">336</a></p>
+<p id="n337" class="stm run hide_run"><a href="#n337">337</a></p>
+<p id="n338" class="stm run hide_run"><a href="#n338">338</a></p>
+<p id="n339" class="stm run hide_run"><a href="#n339">339</a></p>
+<p id="n340" class="pln"><a href="#n340">340</a></p>
+<p id="n341" class="stm run hide_run"><a href="#n341">341</a></p>
+<p id="n342" class="stm run hide_run"><a href="#n342">342</a></p>
+<p id="n343" class="pln"><a href="#n343">343</a></p>
+<p id="n344" class="stm mis"><a href="#n344">344</a></p>
+<p id="n345" class="stm mis"><a href="#n345">345</a></p>
+<p id="n346" class="stm mis"><a href="#n346">346</a></p>
+<p id="n347" class="stm run hide_run"><a href="#n347">347</a></p>
+<p id="n348" class="pln"><a href="#n348">348</a></p>
+<p id="n349" class="stm run hide_run"><a href="#n349">349</a></p>
+<p id="n350" class="stm run hide_run"><a href="#n350">350</a></p>
+<p id="n351" class="stm mis"><a href="#n351">351</a></p>
+<p id="n352" class="stm mis"><a href="#n352">352</a></p>
+<p id="n353" class="stm mis"><a href="#n353">353</a></p>
+<p id="n354" class="stm mis"><a href="#n354">354</a></p>
+<p id="n355" class="stm mis"><a href="#n355">355</a></p>
+<p id="n356" class="stm mis"><a href="#n356">356</a></p>
+<p id="n357" class="stm mis"><a href="#n357">357</a></p>
+<p id="n358" class="stm mis"><a href="#n358">358</a></p>
+<p id="n359" class="stm run hide_run"><a href="#n359">359</a></p>
+<p id="n360" class="pln"><a href="#n360">360</a></p>
+<p id="n361" class="pln"><a href="#n361">361</a></p>
+<p id="n362" class="pln"><a href="#n362">362</a></p>
+<p id="n363" class="stm run hide_run"><a href="#n363">363</a></p>
+<p id="n364" class="stm run hide_run"><a href="#n364">364</a></p>
+<p id="n365" class="stm run hide_run"><a href="#n365">365</a></p>
+<p id="n366" class="stm run hide_run"><a href="#n366">366</a></p>
+<p id="n367" class="stm run hide_run"><a href="#n367">367</a></p>
+<p id="n368" class="stm run hide_run"><a href="#n368">368</a></p>
+<p id="n369" class="stm run hide_run"><a href="#n369">369</a></p>
+<p id="n370" class="stm run hide_run"><a href="#n370">370</a></p>
+<p id="n371" class="pln"><a href="#n371">371</a></p>
+<p id="n372" class="stm mis"><a href="#n372">372</a></p>
+<p id="n373" class="stm mis"><a href="#n373">373</a></p>
+<p id="n374" class="stm mis"><a href="#n374">374</a></p>
+<p id="n375" class="stm run hide_run"><a href="#n375">375</a></p>
+<p id="n376" class="pln"><a href="#n376">376</a></p>
+<p id="n377" class="stm mis"><a href="#n377">377</a></p>
+<p id="n378" class="stm mis"><a href="#n378">378</a></p>
+<p id="n379" class="stm mis"><a href="#n379">379</a></p>
+<p id="n380" class="stm run hide_run"><a href="#n380">380</a></p>
+<p id="n381" class="stm run hide_run"><a href="#n381">381</a></p>
+<p id="n382" class="pln"><a href="#n382">382</a></p>
+<p id="n383" class="stm mis"><a href="#n383">383</a></p>
+<p id="n384" class="stm run hide_run"><a href="#n384">384</a></p>
+<p id="n385" class="stm mis"><a href="#n385">385</a></p>
+<p id="n386" class="stm mis"><a href="#n386">386</a></p>
+<p id="n387" class="stm mis"><a href="#n387">387</a></p>
+<p id="n388" class="stm mis"><a href="#n388">388</a></p>
+<p id="n389" class="pln"><a href="#n389">389</a></p>
+<p id="n390" class="stm mis"><a href="#n390">390</a></p>
+<p id="n391" class="pln"><a href="#n391">391</a></p>
+<p id="n392" class="pln"><a href="#n392">392</a></p>
+<p id="n393" class="pln"><a href="#n393">393</a></p>
+<p id="n394" class="pln"><a href="#n394">394</a></p>
+<p id="n395" class="pln"><a href="#n395">395</a></p>
+<p id="n396" class="stm run hide_run"><a href="#n396">396</a></p>
+<p id="n397" class="stm mis"><a href="#n397">397</a></p>
+<p id="n398" class="stm run hide_run"><a href="#n398">398</a></p>
+<p id="n399" class="stm run hide_run"><a href="#n399">399</a></p>
+<p id="n400" class="stm run hide_run"><a href="#n400">400</a></p>
+<p id="n401" class="stm run hide_run"><a href="#n401">401</a></p>
+<p id="n402" class="stm run hide_run"><a href="#n402">402</a></p>
+<p id="n403" class="stm run hide_run"><a href="#n403">403</a></p>
+<p id="n404" class="stm run hide_run"><a href="#n404">404</a></p>
+<p id="n405" class="stm run hide_run"><a href="#n405">405</a></p>
+<p id="n406" class="stm run hide_run"><a href="#n406">406</a></p>
+<p id="n407" class="stm run hide_run"><a href="#n407">407</a></p>
+<p id="n408" class="stm run hide_run"><a href="#n408">408</a></p>
+<p id="n409" class="stm run hide_run"><a href="#n409">409</a></p>
+<p id="n410" class="stm run hide_run"><a href="#n410">410</a></p>
+<p id="n411" class="stm run hide_run"><a href="#n411">411</a></p>
+<p id="n412" class="pln"><a href="#n412">412</a></p>
+<p id="n413" class="pln"><a href="#n413">413</a></p>
+<p id="n414" class="pln"><a href="#n414">414</a></p>
+<p id="n415" class="pln"><a href="#n415">415</a></p>
+<p id="n416" class="pln"><a href="#n416">416</a></p>
+<p id="n417" class="pln"><a href="#n417">417</a></p>
+<p id="n418" class="pln"><a href="#n418">418</a></p>
+<p id="n419" class="pln"><a href="#n419">419</a></p>
+<p id="n420" class="pln"><a href="#n420">420</a></p>
+<p id="n421" class="pln"><a href="#n421">421</a></p>
+<p id="n422" class="pln"><a href="#n422">422</a></p>
+<p id="n423" class="pln"><a href="#n423">423</a></p>
+<p id="n424" class="pln"><a href="#n424">424</a></p>
+<p id="n425" class="pln"><a href="#n425">425</a></p>
+<p id="n426" class="stm run hide_run"><a href="#n426">426</a></p>
+<p id="n427" class="stm mis"><a href="#n427">427</a></p>
+<p id="n428" class="stm mis"><a href="#n428">428</a></p>
+<p id="n429" class="pln"><a href="#n429">429</a></p>
+<p id="n430" class="pln"><a href="#n430">430</a></p>
+<p id="n431" class="stm run hide_run"><a href="#n431">431</a></p>
+<p id="n432" class="pln"><a href="#n432">432</a></p>
+<p id="n433" class="pln"><a href="#n433">433</a></p>
+<p id="n434" class="pln"><a href="#n434">434</a></p>
+<p id="n435" class="pln"><a href="#n435">435</a></p>
+<p id="n436" class="stm run hide_run"><a href="#n436">436</a></p>
+<p id="n437" class="stm run hide_run"><a href="#n437">437</a></p>
+<p id="n438" class="stm run hide_run"><a href="#n438">438</a></p>
+<p id="n439" class="pln"><a href="#n439">439</a></p>
+<p id="n440" class="pln"><a href="#n440">440</a></p>
+<p id="n441" class="pln"><a href="#n441">441</a></p>
+<p id="n442" class="pln"><a href="#n442">442</a></p>
+<p id="n443" class="pln"><a href="#n443">443</a></p>
+<p id="n444" class="stm run hide_run"><a href="#n444">444</a></p>
+<p id="n445" class="stm mis"><a href="#n445">445</a></p>
+<p id="n446" class="stm mis"><a href="#n446">446</a></p>
+<p id="n447" class="stm mis"><a href="#n447">447</a></p>
+<p id="n448" class="pln"><a href="#n448">448</a></p>
+<p id="n449" class="pln"><a href="#n449">449</a></p>
+<p id="n450" class="pln"><a href="#n450">450</a></p>
+<p id="n451" class="pln"><a href="#n451">451</a></p>
+<p id="n452" class="pln"><a href="#n452">452</a></p>
+<p id="n453" class="pln"><a href="#n453">453</a></p>
+<p id="n454" class="pln"><a href="#n454">454</a></p>
+<p id="n455" class="pln"><a href="#n455">455</a></p>
+<p id="n456" class="pln"><a href="#n456">456</a></p>
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+<p id="n459" class="pln"><a href="#n459">459</a></p>
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+<p id="n465" class="pln"><a href="#n465">465</a></p>
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+<p id="n470" class="pln"><a href="#n470">470</a></p>
+<p id="n471" class="pln"><a href="#n471">471</a></p>
+<p id="n472" class="pln"><a href="#n472">472</a></p>
+<p id="n473" class="pln"><a href="#n473">473</a></p>
+<p id="n474" class="pln"><a href="#n474">474</a></p>
+<p id="n475" class="pln"><a href="#n475">475</a></p>
+<p id="n476" class="stm mis"><a href="#n476">476</a></p>
+<p id="n477" class="stm mis"><a href="#n477">477</a></p>
+<p id="n478" class="stm mis"><a href="#n478">478</a></p>
+<p id="n479" class="pln"><a href="#n479">479</a></p>
+<p id="n480" class="stm mis"><a href="#n480">480</a></p>
+<p id="n481" class="pln"><a href="#n481">481</a></p>
+<p id="n482" class="stm mis"><a href="#n482">482</a></p>
+<p id="n483" class="stm mis"><a href="#n483">483</a></p>
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+<p id="n487" class="pln"><a href="#n487">487</a></p>
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+<p id="n489" class="pln"><a href="#n489">489</a></p>
+<p id="n490" class="pln"><a href="#n490">490</a></p>
+<p id="n491" class="pln"><a href="#n491">491</a></p>
+<p id="n492" class="pln"><a href="#n492">492</a></p>
+<p id="n493" class="pln"><a href="#n493">493</a></p>
+<p id="n494" class="stm mis"><a href="#n494">494</a></p>
+<p id="n495" class="stm mis"><a href="#n495">495</a></p>
+<p id="n496" class="stm mis"><a href="#n496">496</a></p>
+<p id="n497" class="stm mis"><a href="#n497">497</a></p>
+<p id="n498" class="stm mis"><a href="#n498">498</a></p>
+<p id="n499" class="stm mis"><a href="#n499">499</a></p>
+<p id="n500" class="stm mis"><a href="#n500">500</a></p>
+<p id="n501" class="stm mis"><a href="#n501">501</a></p>
+<p id="n502" class="pln"><a href="#n502">502</a></p>
+<p id="n503" class="pln"><a href="#n503">503</a></p>
+<p id="n504" class="pln"><a href="#n504">504</a></p>
+<p id="n505" class="pln"><a href="#n505">505</a></p>
+<p id="n506" class="stm run hide_run"><a href="#n506">506</a></p>
+<p id="n507" class="pln"><a href="#n507">507</a></p>
+<p id="n508" class="pln"><a href="#n508">508</a></p>
+<p id="n509" class="pln"><a href="#n509">509</a></p>
+<p id="n510" class="pln"><a href="#n510">510</a></p>
+<p id="n511" class="pln"><a href="#n511">511</a></p>
+<p id="n512" class="pln"><a href="#n512">512</a></p>
+<p id="n513" class="pln"><a href="#n513">513</a></p>
+<p id="n514" class="pln"><a href="#n514">514</a></p>
+<p id="n515" class="pln"><a href="#n515">515</a></p>
+<p id="n516" class="stm run hide_run"><a href="#n516">516</a></p>
+<p id="n517" class="pln"><a href="#n517">517</a></p>
+<p id="n518" class="stm run hide_run"><a href="#n518">518</a></p>
+<p id="n519" class="stm run hide_run"><a href="#n519">519</a></p>
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+<p id="n521" class="stm run hide_run"><a href="#n521">521</a></p>
+<p id="n522" class="stm run hide_run"><a href="#n522">522</a></p>
+<p id="n523" class="stm run hide_run"><a href="#n523">523</a></p>
+<p id="n524" class="stm run hide_run"><a href="#n524">524</a></p>
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+<p id="n526" class="stm mis"><a href="#n526">526</a></p>
+<p id="n527" class="pln"><a href="#n527">527</a></p>
+<p id="n528" class="stm mis"><a href="#n528">528</a></p>
+<p id="n529" class="pln"><a href="#n529">529</a></p>
+<p id="n530" class="stm mis"><a href="#n530">530</a></p>
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+<p id="n532" class="pln"><a href="#n532">532</a></p>
+<p id="n533" class="stm mis"><a href="#n533">533</a></p>
+<p id="n534" class="stm run hide_run"><a href="#n534">534</a></p>
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+<p id="n536" class="stm run hide_run"><a href="#n536">536</a></p>
+<p id="n537" class="stm run hide_run"><a href="#n537">537</a></p>
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+<p id="n539" class="pln"><a href="#n539">539</a></p>
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+<p id="n542" class="pln"><a href="#n542">542</a></p>
+<p id="n543" class="pln"><a href="#n543">543</a></p>
+<p id="n544" class="stm run hide_run"><a href="#n544">544</a></p>
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+<p id="n546" class="stm run hide_run"><a href="#n546">546</a></p>
+<p id="n547" class="stm run hide_run"><a href="#n547">547</a></p>
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+<p id="n565" class="stm mis"><a href="#n565">565</a></p>
+<p id="n566" class="stm mis"><a href="#n566">566</a></p>
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+<p id="n571" class="stm run hide_run"><a href="#n571">571</a></p>
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+<p id="n573" class="pln"><a href="#n573">573</a></p>
+<p id="n574" class="pln"><a href="#n574">574</a></p>
+<p id="n575" class="pln"><a href="#n575">575</a></p>
+<p id="n576" class="pln"><a href="#n576">576</a></p>
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+<p id="n578" class="pln"><a href="#n578">578</a></p>
+<p id="n579" class="pln"><a href="#n579">579</a></p>
+<p id="n580" class="stm run hide_run"><a href="#n580">580</a></p>
+<p id="n581" class="stm run hide_run"><a href="#n581">581</a></p>
+<p id="n582" class="stm run hide_run"><a href="#n582">582</a></p>
+<p id="n583" class="stm run hide_run"><a href="#n583">583</a></p>
+<p id="n584" class="stm run hide_run"><a href="#n584">584</a></p>
+<p id="n585" class="stm run hide_run"><a href="#n585">585</a></p>
+<p id="n586" class="stm run hide_run"><a href="#n586">586</a></p>
+<p id="n587" class="stm run hide_run"><a href="#n587">587</a></p>
+<p id="n588" class="stm run hide_run"><a href="#n588">588</a></p>
+<p id="n589" class="stm run hide_run"><a href="#n589">589</a></p>
+<p id="n590" class="stm mis"><a href="#n590">590</a></p>
+<p id="n591" class="stm mis"><a href="#n591">591</a></p>
+<p id="n592" class="stm mis"><a href="#n592">592</a></p>
+<p id="n593" class="stm run hide_run"><a href="#n593">593</a></p>
+<p id="n594" class="stm run hide_run"><a href="#n594">594</a></p>
+<p id="n595" class="stm run hide_run"><a href="#n595">595</a></p>
+<p id="n596" class="stm run hide_run"><a href="#n596">596</a></p>
+<p id="n597" class="stm run hide_run"><a href="#n597">597</a></p>
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+<p id="n600" class="stm run hide_run"><a href="#n600">600</a></p>
+<p id="n601" class="stm run hide_run"><a href="#n601">601</a></p>
+<p id="n602" class="pln"><a href="#n602">602</a></p>
+<p id="n603" class="pln"><a href="#n603">603</a></p>
+<p id="n604" class="pln"><a href="#n604">604</a></p>
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+<p id="n606" class="pln"><a href="#n606">606</a></p>
+<p id="n607" class="stm run hide_run"><a href="#n607">607</a></p>
+<p id="n608" class="stm run hide_run"><a href="#n608">608</a></p>
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+<p id="n611" class="stm run hide_run"><a href="#n611">611</a></p>
+<p id="n612" class="stm run hide_run"><a href="#n612">612</a></p>
+<p id="n613" class="stm run hide_run"><a href="#n613">613</a></p>
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+<p id="n621" class="stm run hide_run"><a href="#n621">621</a></p>
+<p id="n622" class="stm run hide_run"><a href="#n622">622</a></p>
+<p id="n623" class="stm run hide_run"><a href="#n623">623</a></p>
+<p id="n624" class="stm run hide_run"><a href="#n624">624</a></p>
+<p id="n625" class="stm run hide_run"><a href="#n625">625</a></p>
+<p id="n626" class="stm run hide_run"><a href="#n626">626</a></p>
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+<p id="n637" class="stm mis"><a href="#n637">637</a></p>
+<p id="n638" class="stm mis"><a href="#n638">638</a></p>
+<p id="n639" class="stm mis"><a href="#n639">639</a></p>
+<p id="n640" class="stm mis"><a href="#n640">640</a></p>
+<p id="n641" class="stm mis"><a href="#n641">641</a></p>
+<p id="n642" class="stm mis"><a href="#n642">642</a></p>
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+<p id="n645" class="pln"><a href="#n645">645</a></p>
+<p id="n646" class="stm run hide_run"><a href="#n646">646</a></p>
+<p id="n647" class="pln"><a href="#n647">647</a></p>
+<p id="n648" class="pln"><a href="#n648">648</a></p>
+<p id="n649" class="pln"><a href="#n649">649</a></p>
+<p id="n650" class="pln"><a href="#n650">650</a></p>
+<p id="n651" class="pln"><a href="#n651">651</a></p>
+<p id="n652" class="pln"><a href="#n652">652</a></p>
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+<p id="n663" class="pln"><a href="#n663">663</a></p>
+<p id="n664" class="pln"><a href="#n664">664</a></p>
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+<p id="n666" class="pln"><a href="#n666">666</a></p>
+<p id="n667" class="pln"><a href="#n667">667</a></p>
+<p id="n668" class="pln"><a href="#n668">668</a></p>
+<p id="n669" class="pln"><a href="#n669">669</a></p>
+<p id="n670" class="pln"><a href="#n670">670</a></p>
+<p id="n671" class="pln"><a href="#n671">671</a></p>
+<p id="n672" class="pln"><a href="#n672">672</a></p>
+<p id="n673" class="stm run hide_run"><a href="#n673">673</a></p>
+<p id="n674" class="stm run hide_run"><a href="#n674">674</a></p>
+<p id="n675" class="stm run hide_run"><a href="#n675">675</a></p>
+<p id="n676" class="stm run hide_run"><a href="#n676">676</a></p>
+<p id="n677" class="stm run hide_run"><a href="#n677">677</a></p>
+<p id="n678" class="stm run hide_run"><a href="#n678">678</a></p>
+<p id="n679" class="stm run hide_run"><a href="#n679">679</a></p>
+<p id="n680" class="stm run hide_run"><a href="#n680">680</a></p>
+<p id="n681" class="stm run hide_run"><a href="#n681">681</a></p>
+<p id="n682" class="stm run hide_run"><a href="#n682">682</a></p>
+<p id="n683" class="stm mis"><a href="#n683">683</a></p>
+<p id="n684" class="stm mis"><a href="#n684">684</a></p>
+<p id="n685" class="stm mis"><a href="#n685">685</a></p>
+<p id="n686" class="stm run hide_run"><a href="#n686">686</a></p>
+<p id="n687" class="stm mis"><a href="#n687">687</a></p>
+<p id="n688" class="stm mis"><a href="#n688">688</a></p>
+<p id="n689" class="stm mis"><a href="#n689">689</a></p>
+<p id="n690" class="stm run hide_run"><a href="#n690">690</a></p>
+<p id="n691" class="stm mis"><a href="#n691">691</a></p>
+<p id="n692" class="stm run hide_run"><a href="#n692">692</a></p>
+<p id="n693" class="stm run hide_run"><a href="#n693">693</a></p>
+<p id="n694" class="stm run hide_run"><a href="#n694">694</a></p>
+<p id="n695" class="stm run hide_run"><a href="#n695">695</a></p>
+<p id="n696" class="stm run hide_run"><a href="#n696">696</a></p>
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+<p id="n699" class="stm run hide_run"><a href="#n699">699</a></p>
+<p id="n700" class="stm run hide_run"><a href="#n700">700</a></p>
+<p id="n701" class="pln"><a href="#n701">701</a></p>
+<p id="n702" class="pln"><a href="#n702">702</a></p>
+<p id="n703" class="pln"><a href="#n703">703</a></p>
+<p id="n704" class="pln"><a href="#n704">704</a></p>
+<p id="n705" class="pln"><a href="#n705">705</a></p>
+<p id="n706" class="stm run hide_run"><a href="#n706">706</a></p>
+<p id="n707" class="pln"><a href="#n707">707</a></p>
+<p id="n708" class="pln"><a href="#n708">708</a></p>
+<p id="n709" class="stm run hide_run"><a href="#n709">709</a></p>
+<p id="n710" class="stm mis"><a href="#n710">710</a></p>
+<p id="n711" class="stm mis"><a href="#n711">711</a></p>
+<p id="n712" class="stm mis"><a href="#n712">712</a></p>
+<p id="n713" class="stm run hide_run"><a href="#n713">713</a></p>
+<p id="n714" class="stm mis"><a href="#n714">714</a></p>
+<p id="n715" class="stm mis"><a href="#n715">715</a></p>
+<p id="n716" class="stm run hide_run"><a href="#n716">716</a></p>
+<p id="n717" class="stm mis"><a href="#n717">717</a></p>
+<p id="n718" class="stm mis"><a href="#n718">718</a></p>
+<p id="n719" class="stm mis"><a href="#n719">719</a></p>
+<p id="n720" class="stm mis"><a href="#n720">720</a></p>
+<p id="n721" class="pln"><a href="#n721">721</a></p>
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+<p id="n724" class="pln"><a href="#n724">724</a></p>
+<p id="n725" class="pln"><a href="#n725">725</a></p>
+<p id="n726" class="pln"><a href="#n726">726</a></p>
+<p id="n727" class="pln"><a href="#n727">727</a></p>
+<p id="n728" class="pln"><a href="#n728">728</a></p>
+<p id="n729" class="stm run hide_run"><a href="#n729">729</a></p>
+<p id="n730" class="stm mis"><a href="#n730">730</a></p>
+<p id="n731" class="stm mis"><a href="#n731">731</a></p>
+<p id="n732" class="stm mis"><a href="#n732">732</a></p>
+<p id="n733" class="stm run hide_run"><a href="#n733">733</a></p>
+<p id="n734" class="stm run hide_run"><a href="#n734">734</a></p>
+<p id="n735" class="stm run hide_run"><a href="#n735">735</a></p>
+<p id="n736" class="stm run hide_run"><a href="#n736">736</a></p>
+<p id="n737" class="stm run hide_run"><a href="#n737">737</a></p>
+<p id="n738" class="stm run hide_run"><a href="#n738">738</a></p>
+<p id="n739" class="stm run hide_run"><a href="#n739">739</a></p>
+<p id="n740" class="stm run hide_run"><a href="#n740">740</a></p>
+<p id="n741" class="pln"><a href="#n741">741</a></p>
+<p id="n742" class="pln"><a href="#n742">742</a></p>
+<p id="n743" class="pln"><a href="#n743">743</a></p>
+<p id="n744" class="pln"><a href="#n744">744</a></p>
+<p id="n745" class="stm run hide_run"><a href="#n745">745</a></p>
+<p id="n746" class="stm run hide_run"><a href="#n746">746</a></p>
+<p id="n747" class="stm run hide_run"><a href="#n747">747</a></p>
+<p id="n748" class="stm run hide_run"><a href="#n748">748</a></p>
+<p id="n749" class="stm run hide_run"><a href="#n749">749</a></p>
+<p id="n750" class="stm run hide_run"><a href="#n750">750</a></p>
+<p id="n751" class="stm mis"><a href="#n751">751</a></p>
+<p id="n752" class="stm mis"><a href="#n752">752</a></p>
+<p id="n753" class="stm mis"><a href="#n753">753</a></p>
+<p id="n754" class="stm run hide_run"><a href="#n754">754</a></p>
+<p id="n755" class="stm run hide_run"><a href="#n755">755</a></p>
+<p id="n756" class="stm run hide_run"><a href="#n756">756</a></p>
+<p id="n757" class="stm run hide_run"><a href="#n757">757</a></p>
+<p id="n758" class="stm run hide_run"><a href="#n758">758</a></p>
+<p id="n759" class="stm run hide_run"><a href="#n759">759</a></p>
+<p id="n760" class="stm run hide_run"><a href="#n760">760</a></p>
+<p id="n761" class="stm mis"><a href="#n761">761</a></p>
+<p id="n762" class="stm mis"><a href="#n762">762</a></p>
+<p id="n763" class="stm run hide_run"><a href="#n763">763</a></p>
+<p id="n764" class="stm run hide_run"><a href="#n764">764</a></p>
+<p id="n765" class="stm run hide_run"><a href="#n765">765</a></p>
+<p id="n766" class="stm run hide_run"><a href="#n766">766</a></p>
+<p id="n767" class="stm run hide_run"><a href="#n767">767</a></p>
+<p id="n768" class="pln"><a href="#n768">768</a></p>
+<p id="n769" class="pln"><a href="#n769">769</a></p>
+<p id="n770" class="pln"><a href="#n770">770</a></p>
+<p id="n771" class="pln"><a href="#n771">771</a></p>
+<p id="n772" class="pln"><a href="#n772">772</a></p>
+<p id="n773" class="pln"><a href="#n773">773</a></p>
+<p id="n774" class="pln"><a href="#n774">774</a></p>
+<p id="n775" class="pln"><a href="#n775">775</a></p>
+<p id="n776" class="pln"><a href="#n776">776</a></p>
+<p id="n777" class="stm mis"><a href="#n777">777</a></p>
+<p id="n778" class="pln"><a href="#n778">778</a></p>
+<p id="n779" class="stm run hide_run"><a href="#n779">779</a></p>
+<p id="n780" class="pln"><a href="#n780">780</a></p>
+<p id="n781" class="pln"><a href="#n781">781</a></p>
+<p id="n782" class="pln"><a href="#n782">782</a></p>
+<p id="n783" class="pln"><a href="#n783">783</a></p>
+<p id="n784" class="pln"><a href="#n784">784</a></p>
+<p id="n785" class="pln"><a href="#n785">785</a></p>
+<p id="n786" class="pln"><a href="#n786">786</a></p>
+<p id="n787" class="pln"><a href="#n787">787</a></p>
+<p id="n788" class="pln"><a href="#n788">788</a></p>
+<p id="n789" class="pln"><a href="#n789">789</a></p>
+<p id="n790" class="pln"><a href="#n790">790</a></p>
+<p id="n791" class="pln"><a href="#n791">791</a></p>
+<p id="n792" class="pln"><a href="#n792">792</a></p>
+<p id="n793" class="pln"><a href="#n793">793</a></p>
+<p id="n794" class="pln"><a href="#n794">794</a></p>
+<p id="n795" class="pln"><a href="#n795">795</a></p>
+<p id="n796" class="pln"><a href="#n796">796</a></p>
+<p id="n797" class="pln"><a href="#n797">797</a></p>
+<p id="n798" class="pln"><a href="#n798">798</a></p>
+<p id="n799" class="pln"><a href="#n799">799</a></p>
+<p id="n800" class="pln"><a href="#n800">800</a></p>
+<p id="n801" class="pln"><a href="#n801">801</a></p>
+<p id="n802" class="pln"><a href="#n802">802</a></p>
+<p id="n803" class="pln"><a href="#n803">803</a></p>
+<p id="n804" class="pln"><a href="#n804">804</a></p>
+<p id="n805" class="pln"><a href="#n805">805</a></p>
+<p id="n806" class="pln"><a href="#n806">806</a></p>
+<p id="n807" class="stm mis"><a href="#n807">807</a></p>
+<p id="n808" class="stm mis"><a href="#n808">808</a></p>
+<p id="n809" class="pln"><a href="#n809">809</a></p>
+<p id="n810" class="stm mis"><a href="#n810">810</a></p>
+<p id="n811" class="stm mis"><a href="#n811">811</a></p>
+<p id="n812" class="stm mis"><a href="#n812">812</a></p>
+<p id="n813" class="stm mis"><a href="#n813">813</a></p>
+<p id="n814" class="stm mis"><a href="#n814">814</a></p>
+<p id="n815" class="pln"><a href="#n815">815</a></p>
+<p id="n816" class="stm mis"><a href="#n816">816</a></p>
+<p id="n817" class="stm mis"><a href="#n817">817</a></p>
+<p id="n818" class="stm mis"><a href="#n818">818</a></p>
+<p id="n819" class="stm mis"><a href="#n819">819</a></p>
+<p id="n820" class="stm mis"><a href="#n820">820</a></p>
+<p id="n821" class="stm mis"><a href="#n821">821</a></p>
+<p id="n822" class="pln"><a href="#n822">822</a></p>
+<p id="n823" class="pln"><a href="#n823">823</a></p>
+<p id="n824" class="pln"><a href="#n824">824</a></p>
+<p id="n825" class="pln"><a href="#n825">825</a></p>
+<p id="n826" class="stm run hide_run"><a href="#n826">826</a></p>
+<p id="n827" class="pln"><a href="#n827">827</a></p>
+<p id="n828" class="pln"><a href="#n828">828</a></p>
+<p id="n829" class="pln"><a href="#n829">829</a></p>
+<p id="n830" class="pln"><a href="#n830">830</a></p>
+<p id="n831" class="pln"><a href="#n831">831</a></p>
+<p id="n832" class="pln"><a href="#n832">832</a></p>
+<p id="n833" class="pln"><a href="#n833">833</a></p>
+<p id="n834" class="pln"><a href="#n834">834</a></p>
+<p id="n835" class="stm run hide_run"><a href="#n835">835</a></p>
+<p id="n836" class="stm run hide_run"><a href="#n836">836</a></p>
+<p id="n837" class="stm run hide_run"><a href="#n837">837</a></p>
+<p id="n838" class="stm run hide_run"><a href="#n838">838</a></p>
+<p id="n839" class="stm run hide_run"><a href="#n839">839</a></p>
+<p id="n840" class="stm run hide_run"><a href="#n840">840</a></p>
+<p id="n841" class="stm run hide_run"><a href="#n841">841</a></p>
+<p id="n842" class="stm run hide_run"><a href="#n842">842</a></p>
+<p id="n843" class="stm run hide_run"><a href="#n843">843</a></p>
+<p id="n844" class="stm mis"><a href="#n844">844</a></p>
+<p id="n845" class="stm mis"><a href="#n845">845</a></p>
+<p id="n846" class="stm mis"><a href="#n846">846</a></p>
+<p id="n847" class="stm mis"><a href="#n847">847</a></p>
+<p id="n848" class="stm run hide_run"><a href="#n848">848</a></p>
+<p id="n849" class="stm run hide_run"><a href="#n849">849</a></p>
+<p id="n850" class="stm run hide_run"><a href="#n850">850</a></p>
+<p id="n851" class="stm run hide_run"><a href="#n851">851</a></p>
+<p id="n852" class="stm run hide_run"><a href="#n852">852</a></p>
+<p id="n853" class="stm mis"><a href="#n853">853</a></p>
+<p id="n854" class="stm mis"><a href="#n854">854</a></p>
+<p id="n855" class="stm mis"><a href="#n855">855</a></p>
+<p id="n856" class="stm run hide_run"><a href="#n856">856</a></p>
+<p id="n857" class="stm run hide_run"><a href="#n857">857</a></p>
+<p id="n858" class="stm run hide_run"><a href="#n858">858</a></p>
+<p id="n859" class="stm run hide_run"><a href="#n859">859</a></p>
+<p id="n860" class="stm run hide_run"><a href="#n860">860</a></p>
+<p id="n861" class="stm run hide_run"><a href="#n861">861</a></p>
+<p id="n862" class="stm run hide_run"><a href="#n862">862</a></p>
+<p id="n863" class="stm mis"><a href="#n863">863</a></p>
+<p id="n864" class="stm mis"><a href="#n864">864</a></p>
+<p id="n865" class="stm mis"><a href="#n865">865</a></p>
+<p id="n866" class="stm mis"><a href="#n866">866</a></p>
+<p id="n867" class="stm run hide_run"><a href="#n867">867</a></p>
+<p id="n868" class="stm mis"><a href="#n868">868</a></p>
+<p id="n869" class="stm mis"><a href="#n869">869</a></p>
+<p id="n870" class="stm mis"><a href="#n870">870</a></p>
+<p id="n871" class="stm mis"><a href="#n871">871</a></p>
+<p id="n872" class="stm run hide_run"><a href="#n872">872</a></p>
+<p id="n873" class="stm run hide_run"><a href="#n873">873</a></p>
+<p id="n874" class="stm run hide_run"><a href="#n874">874</a></p>
+<p id="n875" class="stm run hide_run"><a href="#n875">875</a></p>
+<p id="n876" class="stm run hide_run"><a href="#n876">876</a></p>
+<p id="n877" class="stm run hide_run"><a href="#n877">877</a></p>
+<p id="n878" class="stm run hide_run"><a href="#n878">878</a></p>
+<p id="n879" class="stm run hide_run"><a href="#n879">879</a></p>
+<p id="n880" class="stm run hide_run"><a href="#n880">880</a></p>
+<p id="n881" class="stm mis"><a href="#n881">881</a></p>
+<p id="n882" class="stm mis"><a href="#n882">882</a></p>
+<p id="n883" class="stm mis"><a href="#n883">883</a></p>
+<p id="n884" class="stm run hide_run"><a href="#n884">884</a></p>
+<p id="n885" class="stm run hide_run"><a href="#n885">885</a></p>
+<p id="n886" class="pln"><a href="#n886">886</a></p>
+<p id="n887" class="stm run hide_run"><a href="#n887">887</a></p>
+<p id="n888" class="stm run hide_run"><a href="#n888">888</a></p>
+<p id="n889" class="stm run hide_run"><a href="#n889">889</a></p>
+<p id="n890" class="stm run hide_run"><a href="#n890">890</a></p>
+<p id="n891" class="stm run hide_run"><a href="#n891">891</a></p>
+<p id="n892" class="stm run hide_run"><a href="#n892">892</a></p>
+<p id="n893" class="stm run hide_run"><a href="#n893">893</a></p>
+<p id="n894" class="stm run hide_run"><a href="#n894">894</a></p>
+<p id="n895" class="stm run hide_run"><a href="#n895">895</a></p>
+<p id="n896" class="stm run hide_run"><a href="#n896">896</a></p>
+<p id="n897" class="stm run hide_run"><a href="#n897">897</a></p>
+<p id="n898" class="stm run hide_run"><a href="#n898">898</a></p>
+<p id="n899" class="pln"><a href="#n899">899</a></p>
+<p id="n900" class="stm run hide_run"><a href="#n900">900</a></p>
+<p id="n901" class="stm run hide_run"><a href="#n901">901</a></p>
+<p id="n902" class="pln"><a href="#n902">902</a></p>
+<p id="n903" class="stm run hide_run"><a href="#n903">903</a></p>
+<p id="n904" class="pln"><a href="#n904">904</a></p>
+<p id="n905" class="pln"><a href="#n905">905</a></p>
+<p id="n906" class="pln"><a href="#n906">906</a></p>
+<p id="n907" class="pln"><a href="#n907">907</a></p>
+<p id="n908" class="pln"><a href="#n908">908</a></p>
+<p id="n909" class="pln"><a href="#n909">909</a></p>
+<p id="n910" class="pln"><a href="#n910">910</a></p>
+<p id="n911" class="stm run hide_run"><a href="#n911">911</a></p>
+<p id="n912" class="stm run hide_run"><a href="#n912">912</a></p>
+<p id="n913" class="stm run hide_run"><a href="#n913">913</a></p>
+<p id="n914" class="stm run hide_run"><a href="#n914">914</a></p>
+<p id="n915" class="stm run hide_run"><a href="#n915">915</a></p>
+<p id="n916" class="stm run hide_run"><a href="#n916">916</a></p>
+<p id="n917" class="stm run hide_run"><a href="#n917">917</a></p>
+<p id="n918" class="stm run hide_run"><a href="#n918">918</a></p>
+<p id="n919" class="stm run hide_run"><a href="#n919">919</a></p>
+<p id="n920" class="stm mis"><a href="#n920">920</a></p>
+<p id="n921" class="stm mis"><a href="#n921">921</a></p>
+<p id="n922" class="stm mis"><a href="#n922">922</a></p>
+<p id="n923" class="stm run hide_run"><a href="#n923">923</a></p>
+<p id="n924" class="stm run hide_run"><a href="#n924">924</a></p>
+<p id="n925" class="pln"><a href="#n925">925</a></p>
+<p id="n926" class="stm run hide_run"><a href="#n926">926</a></p>
+<p id="n927" class="stm run hide_run"><a href="#n927">927</a></p>
+<p id="n928" class="stm run hide_run"><a href="#n928">928</a></p>
+<p id="n929" class="stm mis"><a href="#n929">929</a></p>
+<p id="n930" class="stm mis"><a href="#n930">930</a></p>
+<p id="n931" class="stm mis"><a href="#n931">931</a></p>
+<p id="n932" class="stm run hide_run"><a href="#n932">932</a></p>
+<p id="n933" class="stm run hide_run"><a href="#n933">933</a></p>
+<p id="n934" class="pln"><a href="#n934">934</a></p>
+<p id="n935" class="stm run hide_run"><a href="#n935">935</a></p>
+<p id="n936" class="stm run hide_run"><a href="#n936">936</a></p>
+<p id="n937" class="stm run hide_run"><a href="#n937">937</a></p>
+<p id="n938" class="stm run hide_run"><a href="#n938">938</a></p>
+<p id="n939" class="stm run hide_run"><a href="#n939">939</a></p>
+<p id="n940" class="pln"><a href="#n940">940</a></p>
+<p id="n941" class="stm run hide_run"><a href="#n941">941</a></p>
+<p id="n942" class="stm run hide_run"><a href="#n942">942</a></p>
+<p id="n943" class="stm run hide_run"><a href="#n943">943</a></p>
+<p id="n944" class="stm run hide_run"><a href="#n944">944</a></p>
+<p id="n945" class="stm run hide_run"><a href="#n945">945</a></p>
+<p id="n946" class="stm run hide_run"><a href="#n946">946</a></p>
+<p id="n947" class="stm run hide_run"><a href="#n947">947</a></p>
+<p id="n948" class="stm run hide_run"><a href="#n948">948</a></p>
+<p id="n949" class="pln"><a href="#n949">949</a></p>
+<p id="n950" class="pln"><a href="#n950">950</a></p>
+<p id="n951" class="stm mis"><a href="#n951">951</a></p>
+<p id="n952" class="stm run hide_run"><a href="#n952">952</a></p>
+<p id="n953" class="stm run hide_run"><a href="#n953">953</a></p>
+<p id="n954" class="stm run hide_run"><a href="#n954">954</a></p>
+<p id="n955" class="stm run hide_run"><a href="#n955">955</a></p>
+<p id="n956" class="stm run hide_run"><a href="#n956">956</a></p>
+<p id="n957" class="stm run hide_run"><a href="#n957">957</a></p>
+<p id="n958" class="stm run hide_run"><a href="#n958">958</a></p>
+<p id="n959" class="stm run hide_run"><a href="#n959">959</a></p>
+<p id="n960" class="stm run hide_run"><a href="#n960">960</a></p>
+
+ </td>
+ <td class="text">
+<p id="t1" class="pln"><span class="str">"""</span><span class="strut"> </span></p>
+<p id="t2" class="pln"><span class="strut"> </span></p>
+<p id="t3" class="pln"><span class="str">"""</span><span class="strut"> </span></p>
+<p id="t4" class="pln"><span class="strut"> </span></p>
+<p id="t5" class="stm run hide_run"><span class="key">import</span> <span class="nam">os</span><span class="strut"> </span></p>
+<p id="t6" class="stm run hide_run"><span class="key">import</span> <span class="nam">numpy</span> <span class="key">as</span> <span class="nam">np</span><span class="strut"> </span></p>
+<p id="t7" class="stm run hide_run"><span class="key">import</span> <span class="nam">pandas</span> <span class="key">as</span> <span class="nam">pd</span><span class="strut"> </span></p>
+<p id="t8" class="stm run hide_run"><span class="key">import</span> <span class="nam">sqlite3</span><span class="strut"> </span></p>
+<p id="t9" class="stm run hide_run"><span class="key">import</span> <span class="nam">io</span><span class="strut"> </span></p>
+<p id="t10" class="stm run hide_run"><span class="key">from</span> <span class="nam">navipy</span><span class="op">.</span><span class="nam">scene</span> <span class="key">import</span> <span class="nam">is_numeric_array</span><span class="op">,</span> <span class="nam">check_scene</span><span class="strut"> </span></p>
+<p id="t11" class="stm run hide_run"><span class="key">from</span> <span class="nam">navipy</span><span class="op">.</span><span class="nam">maths</span> <span class="key">import</span> <span class="nam">constants</span> <span class="key">as</span> <span class="nam">mconst</span><span class="strut"> </span></p>
+<p id="t12" class="stm run hide_run"><span class="key">from</span> <span class="nam">navipy</span><span class="op">.</span><span class="nam">trajectories</span> <span class="key">import</span> <span class="nam">Trajectory</span><span class="strut"> </span></p>
+<p id="t13" class="stm run hide_run"><span class="key">import</span> <span class="nam">logging</span><span class="strut"> </span></p>
+<p id="t14" class="stm run hide_run"><span class="key">import</span> <span class="nam">numbers</span><span class="strut"> </span></p>
+<p id="t15" class="pln"><span class="strut"> </span></p>
+<p id="t16" class="pln"><span class="strut"> </span></p>
+<p id="t17" class="stm run hide_run"><span class="key">def</span> <span class="nam">adapt_array</span><span class="op">(</span><span class="nam">arr</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t18" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t19" class="pln"><span class="str"> http://stackoverflow.com/a/31312102/190597 (SoulNibbler)</span><span class="strut"> </span></p>
+<p id="t20" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t21" class="stm mis"> <span class="key">if</span> <span class="nam">arr</span> <span class="key">is</span> <span class="key">None</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t22" class="stm mis"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="str">'array must not be None'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t23" class="stm mis"> <span class="nam">out</span> <span class="op">=</span> <span class="nam">io</span><span class="op">.</span><span class="nam">BytesIO</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t24" class="stm mis"> <span class="nam">np</span><span class="op">.</span><span class="nam">save</span><span class="op">(</span><span class="nam">out</span><span class="op">,</span> <span class="nam">arr</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t25" class="stm mis"> <span class="nam">out</span><span class="op">.</span><span class="nam">seek</span><span class="op">(</span><span class="num">0</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t26" class="stm mis"> <span class="key">return</span> <span class="nam">sqlite3</span><span class="op">.</span><span class="nam">Binary</span><span class="op">(</span><span class="nam">out</span><span class="op">.</span><span class="nam">read</span><span class="op">(</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t27" class="pln"><span class="strut"> </span></p>
+<p id="t28" class="pln"><span class="strut"> </span></p>
+<p id="t29" class="stm run hide_run"><span class="key">def</span> <span class="nam">convert_array</span><span class="op">(</span><span class="nam">text</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t30" class="stm run hide_run"> <span class="key">if</span> <span class="nam">text</span> <span class="key">is</span> <span class="key">None</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t31" class="stm mis"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="str">'text must not be None'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t32" class="stm run hide_run"> <span class="nam">out</span> <span class="op">=</span> <span class="nam">io</span><span class="op">.</span><span class="nam">BytesIO</span><span class="op">(</span><span class="nam">text</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t33" class="stm run hide_run"> <span class="nam">out</span><span class="op">.</span><span class="nam">seek</span><span class="op">(</span><span class="num">0</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t34" class="stm run hide_run"> <span class="key">return</span> <span class="nam">np</span><span class="op">.</span><span class="nam">load</span><span class="op">(</span><span class="nam">out</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t35" class="pln"><span class="strut"> </span></p>
+<p id="t36" class="pln"><span class="strut"> </span></p>
+<p id="t37" class="pln"><span class="com"># Converts np.array to TEXT when inserting</span><span class="strut"> </span></p>
+<p id="t38" class="stm run hide_run"><span class="nam">sqlite3</span><span class="op">.</span><span class="nam">register_adapter</span><span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">ndarray</span><span class="op">,</span> <span class="nam">adapt_array</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t39" class="pln"><span class="com"># Converts TEXT to np.array when selecting</span><span class="strut"> </span></p>
+<p id="t40" class="stm run hide_run"><span class="nam">sqlite3</span><span class="op">.</span><span class="nam">register_converter</span><span class="op">(</span><span class="str">"array"</span><span class="op">,</span> <span class="nam">convert_array</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t41" class="pln"><span class="strut"> </span></p>
+<p id="t42" class="pln"><span class="strut"> </span></p>
+<p id="t43" class="stm run hide_run"><span class="key">class</span> <span class="nam">DataBase</span><span class="op">(</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t44" class="pln"> <span class="str">"""DataBase</span><span class="strut"> </span></p>
+<p id="t45" class="pln"><span class="str"> It creates three sql table on initialisation.</span><span class="strut"> </span></p>
+<p id="t46" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t47" class="stm run hide_run"> <span class="nam">__float_tolerance</span> <span class="op">=</span> <span class="num">1e-14</span><span class="strut"> </span></p>
+<p id="t48" class="pln"><span class="strut"> </span></p>
+<p id="t49" class="stm run hide_run"> <span class="key">def</span> <span class="nam">__init__</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span> <span class="nam">filename</span><span class="op">,</span> <span class="nam">mode</span><span class="op">=</span><span class="str">'a'</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t50" class="pln"> <span class="nam">channels</span><span class="op">=</span><span class="op">[</span><span class="str">'R'</span><span class="op">,</span> <span class="str">'G'</span><span class="op">,</span> <span class="str">'B'</span><span class="op">,</span> <span class="str">'D'</span><span class="op">]</span><span class="op">,</span> <span class="nam">arr_dtype</span><span class="op">=</span><span class="nam">np</span><span class="op">.</span><span class="nam">uint8</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t51" class="pln"> <span class="str">"""Initialisation of the database</span><span class="strut"> </span></p>
+<p id="t52" class="pln"><span class="str"> the first database is the image database to store the images</span><span class="strut"> </span></p>
+<p id="t53" class="pln"><span class="str"> the second database is the position_orientation database to</span><span class="strut"> </span></p>
+<p id="t54" class="pln"><span class="str"> store the position and orientations of the corresponding image</span><span class="strut"> </span></p>
+<p id="t55" class="pln"><span class="str"> the third database is the normalisation database that stores the</span><span class="strut"> </span></p>
+<p id="t56" class="pln"><span class="str"> ranges of the images.</span><span class="strut"> </span></p>
+<p id="t57" class="pln"><span class="str"> :param filename: filename of the database to be loaded, stored</span><span class="strut"> </span></p>
+<p id="t58" class="pln"><span class="str"> created</span><span class="strut"> </span></p>
+<p id="t59" class="pln"><span class="str"> channels: channels for the images (Red,Green,Blue,Distance)</span><span class="strut"> </span></p>
+<p id="t60" class="pln"><span class="str"> :type filename: string</span><span class="strut"> </span></p>
+<p id="t61" class="pln"><span class="str"> channels: list</span><span class="strut"> </span></p>
+<p id="t62" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t63" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">_logger</span> <span class="op">=</span> <span class="nam">logging</span><span class="op">.</span><span class="nam">getLogger</span><span class="op">(</span><span class="str">'navipy'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t64" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">__convention</span> <span class="op">=</span> <span class="key">None</span><span class="strut"> </span></p>
+<p id="t65" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">filename</span><span class="op">,</span> <span class="nam">str</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t66" class="stm run hide_run"> <span class="nam">msg</span> <span class="op">=</span> <span class="str">'filename should be a string'</span><span class="strut"> </span></p>
+<p id="t67" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">_logger</span><span class="op">.</span><span class="nam">exception</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t68" class="stm run hide_run"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t69" class="stm run hide_run"> <span class="nam">_</span><span class="op">,</span> <span class="nam">ext</span> <span class="op">=</span> <span class="nam">os</span><span class="op">.</span><span class="nam">path</span><span class="op">.</span><span class="nam">splitext</span><span class="op">(</span><span class="nam">filename</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t70" class="stm run hide_run"> <span class="key">if</span> <span class="nam">ext</span> <span class="op">!=</span> <span class="str">'.db'</span> <span class="key">and</span> <span class="op">(</span><span class="nam">filename</span> <span class="op">!=</span> <span class="str">':memory:'</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t71" class="stm run hide_run"> <span class="nam">msg</span> <span class="op">=</span> <span class="str">'filename must have the .db extension'</span><span class="strut"> </span></p>
+<p id="t72" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">_logger</span><span class="op">.</span><span class="nam">exception</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t73" class="stm run hide_run"> <span class="key">raise</span> <span class="nam">NameError</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t74" class="pln"> <span class="com"># We try to determine if we need to load or create</span><span class="strut"> </span></p>
+<p id="t75" class="pln"> <span class="com"># the database</span><span class="strut"> </span></p>
+<p id="t76" class="stm run hide_run"> <span class="key">if</span> <span class="op">(</span><span class="key">not</span> <span class="nam">os</span><span class="op">.</span><span class="nam">path</span><span class="op">.</span><span class="nam">exists</span><span class="op">(</span><span class="nam">filename</span><span class="op">)</span><span class="op">)</span> <span class="key">and</span> <span class="nam">mode</span> <span class="op">==</span> <span class="str">'r'</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t77" class="pln"> <span class="com"># The file does not exist, and we want to read</span><span class="strut"> </span></p>
+<p id="t78" class="pln"> <span class="com"># it. This is not possible</span><span class="strut"> </span></p>
+<p id="t79" class="stm mis"> <span class="nam">msg</span> <span class="op">=</span> <span class="str">'Cannot read database {}'</span><span class="strut"> </span></p>
+<p id="t80" class="stm mis"> <span class="nam">msg</span> <span class="op">=</span> <span class="nam">msg</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">filename</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t81" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">_logger</span><span class="op">.</span><span class="nam">exception</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t82" class="stm mis"> <span class="key">raise</span> <span class="nam">NameError</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t83" class="stm run hide_run"> <span class="key">elif</span> <span class="nam">mode</span> <span class="op">==</span> <span class="str">'w'</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t84" class="pln"> <span class="com"># The file exist, and we want to write it</span><span class="strut"> </span></p>
+<p id="t85" class="pln"> <span class="com"># We need to create the database</span><span class="strut"> </span></p>
+<p id="t86" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">_logger</span><span class="op">.</span><span class="nam">info</span><span class="op">(</span><span class="str">'WriteRead-mode'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t87" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">arr_dtype</span> <span class="op">=</span> <span class="nam">arr_dtype</span><span class="strut"> </span></p>
+<p id="t88" class="stm run hide_run"> <span class="key">elif</span> <span class="nam">mode</span> <span class="op">==</span> <span class="str">'a'</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t89" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">_logger</span><span class="op">.</span><span class="nam">info</span><span class="op">(</span><span class="str">'AppendRead-mode'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t90" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">arr_dtype</span> <span class="op">=</span> <span class="nam">arr_dtype</span><span class="strut"> </span></p>
+<p id="t91" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t92" class="pln"> <span class="com"># The file exist, and we want to either</span><span class="strut"> </span></p>
+<p id="t93" class="pln"> <span class="com"># write it or append data to it.</span><span class="strut"> </span></p>
+<p id="t94" class="pln"> <span class="com"># We need to load the database</span><span class="strut"> </span></p>
+<p id="t95" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">_logger</span><span class="op">.</span><span class="nam">info</span><span class="op">(</span><span class="str">'ReadOnly-mode'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t96" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">mode</span> <span class="op">=</span> <span class="nam">mode</span><span class="strut"> </span></p>
+<p id="t97" class="pln"><span class="strut"> </span></p>
+<p id="t98" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">channels</span><span class="op">,</span> <span class="nam">list</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t99" class="stm run hide_run"> <span class="nam">msg</span> <span class="op">=</span> <span class="str">'nb_channel should be a list or np array'</span><span class="strut"> </span></p>
+<p id="t100" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">_logger</span><span class="op">.</span><span class="nam">exception</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t101" class="stm run hide_run"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t102" class="stm run hide_run"> <span class="key">for</span> <span class="nam">c</span> <span class="key">in</span> <span class="nam">channels</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t103" class="stm run hide_run"> <span class="key">if</span> <span class="nam">c</span> <span class="key">is</span> <span class="key">None</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t104" class="stm run hide_run"> <span class="nam">msg</span> <span class="op">=</span> <span class="str">'channels must not be None'</span><span class="strut"> </span></p>
+<p id="t105" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">_logger</span><span class="op">.</span><span class="nam">exception</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t106" class="stm run hide_run"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t107" class="stm run hide_run"> <span class="key">if</span> <span class="nam">c</span> <span class="key">is</span> <span class="nam">np</span><span class="op">.</span><span class="nam">nan</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t108" class="stm mis"> <span class="nam">msg</span> <span class="op">=</span> <span class="str">'channels must not be of nan value'</span><span class="strut"> </span></p>
+<p id="t109" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">_logger</span><span class="op">.</span><span class="nam">exception</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t110" class="stm mis"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t111" class="stm run hide_run"> <span class="key">if</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">c</span><span class="op">,</span> <span class="nam">list</span><span class="op">)</span> <span class="key">or</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">c</span><span class="op">,</span> <span class="nam">np</span><span class="op">.</span><span class="nam">ndarray</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t112" class="stm mis"> <span class="nam">msg</span> <span class="op">=</span> <span class="str">'channels must be single value'</span><span class="strut"> </span></p>
+<p id="t113" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">_logger</span><span class="op">.</span><span class="nam">exception</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t114" class="stm mis"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t115" class="stm run hide_run"> <span class="key">if</span> <span class="nam">c</span> <span class="key">not</span> <span class="key">in</span> <span class="op">[</span><span class="str">'R'</span><span class="op">,</span> <span class="str">'G'</span><span class="op">,</span> <span class="str">'B'</span><span class="op">,</span> <span class="str">'D'</span><span class="op">]</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t116" class="stm mis"> <span class="nam">msg</span> <span class="op">=</span> <span class="str">'channels must be either\</span><span class="strut"> </span></p>
+<p id="t117" class="pln"><span class="str"> R,G,B or D (Distance)'</span><span class="strut"> </span></p>
+<p id="t118" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">_logger</span><span class="op">.</span><span class="nam">exception</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t119" class="stm mis"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t120" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">_logger</span><span class="op">.</span><span class="nam">debug</span><span class="op">(</span><span class="str">'database\nfilename: {}\nchannel: {}'</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t121" class="pln"> <span class="nam">filename</span><span class="op">,</span> <span class="nam">channels</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t122" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">filename</span> <span class="op">=</span> <span class="nam">filename</span><span class="strut"> </span></p>
+<p id="t123" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">channels</span> <span class="op">=</span> <span class="nam">channels</span><span class="strut"> </span></p>
+<p id="t124" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">normalisation_columns</span> <span class="op">=</span> <span class="nam">list</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t125" class="stm run hide_run"> <span class="key">for</span> <span class="nam">chan_n</span> <span class="key">in</span> <span class="nam">self</span><span class="op">.</span><span class="nam">channels</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t126" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">normalisation_columns</span><span class="op">.</span><span class="nam">append</span><span class="op">(</span><span class="nam">str</span><span class="op">(</span><span class="nam">chan_n</span><span class="op">)</span> <span class="op">+</span> <span class="str">'_max'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t127" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">normalisation_columns</span><span class="op">.</span><span class="nam">append</span><span class="op">(</span><span class="nam">str</span><span class="op">(</span><span class="nam">chan_n</span><span class="op">)</span> <span class="op">+</span> <span class="str">'_min'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t128" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">normalisation_columns</span><span class="op">.</span><span class="nam">append</span><span class="op">(</span><span class="nam">str</span><span class="op">(</span><span class="nam">chan_n</span><span class="op">)</span> <span class="op">+</span> <span class="str">'_range'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t129" class="pln"><span class="strut"> </span></p>
+<p id="t130" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">tablecolumns</span> <span class="op">=</span> <span class="nam">dict</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t131" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">tablecolumns</span><span class="op">[</span><span class="str">'position_orientation'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">dict</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t132" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">tablecolumns</span><span class="op">[</span><span class="str">'position_orientation'</span><span class="op">]</span><span class="op">[</span><span class="str">'x'</span><span class="op">]</span> <span class="op">=</span> <span class="str">'real'</span><span class="strut"> </span></p>
+<p id="t133" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">tablecolumns</span><span class="op">[</span><span class="str">'position_orientation'</span><span class="op">]</span><span class="op">[</span><span class="str">'y'</span><span class="op">]</span> <span class="op">=</span> <span class="str">'real'</span><span class="strut"> </span></p>
+<p id="t134" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">tablecolumns</span><span class="op">[</span><span class="str">'position_orientation'</span><span class="op">]</span><span class="op">[</span><span class="str">'z'</span><span class="op">]</span> <span class="op">=</span> <span class="str">'real'</span><span class="strut"> </span></p>
+<p id="t135" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">tablecolumns</span><span class="op">[</span><span class="str">'position_orientation'</span><span class="op">]</span><span class="op">[</span><span class="str">'q_0'</span><span class="op">]</span> <span class="op">=</span> <span class="str">'real'</span><span class="strut"> </span></p>
+<p id="t136" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">tablecolumns</span><span class="op">[</span><span class="str">'position_orientation'</span><span class="op">]</span><span class="op">[</span><span class="str">'q_1'</span><span class="op">]</span> <span class="op">=</span> <span class="str">'real'</span><span class="strut"> </span></p>
+<p id="t137" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">tablecolumns</span><span class="op">[</span><span class="str">'position_orientation'</span><span class="op">]</span><span class="op">[</span><span class="str">'q_2'</span><span class="op">]</span> <span class="op">=</span> <span class="str">'real'</span><span class="strut"> </span></p>
+<p id="t138" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">tablecolumns</span><span class="op">[</span><span class="str">'position_orientation'</span><span class="op">]</span><span class="op">[</span><span class="str">'q_3'</span><span class="op">]</span> <span class="op">=</span> <span class="str">'real'</span><span class="strut"> </span></p>
+<p id="t139" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">tablecolumns</span><span class="op">[</span><span class="str">'position_orientation'</span><span class="op">]</span><span class="op">[</span><span class="str">'frame_i'</span><span class="op">]</span> <span class="op">=</span> <span class="str">'real'</span><span class="strut"> </span></p>
+<p id="t140" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">tablecolumns</span><span class="op">[</span><span class="str">'position_orientation'</span><span class="op">]</span><span class="op">[</span><span class="str">'rotconv_id'</span><span class="op">]</span> <span class="op">=</span> <span class="str">'string'</span><span class="strut"> </span></p>
+<p id="t141" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">tablecolumns</span><span class="op">[</span><span class="str">'viewing_directions'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">dict</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t142" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">tablecolumns</span><span class="op">[</span><span class="str">'viewing_directions'</span><span class="op">]</span><span class="op">[</span><span class="str">'data'</span><span class="op">]</span> <span class="op">=</span> <span class="str">'array'</span><span class="strut"> </span></p>
+<p id="t143" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">tablecolumns</span><span class="op">[</span><span class="str">'image'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">dict</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t144" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">tablecolumns</span><span class="op">[</span><span class="str">'image'</span><span class="op">]</span><span class="op">[</span><span class="str">'data'</span><span class="op">]</span> <span class="op">=</span> <span class="str">'array'</span><span class="strut"> </span></p>
+<p id="t145" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">tablecolumns</span><span class="op">[</span><span class="str">'normalisation'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">dict</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t146" class="stm run hide_run"> <span class="key">for</span> <span class="nam">col</span> <span class="key">in</span> <span class="nam">self</span><span class="op">.</span><span class="nam">normalisation_columns</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t147" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">tablecolumns</span><span class="op">[</span><span class="str">'normalisation'</span><span class="op">]</span><span class="op">[</span><span class="nam">col</span><span class="op">]</span> <span class="op">=</span> <span class="str">'real'</span><span class="strut"> </span></p>
+<p id="t148" class="pln"><span class="strut"> </span></p>
+<p id="t149" class="stm run hide_run"> <span class="key">if</span> <span class="op">(</span><span class="nam">self</span><span class="op">.</span><span class="nam">mode</span> <span class="key">in</span> <span class="op">[</span><span class="str">'a'</span><span class="op">,</span> <span class="str">'r'</span><span class="op">]</span><span class="op">)</span> <span class="key">and</span> <span class="op">(</span><span class="nam">os</span><span class="op">.</span><span class="nam">path</span><span class="op">.</span><span class="nam">exists</span><span class="op">(</span><span class="nam">filename</span><span class="op">)</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t150" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">_logger</span><span class="op">.</span><span class="nam">info</span><span class="op">(</span><span class="str">'Connect to database'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t151" class="pln"><span class="strut"> </span></p>
+<p id="t152" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">db</span> <span class="op">=</span> <span class="nam">sqlite3</span><span class="op">.</span><span class="nam">connect</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t153" class="pln"> <span class="str">'file:'</span> <span class="op">+</span> <span class="nam">filename</span> <span class="op">+</span> <span class="str">'?cache=shared'</span><span class="op">,</span> <span class="nam">uri</span><span class="op">=</span><span class="key">True</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t154" class="pln"> <span class="nam">detect_types</span><span class="op">=</span><span class="nam">sqlite3</span><span class="op">.</span><span class="nam">PARSE_DECLTYPES</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t155" class="pln"> <span class="nam">timeout</span><span class="op">=</span><span class="num">10</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t156" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">db_cursor</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">db</span><span class="op">.</span><span class="nam">cursor</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t157" class="pln"> <span class="com"># Check table</span><span class="strut"> </span></p>
+<p id="t158" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">_logger</span><span class="op">.</span><span class="nam">debug</span><span class="op">(</span><span class="str">'Check tables'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t159" class="stm run hide_run"> <span class="key">for</span> <span class="nam">tablename</span><span class="op">,</span> <span class="nam">_</span> <span class="key">in</span> <span class="nam">self</span><span class="op">.</span><span class="nam">tablecolumns</span><span class="op">.</span><span class="nam">items</span><span class="op">(</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t160" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="nam">self</span><span class="op">.</span><span class="nam">table_exist</span><span class="op">(</span><span class="nam">tablename</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t161" class="stm mis"> <span class="nam">msg</span> <span class="op">=</span> <span class="str">'{} does not contain a table\</span><span class="strut"> </span></p>
+<p id="t162" class="pln"><span class="str"> named {}'</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">filename</span><span class="op">,</span> <span class="nam">tablename</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t163" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">_logger</span><span class="op">.</span><span class="nam">exception</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t164" class="stm mis"> <span class="key">raise</span> <span class="nam">Exception</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t165" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t166" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">_logger</span><span class="op">.</span><span class="nam">info</span><span class="op">(</span><span class="str">'Create database'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t167" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">db</span> <span class="op">=</span> <span class="nam">sqlite3</span><span class="op">.</span><span class="nam">connect</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t168" class="pln"> <span class="str">'file:'</span> <span class="op">+</span> <span class="nam">filename</span> <span class="op">+</span> <span class="str">'?cache=shared'</span><span class="op">,</span> <span class="nam">uri</span><span class="op">=</span><span class="key">True</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t169" class="pln"> <span class="nam">detect_types</span><span class="op">=</span><span class="nam">sqlite3</span><span class="op">.</span><span class="nam">PARSE_DECLTYPES</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t170" class="pln"> <span class="nam">timeout</span><span class="op">=</span><span class="num">10</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t171" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">db_cursor</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">db</span><span class="op">.</span><span class="nam">cursor</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t172" class="pln"> <span class="com"># Create table</span><span class="strut"> </span></p>
+<p id="t173" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">_logger</span><span class="op">.</span><span class="nam">info</span><span class="op">(</span><span class="str">'Create tables'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t174" class="stm run hide_run"> <span class="key">for</span> <span class="nam">key</span><span class="op">,</span> <span class="nam">val</span> <span class="key">in</span> <span class="nam">self</span><span class="op">.</span><span class="nam">tablecolumns</span><span class="op">.</span><span class="nam">items</span><span class="op">(</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t175" class="stm run hide_run"> <span class="nam">columns</span> <span class="op">=</span> <span class="str">"(id integer primary key autoincrement"</span><span class="strut"> </span></p>
+<p id="t176" class="stm run hide_run"> <span class="key">for</span> <span class="nam">colname</span><span class="op">,</span> <span class="nam">coltype</span> <span class="key">in</span> <span class="nam">val</span><span class="op">.</span><span class="nam">items</span><span class="op">(</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t177" class="stm run hide_run"> <span class="nam">columns</span> <span class="op">+=</span> <span class="str">' , '</span> <span class="op">+</span> <span class="nam">colname</span> <span class="op">+</span> <span class="str">' '</span> <span class="op">+</span> <span class="nam">coltype</span><span class="strut"> </span></p>
+<p id="t178" class="stm run hide_run"> <span class="nam">columns</span> <span class="op">+=</span> <span class="str">')'</span><span class="strut"> </span></p>
+<p id="t179" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">db_cursor</span><span class="op">.</span><span class="nam">execute</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t180" class="pln"> <span class="str">"create table {} {}"</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">key</span><span class="op">,</span> <span class="nam">columns</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t181" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">db</span><span class="op">.</span><span class="nam">commit</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t182" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">__nbaz</span> <span class="op">=</span> <span class="key">None</span><span class="strut"> </span></p>
+<p id="t183" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">__nbel</span> <span class="op">=</span> <span class="key">None</span><span class="strut"> </span></p>
+<p id="t184" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">__viewing_dir</span> <span class="op">=</span> <span class="key">None</span><span class="strut"> </span></p>
+<p id="t185" class="pln"><span class="strut"> </span></p>
+<p id="t186" class="stm run hide_run"> <span class="op">@</span><span class="nam">property</span><span class="strut"> </span></p>
+<p id="t187" class="pln"> <span class="key">def</span> <span class="nam">viewing_directions</span><span class="op">(</span><span class="nam">self</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t188" class="stm run hide_run"> <span class="key">if</span> <span class="nam">self</span><span class="op">.</span><span class="nam">__viewing_dir</span> <span class="key">is</span> <span class="key">None</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t189" class="stm run hide_run"> <span class="nam">rowid</span> <span class="op">=</span> <span class="num">1</span><span class="strut"> </span></p>
+<p id="t190" class="stm run hide_run"> <span class="nam">tablename</span> <span class="op">=</span> <span class="str">'viewing_directions'</span><span class="strut"> </span></p>
+<p id="t191" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">db_cursor</span><span class="op">.</span><span class="nam">execute</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t192" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t193" class="pln"><span class="str"> SELECT data</span><span class="strut"> </span></p>
+<p id="t194" class="pln"><span class="str"> FROM {}</span><span class="strut"> </span></p>
+<p id="t195" class="pln"><span class="str"> WHERE (rowid=?)</span><span class="strut"> </span></p>
+<p id="t196" class="pln"><span class="str"> """</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">tablename</span><span class="op">)</span><span class="op">,</span> <span class="op">(</span><span class="nam">rowid</span><span class="op">,</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t197" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">__viewing_dir</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">db_cursor</span><span class="op">.</span><span class="nam">fetchone</span><span class="op">(</span><span class="op">)</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t198" class="stm run hide_run"> <span class="key">return</span> <span class="nam">self</span><span class="op">.</span><span class="nam">__viewing_dir</span><span class="op">.</span><span class="nam">copy</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t199" class="pln"><span class="strut"> </span></p>
+<p id="t200" class="stm run hide_run"> <span class="op">@</span><span class="nam">viewing_directions</span><span class="op">.</span><span class="nam">setter</span><span class="strut"> </span></p>
+<p id="t201" class="pln"> <span class="key">def</span> <span class="nam">viewing_directions</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span> <span class="nam">viewdir</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t202" class="pln"> <span class="str">"""Get the viewing direction from images</span><span class="strut"> </span></p>
+<p id="t203" class="pln"><span class="strut"> </span></p>
+<p id="t204" class="pln"><span class="str"> :param az_lim: (min,max) of the azimuth angles</span><span class="strut"> </span></p>
+<p id="t205" class="pln"><span class="str"> :param el_lim: (min,max) of the elevation angles</span><span class="strut"> </span></p>
+<p id="t206" class="pln"><span class="str"> :returns: viewing direction of every pixels</span><span class="strut"> </span></p>
+<p id="t207" class="pln"><span class="str"> :rtype: np.array</span><span class="strut"> </span></p>
+<p id="t208" class="pln"><span class="strut"> </span></p>
+<p id="t209" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t210" class="stm mis"> <span class="key">if</span> <span class="nam">self</span><span class="op">.</span><span class="nam">__viewing_dir</span> <span class="key">is</span> <span class="key">None</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t211" class="stm mis"> <span class="nam">msg</span> <span class="op">=</span> <span class="str">'write viewing direction'</span><span class="strut"> </span></p>
+<p id="t212" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">_logger</span><span class="op">.</span><span class="nam">info</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t213" class="stm mis"> <span class="key">if</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">viewdir</span><span class="op">,</span> <span class="nam">np</span><span class="op">.</span><span class="nam">ndarray</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t214" class="stm mis"> <span class="nam">tablename</span> <span class="op">=</span> <span class="str">'viewing_directions'</span><span class="strut"> </span></p>
+<p id="t215" class="stm mis"> <span class="nam">params</span> <span class="op">=</span> <span class="nam">dict</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t216" class="stm mis"> <span class="nam">params</span><span class="op">[</span><span class="str">'rowid'</span><span class="op">]</span> <span class="op">=</span> <span class="num">1</span><span class="strut"> </span></p>
+<p id="t217" class="stm mis"> <span class="nam">params</span><span class="op">[</span><span class="str">'data'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">viewdir</span><span class="strut"> </span></p>
+<p id="t218" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">insert_replace</span><span class="op">(</span><span class="nam">tablename</span><span class="op">,</span> <span class="nam">params</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t219" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t220" class="stm mis"> <span class="nam">msg</span> <span class="op">=</span> <span class="str">'viewdir should be a numpy nd.array'</span><span class="strut"> </span></p>
+<p id="t221" class="stm mis"> <span class="nam">msg</span> <span class="op">+=</span> <span class="str">' and not {}'</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">type</span><span class="op">(</span><span class="nam">viewdir</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t222" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">_logger</span><span class="op">.</span><span class="nam">exception</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t223" class="stm mis"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t224" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t225" class="stm mis"> <span class="nam">msg</span> <span class="op">=</span> <span class="str">'viewing direction has already been set'</span><span class="strut"> </span></p>
+<p id="t226" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">_logger</span><span class="op">.</span><span class="nam">exception</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t227" class="stm mis"> <span class="key">raise</span> <span class="nam">Exception</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t228" class="pln"><span class="strut"> </span></p>
+<p id="t229" class="stm run hide_run"> <span class="key">def</span> <span class="nam">table_exist</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span> <span class="nam">tablename</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t230" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t231" class="pln"><span class="str"> checks wether a table with name tablename exists in the database</span><span class="strut"> </span></p>
+<p id="t232" class="pln"><span class="str"> :param tablename: name of the table</span><span class="strut"> </span></p>
+<p id="t233" class="pln"><span class="str"> :type tablename: string</span><span class="strut"> </span></p>
+<p id="t234" class="pln"><span class="str"> :returns: validity</span><span class="strut"> </span></p>
+<p id="t235" class="pln"><span class="str"> :rtype: boolean</span><span class="strut"> </span></p>
+<p id="t236" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t237" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">tablename</span><span class="op">,</span> <span class="nam">str</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t238" class="stm run hide_run"> <span class="nam">msg</span> <span class="op">=</span> <span class="str">'tablename should be a string'</span><span class="strut"> </span></p>
+<p id="t239" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">_logger</span><span class="op">.</span><span class="nam">exception</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t240" class="stm run hide_run"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t241" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">db_cursor</span><span class="op">.</span><span class="nam">execute</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t242" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t243" class="pln"><span class="str"> SELECT count(*)</span><span class="strut"> </span></p>
+<p id="t244" class="pln"><span class="str"> FROM sqlite_master</span><span class="strut"> </span></p>
+<p id="t245" class="pln"><span class="str"> WHERE type='table' and name=?;</span><span class="strut"> </span></p>
+<p id="t246" class="pln"><span class="str"> """</span><span class="op">,</span> <span class="op">(</span><span class="nam">tablename</span><span class="op">,</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t247" class="stm run hide_run"> <span class="key">return</span> <span class="nam">bool</span><span class="op">(</span><span class="nam">self</span><span class="op">.</span><span class="nam">db_cursor</span><span class="op">.</span><span class="nam">fetchone</span><span class="op">(</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t248" class="pln"><span class="strut"> </span></p>
+<p id="t249" class="stm run hide_run"> <span class="key">def</span> <span class="nam">check_data_validity</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span> <span class="nam">rowid</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t250" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t251" class="pln"><span class="str"> checks wether all three tables in the database</span><span class="strut"> </span></p>
+<p id="t252" class="pln"><span class="str"> (images,position_orientation, normalisation) contain</span><span class="strut"> </span></p>
+<p id="t253" class="pln"><span class="str"> an entry with the given id.</span><span class="strut"> </span></p>
+<p id="t254" class="pln"><span class="str"> :param rowid: id to be checked</span><span class="strut"> </span></p>
+<p id="t255" class="pln"><span class="str"> :type rowid: int</span><span class="strut"> </span></p>
+<p id="t256" class="pln"><span class="str"> :returns: validity</span><span class="strut"> </span></p>
+<p id="t257" class="pln"><span class="str"> :rtype: boolean</span><span class="strut"> </span></p>
+<p id="t258" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t259" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">rowid</span><span class="op">,</span> <span class="nam">int</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t260" class="stm run hide_run"> <span class="nam">msg</span> <span class="op">=</span> <span class="str">'rowid must be an integer'</span><span class="strut"> </span></p>
+<p id="t261" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">_logger</span><span class="op">.</span><span class="nam">exception</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t262" class="stm run hide_run"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t263" class="stm run hide_run"> <span class="key">if</span> <span class="nam">rowid</span> <span class="op"><=</span> <span class="num">0</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t264" class="stm run hide_run"> <span class="nam">msg</span> <span class="op">=</span> <span class="str">'rowid must be greater zero'</span><span class="strut"> </span></p>
+<p id="t265" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">_logger</span><span class="op">.</span><span class="nam">exception</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t266" class="stm run hide_run"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t267" class="stm run hide_run"> <span class="key">if</span> <span class="nam">rowid</span> <span class="key">is</span> <span class="nam">np</span><span class="op">.</span><span class="nam">nan</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t268" class="stm mis"> <span class="nam">msg</span> <span class="op">=</span> <span class="str">'rowid must not be nan'</span><span class="strut"> </span></p>
+<p id="t269" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">_logger</span><span class="op">.</span><span class="nam">exception</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t270" class="stm mis"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t271" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">db_cursor</span><span class="op">.</span><span class="nam">execute</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t272" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t273" class="pln"><span class="str"> SELECT count(*)</span><span class="strut"> </span></p>
+<p id="t274" class="pln"><span class="str"> FROM position_orientation</span><span class="strut"> </span></p>
+<p id="t275" class="pln"><span class="str"> WHERE rowid=?;</span><span class="strut"> </span></p>
+<p id="t276" class="pln"><span class="str"> """</span><span class="op">,</span> <span class="op">(</span><span class="nam">rowid</span><span class="op">,</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t277" class="stm run hide_run"> <span class="nam">valid</span> <span class="op">=</span> <span class="nam">bool</span><span class="op">(</span><span class="nam">self</span><span class="op">.</span><span class="nam">db_cursor</span><span class="op">.</span><span class="nam">fetchone</span><span class="op">(</span><span class="op">)</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t278" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">db_cursor</span><span class="op">.</span><span class="nam">execute</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t279" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t280" class="pln"><span class="str"> SELECT count(*)</span><span class="strut"> </span></p>
+<p id="t281" class="pln"><span class="str"> FROM normalisation</span><span class="strut"> </span></p>
+<p id="t282" class="pln"><span class="str"> WHERE rowid=?;</span><span class="strut"> </span></p>
+<p id="t283" class="pln"><span class="str"> """</span><span class="op">,</span> <span class="op">(</span><span class="nam">rowid</span><span class="op">,</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t284" class="stm run hide_run"> <span class="nam">valid</span> <span class="op">=</span> <span class="nam">valid</span> <span class="key">and</span> <span class="nam">bool</span><span class="op">(</span><span class="nam">self</span><span class="op">.</span><span class="nam">db_cursor</span><span class="op">.</span><span class="nam">fetchone</span><span class="op">(</span><span class="op">)</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t285" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">db_cursor</span><span class="op">.</span><span class="nam">execute</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t286" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t287" class="pln"><span class="str"> SELECT count(*)</span><span class="strut"> </span></p>
+<p id="t288" class="pln"><span class="str"> FROM image</span><span class="strut"> </span></p>
+<p id="t289" class="pln"><span class="str"> WHERE rowid=?;</span><span class="strut"> </span></p>
+<p id="t290" class="pln"><span class="str"> """</span><span class="op">,</span> <span class="op">(</span><span class="nam">rowid</span><span class="op">,</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t291" class="stm run hide_run"> <span class="nam">valid</span> <span class="op">=</span> <span class="nam">valid</span> <span class="key">and</span> <span class="nam">bool</span><span class="op">(</span><span class="nam">self</span><span class="op">.</span><span class="nam">db_cursor</span><span class="op">.</span><span class="nam">fetchone</span><span class="op">(</span><span class="op">)</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t292" class="stm run hide_run"> <span class="key">return</span> <span class="nam">valid</span><span class="strut"> </span></p>
+<p id="t293" class="pln"><span class="strut"> </span></p>
+<p id="t294" class="stm run hide_run"> <span class="key">def</span> <span class="nam">get_posid</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span> <span class="nam">posorient</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t295" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t296" class="pln"><span class="str"> returns the id of a given position and orientation</span><span class="strut"> </span></p>
+<p id="t297" class="pln"><span class="str"> in the database</span><span class="strut"> </span></p>
+<p id="t298" class="pln"><span class="str"> :param posorient: position and orientation</span><span class="strut"> </span></p>
+<p id="t299" class="pln"><span class="str"> is a 1x6 vector containing:</span><span class="strut"> </span></p>
+<p id="t300" class="pln"><span class="str"> *in case of euler angeles the index should be</span><span class="strut"> </span></p>
+<p id="t301" class="pln"><span class="str"> ['location']['x']</span><span class="strut"> </span></p>
+<p id="t302" class="pln"><span class="str"> ['location']['y']</span><span class="strut"> </span></p>
+<p id="t303" class="pln"><span class="str"> ['location']['z']</span><span class="strut"> </span></p>
+<p id="t304" class="pln"><span class="str"> [convention][alpha_0]</span><span class="strut"> </span></p>
+<p id="t305" class="pln"><span class="str"> [convention][alpha_1]</span><span class="strut"> </span></p>
+<p id="t306" class="pln"><span class="str"> [convention][alpha_2]</span><span class="strut"> </span></p>
+<p id="t307" class="pln"><span class="str"> **where convention can be:</span><span class="strut"> </span></p>
+<p id="t308" class="pln"><span class="str"> xyz, xzy, yxz, yzx, zyx, zxy</span><span class="strut"> </span></p>
+<p id="t309" class="pln"><span class="str"> *in case of quaternions the index should be</span><span class="strut"> </span></p>
+<p id="t310" class="pln"><span class="str"> ['location']['x']</span><span class="strut"> </span></p>
+<p id="t311" class="pln"><span class="str"> ['location']['y']</span><span class="strut"> </span></p>
+<p id="t312" class="pln"><span class="str"> ['location']['z']</span><span class="strut"> </span></p>
+<p id="t313" class="pln"><span class="str"> [convention]['q_0']</span><span class="strut"> </span></p>
+<p id="t314" class="pln"><span class="str"> [convention]['q_1']</span><span class="strut"> </span></p>
+<p id="t315" class="pln"><span class="str"> [convention]['q_2']</span><span class="strut"> </span></p>
+<p id="t316" class="pln"><span class="str"> [convention]['q_3']</span><span class="strut"> </span></p>
+<p id="t317" class="pln"><span class="str"> **where convention can be:</span><span class="strut"> </span></p>
+<p id="t318" class="pln"><span class="str"> quaternion</span><span class="strut"> </span></p>
+<p id="t319" class="pln"><span class="str"> :type rowid: pd.Series</span><span class="strut"> </span></p>
+<p id="t320" class="pln"><span class="str"> :returns: id</span><span class="strut"> </span></p>
+<p id="t321" class="pln"><span class="str"> :rtype: int</span><span class="strut"> </span></p>
+<p id="t322" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t323" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">posorient</span><span class="op">,</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">Series</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t324" class="stm run hide_run"> <span class="nam">msg</span> <span class="op">=</span> <span class="str">'posorient should be a pandas Series'</span><span class="strut"> </span></p>
+<p id="t325" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">_logger</span><span class="op">.</span><span class="nam">exception</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t326" class="stm run hide_run"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t327" class="stm run hide_run"> <span class="key">if</span> <span class="nam">posorient</span><span class="op">.</span><span class="nam">empty</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t328" class="stm mis"> <span class="nam">msg</span> <span class="op">=</span> <span class="str">'position must not be empty'</span><span class="strut"> </span></p>
+<p id="t329" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">_logger</span><span class="op">.</span><span class="nam">exception</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t330" class="stm mis"> <span class="key">raise</span> <span class="nam">Exception</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t331" class="stm run hide_run"> <span class="nam">found_convention</span> <span class="op">=</span> <span class="key">False</span><span class="strut"> </span></p>
+<p id="t332" class="stm run hide_run"> <span class="nam">index</span> <span class="op">=</span> <span class="nam">posorient</span><span class="op">.</span><span class="nam">index</span><span class="strut"> </span></p>
+<p id="t333" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">posorient</span><span class="op">.</span><span class="nam">name</span><span class="op">,</span> <span class="nam">numbers</span><span class="op">.</span><span class="nam">Number</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t334" class="stm run hide_run"> <span class="nam">msg</span> <span class="op">=</span> <span class="str">'posorient.name should give the frame #\n'</span><span class="strut"> </span></p>
+<p id="t335" class="stm run hide_run"> <span class="nam">msg</span> <span class="op">+=</span> <span class="str">' posorient.name: {}\n'</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">posorient</span><span class="op">.</span><span class="nam">name</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t336" class="stm run hide_run"> <span class="nam">msg</span> <span class="op">+=</span> <span class="str">' type(posorient.name): {}'</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">type</span><span class="op">(</span><span class="nam">posorient</span><span class="op">.</span><span class="nam">name</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t337" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">_logger</span><span class="op">.</span><span class="nam">exception</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t338" class="stm run hide_run"> <span class="key">raise</span> <span class="nam">Exception</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t339" class="stm run hide_run"> <span class="nam">frame_i</span> <span class="op">=</span> <span class="nam">posorient</span><span class="op">.</span><span class="nam">name</span><span class="strut"> </span></p>
+<p id="t340" class="pln"><span class="strut"> </span></p>
+<p id="t341" class="stm run hide_run"> <span class="key">if</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">index</span><span class="op">,</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">MultiIndex</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t342" class="stm run hide_run"> <span class="nam">convention</span> <span class="op">=</span> <span class="nam">index</span><span class="op">.</span><span class="nam">levels</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">[</span><span class="op">-</span><span class="num">1</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t343" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t344" class="stm mis"> <span class="nam">msg</span> <span class="op">=</span> <span class="str">'Old database without convention column'</span><span class="strut"> </span></p>
+<p id="t345" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">_logger</span><span class="op">.</span><span class="nam">warnings</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t346" class="stm mis"> <span class="nam">convention</span> <span class="op">=</span> <span class="str">'xyz'</span><span class="strut"> </span></p>
+<p id="t347" class="stm run hide_run"> <span class="key">if</span> <span class="op">(</span><span class="nam">convention</span> <span class="key">in</span> <span class="nam">mconst</span><span class="op">.</span><span class="nam">_AXES2TUPLE</span><span class="op">.</span><span class="nam">keys</span><span class="op">(</span><span class="op">)</span><span class="op">)</span> <span class="key">or</span> <span class="xx">\</span><span class="strut"> </span></p>
+<p id="t348" class="pln"> <span class="nam">convention</span> <span class="op">==</span> <span class="str">'quaternion'</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t349" class="stm run hide_run"> <span class="nam">found_convention</span> <span class="op">=</span> <span class="key">True</span><span class="strut"> </span></p>
+<p id="t350" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="nam">found_convention</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t351" class="stm mis"> <span class="nam">msg</span> <span class="op">=</span> <span class="str">'convention for rotation {} is not suppored\n'</span><span class="strut"> </span></p>
+<p id="t352" class="stm mis"> <span class="nam">msg</span> <span class="op">+=</span> <span class="nam">msg</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">convention</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t353" class="stm mis"> <span class="nam">msg</span> <span class="op">+=</span> <span class="str">'the following convention are supported\n:'</span><span class="strut"> </span></p>
+<p id="t354" class="stm mis"> <span class="key">for</span> <span class="nam">rconv</span> <span class="key">in</span> <span class="nam">mconst</span><span class="op">.</span><span class="nam">_AXES2TUPLE</span><span class="op">.</span><span class="nam">keys</span><span class="op">(</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t355" class="stm mis"> <span class="nam">msg</span> <span class="op">+=</span> <span class="str">'{}\n'</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">rconv</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t356" class="stm mis"> <span class="nam">msg</span> <span class="op">+=</span> <span class="str">'quaternion\n'</span><span class="strut"> </span></p>
+<p id="t357" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">_logger</span><span class="op">.</span><span class="nam">exception</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t358" class="stm mis"> <span class="key">raise</span> <span class="nam">KeyError</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t359" class="stm run hide_run"> <span class="nam">index_2ndlevel</span> <span class="op">=</span> <span class="nam">posorient</span><span class="op">.</span><span class="nam">index</span><span class="op">.</span><span class="nam">get_level_values</span><span class="op">(</span><span class="num">1</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t360" class="pln"> <span class="com"># Check that the posorient contains valid columns</span><span class="strut"> </span></p>
+<p id="t361" class="pln"> <span class="com"># The user may be using alpha_ or q_</span><span class="strut"> </span></p>
+<p id="t362" class="pln"> <span class="com"># and we therefore want to be able to handle both type</span><span class="strut"> </span></p>
+<p id="t363" class="stm run hide_run"> <span class="key">for</span> <span class="nam">val</span> <span class="key">in</span> <span class="op">[</span><span class="str">'x'</span><span class="op">,</span> <span class="str">'y'</span><span class="op">,</span> <span class="str">'z'</span><span class="op">]</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t364" class="stm run hide_run"> <span class="key">if</span> <span class="nam">val</span> <span class="key">not</span> <span class="key">in</span> <span class="nam">index_2ndlevel</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t365" class="stm run hide_run"> <span class="nam">msg</span> <span class="op">=</span> <span class="str">'missing index {}'</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">val</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t366" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">_logger</span><span class="op">.</span><span class="nam">exception</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t367" class="stm run hide_run"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t368" class="stm run hide_run"> <span class="nam">naming_map</span> <span class="op">=</span> <span class="nam">list</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t369" class="stm run hide_run"> <span class="key">for</span> <span class="nam">ii</span> <span class="key">in</span> <span class="nam">range</span><span class="op">(</span><span class="num">3</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t370" class="stm run hide_run"> <span class="key">if</span> <span class="op">(</span><span class="str">'alpha_{}'</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">ii</span><span class="op">)</span> <span class="key">not</span> <span class="key">in</span> <span class="nam">index_2ndlevel</span><span class="op">)</span> <span class="key">and</span> <span class="xx">\</span><span class="strut"> </span></p>
+<p id="t371" class="pln"> <span class="op">(</span><span class="str">'q_{}'</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">ii</span><span class="op">)</span> <span class="key">not</span> <span class="key">in</span> <span class="nam">index_2ndlevel</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t372" class="stm mis"> <span class="nam">msg</span> <span class="op">=</span> <span class="str">'missing index alpha_{0: } or q_{0: }'</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">ii</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t373" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">_logger</span><span class="op">.</span><span class="nam">exception</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t374" class="stm mis"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t375" class="stm run hide_run"> <span class="key">elif</span> <span class="op">(</span><span class="str">'alpha_{}'</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">ii</span><span class="op">)</span> <span class="key">in</span> <span class="nam">index_2ndlevel</span><span class="op">)</span> <span class="key">and</span> <span class="xx">\</span><span class="strut"> </span></p>
+<p id="t376" class="pln"> <span class="op">(</span><span class="str">'q_{}'</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">ii</span><span class="op">)</span> <span class="key">in</span> <span class="nam">index_2ndlevel</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t377" class="stm mis"> <span class="nam">msg</span> <span class="op">=</span> <span class="str">'posorient should contains either alphas or qs'</span><span class="strut"> </span></p>
+<p id="t378" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">_logger</span><span class="op">.</span><span class="nam">exception</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t379" class="stm mis"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t380" class="stm run hide_run"> <span class="key">elif</span> <span class="op">(</span><span class="str">'alpha_{}'</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">ii</span><span class="op">)</span> <span class="key">in</span> <span class="nam">index_2ndlevel</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t381" class="stm run hide_run"> <span class="nam">naming_map</span><span class="op">.</span><span class="nam">append</span><span class="op">(</span><span class="str">'alpha_{}'</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">ii</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t382" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t383" class="stm mis"> <span class="nam">naming_map</span><span class="op">.</span><span class="nam">append</span><span class="op">(</span><span class="str">'q_{}'</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">ii</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t384" class="stm run hide_run"> <span class="key">if</span> <span class="nam">convention</span> <span class="op">==</span> <span class="str">'quaternion'</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t385" class="stm mis"> <span class="key">if</span> <span class="str">'q_3'</span> <span class="key">not</span> <span class="key">in</span> <span class="nam">index_2ndlevel</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t386" class="stm mis"> <span class="nam">msg</span> <span class="op">=</span> <span class="str">'missing index q_3'</span><span class="strut"> </span></p>
+<p id="t387" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">_logger</span><span class="op">.</span><span class="nam">exception</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t388" class="stm mis"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t389" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t390" class="stm mis"> <span class="nam">naming_map</span><span class="op">.</span><span class="nam">append</span><span class="op">(</span><span class="str">'q_{}'</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="num">3</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t391" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t392" class="pln"> <span class="com"># q_3 is unnecessary for convention</span><span class="strut"> </span></p>
+<p id="t393" class="pln"> <span class="com"># different than quaternion. The value</span><span class="strut"> </span></p>
+<p id="t394" class="pln"> <span class="com"># should be set to nan, and wil therefore block during check of</span><span class="strut"> </span></p>
+<p id="t395" class="pln"> <span class="com"># any nan. We drop it now.</span><span class="strut"> </span></p>
+<p id="t396" class="stm run hide_run"> <span class="key">if</span> <span class="str">'q_3'</span> <span class="key">in</span> <span class="nam">index_2ndlevel</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t397" class="stm mis"> <span class="nam">posorient</span><span class="op">.</span><span class="nam">drop</span><span class="op">(</span><span class="op">(</span><span class="nam">convention</span><span class="op">,</span> <span class="str">'q_3'</span><span class="op">)</span><span class="op">,</span> <span class="nam">inplace</span><span class="op">=</span><span class="key">True</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t398" class="stm run hide_run"> <span class="key">if</span> <span class="nam">np</span><span class="op">.</span><span class="nam">any</span><span class="op">(</span><span class="nam">pd</span><span class="op">.</span><span class="nam">isnull</span><span class="op">(</span><span class="nam">posorient</span><span class="op">)</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t399" class="stm run hide_run"> <span class="nam">msg</span> <span class="op">=</span> <span class="str">'posorient must not contain nan\n {}'</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">posorient</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t400" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">_logger</span><span class="op">.</span><span class="nam">exception</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t401" class="stm run hide_run"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t402" class="stm run hide_run"> <span class="nam">where</span> <span class="op">=</span> <span class="str">""</span><span class="strut"> </span></p>
+<p id="t403" class="stm run hide_run"> <span class="nam">where</span> <span class="op">+=</span> <span class="str">"""x>=? and x<=?"""</span><span class="strut"> </span></p>
+<p id="t404" class="stm run hide_run"> <span class="nam">where</span> <span class="op">+=</span> <span class="str">"""and y>=? and y<=?"""</span><span class="strut"> </span></p>
+<p id="t405" class="stm run hide_run"> <span class="nam">where</span> <span class="op">+=</span> <span class="str">"""and z>=? and z<=?"""</span><span class="strut"> </span></p>
+<p id="t406" class="stm run hide_run"> <span class="nam">where</span> <span class="op">+=</span> <span class="str">"""and q_0>=? and q_0<=?"""</span><span class="strut"> </span></p>
+<p id="t407" class="stm run hide_run"> <span class="nam">where</span> <span class="op">+=</span> <span class="str">"""and q_1>=? and q_1<=?"""</span><span class="strut"> </span></p>
+<p id="t408" class="stm run hide_run"> <span class="nam">where</span> <span class="op">+=</span> <span class="str">"""and q_2>=? and q_2<=?"""</span><span class="strut"> </span></p>
+<p id="t409" class="stm run hide_run"> <span class="nam">where</span> <span class="op">+=</span> <span class="str">"""and rotconv_id =?"""</span><span class="strut"> </span></p>
+<p id="t410" class="stm run hide_run"> <span class="nam">where</span> <span class="op">+=</span> <span class="str">"""and frame_i = ?"""</span><span class="strut"> </span></p>
+<p id="t411" class="stm run hide_run"> <span class="nam">params</span> <span class="op">=</span> <span class="op">(</span><span class="strut"> </span></p>
+<p id="t412" class="pln"> <span class="nam">posorient</span><span class="op">[</span><span class="str">'location'</span><span class="op">]</span><span class="op">[</span><span class="str">'x'</span><span class="op">]</span> <span class="op">-</span> <span class="nam">self</span><span class="op">.</span><span class="nam">__float_tolerance</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t413" class="pln"> <span class="nam">posorient</span><span class="op">[</span><span class="str">'location'</span><span class="op">]</span><span class="op">[</span><span class="str">'x'</span><span class="op">]</span> <span class="op">+</span> <span class="nam">self</span><span class="op">.</span><span class="nam">__float_tolerance</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t414" class="pln"> <span class="nam">posorient</span><span class="op">[</span><span class="str">'location'</span><span class="op">]</span><span class="op">[</span><span class="str">'y'</span><span class="op">]</span> <span class="op">-</span> <span class="nam">self</span><span class="op">.</span><span class="nam">__float_tolerance</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t415" class="pln"> <span class="nam">posorient</span><span class="op">[</span><span class="str">'location'</span><span class="op">]</span><span class="op">[</span><span class="str">'y'</span><span class="op">]</span> <span class="op">+</span> <span class="nam">self</span><span class="op">.</span><span class="nam">__float_tolerance</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t416" class="pln"> <span class="nam">posorient</span><span class="op">[</span><span class="str">'location'</span><span class="op">]</span><span class="op">[</span><span class="str">'z'</span><span class="op">]</span> <span class="op">-</span> <span class="nam">self</span><span class="op">.</span><span class="nam">__float_tolerance</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t417" class="pln"> <span class="nam">posorient</span><span class="op">[</span><span class="str">'location'</span><span class="op">]</span><span class="op">[</span><span class="str">'z'</span><span class="op">]</span> <span class="op">+</span> <span class="nam">self</span><span class="op">.</span><span class="nam">__float_tolerance</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t418" class="pln"> <span class="nam">posorient</span><span class="op">[</span><span class="nam">convention</span><span class="op">]</span><span class="op">[</span><span class="nam">naming_map</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">]</span> <span class="op">-</span> <span class="nam">self</span><span class="op">.</span><span class="nam">__float_tolerance</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t419" class="pln"> <span class="nam">posorient</span><span class="op">[</span><span class="nam">convention</span><span class="op">]</span><span class="op">[</span><span class="nam">naming_map</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">]</span> <span class="op">+</span> <span class="nam">self</span><span class="op">.</span><span class="nam">__float_tolerance</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t420" class="pln"> <span class="nam">posorient</span><span class="op">[</span><span class="nam">convention</span><span class="op">]</span><span class="op">[</span><span class="nam">naming_map</span><span class="op">[</span><span class="num">1</span><span class="op">]</span><span class="op">]</span> <span class="op">-</span> <span class="nam">self</span><span class="op">.</span><span class="nam">__float_tolerance</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t421" class="pln"> <span class="nam">posorient</span><span class="op">[</span><span class="nam">convention</span><span class="op">]</span><span class="op">[</span><span class="nam">naming_map</span><span class="op">[</span><span class="num">1</span><span class="op">]</span><span class="op">]</span> <span class="op">+</span> <span class="nam">self</span><span class="op">.</span><span class="nam">__float_tolerance</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t422" class="pln"> <span class="nam">posorient</span><span class="op">[</span><span class="nam">convention</span><span class="op">]</span><span class="op">[</span><span class="nam">naming_map</span><span class="op">[</span><span class="num">2</span><span class="op">]</span><span class="op">]</span> <span class="op">-</span> <span class="nam">self</span><span class="op">.</span><span class="nam">__float_tolerance</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t423" class="pln"> <span class="nam">posorient</span><span class="op">[</span><span class="nam">convention</span><span class="op">]</span><span class="op">[</span><span class="nam">naming_map</span><span class="op">[</span><span class="num">2</span><span class="op">]</span><span class="op">]</span> <span class="op">+</span> <span class="nam">self</span><span class="op">.</span><span class="nam">__float_tolerance</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t424" class="pln"> <span class="nam">convention</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t425" class="pln"> <span class="nam">frame_i</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t426" class="stm run hide_run"> <span class="key">if</span> <span class="nam">convention</span> <span class="op">==</span> <span class="str">'quaternion'</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t427" class="stm mis"> <span class="nam">where</span> <span class="op">+=</span> <span class="str">"""and q_3>=? and q_3<=?"""</span><span class="strut"> </span></p>
+<p id="t428" class="stm mis"> <span class="nam">params</span> <span class="op">=</span> <span class="nam">params</span> <span class="op">+</span> <span class="op">(</span><span class="strut"> </span></p>
+<p id="t429" class="pln"> <span class="nam">posorient</span><span class="op">[</span><span class="nam">convention</span><span class="op">]</span><span class="op">[</span><span class="nam">naming_map</span><span class="op">[</span><span class="num">3</span><span class="op">]</span><span class="op">]</span> <span class="op">-</span> <span class="nam">self</span><span class="op">.</span><span class="nam">__float_tolerance</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t430" class="pln"> <span class="nam">posorient</span><span class="op">[</span><span class="nam">convention</span><span class="op">]</span><span class="op">[</span><span class="nam">naming_map</span><span class="op">[</span><span class="num">3</span><span class="op">]</span><span class="op">]</span> <span class="op">+</span> <span class="nam">self</span><span class="op">.</span><span class="nam">__float_tolerance</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t431" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">db_cursor</span><span class="op">.</span><span class="nam">execute</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t432" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t433" class="pln"><span class="str"> SELECT count(*)</span><span class="strut"> </span></p>
+<p id="t434" class="pln"><span class="str"> FROM position_orientation</span><span class="strut"> </span></p>
+<p id="t435" class="pln"><span class="str"> WHERE {};"""</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">where</span><span class="op">)</span><span class="op">,</span> <span class="nam">params</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t436" class="stm run hide_run"> <span class="nam">exist</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">db_cursor</span><span class="op">.</span><span class="nam">fetchone</span><span class="op">(</span><span class="op">)</span><span class="op">[</span><span class="num">0</span><span class="op">]</span> <span class="com"># [0] because of tupple</span><span class="strut"> </span></p>
+<p id="t437" class="stm run hide_run"> <span class="key">if</span> <span class="nam">bool</span><span class="op">(</span><span class="nam">exist</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t438" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">db_cursor</span><span class="op">.</span><span class="nam">execute</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t439" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t440" class="pln"><span class="str"> SELECT rowid</span><span class="strut"> </span></p>
+<p id="t441" class="pln"><span class="str"> FROM position_orientation</span><span class="strut"> </span></p>
+<p id="t442" class="pln"><span class="str"> WHERE {};</span><span class="strut"> </span></p>
+<p id="t443" class="pln"><span class="str"> """</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">where</span><span class="op">)</span><span class="op">,</span> <span class="nam">params</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t444" class="stm run hide_run"> <span class="key">return</span> <span class="nam">self</span><span class="op">.</span><span class="nam">db_cursor</span><span class="op">.</span><span class="nam">fetchone</span><span class="op">(</span><span class="op">)</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t445" class="stm mis"> <span class="key">elif</span> <span class="op">(</span><span class="nam">self</span><span class="op">.</span><span class="nam">mode</span> <span class="key">in</span> <span class="op">[</span><span class="str">'a'</span><span class="op">,</span> <span class="str">'w'</span><span class="op">]</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t446" class="stm mis"> <span class="key">if</span> <span class="nam">convention</span> <span class="op">!=</span> <span class="str">'quaternion'</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t447" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">db_cursor</span><span class="op">.</span><span class="nam">execute</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t448" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t449" class="pln"><span class="str"> INSERT</span><span class="strut"> </span></p>
+<p id="t450" class="pln"><span class="str"> INTO position_orientation(x,y,z,q_0,q_1,q_2,q_3,rotconv_id,frame_i)</span><span class="strut"> </span></p>
+<p id="t451" class="pln"><span class="str"> VALUES (?,?,?,?,?,?,?,?,?)</span><span class="strut"> </span></p>
+<p id="t452" class="pln"><span class="str"> """</span><span class="op">,</span> <span class="op">(</span><span class="strut"> </span></p>
+<p id="t453" class="pln"> <span class="nam">posorient</span><span class="op">[</span><span class="str">'location'</span><span class="op">]</span><span class="op">[</span><span class="str">'x'</span><span class="op">]</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t454" class="pln"> <span class="nam">posorient</span><span class="op">[</span><span class="str">'location'</span><span class="op">]</span><span class="op">[</span><span class="str">'y'</span><span class="op">]</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t455" class="pln"> <span class="nam">posorient</span><span class="op">[</span><span class="str">'location'</span><span class="op">]</span><span class="op">[</span><span class="str">'z'</span><span class="op">]</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t456" class="pln"> <span class="nam">posorient</span><span class="op">[</span><span class="nam">convention</span><span class="op">]</span><span class="op">[</span><span class="str">'alpha_0'</span><span class="op">]</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t457" class="pln"> <span class="nam">posorient</span><span class="op">[</span><span class="nam">convention</span><span class="op">]</span><span class="op">[</span><span class="str">'alpha_1'</span><span class="op">]</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t458" class="pln"> <span class="nam">posorient</span><span class="op">[</span><span class="nam">convention</span><span class="op">]</span><span class="op">[</span><span class="str">'alpha_2'</span><span class="op">]</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t459" class="pln"> <span class="nam">np</span><span class="op">.</span><span class="nam">nan</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t460" class="pln"> <span class="nam">convention</span><span class="op">,</span> <span class="nam">frame_i</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t461" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t462" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">db_cursor</span><span class="op">.</span><span class="nam">execute</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t463" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t464" class="pln"><span class="str"> INSERT</span><span class="strut"> </span></p>
+<p id="t465" class="pln"><span class="str"> INTO position_orientation(x,y,z,q_0,q_1,q_2,rotconv_id,frame_i)</span><span class="strut"> </span></p>
+<p id="t466" class="pln"><span class="str"> VALUES (?,?,?,?,?,?,?,?,?)</span><span class="strut"> </span></p>
+<p id="t467" class="pln"><span class="str"> """</span><span class="op">,</span> <span class="op">(</span><span class="strut"> </span></p>
+<p id="t468" class="pln"> <span class="nam">posorient</span><span class="op">[</span><span class="str">'location'</span><span class="op">]</span><span class="op">[</span><span class="str">'x'</span><span class="op">]</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t469" class="pln"> <span class="nam">posorient</span><span class="op">[</span><span class="str">'location'</span><span class="op">]</span><span class="op">[</span><span class="str">'y'</span><span class="op">]</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t470" class="pln"> <span class="nam">posorient</span><span class="op">[</span><span class="str">'location'</span><span class="op">]</span><span class="op">[</span><span class="str">'z'</span><span class="op">]</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t471" class="pln"> <span class="nam">posorient</span><span class="op">[</span><span class="nam">convention</span><span class="op">]</span><span class="op">[</span><span class="str">'q_0'</span><span class="op">]</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t472" class="pln"> <span class="nam">posorient</span><span class="op">[</span><span class="nam">convention</span><span class="op">]</span><span class="op">[</span><span class="str">'q_1'</span><span class="op">]</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t473" class="pln"> <span class="nam">posorient</span><span class="op">[</span><span class="nam">convention</span><span class="op">]</span><span class="op">[</span><span class="str">'q_2'</span><span class="op">]</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t474" class="pln"> <span class="nam">posorient</span><span class="op">[</span><span class="nam">convention</span><span class="op">]</span><span class="op">[</span><span class="str">'q_3'</span><span class="op">]</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t475" class="pln"> <span class="nam">convention</span><span class="op">,</span> <span class="nam">frame_i</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t476" class="stm mis"> <span class="nam">rowid</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">db_cursor</span><span class="op">.</span><span class="nam">lastrowid</span><span class="strut"> </span></p>
+<p id="t477" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">db</span><span class="op">.</span><span class="nam">commit</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t478" class="stm mis"> <span class="key">return</span> <span class="nam">rowid</span><span class="strut"> </span></p>
+<p id="t479" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t480" class="stm mis"> <span class="nam">msg</span> <span class="op">=</span> <span class="str">'posorient not found \n {} \n {} \n {}'</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t481" class="pln"> <span class="nam">posorient</span><span class="op">,</span> <span class="nam">where</span><span class="op">,</span> <span class="nam">params</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t482" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">_logger</span><span class="op">.</span><span class="nam">exception</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t483" class="stm mis"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t484" class="pln"><span class="strut"> </span></p>
+<p id="t485" class="stm run hide_run"> <span class="key">def</span> <span class="nam">iter_posorients</span><span class="op">(</span><span class="nam">self</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t486" class="pln"> <span class="str">"""Iter through all position orientation in the database</span><span class="strut"> </span></p>
+<p id="t487" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t488" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">db_cursor</span><span class="op">.</span><span class="nam">execute</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t489" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t490" class="pln"><span class="str"> SELECT *</span><span class="strut"> </span></p>
+<p id="t491" class="pln"><span class="str"> FROM position_orientation</span><span class="strut"> </span></p>
+<p id="t492" class="pln"><span class="str"> """</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t493" class="pln"><span class="strut"> </span></p>
+<p id="t494" class="stm mis"> <span class="nam">columns_names</span> <span class="op">=</span> <span class="op">[</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t495" class="stm mis"> <span class="key">for</span> <span class="nam">col</span> <span class="key">in</span> <span class="nam">self</span><span class="op">.</span><span class="nam">db_cursor</span><span class="op">.</span><span class="nam">description</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t496" class="stm mis"> <span class="nam">columns_names</span><span class="op">.</span><span class="nam">append</span><span class="op">(</span><span class="nam">col</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t497" class="stm mis"> <span class="key">for</span> <span class="nam">row</span> <span class="key">in</span> <span class="nam">self</span><span class="op">.</span><span class="nam">db_cursor</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t498" class="stm mis"> <span class="nam">toyield</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">Series</span><span class="op">(</span><span class="nam">data</span><span class="op">=</span><span class="nam">row</span><span class="op">,</span> <span class="nam">index</span><span class="op">=</span><span class="nam">columns_names</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t499" class="stm mis"> <span class="nam">toyield</span><span class="op">.</span><span class="nam">name</span> <span class="op">=</span> <span class="nam">toyield</span><span class="op">.</span><span class="nam">id</span><span class="strut"> </span></p>
+<p id="t500" class="stm mis"> <span class="nam">toyield</span><span class="op">.</span><span class="nam">drop</span><span class="op">(</span><span class="str">'id'</span><span class="op">,</span> <span class="nam">inplace</span><span class="op">=</span><span class="key">True</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t501" class="stm mis"> <span class="key">yield</span> <span class="nam">toyield</span><span class="strut"> </span></p>
+<p id="t502" class="pln"> <span class="com">#</span><span class="strut"> </span></p>
+<p id="t503" class="pln"> <span class="com"># Access to single values</span><span class="strut"> </span></p>
+<p id="t504" class="pln"> <span class="com">#</span><span class="strut"> </span></p>
+<p id="t505" class="pln"><span class="strut"> </span></p>
+<p id="t506" class="stm run hide_run"> <span class="op">@</span><span class="nam">property</span><span class="strut"> </span></p>
+<p id="t507" class="pln"> <span class="key">def</span> <span class="nam">rotation_convention</span><span class="op">(</span><span class="nam">self</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t508" class="pln"> <span class="str">""" Return the convention of the database</span><span class="strut"> </span></p>
+<p id="t509" class="pln"><span class="strut"> </span></p>
+<p id="t510" class="pln"><span class="str"> The database can technically contains more than one convention.</span><span class="strut"> </span></p>
+<p id="t511" class="pln"><span class="str"> Although it is discourage to do so, it is not forbidden.</span><span class="strut"> </span></p>
+<p id="t512" class="pln"><span class="strut"> </span></p>
+<p id="t513" class="pln"><span class="str"> If more than one convention is found in the database, this function</span><span class="strut"> </span></p>
+<p id="t514" class="pln"><span class="str"> will issue awarning when more than one convention is present in the database.</span><span class="strut"> </span></p>
+<p id="t515" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t516" class="stm run hide_run"> <span class="nam">posorient</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">read_sql_query</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t517" class="pln"> <span class="str">"select * from position_orientation;"</span><span class="op">,</span> <span class="nam">self</span><span class="op">.</span><span class="nam">db</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t518" class="stm run hide_run"> <span class="nam">posorient</span><span class="op">.</span><span class="nam">set_index</span><span class="op">(</span><span class="str">'id'</span><span class="op">,</span> <span class="nam">inplace</span><span class="op">=</span><span class="key">True</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t519" class="stm run hide_run"> <span class="key">if</span> <span class="nam">self</span><span class="op">.</span><span class="nam">__convention</span> <span class="key">is</span> <span class="key">None</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t520" class="pln"> <span class="com"># we need to assign it from the posorient</span><span class="strut"> </span></p>
+<p id="t521" class="stm run hide_run"> <span class="key">if</span> <span class="str">'rotconv_id'</span> <span class="key">in</span> <span class="nam">posorient</span><span class="op">.</span><span class="nam">columns</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t522" class="stm run hide_run"> <span class="nam">rotconv</span> <span class="op">=</span> <span class="nam">posorient</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="str">'rotconv_id'</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t523" class="stm run hide_run"> <span class="key">if</span> <span class="nam">np</span><span class="op">.</span><span class="nam">all</span><span class="op">(</span><span class="nam">rotconv</span> <span class="op">==</span> <span class="nam">rotconv</span><span class="op">.</span><span class="nam">iloc</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t524" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">__convention</span> <span class="op">=</span> <span class="nam">rotconv</span><span class="op">.</span><span class="nam">iloc</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t525" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t526" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">_logger</span><span class="op">.</span><span class="nam">warning</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t527" class="pln"> <span class="str">'More than one convention have been found in database'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t528" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">__convention</span> <span class="op">=</span> <span class="key">None</span><span class="strut"> </span></p>
+<p id="t529" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t530" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">_logger</span><span class="op">.</span><span class="nam">warning</span><span class="op">(</span><span class="str">"you are loading a database with old\</span><span class="strut"> </span></p>
+<p id="t531" class="pln"><span class="str"> conventions, it will be transformed\</span><span class="strut"> </span></p>
+<p id="t532" class="pln"><span class="str"> automatically into the new one"</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t533" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">__convention</span> <span class="op">=</span> <span class="str">'xyz'</span><span class="strut"> </span></p>
+<p id="t534" class="stm run hide_run"> <span class="key">return</span> <span class="nam">self</span><span class="op">.</span><span class="nam">__convention</span><span class="strut"> </span></p>
+<p id="t535" class="pln"><span class="strut"> </span></p>
+<p id="t536" class="stm run hide_run"> <span class="op">@</span><span class="nam">property</span><span class="strut"> </span></p>
+<p id="t537" class="stm run hide_run"> <span class="key">def</span> <span class="nam">posorients</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span> <span class="nam">indexby</span><span class="op">=</span><span class="str">'frame_i'</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t538" class="pln"> <span class="str">"""Return the position orientations of all points in the \</span><span class="strut"> </span></p>
+<p id="t539" class="pln"><span class="str"> database</span><span class="strut"> </span></p>
+<p id="t540" class="pln"><span class="str"> :params indexby: index posorients by 'frame_i' (default) or 'id'</span><span class="strut"> </span></p>
+<p id="t541" class="pln"><span class="str"> :returns: all position orientations</span><span class="strut"> </span></p>
+<p id="t542" class="pln"><span class="str"> :rtype: list of pd.Series</span><span class="strut"> </span></p>
+<p id="t543" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t544" class="stm run hide_run"> <span class="nam">posorient</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">read_sql_query</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t545" class="pln"> <span class="str">"select * from position_orientation;"</span><span class="op">,</span> <span class="nam">self</span><span class="op">.</span><span class="nam">db</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t546" class="stm run hide_run"> <span class="key">if</span> <span class="nam">indexby</span> <span class="key">in</span> <span class="nam">posorient</span><span class="op">.</span><span class="nam">columns</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t547" class="stm run hide_run"> <span class="nam">posorient</span><span class="op">.</span><span class="nam">set_index</span><span class="op">(</span><span class="str">'frame_i'</span><span class="op">,</span> <span class="nam">inplace</span><span class="op">=</span><span class="key">True</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t548" class="pln"> <span class="key">else</span><span class="op">:</span> <span class="com"># Handle older db version</span><span class="strut"> </span></p>
+<p id="t549" class="stm mis"> <span class="nam">print</span><span class="op">(</span><span class="str">'Could not index by {}'</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">indexby</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t550" class="stm mis"> <span class="nam">posorient</span><span class="op">.</span><span class="nam">set_index</span><span class="op">(</span><span class="str">'id'</span><span class="op">,</span> <span class="nam">inplace</span><span class="op">=</span><span class="key">True</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t551" class="stm run hide_run"> <span class="key">if</span> <span class="nam">self</span><span class="op">.</span><span class="nam">rotation_convention</span> <span class="key">is</span> <span class="key">not</span> <span class="key">None</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t552" class="stm run hide_run"> <span class="nam">posorients</span> <span class="op">=</span> <span class="nam">Trajectory</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t553" class="stm run hide_run"> <span class="nam">posorients</span><span class="op">.</span><span class="nam">from_dataframe</span><span class="op">(</span><span class="nam">posorient</span><span class="op">,</span> <span class="nam">rotconv</span><span class="op">=</span><span class="nam">self</span><span class="op">.</span><span class="nam">__convention</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t554" class="stm run hide_run"> <span class="key">return</span> <span class="nam">posorients</span><span class="strut"> </span></p>
+<p id="t555" class="pln"><span class="strut"> </span></p>
+<p id="t556" class="stm run hide_run"> <span class="op">@</span><span class="nam">property</span><span class="strut"> </span></p>
+<p id="t557" class="pln"> <span class="key">def</span> <span class="nam">normalisations</span><span class="op">(</span><span class="nam">self</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t558" class="pln"> <span class="str">"""Returns the normalised scenes of all points in the \</span><span class="strut"> </span></p>
+<p id="t559" class="pln"><span class="str"> database</span><span class="strut"> </span></p>
+<p id="t560" class="pln"><span class="str"> :returns: all position orientations</span><span class="strut"> </span></p>
+<p id="t561" class="pln"><span class="str"> :rtype: list of pd.Series</span><span class="strut"> </span></p>
+<p id="t562" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t563" class="stm mis"> <span class="nam">normal</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">read_sql_query</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t564" class="pln"> <span class="str">"select * from normalisation;"</span><span class="op">,</span> <span class="nam">self</span><span class="op">.</span><span class="nam">db</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t565" class="stm mis"> <span class="nam">normal</span><span class="op">.</span><span class="nam">set_index</span><span class="op">(</span><span class="str">'id'</span><span class="op">,</span> <span class="nam">inplace</span><span class="op">=</span><span class="key">True</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t566" class="stm mis"> <span class="key">return</span> <span class="nam">normal</span><span class="strut"> </span></p>
+<p id="t567" class="pln"><span class="strut"> </span></p>
+<p id="t568" class="pln"> <span class="com">#</span><span class="strut"> </span></p>
+<p id="t569" class="pln"> <span class="com"># Read from database</span><span class="strut"> </span></p>
+<p id="t570" class="pln"> <span class="com">#</span><span class="strut"> </span></p>
+<p id="t571" class="stm run hide_run"> <span class="key">def</span> <span class="nam">read_posorient</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span> <span class="nam">posorient</span><span class="op">=</span><span class="key">None</span><span class="op">,</span> <span class="nam">rowid</span><span class="op">=</span><span class="key">None</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t572" class="pln"> <span class="str">"""Read posorient with a given posorient or rowid</span><span class="strut"> </span></p>
+<p id="t573" class="pln"><span class="strut"> </span></p>
+<p id="t574" class="pln"><span class="str"> :param posorient: pd.Series with MuliIndex</span><span class="strut"> </span></p>
+<p id="t575" class="pln"><span class="str"> :param rowid: integer, rowid of the database</span><span class="strut"> </span></p>
+<p id="t576" class="pln"><span class="str"> :returns: return posorient</span><span class="strut"> </span></p>
+<p id="t577" class="pln"><span class="str"> :rtype: pd.Series</span><span class="strut"> </span></p>
+<p id="t578" class="pln"><span class="strut"> </span></p>
+<p id="t579" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t580" class="stm run hide_run"> <span class="key">if</span> <span class="nam">rowid</span> <span class="key">is</span> <span class="key">not</span> <span class="key">None</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t581" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">rowid</span><span class="op">,</span> <span class="nam">int</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t582" class="stm run hide_run"> <span class="nam">msg</span> <span class="op">=</span> <span class="str">'rowid must be an integer'</span><span class="strut"> </span></p>
+<p id="t583" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">_logger</span><span class="op">.</span><span class="nam">exception</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t584" class="stm run hide_run"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t585" class="stm run hide_run"> <span class="key">if</span> <span class="nam">rowid</span> <span class="op"><=</span> <span class="num">0</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t586" class="stm run hide_run"> <span class="nam">msg</span> <span class="op">=</span> <span class="str">'rowid must be greater zero'</span><span class="strut"> </span></p>
+<p id="t587" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">_logger</span><span class="op">.</span><span class="nam">exception</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t588" class="stm run hide_run"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t589" class="stm run hide_run"> <span class="key">if</span> <span class="nam">rowid</span> <span class="key">is</span> <span class="nam">np</span><span class="op">.</span><span class="nam">nan</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t590" class="stm mis"> <span class="nam">msg</span> <span class="op">=</span> <span class="str">'rowid must not be nan'</span><span class="strut"> </span></p>
+<p id="t591" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">_logger</span><span class="op">.</span><span class="nam">exception</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t592" class="stm mis"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t593" class="stm run hide_run"> <span class="key">if</span> <span class="op">(</span><span class="nam">posorient</span> <span class="key">is</span> <span class="key">None</span><span class="op">)</span> <span class="key">and</span> <span class="op">(</span><span class="nam">rowid</span> <span class="key">is</span> <span class="key">None</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t594" class="stm run hide_run"> <span class="nam">msg</span> <span class="op">=</span> <span class="str">'posorient and rowid can not be both None'</span><span class="strut"> </span></p>
+<p id="t595" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">_logger</span><span class="op">.</span><span class="nam">exception</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t596" class="stm run hide_run"> <span class="key">raise</span> <span class="nam">Exception</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t597" class="stm run hide_run"> <span class="key">if</span> <span class="nam">posorient</span> <span class="key">is</span> <span class="key">not</span> <span class="key">None</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t598" class="stm run hide_run"> <span class="nam">rowid</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">get_posid</span><span class="op">(</span><span class="nam">posorient</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t599" class="pln"> <span class="com"># Read pososition porientation</span><span class="strut"> </span></p>
+<p id="t600" class="stm run hide_run"> <span class="nam">tablename</span> <span class="op">=</span> <span class="str">'position_orientation'</span><span class="strut"> </span></p>
+<p id="t601" class="stm run hide_run"> <span class="nam">toreturn</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">read_sql_query</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t602" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t603" class="pln"><span class="str"> SELECT *</span><span class="strut"> </span></p>
+<p id="t604" class="pln"><span class="str"> FROM {}</span><span class="strut"> </span></p>
+<p id="t605" class="pln"><span class="str"> WHERE (rowid={})</span><span class="strut"> </span></p>
+<p id="t606" class="pln"><span class="str"> """</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">tablename</span><span class="op">,</span> <span class="nam">rowid</span><span class="op">)</span><span class="op">,</span> <span class="nam">self</span><span class="op">.</span><span class="nam">db</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t607" class="stm run hide_run"> <span class="nam">toreturn</span> <span class="op">=</span> <span class="nam">toreturn</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="op">:</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t608" class="stm run hide_run"> <span class="nam">toreturn</span><span class="op">.</span><span class="nam">name</span> <span class="op">=</span> <span class="nam">toreturn</span><span class="op">.</span><span class="nam">id</span><span class="strut"> </span></p>
+<p id="t609" class="stm run hide_run"> <span class="nam">toreturn</span><span class="op">.</span><span class="nam">drop</span><span class="op">(</span><span class="str">'id'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t610" class="pln"> <span class="com"># toreturn = toreturn.astype(float)</span><span class="strut"> </span></p>
+<p id="t611" class="stm run hide_run"> <span class="nam">posorient</span> <span class="op">=</span> <span class="key">None</span><span class="strut"> </span></p>
+<p id="t612" class="stm run hide_run"> <span class="nam">convention</span> <span class="op">=</span> <span class="nam">toreturn</span><span class="op">.</span><span class="nam">rotconv_id</span><span class="strut"> </span></p>
+<p id="t613" class="stm run hide_run"> <span class="key">if</span> <span class="nam">convention</span> <span class="op">!=</span> <span class="str">'quaternion'</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t614" class="stm run hide_run"> <span class="nam">tuples</span> <span class="op">=</span> <span class="op">[</span><span class="op">(</span><span class="str">'location'</span><span class="op">,</span> <span class="str">'x'</span><span class="op">)</span><span class="op">,</span> <span class="op">(</span><span class="str">'location'</span><span class="op">,</span> <span class="str">'y'</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t615" class="pln"> <span class="op">(</span><span class="str">'location'</span><span class="op">,</span> <span class="str">'z'</span><span class="op">)</span><span class="op">,</span> <span class="op">(</span><span class="str">'xyz'</span><span class="op">,</span> <span class="str">'alpha_0'</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t616" class="pln"> <span class="op">(</span><span class="str">'xyz'</span><span class="op">,</span> <span class="str">'alpha_1'</span><span class="op">)</span><span class="op">,</span> <span class="op">(</span><span class="str">'xyz'</span><span class="op">,</span> <span class="str">'alpha_2'</span><span class="op">)</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t617" class="stm run hide_run"> <span class="nam">index</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">MultiIndex</span><span class="op">.</span><span class="nam">from_tuples</span><span class="op">(</span><span class="nam">tuples</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t618" class="pln"> <span class="nam">names</span><span class="op">=</span><span class="op">[</span><span class="str">'position'</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t619" class="pln"> <span class="str">'orientation'</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t620" class="stm run hide_run"> <span class="nam">posorient</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">Series</span><span class="op">(</span><span class="nam">index</span><span class="op">=</span><span class="nam">index</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t621" class="stm run hide_run"> <span class="nam">posorient</span><span class="op">[</span><span class="str">'location'</span><span class="op">]</span><span class="op">[</span><span class="str">'x'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">toreturn</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="str">'x'</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t622" class="stm run hide_run"> <span class="nam">posorient</span><span class="op">[</span><span class="str">'location'</span><span class="op">]</span><span class="op">[</span><span class="str">'y'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">toreturn</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="str">'y'</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t623" class="stm run hide_run"> <span class="nam">posorient</span><span class="op">[</span><span class="str">'location'</span><span class="op">]</span><span class="op">[</span><span class="str">'z'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">toreturn</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="str">'z'</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t624" class="stm run hide_run"> <span class="nam">posorient</span><span class="op">[</span><span class="nam">convention</span><span class="op">]</span><span class="op">[</span><span class="str">'alpha_0'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">toreturn</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="str">'q_0'</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t625" class="stm run hide_run"> <span class="nam">posorient</span><span class="op">[</span><span class="nam">convention</span><span class="op">]</span><span class="op">[</span><span class="str">'alpha_1'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">toreturn</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="str">'q_1'</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t626" class="stm run hide_run"> <span class="nam">posorient</span><span class="op">[</span><span class="nam">convention</span><span class="op">]</span><span class="op">[</span><span class="str">'alpha_2'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">toreturn</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="str">'q_2'</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t627" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t628" class="stm mis"> <span class="nam">tuples</span> <span class="op">=</span> <span class="op">[</span><span class="op">(</span><span class="str">'location'</span><span class="op">,</span> <span class="str">'x'</span><span class="op">)</span><span class="op">,</span> <span class="op">(</span><span class="str">'location'</span><span class="op">,</span> <span class="str">'y'</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t629" class="pln"> <span class="op">(</span><span class="str">'location'</span><span class="op">,</span> <span class="str">'z'</span><span class="op">)</span><span class="op">,</span> <span class="op">(</span><span class="nam">convention</span><span class="op">,</span> <span class="str">'q_0'</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t630" class="pln"> <span class="op">(</span><span class="nam">convention</span><span class="op">,</span> <span class="str">'q_1'</span><span class="op">)</span><span class="op">,</span> <span class="op">(</span><span class="nam">convention</span><span class="op">,</span> <span class="str">'q_2'</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t631" class="pln"> <span class="op">(</span><span class="nam">convention</span><span class="op">,</span> <span class="str">'q_3'</span><span class="op">)</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t632" class="stm mis"> <span class="nam">index</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">MultiIndex</span><span class="op">.</span><span class="nam">from_tuples</span><span class="op">(</span><span class="nam">tuples</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t633" class="pln"> <span class="nam">names</span><span class="op">=</span><span class="op">[</span><span class="str">'position'</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t634" class="pln"> <span class="str">'orientation'</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t635" class="stm mis"> <span class="nam">posorient</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">Series</span><span class="op">(</span><span class="nam">index</span><span class="op">=</span><span class="nam">index</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t636" class="stm mis"> <span class="nam">posorient</span><span class="op">[</span><span class="str">'location'</span><span class="op">]</span><span class="op">[</span><span class="str">'x'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">toreturn</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="str">'x'</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t637" class="stm mis"> <span class="nam">posorient</span><span class="op">[</span><span class="str">'location'</span><span class="op">]</span><span class="op">[</span><span class="str">'y'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">toreturn</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="str">'y'</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t638" class="stm mis"> <span class="nam">posorient</span><span class="op">[</span><span class="str">'location'</span><span class="op">]</span><span class="op">[</span><span class="str">'z'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">toreturn</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="str">'z'</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t639" class="stm mis"> <span class="nam">posorient</span><span class="op">[</span><span class="nam">convention</span><span class="op">]</span><span class="op">[</span><span class="str">'q_0'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">toreturn</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="str">'q_0'</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t640" class="stm mis"> <span class="nam">posorient</span><span class="op">[</span><span class="nam">convention</span><span class="op">]</span><span class="op">[</span><span class="str">'q_1'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">toreturn</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="str">'q_1'</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t641" class="stm mis"> <span class="nam">posorient</span><span class="op">[</span><span class="nam">convention</span><span class="op">]</span><span class="op">[</span><span class="str">'q_2'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">toreturn</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="str">'q_2'</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t642" class="stm mis"> <span class="nam">posorient</span><span class="op">[</span><span class="nam">convention</span><span class="op">]</span><span class="op">[</span><span class="str">'q_3'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">toreturn</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="str">'q_3'</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t643" class="pln"><span class="strut"> </span></p>
+<p id="t644" class="stm run hide_run"> <span class="key">return</span> <span class="nam">posorient</span><span class="strut"> </span></p>
+<p id="t645" class="pln"><span class="strut"> </span></p>
+<p id="t646" class="stm run hide_run"> <span class="key">def</span> <span class="nam">scene</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span> <span class="nam">posorient</span><span class="op">=</span><span class="key">None</span><span class="op">,</span> <span class="nam">rowid</span><span class="op">=</span><span class="key">None</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t647" class="pln"> <span class="str">"""Read an image at a given position-orientation or given id of row in the \</span><span class="strut"> </span></p>
+<p id="t648" class="pln"><span class="str"> database.</span><span class="strut"> </span></p>
+<p id="t649" class="pln"><span class="str"> :param posorient: is a 1x6 vector containing:</span><span class="strut"> </span></p>
+<p id="t650" class="pln"><span class="str"> *in case of euler angeles the index should be</span><span class="strut"> </span></p>
+<p id="t651" class="pln"><span class="str"> ['location']['x']</span><span class="strut"> </span></p>
+<p id="t652" class="pln"><span class="str"> ['location']['y']</span><span class="strut"> </span></p>
+<p id="t653" class="pln"><span class="str"> ['location']['z']</span><span class="strut"> </span></p>
+<p id="t654" class="pln"><span class="str"> [convention][alpha_0]</span><span class="strut"> </span></p>
+<p id="t655" class="pln"><span class="str"> [convention][alpha_1]</span><span class="strut"> </span></p>
+<p id="t656" class="pln"><span class="str"> [convention][alpha_2]</span><span class="strut"> </span></p>
+<p id="t657" class="pln"><span class="str"> **where convention can be:</span><span class="strut"> </span></p>
+<p id="t658" class="pln"><span class="str"> xyz, xzy, yxz, yzx, zyx, zxy</span><span class="strut"> </span></p>
+<p id="t659" class="pln"><span class="str"> *in case of quaternions the index should be</span><span class="strut"> </span></p>
+<p id="t660" class="pln"><span class="str"> ['location']['x']</span><span class="strut"> </span></p>
+<p id="t661" class="pln"><span class="str"> ['location']['y']</span><span class="strut"> </span></p>
+<p id="t662" class="pln"><span class="str"> ['location']['z']</span><span class="strut"> </span></p>
+<p id="t663" class="pln"><span class="str"> [convention]['q_0']</span><span class="strut"> </span></p>
+<p id="t664" class="pln"><span class="str"> [convention]['q_1']</span><span class="strut"> </span></p>
+<p id="t665" class="pln"><span class="str"> [convention]['q_2']</span><span class="strut"> </span></p>
+<p id="t666" class="pln"><span class="str"> [convention]['q_3']</span><span class="strut"> </span></p>
+<p id="t667" class="pln"><span class="str"> **where convention can be:</span><span class="strut"> </span></p>
+<p id="t668" class="pln"><span class="str"> quaternion</span><span class="strut"> </span></p>
+<p id="t669" class="pln"><span class="str"> :param rowid: an integer</span><span class="strut"> </span></p>
+<p id="t670" class="pln"><span class="str"> :returns: an image</span><span class="strut"> </span></p>
+<p id="t671" class="pln"><span class="str"> :rtype: numpy.ndarray</span><span class="strut"> </span></p>
+<p id="t672" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t673" class="stm run hide_run"> <span class="key">if</span> <span class="nam">rowid</span> <span class="key">is</span> <span class="key">not</span> <span class="key">None</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t674" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">rowid</span><span class="op">,</span> <span class="nam">int</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t675" class="stm run hide_run"> <span class="nam">msg</span> <span class="op">=</span> <span class="str">'rowid must be an integer'</span><span class="strut"> </span></p>
+<p id="t676" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">_logger</span><span class="op">.</span><span class="nam">exception</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t677" class="stm run hide_run"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t678" class="stm run hide_run"> <span class="key">if</span> <span class="nam">rowid</span> <span class="op"><=</span> <span class="num">0</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t679" class="stm run hide_run"> <span class="nam">msg</span> <span class="op">=</span> <span class="str">'rowid must be greater zero'</span><span class="strut"> </span></p>
+<p id="t680" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">_logger</span><span class="op">.</span><span class="nam">exception</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t681" class="stm run hide_run"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t682" class="stm run hide_run"> <span class="key">if</span> <span class="nam">rowid</span> <span class="key">is</span> <span class="nam">np</span><span class="op">.</span><span class="nam">nan</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t683" class="stm mis"> <span class="nam">msg</span> <span class="op">=</span> <span class="str">'rowid must not be nan'</span><span class="strut"> </span></p>
+<p id="t684" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">_logger</span><span class="op">.</span><span class="nam">exception</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t685" class="stm mis"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t686" class="stm run hide_run"> <span class="key">if</span> <span class="op">(</span><span class="nam">posorient</span> <span class="key">is</span> <span class="key">None</span><span class="op">)</span> <span class="key">and</span> <span class="op">(</span><span class="nam">rowid</span> <span class="key">is</span> <span class="key">None</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t687" class="stm mis"> <span class="nam">msg</span> <span class="op">=</span> <span class="str">'posorient and rowid can not be both None'</span><span class="strut"> </span></p>
+<p id="t688" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">_logger</span><span class="op">.</span><span class="nam">exception</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t689" class="stm mis"> <span class="key">raise</span> <span class="nam">Exception</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t690" class="stm run hide_run"> <span class="key">if</span> <span class="nam">posorient</span> <span class="key">is</span> <span class="key">not</span> <span class="key">None</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t691" class="stm mis"> <span class="nam">rowid</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">get_posid</span><span class="op">(</span><span class="nam">posorient</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t692" class="stm run hide_run"> <span class="key">if</span> <span class="op">(</span><span class="nam">posorient</span> <span class="key">is</span> <span class="key">None</span><span class="op">)</span> <span class="key">and</span> <span class="op">(</span><span class="nam">rowid</span> <span class="key">is</span> <span class="key">None</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t693" class="stm run hide_run"> <span class="nam">msg</span> <span class="op">=</span> <span class="str">'posorient and rowid can not be both None'</span><span class="strut"> </span></p>
+<p id="t694" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">_logger</span><span class="op">.</span><span class="nam">exception</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t695" class="stm run hide_run"> <span class="key">raise</span> <span class="nam">Exception</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t696" class="stm run hide_run"> <span class="key">if</span> <span class="nam">posorient</span> <span class="key">is</span> <span class="key">not</span> <span class="key">None</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t697" class="stm run hide_run"> <span class="nam">rowid</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">get_posid</span><span class="op">(</span><span class="nam">posorient</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t698" class="pln"> <span class="com"># Read images</span><span class="strut"> </span></p>
+<p id="t699" class="stm run hide_run"> <span class="nam">tablename</span> <span class="op">=</span> <span class="str">'image'</span><span class="strut"> </span></p>
+<p id="t700" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">db_cursor</span><span class="op">.</span><span class="nam">execute</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t701" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t702" class="pln"><span class="str"> SELECT data</span><span class="strut"> </span></p>
+<p id="t703" class="pln"><span class="str"> FROM {}</span><span class="strut"> </span></p>
+<p id="t704" class="pln"><span class="str"> WHERE (rowid=?)</span><span class="strut"> </span></p>
+<p id="t705" class="pln"><span class="str"> """</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">tablename</span><span class="op">)</span><span class="op">,</span> <span class="op">(</span><span class="nam">rowid</span><span class="op">,</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t706" class="stm run hide_run"> <span class="nam">image</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">db_cursor</span><span class="op">.</span><span class="nam">fetchone</span><span class="op">(</span><span class="op">)</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t707" class="pln"> <span class="com"># Check image size</span><span class="strut"> </span></p>
+<p id="t708" class="pln"> <span class="com"># and try to correct it whenever possible</span><span class="strut"> </span></p>
+<p id="t709" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">image</span><span class="op">,</span> <span class="nam">np</span><span class="op">.</span><span class="nam">ndarray</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t710" class="stm mis"> <span class="nam">msg</span> <span class="op">=</span> <span class="str">'image must be np.array'</span><span class="strut"> </span></p>
+<p id="t711" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">_logger</span><span class="op">.</span><span class="nam">exception</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t712" class="stm mis"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t713" class="stm run hide_run"> <span class="key">if</span> <span class="nam">len</span><span class="op">(</span><span class="nam">image</span><span class="op">.</span><span class="nam">shape</span><span class="op">)</span> <span class="op">></span> <span class="num">3</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t714" class="stm mis"> <span class="key">if</span> <span class="nam">np</span><span class="op">.</span><span class="nam">all</span><span class="op">(</span><span class="nam">image</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">3</span><span class="op">:</span><span class="op">]</span> <span class="op">==</span> <span class="nam">np</span><span class="op">.</span><span class="nam">ones_like</span><span class="op">(</span><span class="nam">image</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">3</span><span class="op">:</span><span class="op">]</span><span class="op">)</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t715" class="stm mis"> <span class="nam">image</span> <span class="op">=</span> <span class="nam">image</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="op">:</span><span class="op">,</span> <span class="op">:</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span> <span class="com"># Other dim are useless</span><span class="strut"> </span></p>
+<p id="t716" class="stm run hide_run"> <span class="key">if</span> <span class="nam">len</span><span class="op">(</span><span class="nam">image</span><span class="op">.</span><span class="nam">shape</span><span class="op">)</span> <span class="op">!=</span> <span class="num">3</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t717" class="stm mis"> <span class="nam">msg</span> <span class="op">=</span> <span class="str">'image should be 3D array'</span><span class="strut"> </span></p>
+<p id="t718" class="stm mis"> <span class="nam">msg</span> <span class="op">+=</span> <span class="str">'image size is {}'</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">image</span><span class="op">.</span><span class="nam">shape</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t719" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">_logger</span><span class="op">.</span><span class="nam">exception</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t720" class="stm mis"> <span class="key">raise</span> <span class="nam">Exception</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t721" class="pln"> <span class="com"># Read cmaxminrange</span><span class="strut"> </span></p>
+<p id="t722" class="stm run hide_run"> <span class="nam">tablename</span> <span class="op">=</span> <span class="str">'normalisation'</span><span class="strut"> </span></p>
+<p id="t723" class="stm run hide_run"> <span class="nam">cmaxminrange</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">read_sql_query</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t724" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t725" class="pln"><span class="str"> SELECT *</span><span class="strut"> </span></p>
+<p id="t726" class="pln"><span class="str"> FROM {}</span><span class="strut"> </span></p>
+<p id="t727" class="pln"><span class="str"> WHERE (rowid={})</span><span class="strut"> </span></p>
+<p id="t728" class="pln"><span class="str"> """</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">tablename</span><span class="op">,</span> <span class="nam">rowid</span><span class="op">)</span><span class="op">,</span> <span class="nam">self</span><span class="op">.</span><span class="nam">db</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t729" class="stm run hide_run"> <span class="key">if</span> <span class="nam">cmaxminrange</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">0</span><span class="op">]</span> <span class="op">!=</span> <span class="num">1</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t730" class="stm mis"> <span class="nam">msg</span> <span class="op">=</span> <span class="str">'Error while reading normalisation factors'</span><span class="strut"> </span></p>
+<p id="t731" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">_logger</span><span class="op">.</span><span class="nam">exception</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t732" class="stm mis"> <span class="key">raise</span> <span class="nam">Exception</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t733" class="stm run hide_run"> <span class="nam">cmaxminrange</span> <span class="op">=</span> <span class="nam">cmaxminrange</span><span class="op">.</span><span class="nam">iloc</span><span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="op">:</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t734" class="stm run hide_run"> <span class="nam">cmaxminrange</span><span class="op">.</span><span class="nam">name</span> <span class="op">=</span> <span class="nam">cmaxminrange</span><span class="op">.</span><span class="nam">id</span><span class="strut"> </span></p>
+<p id="t735" class="stm run hide_run"> <span class="nam">cmaxminrange</span><span class="op">.</span><span class="nam">drop</span><span class="op">(</span><span class="str">'id'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t736" class="stm run hide_run"> <span class="nam">cmaxminrange</span> <span class="op">=</span> <span class="nam">cmaxminrange</span><span class="op">.</span><span class="nam">astype</span><span class="op">(</span><span class="nam">float</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t737" class="stm run hide_run"> <span class="nam">toreturn</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">denormalise_image</span><span class="op">(</span><span class="nam">image</span><span class="op">,</span> <span class="nam">cmaxminrange</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t738" class="stm run hide_run"> <span class="nam">toreturn</span> <span class="op">=</span> <span class="nam">toreturn</span><span class="op">[</span><span class="op">...</span><span class="op">,</span> <span class="nam">np</span><span class="op">.</span><span class="nam">newaxis</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t739" class="stm run hide_run"> <span class="nam">check_scene</span><span class="op">(</span><span class="nam">toreturn</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t740" class="stm run hide_run"> <span class="key">return</span> <span class="nam">toreturn</span><span class="strut"> </span></p>
+<p id="t741" class="pln"> <span class="com">#</span><span class="strut"> </span></p>
+<p id="t742" class="pln"> <span class="com"># Write</span><span class="strut"> </span></p>
+<p id="t743" class="pln"> <span class="com">#</span><span class="strut"> </span></p>
+<p id="t744" class="pln"><span class="strut"> </span></p>
+<p id="t745" class="stm run hide_run"> <span class="key">def</span> <span class="nam">insert_replace</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span> <span class="nam">tablename</span><span class="op">,</span> <span class="nam">params</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t746" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">tablename</span><span class="op">,</span> <span class="nam">str</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t747" class="stm run hide_run"> <span class="nam">msg</span> <span class="op">=</span> <span class="str">'table are named by string'</span><span class="strut"> </span></p>
+<p id="t748" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">_logger</span><span class="op">.</span><span class="nam">exception</span><span class="op">(</span><span class="str">'table are named by string'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t749" class="stm run hide_run"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t750" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">params</span><span class="op">,</span> <span class="nam">dict</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t751" class="stm mis"> <span class="nam">msg</span> <span class="op">=</span> <span class="str">'params should be dictionary columns:val'</span><span class="strut"> </span></p>
+<p id="t752" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">_logger</span><span class="op">.</span><span class="nam">exception</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t753" class="stm mis"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t754" class="stm run hide_run"> <span class="nam">params_list</span> <span class="op">=</span> <span class="nam">list</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t755" class="stm run hide_run"> <span class="nam">columns_str</span> <span class="op">=</span> <span class="str">''</span><span class="strut"> </span></p>
+<p id="t756" class="stm run hide_run"> <span class="key">for</span> <span class="nam">key</span><span class="op">,</span> <span class="nam">val</span> <span class="key">in</span> <span class="nam">params</span><span class="op">.</span><span class="nam">items</span><span class="op">(</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t757" class="stm run hide_run"> <span class="nam">columns_str</span> <span class="op">+=</span> <span class="nam">key</span> <span class="op">+</span> <span class="str">','</span><span class="strut"> </span></p>
+<p id="t758" class="stm run hide_run"> <span class="nam">params_list</span><span class="op">.</span><span class="nam">append</span><span class="op">(</span><span class="nam">val</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t759" class="stm run hide_run"> <span class="nam">columns_str</span> <span class="op">=</span> <span class="nam">columns_str</span><span class="op">[</span><span class="op">:</span><span class="op">-</span><span class="num">1</span><span class="op">]</span> <span class="com"># remove last comma</span><span class="strut"> </span></p>
+<p id="t760" class="stm run hide_run"> <span class="key">if</span> <span class="nam">len</span><span class="op">(</span><span class="nam">params_list</span><span class="op">)</span> <span class="op">==</span> <span class="num">0</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t761" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">_logger</span><span class="op">.</span><span class="nam">warning</span><span class="op">(</span><span class="str">'nothing to be done in {}'</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">tablename</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t762" class="stm mis"> <span class="key">return</span><span class="strut"> </span></p>
+<p id="t763" class="stm run hide_run"> <span class="nam">questionsmarks</span> <span class="op">=</span> <span class="str">'?'</span><span class="strut"> </span></p>
+<p id="t764" class="stm run hide_run"> <span class="key">for</span> <span class="nam">_</span> <span class="key">in</span> <span class="nam">range</span><span class="op">(</span><span class="num">1</span><span class="op">,</span> <span class="nam">len</span><span class="op">(</span><span class="nam">params_list</span><span class="op">)</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t765" class="stm run hide_run"> <span class="nam">questionsmarks</span> <span class="op">+=</span> <span class="str">',?'</span><span class="strut"> </span></p>
+<p id="t766" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">_logger</span><span class="op">.</span><span class="nam">info</span><span class="op">(</span><span class="str">'Insert image'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t767" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">db_cursor</span><span class="op">.</span><span class="nam">execute</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t768" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t769" class="pln"><span class="str"> INSERT OR REPLACE</span><span class="strut"> </span></p>
+<p id="t770" class="pln"><span class="str"> INTO {} ({})</span><span class="strut"> </span></p>
+<p id="t771" class="pln"><span class="str"> VALUES ({})</span><span class="strut"> </span></p>
+<p id="t772" class="pln"><span class="str"> """</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">tablename</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t773" class="pln"> <span class="nam">columns_str</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t774" class="pln"> <span class="nam">questionsmarks</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t775" class="pln"> <span class="nam">tuple</span><span class="op">(</span><span class="nam">params_list</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t776" class="pln"> <span class="op">)</span><span class="strut"> </span></p>
+<p id="t777" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">db</span><span class="op">.</span><span class="nam">commit</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t778" class="pln"><span class="strut"> </span></p>
+<p id="t779" class="stm run hide_run"> <span class="key">def</span> <span class="nam">write_image</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span> <span class="nam">posorient</span><span class="op">,</span> <span class="nam">image</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t780" class="pln"> <span class="str">"""stores an image in the database. Automatically</span><span class="strut"> </span></p>
+<p id="t781" class="pln"><span class="str"> calculates the cminmax range from the image and</span><span class="strut"> </span></p>
+<p id="t782" class="pln"><span class="str"> channels.</span><span class="strut"> </span></p>
+<p id="t783" class="pln"><span class="str"> :param posorient: is a 1x6 vector containing:</span><span class="strut"> </span></p>
+<p id="t784" class="pln"><span class="str"> *in case of euler angeles the index should be</span><span class="strut"> </span></p>
+<p id="t785" class="pln"><span class="str"> ['location']['x']</span><span class="strut"> </span></p>
+<p id="t786" class="pln"><span class="str"> ['location']['y']</span><span class="strut"> </span></p>
+<p id="t787" class="pln"><span class="str"> ['location']['z']</span><span class="strut"> </span></p>
+<p id="t788" class="pln"><span class="str"> [convention][alpha_0]</span><span class="strut"> </span></p>
+<p id="t789" class="pln"><span class="str"> [convention][alpha_1]</span><span class="strut"> </span></p>
+<p id="t790" class="pln"><span class="str"> [convention][alpha_2]</span><span class="strut"> </span></p>
+<p id="t791" class="pln"><span class="str"> **where convention can be:</span><span class="strut"> </span></p>
+<p id="t792" class="pln"><span class="str"> xyz, xzy, yxz, yzx, zyx, zxy</span><span class="strut"> </span></p>
+<p id="t793" class="pln"><span class="str"> *in case of quaternions the index should be</span><span class="strut"> </span></p>
+<p id="t794" class="pln"><span class="str"> ['location']['x']</span><span class="strut"> </span></p>
+<p id="t795" class="pln"><span class="str"> ['location']['y']</span><span class="strut"> </span></p>
+<p id="t796" class="pln"><span class="str"> ['location']['z']</span><span class="strut"> </span></p>
+<p id="t797" class="pln"><span class="str"> [convention]['q_0']</span><span class="strut"> </span></p>
+<p id="t798" class="pln"><span class="str"> [convention]['q_1']</span><span class="strut"> </span></p>
+<p id="t799" class="pln"><span class="str"> [convention]['q_2']</span><span class="strut"> </span></p>
+<p id="t800" class="pln"><span class="str"> [convention]['q_3']</span><span class="strut"> </span></p>
+<p id="t801" class="pln"><span class="str"> **where convention can be:</span><span class="strut"> </span></p>
+<p id="t802" class="pln"><span class="str"> quaternion</span><span class="strut"> </span></p>
+<p id="t803" class="pln"><span class="str"> :param image: image to be stored</span><span class="strut"> </span></p>
+<p id="t804" class="pln"><span class="str"> :type image: np.ndarray</span><span class="strut"> </span></p>
+<p id="t805" class="pln"><span class="str"> :type posorient: pd.Series</span><span class="strut"> </span></p>
+<p id="t806" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t807" class="stm mis"> <span class="nam">normed_im</span><span class="op">,</span> <span class="nam">cmaxminrange</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">normalise_image</span><span class="op">(</span><span class="nam">image</span><span class="op">,</span> <span class="nam">self</span><span class="op">.</span><span class="nam">arr_dtype</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t808" class="stm mis"> <span class="nam">rowid</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">get_posid</span><span class="op">(</span><span class="nam">posorient</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t809" class="pln"> <span class="com"># Write image</span><span class="strut"> </span></p>
+<p id="t810" class="stm mis"> <span class="nam">tablename</span> <span class="op">=</span> <span class="str">'image'</span><span class="strut"> </span></p>
+<p id="t811" class="stm mis"> <span class="nam">params</span> <span class="op">=</span> <span class="nam">dict</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t812" class="stm mis"> <span class="nam">params</span><span class="op">[</span><span class="str">'rowid'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">rowid</span><span class="strut"> </span></p>
+<p id="t813" class="stm mis"> <span class="nam">params</span><span class="op">[</span><span class="str">'data'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">normed_im</span><span class="strut"> </span></p>
+<p id="t814" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">insert_replace</span><span class="op">(</span><span class="nam">tablename</span><span class="op">,</span> <span class="nam">params</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t815" class="pln"> <span class="com">#</span><span class="strut"> </span></p>
+<p id="t816" class="stm mis"> <span class="nam">tablename</span> <span class="op">=</span> <span class="str">'normalisation'</span><span class="strut"> </span></p>
+<p id="t817" class="stm mis"> <span class="nam">params</span> <span class="op">=</span> <span class="nam">dict</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t818" class="stm mis"> <span class="nam">params</span><span class="op">[</span><span class="str">'rowid'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">rowid</span><span class="strut"> </span></p>
+<p id="t819" class="stm mis"> <span class="key">for</span> <span class="nam">chan_n</span> <span class="key">in</span> <span class="nam">self</span><span class="op">.</span><span class="nam">normalisation_columns</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t820" class="stm mis"> <span class="nam">params</span><span class="op">[</span><span class="nam">chan_n</span><span class="op">]</span> <span class="op">=</span> <span class="nam">cmaxminrange</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="nam">chan_n</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t821" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">insert_replace</span><span class="op">(</span><span class="nam">tablename</span><span class="op">,</span> <span class="nam">params</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t822" class="pln"> <span class="com">#</span><span class="strut"> </span></p>
+<p id="t823" class="pln"> <span class="com"># Image processing</span><span class="strut"> </span></p>
+<p id="t824" class="pln"> <span class="com">#</span><span class="strut"> </span></p>
+<p id="t825" class="pln"><span class="strut"> </span></p>
+<p id="t826" class="stm run hide_run"> <span class="key">def</span> <span class="nam">denormalise_image</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span> <span class="nam">image</span><span class="op">,</span> <span class="nam">cmaxminrange</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t827" class="pln"> <span class="str">"""denomalises an image</span><span class="strut"> </span></p>
+<p id="t828" class="pln"><span class="str"> :param image: the image to be denormalised</span><span class="strut"> </span></p>
+<p id="t829" class="pln"><span class="str"> :param cmaxminrange: new range of the denormalised image</span><span class="strut"> </span></p>
+<p id="t830" class="pln"><span class="str"> :type image: np.ndarray</span><span class="strut"> </span></p>
+<p id="t831" class="pln"><span class="str"> :type cmaxminrange: pd.Series</span><span class="strut"> </span></p>
+<p id="t832" class="pln"><span class="str"> :returns: denormalised image</span><span class="strut"> </span></p>
+<p id="t833" class="pln"><span class="str"> :rtype: numpy.ndarray</span><span class="strut"> </span></p>
+<p id="t834" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t835" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">image</span><span class="op">,</span> <span class="nam">np</span><span class="op">.</span><span class="nam">ndarray</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t836" class="stm run hide_run"> <span class="nam">msg</span> <span class="op">=</span> <span class="str">'image must be np.array'</span><span class="strut"> </span></p>
+<p id="t837" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">_logger</span><span class="op">.</span><span class="nam">exception</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t838" class="stm run hide_run"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t839" class="stm run hide_run"> <span class="key">if</span> <span class="nam">len</span><span class="op">(</span><span class="nam">image</span><span class="op">.</span><span class="nam">shape</span><span class="op">)</span> <span class="op">!=</span> <span class="num">3</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t840" class="stm run hide_run"> <span class="nam">msg</span> <span class="op">=</span> <span class="str">'image should be 3D array'</span><span class="strut"> </span></p>
+<p id="t841" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">_logger</span><span class="op">.</span><span class="nam">exception</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t842" class="stm run hide_run"> <span class="key">raise</span> <span class="nam">Exception</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t843" class="stm run hide_run"> <span class="key">if</span> <span class="nam">image</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">2</span><span class="op">]</span> <span class="op">!=</span> <span class="nam">len</span><span class="op">(</span><span class="nam">self</span><span class="op">.</span><span class="nam">channels</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t844" class="stm mis"> <span class="nam">msg</span> <span class="op">=</span> <span class="str">'image does not have the required'</span><span class="strut"> </span></p>
+<p id="t845" class="stm mis"> <span class="nam">msg</span> <span class="op">+=</span> <span class="str">'number of channels {}'</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">len</span><span class="op">(</span><span class="nam">self</span><span class="op">.</span><span class="nam">channels</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t846" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">_logger</span><span class="op">.</span><span class="nam">exception</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t847" class="stm mis"> <span class="key">raise</span> <span class="nam">Exception</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t848" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">cmaxminrange</span><span class="op">,</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">Series</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t849" class="stm run hide_run"> <span class="nam">msg</span> <span class="op">=</span> <span class="str">'cmaxminrange should be a pandas Series'</span><span class="strut"> </span></p>
+<p id="t850" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">_logger</span><span class="op">.</span><span class="nam">exception</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t851" class="stm run hide_run"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t852" class="stm run hide_run"> <span class="key">if</span> <span class="nam">cmaxminrange</span><span class="op">.</span><span class="nam">empty</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t853" class="stm mis"> <span class="nam">msg</span> <span class="op">=</span> <span class="str">'cmaxminrange must not be empty'</span><span class="strut"> </span></p>
+<p id="t854" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">_logger</span><span class="op">.</span><span class="nam">exception</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t855" class="stm mis"> <span class="key">raise</span> <span class="nam">Exception</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t856" class="stm run hide_run"> <span class="key">for</span> <span class="nam">chan_n</span> <span class="key">in</span> <span class="nam">self</span><span class="op">.</span><span class="nam">channels</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t857" class="stm run hide_run"> <span class="key">if</span> <span class="nam">str</span><span class="op">(</span><span class="nam">chan_n</span><span class="op">)</span> <span class="op">+</span> <span class="str">'_max'</span> <span class="key">not</span> <span class="key">in</span> <span class="nam">cmaxminrange</span><span class="op">.</span><span class="nam">index</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t858" class="stm run hide_run"> <span class="nam">msg</span> <span class="op">=</span> <span class="str">'cminmax range is missing index {}_max'</span><span class="strut"> </span></p>
+<p id="t859" class="stm run hide_run"> <span class="nam">msg</span> <span class="op">=</span> <span class="nam">msg</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">chan_n</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t860" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">_logger</span><span class="op">.</span><span class="nam">exception</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t861" class="stm run hide_run"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t862" class="stm run hide_run"> <span class="key">if</span> <span class="nam">str</span><span class="op">(</span><span class="nam">chan_n</span><span class="op">)</span> <span class="op">+</span> <span class="str">'_min'</span> <span class="key">not</span> <span class="key">in</span> <span class="nam">cmaxminrange</span><span class="op">.</span><span class="nam">index</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t863" class="stm mis"> <span class="nam">msg</span> <span class="op">=</span> <span class="str">'cminmax range is missing index {}_min'</span><span class="strut"> </span></p>
+<p id="t864" class="stm mis"> <span class="nam">msg</span> <span class="op">=</span> <span class="nam">msg</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">chan_n</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t865" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">_logger</span><span class="op">.</span><span class="nam">exception</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t866" class="stm mis"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t867" class="stm run hide_run"> <span class="key">if</span> <span class="nam">str</span><span class="op">(</span><span class="nam">chan_n</span><span class="op">)</span> <span class="op">+</span> <span class="str">'_range'</span> <span class="key">not</span> <span class="key">in</span> <span class="nam">cmaxminrange</span><span class="op">.</span><span class="nam">index</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t868" class="stm mis"> <span class="nam">msg</span> <span class="op">=</span> <span class="str">'cminmax range is missing index {}_range'</span><span class="strut"> </span></p>
+<p id="t869" class="stm mis"> <span class="nam">msg</span> <span class="op">=</span> <span class="nam">msg</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">chan_n</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t870" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">_logger</span><span class="op">.</span><span class="nam">exception</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t871" class="stm mis"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t872" class="stm run hide_run"> <span class="key">if</span> <span class="nam">np</span><span class="op">.</span><span class="nam">any</span><span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">isnan</span><span class="op">(</span><span class="nam">cmaxminrange</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="nam">str</span><span class="op">(</span><span class="nam">chan_n</span><span class="op">)</span> <span class="op">+</span> <span class="str">'_max'</span><span class="op">]</span><span class="op">)</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t873" class="stm run hide_run"> <span class="nam">msg</span> <span class="op">=</span> <span class="str">'cmaxminrange contains nans'</span><span class="strut"> </span></p>
+<p id="t874" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">_logger</span><span class="op">.</span><span class="nam">exception</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t875" class="stm run hide_run"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t876" class="stm run hide_run"> <span class="key">if</span> <span class="nam">np</span><span class="op">.</span><span class="nam">any</span><span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">isnan</span><span class="op">(</span><span class="nam">cmaxminrange</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="nam">str</span><span class="op">(</span><span class="nam">chan_n</span><span class="op">)</span> <span class="op">+</span> <span class="str">'_min'</span><span class="op">]</span><span class="op">)</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t877" class="stm run hide_run"> <span class="nam">msg</span> <span class="op">=</span> <span class="str">'cmaxminrange contains nans'</span><span class="strut"> </span></p>
+<p id="t878" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">_logger</span><span class="op">.</span><span class="nam">exception</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t879" class="stm run hide_run"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t880" class="stm run hide_run"> <span class="key">if</span> <span class="nam">np</span><span class="op">.</span><span class="nam">any</span><span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">isnan</span><span class="op">(</span><span class="nam">cmaxminrange</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="nam">str</span><span class="op">(</span><span class="nam">chan_n</span><span class="op">)</span> <span class="op">+</span> <span class="str">'_range'</span><span class="op">]</span><span class="op">)</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t881" class="stm mis"> <span class="nam">msg</span> <span class="op">=</span> <span class="str">'cmaxminrange contains nans'</span><span class="strut"> </span></p>
+<p id="t882" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">_logger</span><span class="op">.</span><span class="nam">exception</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t883" class="stm mis"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t884" class="stm run hide_run"> <span class="nam">denormed_im</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">zeros</span><span class="op">(</span><span class="nam">image</span><span class="op">.</span><span class="nam">shape</span><span class="op">,</span> <span class="nam">dtype</span><span class="op">=</span><span class="nam">np</span><span class="op">.</span><span class="nam">float</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t885" class="stm run hide_run"> <span class="nam">maxval_nim</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">iinfo</span><span class="op">(</span><span class="nam">image</span><span class="op">.</span><span class="nam">dtype</span><span class="op">)</span><span class="op">.</span><span class="nam">max</span><span class="strut"> </span></p>
+<p id="t886" class="pln"> <span class="com">#</span><span class="strut"> </span></p>
+<p id="t887" class="stm run hide_run"> <span class="key">for</span> <span class="nam">chan_i</span><span class="op">,</span> <span class="nam">chan_n</span> <span class="key">in</span> <span class="nam">enumerate</span><span class="op">(</span><span class="nam">self</span><span class="op">.</span><span class="nam">channels</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t888" class="stm run hide_run"> <span class="nam">cimage</span> <span class="op">=</span> <span class="nam">image</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="op">:</span><span class="op">,</span> <span class="nam">chan_i</span><span class="op">]</span><span class="op">.</span><span class="nam">astype</span><span class="op">(</span><span class="nam">float</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t889" class="stm run hide_run"> <span class="nam">cmax</span> <span class="op">=</span> <span class="nam">cmaxminrange</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="nam">str</span><span class="op">(</span><span class="nam">chan_n</span><span class="op">)</span> <span class="op">+</span> <span class="str">'_max'</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t890" class="stm run hide_run"> <span class="nam">cmin</span> <span class="op">=</span> <span class="nam">cmaxminrange</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="nam">str</span><span class="op">(</span><span class="nam">chan_n</span><span class="op">)</span> <span class="op">+</span> <span class="str">'_min'</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t891" class="stm run hide_run"> <span class="nam">crange</span> <span class="op">=</span> <span class="nam">cmaxminrange</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="nam">str</span><span class="op">(</span><span class="nam">chan_n</span><span class="op">)</span> <span class="op">+</span> <span class="str">'_range'</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t892" class="stm run hide_run"> <span class="nam">cimage</span> <span class="op">/=</span> <span class="nam">maxval_nim</span><span class="strut"> </span></p>
+<p id="t893" class="stm run hide_run"> <span class="nam">cimage</span> <span class="op">*=</span> <span class="nam">crange</span><span class="strut"> </span></p>
+<p id="t894" class="stm run hide_run"> <span class="nam">cimage</span> <span class="op">+=</span> <span class="nam">cmin</span><span class="strut"> </span></p>
+<p id="t895" class="stm run hide_run"> <span class="nam">denormed_im</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="op">:</span><span class="op">,</span> <span class="nam">chan_i</span><span class="op">]</span> <span class="op">=</span> <span class="nam">cimage</span><span class="strut"> </span></p>
+<p id="t896" class="stm run hide_run"> <span class="key">if</span> <span class="nam">np</span><span class="op">.</span><span class="nam">max</span><span class="op">(</span><span class="nam">cimage</span><span class="op">)</span> <span class="op">!=</span> <span class="nam">cmax</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t897" class="stm run hide_run"> <span class="nam">msg</span> <span class="op">=</span> <span class="str">'max cimage and max from cmaxminrange do not match'</span><span class="strut"> </span></p>
+<p id="t898" class="stm run hide_run"> <span class="nam">msg</span> <span class="op">+=</span> <span class="str">'{}!={} in {}'</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">max</span><span class="op">(</span><span class="nam">cimage</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t899" class="pln"> <span class="nam">cmax</span><span class="op">,</span> <span class="nam">cmaxminrange</span><span class="op">.</span><span class="nam">name</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t900" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">_logger</span><span class="op">.</span><span class="nam">warning</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t901" class="stm run hide_run"> <span class="key">return</span> <span class="nam">denormed_im</span><span class="strut"> </span></p>
+<p id="t902" class="pln"><span class="strut"> </span></p>
+<p id="t903" class="stm run hide_run"> <span class="key">def</span> <span class="nam">normalise_image</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span> <span class="nam">image</span><span class="op">,</span> <span class="nam">dtype</span><span class="op">=</span><span class="nam">np</span><span class="op">.</span><span class="nam">uint8</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t904" class="pln"> <span class="str">"""normalises an image to a range between 0 and 1.</span><span class="strut"> </span></p>
+<p id="t905" class="pln"><span class="str"> :param image: image to be normalised</span><span class="strut"> </span></p>
+<p id="t906" class="pln"><span class="str"> :param dtype: type of the image (default: np.uint8)</span><span class="strut"> </span></p>
+<p id="t907" class="pln"><span class="str"> :type image: np.ndarray</span><span class="strut"> </span></p>
+<p id="t908" class="pln"><span class="str"> :returns: normalised image</span><span class="strut"> </span></p>
+<p id="t909" class="pln"><span class="str"> :rtype: np.ndarray</span><span class="strut"> </span></p>
+<p id="t910" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t911" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">image</span><span class="op">,</span> <span class="nam">np</span><span class="op">.</span><span class="nam">ndarray</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t912" class="stm run hide_run"> <span class="nam">msg</span> <span class="op">=</span> <span class="str">'image must be np.array'</span><span class="strut"> </span></p>
+<p id="t913" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">_logger</span><span class="op">.</span><span class="nam">exception</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t914" class="stm run hide_run"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t915" class="stm run hide_run"> <span class="key">if</span> <span class="nam">np</span><span class="op">.</span><span class="nam">any</span><span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">isnan</span><span class="op">(</span><span class="nam">image</span><span class="op">)</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t916" class="stm run hide_run"> <span class="nam">msg</span> <span class="op">=</span> <span class="str">'image must not contain nan values'</span><span class="strut"> </span></p>
+<p id="t917" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">_logger</span><span class="op">.</span><span class="nam">exception</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t918" class="stm run hide_run"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t919" class="stm run hide_run"> <span class="key">if</span> <span class="nam">image</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">0</span><span class="op">]</span> <span class="op"><=</span> <span class="num">0</span> <span class="key">or</span> <span class="nam">image</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">1</span><span class="op">]</span> <span class="op"><=</span> <span class="num">0</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t920" class="stm mis"> <span class="nam">msg</span> <span class="op">=</span> <span class="str">'image dimensions incorrect'</span><span class="strut"> </span></p>
+<p id="t921" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">_logger</span><span class="op">.</span><span class="nam">exception</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t922" class="stm mis"> <span class="key">raise</span> <span class="nam">Exception</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t923" class="stm run hide_run"> <span class="key">if</span> <span class="nam">image</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">2</span><span class="op">]</span> <span class="op">!=</span> <span class="nam">len</span><span class="op">(</span><span class="nam">self</span><span class="op">.</span><span class="nam">channels</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t924" class="stm run hide_run"> <span class="nam">msg</span> <span class="op">=</span> <span class="str">'image channels number differs from\</span><span class="strut"> </span></p>
+<p id="t925" class="pln"><span class="str"> given channel number'</span><span class="strut"> </span></p>
+<p id="t926" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">_logger</span><span class="op">.</span><span class="nam">exception</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t927" class="stm run hide_run"> <span class="key">raise</span> <span class="nam">Exception</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t928" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="nam">is_numeric_array</span><span class="op">(</span><span class="nam">image</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t929" class="stm mis"> <span class="nam">msg</span> <span class="op">=</span> <span class="str">'scene is of non numeric type'</span><span class="strut"> </span></p>
+<p id="t930" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">_logger</span><span class="op">.</span><span class="nam">exception</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t931" class="stm mis"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t932" class="stm run hide_run"> <span class="nam">normed_im</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">zeros</span><span class="op">(</span><span class="nam">image</span><span class="op">.</span><span class="nam">shape</span><span class="op">,</span> <span class="nam">dtype</span><span class="op">=</span><span class="nam">dtype</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t933" class="stm run hide_run"> <span class="nam">maxval_nim</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">iinfo</span><span class="op">(</span><span class="nam">normed_im</span><span class="op">.</span><span class="nam">dtype</span><span class="op">)</span><span class="op">.</span><span class="nam">max</span><span class="strut"> </span></p>
+<p id="t934" class="pln"> <span class="com">#</span><span class="strut"> </span></p>
+<p id="t935" class="stm run hide_run"> <span class="nam">columns</span> <span class="op">=</span> <span class="nam">list</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t936" class="stm run hide_run"> <span class="key">for</span> <span class="nam">chan_n</span> <span class="key">in</span> <span class="nam">self</span><span class="op">.</span><span class="nam">channels</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t937" class="stm run hide_run"> <span class="nam">columns</span><span class="op">.</span><span class="nam">append</span><span class="op">(</span><span class="nam">str</span><span class="op">(</span><span class="nam">chan_n</span><span class="op">)</span> <span class="op">+</span> <span class="str">'_max'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t938" class="stm run hide_run"> <span class="nam">columns</span><span class="op">.</span><span class="nam">append</span><span class="op">(</span><span class="nam">str</span><span class="op">(</span><span class="nam">chan_n</span><span class="op">)</span> <span class="op">+</span> <span class="str">'_min'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t939" class="stm run hide_run"> <span class="nam">columns</span><span class="op">.</span><span class="nam">append</span><span class="op">(</span><span class="nam">str</span><span class="op">(</span><span class="nam">chan_n</span><span class="op">)</span> <span class="op">+</span> <span class="str">'_range'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t940" class="pln"><span class="strut"> </span></p>
+<p id="t941" class="stm run hide_run"> <span class="nam">cmaxminrange</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">Series</span><span class="op">(</span><span class="nam">index</span><span class="op">=</span><span class="nam">columns</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t942" class="stm run hide_run"> <span class="key">for</span> <span class="nam">chan_i</span><span class="op">,</span> <span class="nam">chan_n</span> <span class="key">in</span> <span class="nam">enumerate</span><span class="op">(</span><span class="nam">self</span><span class="op">.</span><span class="nam">channels</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t943" class="stm run hide_run"> <span class="nam">cimage</span> <span class="op">=</span> <span class="nam">image</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="op">:</span><span class="op">,</span> <span class="nam">chan_i</span><span class="op">]</span><span class="op">.</span><span class="nam">astype</span><span class="op">(</span><span class="nam">float</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t944" class="stm run hide_run"> <span class="nam">cmax</span> <span class="op">=</span> <span class="nam">cimage</span><span class="op">.</span><span class="nam">max</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t945" class="stm run hide_run"> <span class="nam">cmin</span> <span class="op">=</span> <span class="nam">cimage</span><span class="op">.</span><span class="nam">min</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t946" class="stm run hide_run"> <span class="nam">crange</span> <span class="op">=</span> <span class="nam">cmax</span> <span class="op">-</span> <span class="nam">cmin</span><span class="strut"> </span></p>
+<p id="t947" class="stm run hide_run"> <span class="nam">cimage</span> <span class="op">-=</span> <span class="nam">cmin</span><span class="strut"> </span></p>
+<p id="t948" class="stm run hide_run"> <span class="key">if</span> <span class="nam">np</span><span class="op">.</span><span class="nam">isclose</span><span class="op">(</span><span class="nam">crange</span><span class="op">,</span> <span class="num">0</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t949" class="pln"> <span class="com"># cimage should be equal to 0</span><span class="strut"> </span></p>
+<p id="t950" class="pln"> <span class="com"># so crange is irelevant we can assign it to 1</span><span class="strut"> </span></p>
+<p id="t951" class="stm mis"> <span class="nam">crange</span> <span class="op">=</span> <span class="num">1</span><span class="strut"> </span></p>
+<p id="t952" class="stm run hide_run"> <span class="nam">cimage</span> <span class="op">/=</span> <span class="nam">crange</span><span class="strut"> </span></p>
+<p id="t953" class="stm run hide_run"> <span class="nam">cimage</span> <span class="op">*=</span> <span class="nam">maxval_nim</span><span class="strut"> </span></p>
+<p id="t954" class="stm run hide_run"> <span class="nam">cimage</span> <span class="op">=</span> <span class="nam">cimage</span><span class="op">.</span><span class="nam">astype</span><span class="op">(</span><span class="nam">normed_im</span><span class="op">.</span><span class="nam">dtype</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t955" class="stm run hide_run"> <span class="nam">normed_im</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="op">:</span><span class="op">,</span> <span class="nam">chan_i</span><span class="op">]</span> <span class="op">=</span> <span class="nam">cimage</span><span class="strut"> </span></p>
+<p id="t956" class="stm run hide_run"> <span class="nam">cmaxminrange</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="nam">str</span><span class="op">(</span><span class="nam">chan_n</span><span class="op">)</span> <span class="op">+</span> <span class="str">'_max'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">cmax</span><span class="strut"> </span></p>
+<p id="t957" class="stm run hide_run"> <span class="nam">cmaxminrange</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="nam">str</span><span class="op">(</span><span class="nam">chan_n</span><span class="op">)</span> <span class="op">+</span> <span class="str">'_min'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">cmin</span><span class="strut"> </span></p>
+<p id="t958" class="stm run hide_run"> <span class="nam">cmaxminrange</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="nam">str</span><span class="op">(</span><span class="nam">chan_n</span><span class="op">)</span> <span class="op">+</span> <span class="str">'_range'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">crange</span><span class="strut"> </span></p>
+<p id="t959" class="stm run hide_run"> <span class="nam">check_scene</span><span class="op">(</span><span class="nam">normed_im</span><span class="op">[</span><span class="op">...</span><span class="op">,</span> <span class="nam">np</span><span class="op">.</span><span class="nam">newaxis</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t960" class="stm run hide_run"> <span class="key">return</span> <span class="nam">normed_im</span><span class="op">,</span> <span class="nam">cmaxminrange</span><span class="strut"> </span></p>
+
+ </td>
+ </tr>
+ </table>
+</div>
+
+<div id="footer">
+ <div class="content">
+ <p>
+ <a class="nav" href="index.html">« index</a> <a class="nav" href="https://coverage.readthedocs.io">coverage.py v4.5.2</a>,
+ created at 2019-01-13 14:34
+ </p>
+ </div>
+</div>
+
+</body>
+</html>
diff --git a/coverage_html_report/navipy_database_test_py.html b/coverage_html_report/navipy_database_test_py.html
new file mode 100644
index 0000000000000000000000000000000000000000..1f23b4d03b993b0ec96c7cc101f0b514eb1c206d
--- /dev/null
+++ b/coverage_html_report/navipy_database_test_py.html
@@ -0,0 +1,1439 @@
+
+
+
+<!DOCTYPE html>
+<html>
+<head>
+ <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
+
+
+ <meta http-equiv="X-UA-Compatible" content="IE=emulateIE7" />
+ <title>Coverage for navipy/database/test.py: 57%</title>
+ <link rel="stylesheet" href="style.css" type="text/css">
+
+ <script type="text/javascript" src="jquery.min.js"></script>
+ <script type="text/javascript" src="jquery.hotkeys.js"></script>
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+ </script>
+</head>
+<body class="pyfile">
+
+<div id="header">
+ <div class="content">
+ <h1>Coverage for <b>navipy/database/test.py</b> :
+ <span class="pc_cov">57%</span>
+ </h1>
+
+ <img id="keyboard_icon" src="keybd_closed.png" alt="Show keyboard shortcuts" />
+
+ <h2 class="stats">
+ 384 statements
+ <span class="run hide_run shortkey_r button_toggle_run">217 run</span>
+ <span class="mis shortkey_m button_toggle_mis">167 missing</span>
+ <span class="exc shortkey_x button_toggle_exc">0 excluded</span>
+
+
+ </h2>
+ </div>
+</div>
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+<div class="help_panel">
+ <img id="panel_icon" src="keybd_open.png" alt="Hide keyboard shortcuts" />
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+<p id="n2" class="stm run hide_run"><a href="#n2">2</a></p>
+<p id="n3" class="stm run hide_run"><a href="#n3">3</a></p>
+<p id="n4" class="stm run hide_run"><a href="#n4">4</a></p>
+<p id="n5" class="stm run hide_run"><a href="#n5">5</a></p>
+<p id="n6" class="pln"><a href="#n6">6</a></p>
+<p id="n7" class="stm run hide_run"><a href="#n7">7</a></p>
+<p id="n8" class="stm run hide_run"><a href="#n8">8</a></p>
+<p id="n9" class="stm run hide_run"><a href="#n9">9</a></p>
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+<p id="n11" class="pln"><a href="#n11">11</a></p>
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+<p id="n13" class="stm run hide_run"><a href="#n13">13</a></p>
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+<p id="n17" class="pln"><a href="#n17">17</a></p>
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+<p id="n30" class="stm run hide_run"><a href="#n30">30</a></p>
+<p id="n31" class="stm run hide_run"><a href="#n31">31</a></p>
+<p id="n32" class="pln"><a href="#n32">32</a></p>
+<p id="n33" class="stm run hide_run"><a href="#n33">33</a></p>
+<p id="n34" class="stm run hide_run"><a href="#n34">34</a></p>
+<p id="n35" class="stm run hide_run"><a href="#n35">35</a></p>
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+<p id="n38" class="pln"><a href="#n38">38</a></p>
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+<p id="n51" class="stm run hide_run"><a href="#n51">51</a></p>
+<p id="n52" class="stm run hide_run"><a href="#n52">52</a></p>
+<p id="n53" class="stm run hide_run"><a href="#n53">53</a></p>
+<p id="n54" class="stm run hide_run"><a href="#n54">54</a></p>
+<p id="n55" class="pln"><a href="#n55">55</a></p>
+<p id="n56" class="stm run hide_run"><a href="#n56">56</a></p>
+<p id="n57" class="pln"><a href="#n57">57</a></p>
+<p id="n58" class="pln"><a href="#n58">58</a></p>
+<p id="n59" class="pln"><a href="#n59">59</a></p>
+<p id="n60" class="pln"><a href="#n60">60</a></p>
+<p id="n61" class="pln"><a href="#n61">61</a></p>
+<p id="n62" class="pln"><a href="#n62">62</a></p>
+<p id="n63" class="pln"><a href="#n63">63</a></p>
+<p id="n64" class="pln"><a href="#n64">64</a></p>
+<p id="n65" class="pln"><a href="#n65">65</a></p>
+<p id="n66" class="stm run hide_run"><a href="#n66">66</a></p>
+<p id="n67" class="stm run hide_run"><a href="#n67">67</a></p>
+<p id="n68" class="stm run hide_run"><a href="#n68">68</a></p>
+<p id="n69" class="pln"><a href="#n69">69</a></p>
+<p id="n70" class="pln"><a href="#n70">70</a></p>
+<p id="n71" class="stm run hide_run"><a href="#n71">71</a></p>
+<p id="n72" class="pln"><a href="#n72">72</a></p>
+<p id="n73" class="pln"><a href="#n73">73</a></p>
+<p id="n74" class="pln"><a href="#n74">74</a></p>
+<p id="n75" class="pln"><a href="#n75">75</a></p>
+<p id="n76" class="pln"><a href="#n76">76</a></p>
+<p id="n77" class="pln"><a href="#n77">77</a></p>
+<p id="n78" class="pln"><a href="#n78">78</a></p>
+<p id="n79" class="pln"><a href="#n79">79</a></p>
+<p id="n80" class="pln"><a href="#n80">80</a></p>
+<p id="n81" class="pln"><a href="#n81">81</a></p>
+<p id="n82" class="stm run hide_run"><a href="#n82">82</a></p>
+<p id="n83" class="stm run hide_run"><a href="#n83">83</a></p>
+<p id="n84" class="stm run hide_run"><a href="#n84">84</a></p>
+<p id="n85" class="stm run hide_run"><a href="#n85">85</a></p>
+<p id="n86" class="stm run hide_run"><a href="#n86">86</a></p>
+<p id="n87" class="stm run hide_run"><a href="#n87">87</a></p>
+<p id="n88" class="stm run hide_run"><a href="#n88">88</a></p>
+<p id="n89" class="pln"><a href="#n89">89</a></p>
+<p id="n90" class="stm run hide_run"><a href="#n90">90</a></p>
+<p id="n91" class="pln"><a href="#n91">91</a></p>
+<p id="n92" class="pln"><a href="#n92">92</a></p>
+<p id="n93" class="pln"><a href="#n93">93</a></p>
+<p id="n94" class="pln"><a href="#n94">94</a></p>
+<p id="n95" class="pln"><a href="#n95">95</a></p>
+<p id="n96" class="pln"><a href="#n96">96</a></p>
+<p id="n97" class="pln"><a href="#n97">97</a></p>
+<p id="n98" class="pln"><a href="#n98">98</a></p>
+<p id="n99" class="stm mis"><a href="#n99">99</a></p>
+<p id="n100" class="stm mis"><a href="#n100">100</a></p>
+<p id="n101" class="stm mis"><a href="#n101">101</a></p>
+<p id="n102" class="stm mis"><a href="#n102">102</a></p>
+<p id="n103" class="pln"><a href="#n103">103</a></p>
+<p id="n104" class="pln"><a href="#n104">104</a></p>
+<p id="n105" class="stm mis"><a href="#n105">105</a></p>
+<p id="n106" class="pln"><a href="#n106">106</a></p>
+<p id="n107" class="pln"><a href="#n107">107</a></p>
+<p id="n108" class="stm mis"><a href="#n108">108</a></p>
+<p id="n109" class="pln"><a href="#n109">109</a></p>
+<p id="n110" class="pln"><a href="#n110">110</a></p>
+<p id="n111" class="stm mis"><a href="#n111">111</a></p>
+<p id="n112" class="stm mis"><a href="#n112">112</a></p>
+<p id="n113" class="stm mis"><a href="#n113">113</a></p>
+<p id="n114" class="stm mis"><a href="#n114">114</a></p>
+<p id="n115" class="stm mis"><a href="#n115">115</a></p>
+<p id="n116" class="stm mis"><a href="#n116">116</a></p>
+<p id="n117" class="stm mis"><a href="#n117">117</a></p>
+<p id="n118" class="pln"><a href="#n118">118</a></p>
+<p id="n119" class="stm mis"><a href="#n119">119</a></p>
+<p id="n120" class="stm mis"><a href="#n120">120</a></p>
+<p id="n121" class="pln"><a href="#n121">121</a></p>
+<p id="n122" class="pln"><a href="#n122">122</a></p>
+<p id="n123" class="stm mis"><a href="#n123">123</a></p>
+<p id="n124" class="pln"><a href="#n124">124</a></p>
+<p id="n125" class="pln"><a href="#n125">125</a></p>
+<p id="n126" class="stm mis"><a href="#n126">126</a></p>
+<p id="n127" class="pln"><a href="#n127">127</a></p>
+<p id="n128" class="pln"><a href="#n128">128</a></p>
+<p id="n129" class="stm mis"><a href="#n129">129</a></p>
+<p id="n130" class="stm mis"><a href="#n130">130</a></p>
+<p id="n131" class="stm mis"><a href="#n131">131</a></p>
+<p id="n132" class="stm mis"><a href="#n132">132</a></p>
+<p id="n133" class="stm mis"><a href="#n133">133</a></p>
+<p id="n134" class="stm mis"><a href="#n134">134</a></p>
+<p id="n135" class="pln"><a href="#n135">135</a></p>
+<p id="n136" class="stm mis"><a href="#n136">136</a></p>
+<p id="n137" class="stm mis"><a href="#n137">137</a></p>
+<p id="n138" class="pln"><a href="#n138">138</a></p>
+<p id="n139" class="pln"><a href="#n139">139</a></p>
+<p id="n140" class="stm mis"><a href="#n140">140</a></p>
+<p id="n141" class="pln"><a href="#n141">141</a></p>
+<p id="n142" class="pln"><a href="#n142">142</a></p>
+<p id="n143" class="stm mis"><a href="#n143">143</a></p>
+<p id="n144" class="pln"><a href="#n144">144</a></p>
+<p id="n145" class="pln"><a href="#n145">145</a></p>
+<p id="n146" class="stm mis"><a href="#n146">146</a></p>
+<p id="n147" class="stm mis"><a href="#n147">147</a></p>
+<p id="n148" class="stm mis"><a href="#n148">148</a></p>
+<p id="n149" class="stm mis"><a href="#n149">149</a></p>
+<p id="n150" class="stm mis"><a href="#n150">150</a></p>
+<p id="n151" class="stm mis"><a href="#n151">151</a></p>
+<p id="n152" class="stm mis"><a href="#n152">152</a></p>
+<p id="n153" class="stm mis"><a href="#n153">153</a></p>
+<p id="n154" class="stm mis"><a href="#n154">154</a></p>
+<p id="n155" class="pln"><a href="#n155">155</a></p>
+<p id="n156" class="pln"><a href="#n156">156</a></p>
+<p id="n157" class="stm mis"><a href="#n157">157</a></p>
+<p id="n158" class="pln"><a href="#n158">158</a></p>
+<p id="n159" class="pln"><a href="#n159">159</a></p>
+<p id="n160" class="stm mis"><a href="#n160">160</a></p>
+<p id="n161" class="pln"><a href="#n161">161</a></p>
+<p id="n162" class="pln"><a href="#n162">162</a></p>
+<p id="n163" class="stm mis"><a href="#n163">163</a></p>
+<p id="n164" class="stm mis"><a href="#n164">164</a></p>
+<p id="n165" class="stm mis"><a href="#n165">165</a></p>
+<p id="n166" class="stm mis"><a href="#n166">166</a></p>
+<p id="n167" class="stm mis"><a href="#n167">167</a></p>
+<p id="n168" class="stm mis"><a href="#n168">168</a></p>
+<p id="n169" class="stm mis"><a href="#n169">169</a></p>
+<p id="n170" class="stm mis"><a href="#n170">170</a></p>
+<p id="n171" class="stm mis"><a href="#n171">171</a></p>
+<p id="n172" class="pln"><a href="#n172">172</a></p>
+<p id="n173" class="pln"><a href="#n173">173</a></p>
+<p id="n174" class="stm mis"><a href="#n174">174</a></p>
+<p id="n175" class="stm mis"><a href="#n175">175</a></p>
+<p id="n176" class="stm mis"><a href="#n176">176</a></p>
+<p id="n177" class="stm mis"><a href="#n177">177</a></p>
+<p id="n178" class="stm mis"><a href="#n178">178</a></p>
+<p id="n179" class="stm mis"><a href="#n179">179</a></p>
+<p id="n180" class="stm mis"><a href="#n180">180</a></p>
+<p id="n181" class="stm mis"><a href="#n181">181</a></p>
+<p id="n182" class="stm mis"><a href="#n182">182</a></p>
+<p id="n183" class="pln"><a href="#n183">183</a></p>
+<p id="n184" class="pln"><a href="#n184">184</a></p>
+<p id="n185" class="stm mis"><a href="#n185">185</a></p>
+<p id="n186" class="pln"><a href="#n186">186</a></p>
+<p id="n187" class="pln"><a href="#n187">187</a></p>
+<p id="n188" class="stm mis"><a href="#n188">188</a></p>
+<p id="n189" class="pln"><a href="#n189">189</a></p>
+<p id="n190" class="pln"><a href="#n190">190</a></p>
+<p id="n191" class="stm mis"><a href="#n191">191</a></p>
+<p id="n192" class="pln"><a href="#n192">192</a></p>
+<p id="n193" class="stm mis"><a href="#n193">193</a></p>
+<p id="n194" class="stm mis"><a href="#n194">194</a></p>
+<p id="n195" class="pln"><a href="#n195">195</a></p>
+<p id="n196" class="stm run hide_run"><a href="#n196">196</a></p>
+<p id="n197" class="pln"><a href="#n197">197</a></p>
+<p id="n198" class="pln"><a href="#n198">198</a></p>
+<p id="n199" class="pln"><a href="#n199">199</a></p>
+<p id="n200" class="pln"><a href="#n200">200</a></p>
+<p id="n201" class="pln"><a href="#n201">201</a></p>
+<p id="n202" class="pln"><a href="#n202">202</a></p>
+<p id="n203" class="pln"><a href="#n203">203</a></p>
+<p id="n204" class="pln"><a href="#n204">204</a></p>
+<p id="n205" class="stm run hide_run"><a href="#n205">205</a></p>
+<p id="n206" class="stm run hide_run"><a href="#n206">206</a></p>
+<p id="n207" class="stm run hide_run"><a href="#n207">207</a></p>
+<p id="n208" class="stm run hide_run"><a href="#n208">208</a></p>
+<p id="n209" class="pln"><a href="#n209">209</a></p>
+<p id="n210" class="stm run hide_run"><a href="#n210">210</a></p>
+<p id="n211" class="pln"><a href="#n211">211</a></p>
+<p id="n212" class="pln"><a href="#n212">212</a></p>
+<p id="n213" class="stm run hide_run"><a href="#n213">213</a></p>
+<p id="n214" class="pln"><a href="#n214">214</a></p>
+<p id="n215" class="pln"><a href="#n215">215</a></p>
+<p id="n216" class="stm run hide_run"><a href="#n216">216</a></p>
+<p id="n217" class="stm run hide_run"><a href="#n217">217</a></p>
+<p id="n218" class="stm run hide_run"><a href="#n218">218</a></p>
+<p id="n219" class="stm run hide_run"><a href="#n219">219</a></p>
+<p id="n220" class="stm run hide_run"><a href="#n220">220</a></p>
+<p id="n221" class="stm run hide_run"><a href="#n221">221</a></p>
+<p id="n222" class="stm run hide_run"><a href="#n222">222</a></p>
+<p id="n223" class="stm run hide_run"><a href="#n223">223</a></p>
+<p id="n224" class="pln"><a href="#n224">224</a></p>
+<p id="n225" class="stm mis"><a href="#n225">225</a></p>
+<p id="n226" class="pln"><a href="#n226">226</a></p>
+<p id="n227" class="pln"><a href="#n227">227</a></p>
+<p id="n228" class="stm mis"><a href="#n228">228</a></p>
+<p id="n229" class="pln"><a href="#n229">229</a></p>
+<p id="n230" class="pln"><a href="#n230">230</a></p>
+<p id="n231" class="stm mis"><a href="#n231">231</a></p>
+<p id="n232" class="pln"><a href="#n232">232</a></p>
+<p id="n233" class="pln"><a href="#n233">233</a></p>
+<p id="n234" class="stm mis"><a href="#n234">234</a></p>
+<p id="n235" class="stm mis"><a href="#n235">235</a></p>
+<p id="n236" class="stm mis"><a href="#n236">236</a></p>
+<p id="n237" class="stm mis"><a href="#n237">237</a></p>
+<p id="n238" class="stm mis"><a href="#n238">238</a></p>
+<p id="n239" class="stm mis"><a href="#n239">239</a></p>
+<p id="n240" class="stm mis"><a href="#n240">240</a></p>
+<p id="n241" class="stm mis"><a href="#n241">241</a></p>
+<p id="n242" class="pln"><a href="#n242">242</a></p>
+<p id="n243" class="pln"><a href="#n243">243</a></p>
+<p id="n244" class="stm mis"><a href="#n244">244</a></p>
+<p id="n245" class="pln"><a href="#n245">245</a></p>
+<p id="n246" class="pln"><a href="#n246">246</a></p>
+<p id="n247" class="stm mis"><a href="#n247">247</a></p>
+<p id="n248" class="pln"><a href="#n248">248</a></p>
+<p id="n249" class="pln"><a href="#n249">249</a></p>
+<p id="n250" class="stm mis"><a href="#n250">250</a></p>
+<p id="n251" class="stm mis"><a href="#n251">251</a></p>
+<p id="n252" class="stm mis"><a href="#n252">252</a></p>
+<p id="n253" class="stm mis"><a href="#n253">253</a></p>
+<p id="n254" class="stm mis"><a href="#n254">254</a></p>
+<p id="n255" class="stm mis"><a href="#n255">255</a></p>
+<p id="n256" class="stm mis"><a href="#n256">256</a></p>
+<p id="n257" class="stm mis"><a href="#n257">257</a></p>
+<p id="n258" class="stm mis"><a href="#n258">258</a></p>
+<p id="n259" class="pln"><a href="#n259">259</a></p>
+<p id="n260" class="pln"><a href="#n260">260</a></p>
+<p id="n261" class="stm mis"><a href="#n261">261</a></p>
+<p id="n262" class="pln"><a href="#n262">262</a></p>
+<p id="n263" class="pln"><a href="#n263">263</a></p>
+<p id="n264" class="stm mis"><a href="#n264">264</a></p>
+<p id="n265" class="pln"><a href="#n265">265</a></p>
+<p id="n266" class="pln"><a href="#n266">266</a></p>
+<p id="n267" class="stm mis"><a href="#n267">267</a></p>
+<p id="n268" class="stm mis"><a href="#n268">268</a></p>
+<p id="n269" class="stm mis"><a href="#n269">269</a></p>
+<p id="n270" class="stm mis"><a href="#n270">270</a></p>
+<p id="n271" class="stm mis"><a href="#n271">271</a></p>
+<p id="n272" class="stm mis"><a href="#n272">272</a></p>
+<p id="n273" class="stm mis"><a href="#n273">273</a></p>
+<p id="n274" class="stm mis"><a href="#n274">274</a></p>
+<p id="n275" class="stm mis"><a href="#n275">275</a></p>
+<p id="n276" class="pln"><a href="#n276">276</a></p>
+<p id="n277" class="pln"><a href="#n277">277</a></p>
+<p id="n278" class="stm mis"><a href="#n278">278</a></p>
+<p id="n279" class="stm mis"><a href="#n279">279</a></p>
+<p id="n280" class="stm mis"><a href="#n280">280</a></p>
+<p id="n281" class="stm mis"><a href="#n281">281</a></p>
+<p id="n282" class="stm mis"><a href="#n282">282</a></p>
+<p id="n283" class="stm mis"><a href="#n283">283</a></p>
+<p id="n284" class="stm mis"><a href="#n284">284</a></p>
+<p id="n285" class="stm mis"><a href="#n285">285</a></p>
+<p id="n286" class="stm mis"><a href="#n286">286</a></p>
+<p id="n287" class="stm mis"><a href="#n287">287</a></p>
+<p id="n288" class="stm mis"><a href="#n288">288</a></p>
+<p id="n289" class="pln"><a href="#n289">289</a></p>
+<p id="n290" class="pln"><a href="#n290">290</a></p>
+<p id="n291" class="stm mis"><a href="#n291">291</a></p>
+<p id="n292" class="pln"><a href="#n292">292</a></p>
+<p id="n293" class="pln"><a href="#n293">293</a></p>
+<p id="n294" class="stm mis"><a href="#n294">294</a></p>
+<p id="n295" class="pln"><a href="#n295">295</a></p>
+<p id="n296" class="pln"><a href="#n296">296</a></p>
+<p id="n297" class="stm mis"><a href="#n297">297</a></p>
+<p id="n298" class="pln"><a href="#n298">298</a></p>
+<p id="n299" class="stm mis"><a href="#n299">299</a></p>
+<p id="n300" class="stm mis"><a href="#n300">300</a></p>
+<p id="n301" class="pln"><a href="#n301">301</a></p>
+<p id="n302" class="stm run hide_run"><a href="#n302">302</a></p>
+<p id="n303" class="pln"><a href="#n303">303</a></p>
+<p id="n304" class="pln"><a href="#n304">304</a></p>
+<p id="n305" class="pln"><a href="#n305">305</a></p>
+<p id="n306" class="pln"><a href="#n306">306</a></p>
+<p id="n307" class="pln"><a href="#n307">307</a></p>
+<p id="n308" class="pln"><a href="#n308">308</a></p>
+<p id="n309" class="pln"><a href="#n309">309</a></p>
+<p id="n310" class="pln"><a href="#n310">310</a></p>
+<p id="n311" class="pln"><a href="#n311">311</a></p>
+<p id="n312" class="stm run hide_run"><a href="#n312">312</a></p>
+<p id="n313" class="stm run hide_run"><a href="#n313">313</a></p>
+<p id="n314" class="stm run hide_run"><a href="#n314">314</a></p>
+<p id="n315" class="stm run hide_run"><a href="#n315">315</a></p>
+<p id="n316" class="pln"><a href="#n316">316</a></p>
+<p id="n317" class="stm run hide_run"><a href="#n317">317</a></p>
+<p id="n318" class="pln"><a href="#n318">318</a></p>
+<p id="n319" class="pln"><a href="#n319">319</a></p>
+<p id="n320" class="stm run hide_run"><a href="#n320">320</a></p>
+<p id="n321" class="pln"><a href="#n321">321</a></p>
+<p id="n322" class="pln"><a href="#n322">322</a></p>
+<p id="n323" class="stm run hide_run"><a href="#n323">323</a></p>
+<p id="n324" class="stm run hide_run"><a href="#n324">324</a></p>
+<p id="n325" class="stm run hide_run"><a href="#n325">325</a></p>
+<p id="n326" class="stm run hide_run"><a href="#n326">326</a></p>
+<p id="n327" class="stm run hide_run"><a href="#n327">327</a></p>
+<p id="n328" class="stm run hide_run"><a href="#n328">328</a></p>
+<p id="n329" class="stm run hide_run"><a href="#n329">329</a></p>
+<p id="n330" class="stm run hide_run"><a href="#n330">330</a></p>
+<p id="n331" class="stm run hide_run"><a href="#n331">331</a></p>
+<p id="n332" class="pln"><a href="#n332">332</a></p>
+<p id="n333" class="stm run hide_run"><a href="#n333">333</a></p>
+<p id="n334" class="stm run hide_run"><a href="#n334">334</a></p>
+<p id="n335" class="stm run hide_run"><a href="#n335">335</a></p>
+<p id="n336" class="stm run hide_run"><a href="#n336">336</a></p>
+<p id="n337" class="stm run hide_run"><a href="#n337">337</a></p>
+<p id="n338" class="stm run hide_run"><a href="#n338">338</a></p>
+<p id="n339" class="stm run hide_run"><a href="#n339">339</a></p>
+<p id="n340" class="stm run hide_run"><a href="#n340">340</a></p>
+<p id="n341" class="stm run hide_run"><a href="#n341">341</a></p>
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+<p id="n343" class="stm run hide_run"><a href="#n343">343</a></p>
+<p id="n344" class="stm run hide_run"><a href="#n344">344</a></p>
+<p id="n345" class="stm run hide_run"><a href="#n345">345</a></p>
+<p id="n346" class="stm mis"><a href="#n346">346</a></p>
+<p id="n347" class="stm mis"><a href="#n347">347</a></p>
+<p id="n348" class="stm mis"><a href="#n348">348</a></p>
+<p id="n349" class="pln"><a href="#n349">349</a></p>
+<p id="n350" class="stm mis"><a href="#n350">350</a></p>
+<p id="n351" class="pln"><a href="#n351">351</a></p>
+<p id="n352" class="stm mis"><a href="#n352">352</a></p>
+<p id="n353" class="pln"><a href="#n353">353</a></p>
+<p id="n354" class="pln"><a href="#n354">354</a></p>
+<p id="n355" class="stm run hide_run"><a href="#n355">355</a></p>
+<p id="n356" class="pln"><a href="#n356">356</a></p>
+<p id="n357" class="pln"><a href="#n357">357</a></p>
+<p id="n358" class="pln"><a href="#n358">358</a></p>
+<p id="n359" class="pln"><a href="#n359">359</a></p>
+<p id="n360" class="pln"><a href="#n360">360</a></p>
+<p id="n361" class="pln"><a href="#n361">361</a></p>
+<p id="n362" class="pln"><a href="#n362">362</a></p>
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+<p id="n365" class="pln"><a href="#n365">365</a></p>
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+<p id="n367" class="pln"><a href="#n367">367</a></p>
+<p id="n368" class="stm run hide_run"><a href="#n368">368</a></p>
+<p id="n369" class="stm run hide_run"><a href="#n369">369</a></p>
+<p id="n370" class="pln"><a href="#n370">370</a></p>
+<p id="n371" class="stm run hide_run"><a href="#n371">371</a></p>
+<p id="n372" class="stm run hide_run"><a href="#n372">372</a></p>
+<p id="n373" class="stm run hide_run"><a href="#n373">373</a></p>
+<p id="n374" class="stm run hide_run"><a href="#n374">374</a></p>
+<p id="n375" class="stm run hide_run"><a href="#n375">375</a></p>
+<p id="n376" class="stm run hide_run"><a href="#n376">376</a></p>
+<p id="n377" class="stm run hide_run"><a href="#n377">377</a></p>
+<p id="n378" class="stm run hide_run"><a href="#n378">378</a></p>
+<p id="n379" class="stm run hide_run"><a href="#n379">379</a></p>
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+<p id="n381" class="stm run hide_run"><a href="#n381">381</a></p>
+<p id="n382" class="stm run hide_run"><a href="#n382">382</a></p>
+<p id="n383" class="pln"><a href="#n383">383</a></p>
+<p id="n384" class="stm run hide_run"><a href="#n384">384</a></p>
+<p id="n385" class="stm run hide_run"><a href="#n385">385</a></p>
+<p id="n386" class="stm run hide_run"><a href="#n386">386</a></p>
+<p id="n387" class="stm run hide_run"><a href="#n387">387</a></p>
+<p id="n388" class="stm run hide_run"><a href="#n388">388</a></p>
+<p id="n389" class="stm run hide_run"><a href="#n389">389</a></p>
+<p id="n390" class="stm run hide_run"><a href="#n390">390</a></p>
+<p id="n391" class="stm run hide_run"><a href="#n391">391</a></p>
+<p id="n392" class="pln"><a href="#n392">392</a></p>
+<p id="n393" class="stm run hide_run"><a href="#n393">393</a></p>
+<p id="n394" class="pln"><a href="#n394">394</a></p>
+<p id="n395" class="pln"><a href="#n395">395</a></p>
+<p id="n396" class="pln"><a href="#n396">396</a></p>
+<p id="n397" class="pln"><a href="#n397">397</a></p>
+<p id="n398" class="pln"><a href="#n398">398</a></p>
+<p id="n399" class="pln"><a href="#n399">399</a></p>
+<p id="n400" class="pln"><a href="#n400">400</a></p>
+<p id="n401" class="pln"><a href="#n401">401</a></p>
+<p id="n402" class="stm run hide_run"><a href="#n402">402</a></p>
+<p id="n403" class="stm run hide_run"><a href="#n403">403</a></p>
+<p id="n404" class="stm run hide_run"><a href="#n404">404</a></p>
+<p id="n405" class="stm run hide_run"><a href="#n405">405</a></p>
+<p id="n406" class="pln"><a href="#n406">406</a></p>
+<p id="n407" class="stm run hide_run"><a href="#n407">407</a></p>
+<p id="n408" class="pln"><a href="#n408">408</a></p>
+<p id="n409" class="pln"><a href="#n409">409</a></p>
+<p id="n410" class="stm run hide_run"><a href="#n410">410</a></p>
+<p id="n411" class="pln"><a href="#n411">411</a></p>
+<p id="n412" class="stm run hide_run"><a href="#n412">412</a></p>
+<p id="n413" class="stm run hide_run"><a href="#n413">413</a></p>
+<p id="n414" class="stm run hide_run"><a href="#n414">414</a></p>
+<p id="n415" class="stm run hide_run"><a href="#n415">415</a></p>
+<p id="n416" class="stm run hide_run"><a href="#n416">416</a></p>
+<p id="n417" class="stm run hide_run"><a href="#n417">417</a></p>
+<p id="n418" class="stm run hide_run"><a href="#n418">418</a></p>
+<p id="n419" class="stm run hide_run"><a href="#n419">419</a></p>
+<p id="n420" class="stm mis"><a href="#n420">420</a></p>
+<p id="n421" class="stm mis"><a href="#n421">421</a></p>
+<p id="n422" class="pln"><a href="#n422">422</a></p>
+<p id="n423" class="stm mis"><a href="#n423">423</a></p>
+<p id="n424" class="stm mis"><a href="#n424">424</a></p>
+<p id="n425" class="pln"><a href="#n425">425</a></p>
+<p id="n426" class="pln"><a href="#n426">426</a></p>
+<p id="n427" class="stm mis"><a href="#n427">427</a></p>
+<p id="n428" class="pln"><a href="#n428">428</a></p>
+<p id="n429" class="pln"><a href="#n429">429</a></p>
+<p id="n430" class="stm mis"><a href="#n430">430</a></p>
+<p id="n431" class="pln"><a href="#n431">431</a></p>
+<p id="n432" class="pln"><a href="#n432">432</a></p>
+<p id="n433" class="stm mis"><a href="#n433">433</a></p>
+<p id="n434" class="stm mis"><a href="#n434">434</a></p>
+<p id="n435" class="stm mis"><a href="#n435">435</a></p>
+<p id="n436" class="stm mis"><a href="#n436">436</a></p>
+<p id="n437" class="stm mis"><a href="#n437">437</a></p>
+<p id="n438" class="stm mis"><a href="#n438">438</a></p>
+<p id="n439" class="stm mis"><a href="#n439">439</a></p>
+<p id="n440" class="stm mis"><a href="#n440">440</a></p>
+<p id="n441" class="pln"><a href="#n441">441</a></p>
+<p id="n442" class="pln"><a href="#n442">442</a></p>
+<p id="n443" class="stm mis"><a href="#n443">443</a></p>
+<p id="n444" class="pln"><a href="#n444">444</a></p>
+<p id="n445" class="pln"><a href="#n445">445</a></p>
+<p id="n446" class="stm mis"><a href="#n446">446</a></p>
+<p id="n447" class="pln"><a href="#n447">447</a></p>
+<p id="n448" class="pln"><a href="#n448">448</a></p>
+<p id="n449" class="stm mis"><a href="#n449">449</a></p>
+<p id="n450" class="stm mis"><a href="#n450">450</a></p>
+<p id="n451" class="stm mis"><a href="#n451">451</a></p>
+<p id="n452" class="stm mis"><a href="#n452">452</a></p>
+<p id="n453" class="stm mis"><a href="#n453">453</a></p>
+<p id="n454" class="stm mis"><a href="#n454">454</a></p>
+<p id="n455" class="stm mis"><a href="#n455">455</a></p>
+<p id="n456" class="stm mis"><a href="#n456">456</a></p>
+<p id="n457" class="stm mis"><a href="#n457">457</a></p>
+<p id="n458" class="pln"><a href="#n458">458</a></p>
+<p id="n459" class="pln"><a href="#n459">459</a></p>
+<p id="n460" class="stm mis"><a href="#n460">460</a></p>
+<p id="n461" class="pln"><a href="#n461">461</a></p>
+<p id="n462" class="pln"><a href="#n462">462</a></p>
+<p id="n463" class="stm mis"><a href="#n463">463</a></p>
+<p id="n464" class="pln"><a href="#n464">464</a></p>
+<p id="n465" class="pln"><a href="#n465">465</a></p>
+<p id="n466" class="stm mis"><a href="#n466">466</a></p>
+<p id="n467" class="stm mis"><a href="#n467">467</a></p>
+<p id="n468" class="stm mis"><a href="#n468">468</a></p>
+<p id="n469" class="stm mis"><a href="#n469">469</a></p>
+<p id="n470" class="stm mis"><a href="#n470">470</a></p>
+<p id="n471" class="stm mis"><a href="#n471">471</a></p>
+<p id="n472" class="stm mis"><a href="#n472">472</a></p>
+<p id="n473" class="stm mis"><a href="#n473">473</a></p>
+<p id="n474" class="stm mis"><a href="#n474">474</a></p>
+<p id="n475" class="pln"><a href="#n475">475</a></p>
+<p id="n476" class="pln"><a href="#n476">476</a></p>
+<p id="n477" class="stm mis"><a href="#n477">477</a></p>
+<p id="n478" class="stm mis"><a href="#n478">478</a></p>
+<p id="n479" class="stm mis"><a href="#n479">479</a></p>
+<p id="n480" class="stm mis"><a href="#n480">480</a></p>
+<p id="n481" class="stm mis"><a href="#n481">481</a></p>
+<p id="n482" class="stm mis"><a href="#n482">482</a></p>
+<p id="n483" class="stm mis"><a href="#n483">483</a></p>
+<p id="n484" class="stm mis"><a href="#n484">484</a></p>
+<p id="n485" class="stm mis"><a href="#n485">485</a></p>
+<p id="n486" class="stm mis"><a href="#n486">486</a></p>
+<p id="n487" class="stm mis"><a href="#n487">487</a></p>
+<p id="n488" class="pln"><a href="#n488">488</a></p>
+<p id="n489" class="pln"><a href="#n489">489</a></p>
+<p id="n490" class="stm mis"><a href="#n490">490</a></p>
+<p id="n491" class="pln"><a href="#n491">491</a></p>
+<p id="n492" class="pln"><a href="#n492">492</a></p>
+<p id="n493" class="stm mis"><a href="#n493">493</a></p>
+<p id="n494" class="pln"><a href="#n494">494</a></p>
+<p id="n495" class="stm mis"><a href="#n495">495</a></p>
+<p id="n496" class="stm mis"><a href="#n496">496</a></p>
+<p id="n497" class="pln"><a href="#n497">497</a></p>
+<p id="n498" class="stm run hide_run"><a href="#n498">498</a></p>
+<p id="n499" class="pln"><a href="#n499">499</a></p>
+<p id="n500" class="pln"><a href="#n500">500</a></p>
+<p id="n501" class="pln"><a href="#n501">501</a></p>
+<p id="n502" class="pln"><a href="#n502">502</a></p>
+<p id="n503" class="pln"><a href="#n503">503</a></p>
+<p id="n504" class="pln"><a href="#n504">504</a></p>
+<p id="n505" class="pln"><a href="#n505">505</a></p>
+<p id="n506" class="pln"><a href="#n506">506</a></p>
+<p id="n507" class="pln"><a href="#n507">507</a></p>
+<p id="n508" class="pln"><a href="#n508">508</a></p>
+<p id="n509" class="pln"><a href="#n509">509</a></p>
+<p id="n510" class="pln"><a href="#n510">510</a></p>
+<p id="n511" class="pln"><a href="#n511">511</a></p>
+<p id="n512" class="stm run hide_run"><a href="#n512">512</a></p>
+<p id="n513" class="stm run hide_run"><a href="#n513">513</a></p>
+<p id="n514" class="stm run hide_run"><a href="#n514">514</a></p>
+<p id="n515" class="pln"><a href="#n515">515</a></p>
+<p id="n516" class="pln"><a href="#n516">516</a></p>
+<p id="n517" class="pln"><a href="#n517">517</a></p>
+<p id="n518" class="stm run hide_run"><a href="#n518">518</a></p>
+<p id="n519" class="stm run hide_run"><a href="#n519">519</a></p>
+<p id="n520" class="stm run hide_run"><a href="#n520">520</a></p>
+<p id="n521" class="stm run hide_run"><a href="#n521">521</a></p>
+<p id="n522" class="stm run hide_run"><a href="#n522">522</a></p>
+<p id="n523" class="stm run hide_run"><a href="#n523">523</a></p>
+<p id="n524" class="stm run hide_run"><a href="#n524">524</a></p>
+<p id="n525" class="stm run hide_run"><a href="#n525">525</a></p>
+<p id="n526" class="stm run hide_run"><a href="#n526">526</a></p>
+<p id="n527" class="stm run hide_run"><a href="#n527">527</a></p>
+<p id="n528" class="stm run hide_run"><a href="#n528">528</a></p>
+<p id="n529" class="stm run hide_run"><a href="#n529">529</a></p>
+<p id="n530" class="stm run hide_run"><a href="#n530">530</a></p>
+<p id="n531" class="stm run hide_run"><a href="#n531">531</a></p>
+<p id="n532" class="pln"><a href="#n532">532</a></p>
+<p id="n533" class="pln"><a href="#n533">533</a></p>
+<p id="n534" class="stm run hide_run"><a href="#n534">534</a></p>
+<p id="n535" class="stm run hide_run"><a href="#n535">535</a></p>
+<p id="n536" class="stm run hide_run"><a href="#n536">536</a></p>
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+<p id="n538" class="stm run hide_run"><a href="#n538">538</a></p>
+<p id="n539" class="stm run hide_run"><a href="#n539">539</a></p>
+<p id="n540" class="stm run hide_run"><a href="#n540">540</a></p>
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+<p id="n542" class="stm run hide_run"><a href="#n542">542</a></p>
+<p id="n543" class="stm run hide_run"><a href="#n543">543</a></p>
+<p id="n544" class="stm run hide_run"><a href="#n544">544</a></p>
+<p id="n545" class="stm run hide_run"><a href="#n545">545</a></p>
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+<p id="n547" class="pln"><a href="#n547">547</a></p>
+<p id="n548" class="pln"><a href="#n548">548</a></p>
+<p id="n549" class="pln"><a href="#n549">549</a></p>
+<p id="n550" class="pln"><a href="#n550">550</a></p>
+<p id="n551" class="pln"><a href="#n551">551</a></p>
+<p id="n552" class="stm run hide_run"><a href="#n552">552</a></p>
+<p id="n553" class="stm run hide_run"><a href="#n553">553</a></p>
+<p id="n554" class="stm run hide_run"><a href="#n554">554</a></p>
+<p id="n555" class="pln"><a href="#n555">555</a></p>
+<p id="n556" class="stm run hide_run"><a href="#n556">556</a></p>
+<p id="n557" class="pln"><a href="#n557">557</a></p>
+<p id="n558" class="pln"><a href="#n558">558</a></p>
+<p id="n559" class="stm run hide_run"><a href="#n559">559</a></p>
+<p id="n560" class="stm run hide_run"><a href="#n560">560</a></p>
+<p id="n561" class="stm run hide_run"><a href="#n561">561</a></p>
+<p id="n562" class="stm run hide_run"><a href="#n562">562</a></p>
+<p id="n563" class="stm run hide_run"><a href="#n563">563</a></p>
+<p id="n564" class="stm run hide_run"><a href="#n564">564</a></p>
+<p id="n565" class="stm run hide_run"><a href="#n565">565</a></p>
+<p id="n566" class="stm run hide_run"><a href="#n566">566</a></p>
+<p id="n567" class="stm run hide_run"><a href="#n567">567</a></p>
+<p id="n568" class="stm run hide_run"><a href="#n568">568</a></p>
+<p id="n569" class="stm run hide_run"><a href="#n569">569</a></p>
+<p id="n570" class="stm run hide_run"><a href="#n570">570</a></p>
+<p id="n571" class="pln"><a href="#n571">571</a></p>
+<p id="n572" class="stm run hide_run"><a href="#n572">572</a></p>
+<p id="n573" class="pln"><a href="#n573">573</a></p>
+<p id="n574" class="pln"><a href="#n574">574</a></p>
+<p id="n575" class="pln"><a href="#n575">575</a></p>
+<p id="n576" class="pln"><a href="#n576">576</a></p>
+<p id="n577" class="pln"><a href="#n577">577</a></p>
+<p id="n578" class="pln"><a href="#n578">578</a></p>
+<p id="n579" class="pln"><a href="#n579">579</a></p>
+<p id="n580" class="pln"><a href="#n580">580</a></p>
+<p id="n581" class="pln"><a href="#n581">581</a></p>
+<p id="n582" class="pln"><a href="#n582">582</a></p>
+<p id="n583" class="pln"><a href="#n583">583</a></p>
+<p id="n584" class="pln"><a href="#n584">584</a></p>
+<p id="n585" class="pln"><a href="#n585">585</a></p>
+<p id="n586" class="pln"><a href="#n586">586</a></p>
+<p id="n587" class="pln"><a href="#n587">587</a></p>
+<p id="n588" class="pln"><a href="#n588">588</a></p>
+<p id="n589" class="stm run hide_run"><a href="#n589">589</a></p>
+<p id="n590" class="stm run hide_run"><a href="#n590">590</a></p>
+<p id="n591" class="pln"><a href="#n591">591</a></p>
+<p id="n592" class="stm run hide_run"><a href="#n592">592</a></p>
+<p id="n593" class="stm run hide_run"><a href="#n593">593</a></p>
+<p id="n594" class="stm run hide_run"><a href="#n594">594</a></p>
+<p id="n595" class="stm run hide_run"><a href="#n595">595</a></p>
+<p id="n596" class="stm run hide_run"><a href="#n596">596</a></p>
+<p id="n597" class="stm run hide_run"><a href="#n597">597</a></p>
+<p id="n598" class="stm run hide_run"><a href="#n598">598</a></p>
+<p id="n599" class="stm run hide_run"><a href="#n599">599</a></p>
+<p id="n600" class="stm run hide_run"><a href="#n600">600</a></p>
+<p id="n601" class="stm run hide_run"><a href="#n601">601</a></p>
+<p id="n602" class="stm run hide_run"><a href="#n602">602</a></p>
+<p id="n603" class="stm run hide_run"><a href="#n603">603</a></p>
+<p id="n604" class="stm run hide_run"><a href="#n604">604</a></p>
+<p id="n605" class="stm run hide_run"><a href="#n605">605</a></p>
+<p id="n606" class="stm run hide_run"><a href="#n606">606</a></p>
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+<p id="n608" class="stm run hide_run"><a href="#n608">608</a></p>
+<p id="n609" class="stm run hide_run"><a href="#n609">609</a></p>
+<p id="n610" class="stm run hide_run"><a href="#n610">610</a></p>
+<p id="n611" class="pln"><a href="#n611">611</a></p>
+<p id="n612" class="stm run hide_run"><a href="#n612">612</a></p>
+<p id="n613" class="pln"><a href="#n613">613</a></p>
+<p id="n614" class="pln"><a href="#n614">614</a></p>
+<p id="n615" class="pln"><a href="#n615">615</a></p>
+<p id="n616" class="pln"><a href="#n616">616</a></p>
+<p id="n617" class="pln"><a href="#n617">617</a></p>
+<p id="n618" class="pln"><a href="#n618">618</a></p>
+<p id="n619" class="pln"><a href="#n619">619</a></p>
+<p id="n620" class="pln"><a href="#n620">620</a></p>
+<p id="n621" class="stm run hide_run"><a href="#n621">621</a></p>
+<p id="n622" class="stm run hide_run"><a href="#n622">622</a></p>
+<p id="n623" class="stm run hide_run"><a href="#n623">623</a></p>
+<p id="n624" class="stm run hide_run"><a href="#n624">624</a></p>
+<p id="n625" class="stm run hide_run"><a href="#n625">625</a></p>
+<p id="n626" class="stm run hide_run"><a href="#n626">626</a></p>
+<p id="n627" class="pln"><a href="#n627">627</a></p>
+<p id="n628" class="pln"><a href="#n628">628</a></p>
+<p id="n629" class="stm run hide_run"><a href="#n629">629</a></p>
+<p id="n630" class="stm run hide_run"><a href="#n630">630</a></p>
+<p id="n631" class="stm run hide_run"><a href="#n631">631</a></p>
+<p id="n632" class="pln"><a href="#n632">632</a></p>
+<p id="n633" class="stm run hide_run"><a href="#n633">633</a></p>
+<p id="n634" class="stm run hide_run"><a href="#n634">634</a></p>
+<p id="n635" class="stm run hide_run"><a href="#n635">635</a></p>
+<p id="n636" class="pln"><a href="#n636">636</a></p>
+<p id="n637" class="stm run hide_run"><a href="#n637">637</a></p>
+<p id="n638" class="stm run hide_run"><a href="#n638">638</a></p>
+<p id="n639" class="stm run hide_run"><a href="#n639">639</a></p>
+<p id="n640" class="stm run hide_run"><a href="#n640">640</a></p>
+<p id="n641" class="pln"><a href="#n641">641</a></p>
+<p id="n642" class="pln"><a href="#n642">642</a></p>
+<p id="n643" class="pln"><a href="#n643">643</a></p>
+<p id="n644" class="pln"><a href="#n644">644</a></p>
+<p id="n645" class="pln"><a href="#n645">645</a></p>
+<p id="n646" class="pln"><a href="#n646">646</a></p>
+<p id="n647" class="stm run hide_run"><a href="#n647">647</a></p>
+<p id="n648" class="stm run hide_run"><a href="#n648">648</a></p>
+<p id="n649" class="stm run hide_run"><a href="#n649">649</a></p>
+<p id="n650" class="pln"><a href="#n650">650</a></p>
+<p id="n651" class="stm run hide_run"><a href="#n651">651</a></p>
+<p id="n652" class="pln"><a href="#n652">652</a></p>
+<p id="n653" class="pln"><a href="#n653">653</a></p>
+<p id="n654" class="pln"><a href="#n654">654</a></p>
+<p id="n655" class="pln"><a href="#n655">655</a></p>
+<p id="n656" class="pln"><a href="#n656">656</a></p>
+<p id="n657" class="pln"><a href="#n657">657</a></p>
+<p id="n658" class="pln"><a href="#n658">658</a></p>
+<p id="n659" class="stm run hide_run"><a href="#n659">659</a></p>
+<p id="n660" class="stm run hide_run"><a href="#n660">660</a></p>
+<p id="n661" class="stm run hide_run"><a href="#n661">661</a></p>
+<p id="n662" class="stm run hide_run"><a href="#n662">662</a></p>
+<p id="n663" class="stm run hide_run"><a href="#n663">663</a></p>
+<p id="n664" class="stm run hide_run"><a href="#n664">664</a></p>
+<p id="n665" class="pln"><a href="#n665">665</a></p>
+<p id="n666" class="stm run hide_run"><a href="#n666">666</a></p>
+<p id="n667" class="stm run hide_run"><a href="#n667">667</a></p>
+<p id="n668" class="stm run hide_run"><a href="#n668">668</a></p>
+<p id="n669" class="pln"><a href="#n669">669</a></p>
+<p id="n670" class="stm run hide_run"><a href="#n670">670</a></p>
+<p id="n671" class="stm run hide_run"><a href="#n671">671</a></p>
+<p id="n672" class="pln"><a href="#n672">672</a></p>
+<p id="n673" class="pln"><a href="#n673">673</a></p>
+<p id="n674" class="stm run hide_run"><a href="#n674">674</a></p>
+<p id="n675" class="stm mis"><a href="#n675">675</a></p>
+
+ </td>
+ <td class="text">
+<p id="t1" class="stm run hide_run"><span class="key">import</span> <span class="nam">unittest</span><span class="strut"> </span></p>
+<p id="t2" class="stm run hide_run"><span class="key">import</span> <span class="nam">sqlite3</span><span class="strut"> </span></p>
+<p id="t3" class="stm run hide_run"><span class="key">import</span> <span class="nam">numpy</span> <span class="key">as</span> <span class="nam">np</span><span class="strut"> </span></p>
+<p id="t4" class="stm run hide_run"><span class="key">import</span> <span class="nam">pandas</span> <span class="key">as</span> <span class="nam">pd</span><span class="strut"> </span></p>
+<p id="t5" class="stm run hide_run"><span class="key">from</span> <span class="nam">navipy</span> <span class="key">import</span> <span class="nam">database</span><span class="strut"> </span></p>
+<p id="t6" class="pln"><span class="com"># from navipy.processing.tools import is_numeric_array</span><span class="strut"> </span></p>
+<p id="t7" class="stm run hide_run"><span class="key">import</span> <span class="nam">pkg_resources</span><span class="strut"> </span></p>
+<p id="t8" class="stm run hide_run"><span class="key">import</span> <span class="nam">tempfile</span><span class="strut"> </span></p>
+<p id="t9" class="stm run hide_run"><span class="key">from</span> <span class="nam">navipy</span><span class="op">.</span><span class="nam">database</span> <span class="key">import</span> <span class="nam">DataBase</span><span class="strut"> </span></p>
+<p id="t10" class="stm run hide_run"><span class="key">from</span> <span class="nam">navipy</span> <span class="key">import</span> <span class="nam">unittestlogger</span><span class="strut"> </span></p>
+<p id="t11" class="pln"><span class="strut"> </span></p>
+<p id="t12" class="pln"><span class="strut"> </span></p>
+<p id="t13" class="stm run hide_run"><span class="key">class</span> <span class="nam">TestCase</span><span class="op">(</span><span class="nam">unittest</span><span class="op">.</span><span class="nam">TestCase</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t14" class="stm run hide_run"> <span class="key">def</span> <span class="nam">setUp</span><span class="op">(</span><span class="nam">self</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t15" class="stm run hide_run"> <span class="nam">unittestlogger</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t16" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">mydb_filename</span> <span class="op">=</span> <span class="nam">pkg_resources</span><span class="op">.</span><span class="nam">resource_filename</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t17" class="pln"> <span class="str">'navipy'</span><span class="op">,</span> <span class="str">'resources/database2.db'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t18" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">mydb</span> <span class="op">=</span> <span class="nam">DataBase</span><span class="op">(</span><span class="nam">self</span><span class="op">.</span><span class="nam">mydb_filename</span><span class="op">,</span> <span class="nam">mode</span><span class="op">=</span><span class="str">'r'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t19" class="pln"><span class="strut"> </span></p>
+<p id="t20" class="stm run hide_run"> <span class="key">def</span> <span class="nam">test_DataBase_init_</span><span class="op">(</span><span class="nam">self</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t21" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t22" class="pln"><span class="str"> this test checks the initialization of a DataBase works</span><span class="strut"> </span></p>
+<p id="t23" class="pln"><span class="str"> correctly.</span><span class="strut"> </span></p>
+<p id="t24" class="pln"><span class="str"> it checks if correct errors are raised for:</span><span class="strut"> </span></p>
+<p id="t25" class="pln"><span class="str"> - a database file with out .db ending is used for initialization</span><span class="strut"> </span></p>
+<p id="t26" class="pln"><span class="str"> - wrong types are passed for the database name</span><span class="strut"> </span></p>
+<p id="t27" class="pln"><span class="str"> i.e. integers, floats, none, nan</span><span class="strut"> </span></p>
+<p id="t28" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t29" class="pln"> <span class="com"># filename must end with .db</span><span class="strut"> </span></p>
+<p id="t30" class="stm run hide_run"> <span class="key">with</span> <span class="nam">self</span><span class="op">.</span><span class="nam">assertRaises</span><span class="op">(</span><span class="nam">NameError</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t31" class="stm run hide_run"> <span class="nam">DataBase</span><span class="op">(</span><span class="str">'test'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t32" class="pln"> <span class="com"># filename must be string</span><span class="strut"> </span></p>
+<p id="t33" class="stm run hide_run"> <span class="key">for</span> <span class="nam">n</span> <span class="key">in</span> <span class="op">[</span><span class="num">2</span><span class="op">,</span> <span class="num">5.0</span><span class="op">,</span> <span class="key">None</span><span class="op">,</span> <span class="nam">np</span><span class="op">.</span><span class="nam">nan</span><span class="op">]</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t34" class="stm run hide_run"> <span class="key">with</span> <span class="nam">self</span><span class="op">.</span><span class="nam">assertRaises</span><span class="op">(</span><span class="nam">TypeError</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t35" class="stm run hide_run"> <span class="nam">DataBase</span><span class="op">(</span><span class="nam">n</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t36" class="pln"><span class="strut"> </span></p>
+<p id="t37" class="pln"> <span class="com"># only works if testdb was created before e.g. with DataBase</span><span class="strut"> </span></p>
+<p id="t38" class="pln"> <span class="com"># with self.assertRaises(NameError):</span><span class="strut"> </span></p>
+<p id="t39" class="pln"> <span class="com"># DataBase('test')</span><span class="strut"> </span></p>
+<p id="t40" class="pln"><span class="strut"> </span></p>
+<p id="t41" class="stm run hide_run"> <span class="key">def</span> <span class="nam">test_DataBase_init_channel</span><span class="op">(</span><span class="nam">self</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t42" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t43" class="pln"><span class="str"> this test checks the initialization of a DataBase works</span><span class="strut"> </span></p>
+<p id="t44" class="pln"><span class="str"> correctly.</span><span class="strut"> </span></p>
+<p id="t45" class="pln"><span class="str"> it checks if correct errors are raised for:</span><span class="strut"> </span></p>
+<p id="t46" class="pln"><span class="str"> - channels names, which are no strings or chars</span><span class="strut"> </span></p>
+<p id="t47" class="pln"><span class="str"> - channel name is None value or nan</span><span class="strut"> </span></p>
+<p id="t48" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t49" class="pln"> <span class="com"># channels must be strings or char</span><span class="strut"> </span></p>
+<p id="t50" class="stm run hide_run"> <span class="key">for</span> <span class="nam">n</span> <span class="key">in</span> <span class="op">[</span><span class="num">3</span><span class="op">,</span> <span class="num">8.7</span><span class="op">,</span> <span class="key">None</span><span class="op">,</span> <span class="nam">np</span><span class="op">.</span><span class="nam">nan</span><span class="op">]</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t51" class="stm run hide_run"> <span class="key">with</span> <span class="nam">self</span><span class="op">.</span><span class="nam">assertRaises</span><span class="op">(</span><span class="nam">TypeError</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t52" class="stm run hide_run"> <span class="nam">DataBase</span><span class="op">(</span><span class="nam">self</span><span class="op">.</span><span class="nam">mydb_filename</span><span class="op">,</span> <span class="nam">channels</span><span class="op">=</span><span class="nam">n</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t53" class="stm run hide_run"> <span class="key">with</span> <span class="nam">self</span><span class="op">.</span><span class="nam">assertRaises</span><span class="op">(</span><span class="nam">ValueError</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t54" class="stm run hide_run"> <span class="nam">DataBase</span><span class="op">(</span><span class="nam">self</span><span class="op">.</span><span class="nam">mydb_filename</span><span class="op">,</span> <span class="nam">channels</span><span class="op">=</span><span class="op">[</span><span class="key">None</span><span class="op">,</span> <span class="num">2</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t55" class="pln"><span class="strut"> </span></p>
+<p id="t56" class="stm run hide_run"> <span class="key">def</span> <span class="nam">test_table_exist</span><span class="op">(</span><span class="nam">self</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t57" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t58" class="pln"><span class="str"> this test checks if the function table_exists works correctly</span><span class="strut"> </span></p>
+<p id="t59" class="pln"><span class="str"> it checks if correct errors are raised for:</span><span class="strut"> </span></p>
+<p id="t60" class="pln"><span class="str"> - a database name that are not of type string or char</span><span class="strut"> </span></p>
+<p id="t61" class="pln"><span class="str"> i.e. integer, float, none, nan</span><span class="strut"> </span></p>
+<p id="t62" class="pln"><span class="str"> - Attention: in this test the check for a table that existed</span><span class="strut"> </span></p>
+<p id="t63" class="pln"><span class="str"> did not work correctly (False was returned)</span><span class="strut"> </span></p>
+<p id="t64" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t65" class="pln"> <span class="com"># self.assertFalse(self.mydb.table_exist('testblubb'))</span><span class="strut"> </span></p>
+<p id="t66" class="stm run hide_run"> <span class="key">for</span> <span class="nam">n</span> <span class="key">in</span> <span class="op">[</span><span class="num">2</span><span class="op">,</span> <span class="num">7.0</span><span class="op">,</span> <span class="key">None</span><span class="op">,</span> <span class="nam">np</span><span class="op">.</span><span class="nam">nan</span><span class="op">]</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t67" class="stm run hide_run"> <span class="key">with</span> <span class="nam">self</span><span class="op">.</span><span class="nam">assertRaises</span><span class="op">(</span><span class="nam">TypeError</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t68" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertFalse</span><span class="op">(</span><span class="nam">self</span><span class="op">.</span><span class="nam">mydb</span><span class="op">.</span><span class="nam">table_exist</span><span class="op">(</span><span class="nam">n</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t69" class="pln"> <span class="com"># self.assertFalse(self.mydb.table_exist(self.mydb_filename))</span><span class="strut"> </span></p>
+<p id="t70" class="pln"><span class="strut"> </span></p>
+<p id="t71" class="stm run hide_run"> <span class="key">def</span> <span class="nam">test_check_data_validity</span><span class="op">(</span><span class="nam">self</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t72" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t73" class="pln"><span class="str"> this test checks the function data validity works</span><span class="strut"> </span></p>
+<p id="t74" class="pln"><span class="str"> correctly. It should return true if the database</span><span class="strut"> </span></p>
+<p id="t75" class="pln"><span class="str"> contains data in the row, that is checked for</span><span class="strut"> </span></p>
+<p id="t76" class="pln"><span class="str"> it checks if correct errors are raised for:</span><span class="strut"> </span></p>
+<p id="t77" class="pln"><span class="str"> - row numbers that are not integers.</span><span class="strut"> </span></p>
+<p id="t78" class="pln"><span class="str"> i.e. float non, nan (must be integer)</span><span class="strut"> </span></p>
+<p id="t79" class="pln"><span class="str"> - row is out of range; smaller or equal to 0</span><span class="strut"> </span></p>
+<p id="t80" class="pln"><span class="str"> - checks if true is returned for an exiting entry (row=1)</span><span class="strut"> </span></p>
+<p id="t81" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t82" class="stm run hide_run"> <span class="key">for</span> <span class="nam">n</span> <span class="key">in</span> <span class="op">[</span><span class="num">7.0</span><span class="op">,</span> <span class="key">None</span><span class="op">,</span> <span class="nam">np</span><span class="op">.</span><span class="nam">nan</span><span class="op">]</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t83" class="stm run hide_run"> <span class="key">with</span> <span class="nam">self</span><span class="op">.</span><span class="nam">assertRaises</span><span class="op">(</span><span class="nam">TypeError</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t84" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">mydb</span><span class="op">.</span><span class="nam">check_data_validity</span><span class="op">(</span><span class="nam">n</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t85" class="stm run hide_run"> <span class="key">for</span> <span class="nam">n</span> <span class="key">in</span> <span class="op">[</span><span class="op">-</span><span class="num">1</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t86" class="stm run hide_run"> <span class="key">with</span> <span class="nam">self</span><span class="op">.</span><span class="nam">assertRaises</span><span class="op">(</span><span class="nam">ValueError</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t87" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">mydb</span><span class="op">.</span><span class="nam">check_data_validity</span><span class="op">(</span><span class="nam">n</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t88" class="stm run hide_run"> <span class="key">assert</span> <span class="nam">self</span><span class="op">.</span><span class="nam">mydb</span><span class="op">.</span><span class="nam">check_data_validity</span><span class="op">(</span><span class="num">1</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t89" class="pln"><span class="strut"> </span></p>
+<p id="t90" class="stm run hide_run"> <span class="key">def</span> <span class="nam">get_posid_test</span><span class="op">(</span><span class="nam">self</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t91" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t92" class="pln"><span class="str"> this test checks the function get_posid works</span><span class="strut"> </span></p>
+<p id="t93" class="pln"><span class="str"> correctly.</span><span class="strut"> </span></p>
+<p id="t94" class="pln"><span class="str"> it checks if correct errors are raised for:</span><span class="strut"> </span></p>
+<p id="t95" class="pln"><span class="str"> - posorient is missing an entry (no 'x' column)</span><span class="strut"> </span></p>
+<p id="t96" class="pln"><span class="str"> - posorient contains nan or none values</span><span class="strut"> </span></p>
+<p id="t97" class="pln"><span class="str"> - posorient is of wrong type (dict instead of pd.series)</span><span class="strut"> </span></p>
+<p id="t98" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t99" class="stm mis"> <span class="nam">conn</span> <span class="op">=</span> <span class="nam">sqlite3</span><span class="op">.</span><span class="nam">connect</span><span class="op">(</span><span class="nam">self</span><span class="op">.</span><span class="nam">mydb_filename</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t100" class="stm mis"> <span class="nam">c</span> <span class="op">=</span> <span class="nam">conn</span><span class="op">.</span><span class="nam">cursor</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t101" class="stm mis"> <span class="nam">c</span><span class="op">.</span><span class="nam">execute</span><span class="op">(</span><span class="str">""" SELECT * FROM position_orientation WHERE (rowid=1) """</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t102" class="stm mis"> <span class="nam">rows</span> <span class="op">=</span> <span class="nam">c</span><span class="op">.</span><span class="nam">fetchall</span><span class="op">(</span><span class="op">)</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t103" class="pln"> <span class="com"># convention = rows[1]</span><span class="strut"> </span></p>
+<p id="t104" class="pln"><span class="strut"> </span></p>
+<p id="t105" class="stm mis"> <span class="nam">tuples</span> <span class="op">=</span> <span class="op">[</span><span class="op">(</span><span class="str">'location'</span><span class="op">,</span> <span class="str">'x'</span><span class="op">)</span><span class="op">,</span> <span class="op">(</span><span class="str">'location'</span><span class="op">,</span> <span class="str">'y'</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t106" class="pln"> <span class="op">(</span><span class="str">'location'</span><span class="op">,</span> <span class="str">'z'</span><span class="op">)</span><span class="op">,</span> <span class="op">(</span><span class="str">'xyz'</span><span class="op">,</span> <span class="str">'alpha_0'</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t107" class="pln"> <span class="op">(</span><span class="str">'xyz'</span><span class="op">,</span> <span class="str">'alpha_1'</span><span class="op">)</span><span class="op">,</span> <span class="op">(</span><span class="str">'xyz'</span><span class="op">,</span> <span class="str">'alpha_2'</span><span class="op">)</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t108" class="stm mis"> <span class="nam">index</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">MultiIndex</span><span class="op">.</span><span class="nam">from_tuples</span><span class="op">(</span><span class="nam">tuples</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t109" class="pln"> <span class="nam">names</span><span class="op">=</span><span class="op">[</span><span class="str">'position'</span><span class="op">,</span> <span class="str">'orientation'</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t110" class="pln"><span class="strut"> </span></p>
+<p id="t111" class="stm mis"> <span class="nam">posorient</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">Series</span><span class="op">(</span><span class="nam">index</span><span class="op">=</span><span class="nam">index</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t112" class="stm mis"> <span class="nam">posorient</span><span class="op">[</span><span class="str">'location'</span><span class="op">]</span><span class="op">[</span><span class="str">'x'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">rows</span><span class="op">[</span><span class="num">6</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t113" class="stm mis"> <span class="nam">posorient</span><span class="op">[</span><span class="str">'location'</span><span class="op">]</span><span class="op">[</span><span class="str">'y'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">rows</span><span class="op">[</span><span class="num">7</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t114" class="stm mis"> <span class="nam">posorient</span><span class="op">[</span><span class="str">'location'</span><span class="op">]</span><span class="op">[</span><span class="str">'z'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">rows</span><span class="op">[</span><span class="num">8</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t115" class="stm mis"> <span class="nam">posorient</span><span class="op">[</span><span class="str">'xyz'</span><span class="op">]</span><span class="op">[</span><span class="str">'alpha_0'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">rows</span><span class="op">[</span><span class="num">3</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t116" class="stm mis"> <span class="nam">posorient</span><span class="op">[</span><span class="str">'xyz'</span><span class="op">]</span><span class="op">[</span><span class="str">'alpha_1'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">rows</span><span class="op">[</span><span class="num">5</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t117" class="stm mis"> <span class="nam">posorient</span><span class="op">[</span><span class="str">'xyz'</span><span class="op">]</span><span class="op">[</span><span class="str">'alpha_2'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">rows</span><span class="op">[</span><span class="num">4</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t118" class="pln"><span class="strut"> </span></p>
+<p id="t119" class="stm mis"> <span class="nam">posid</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">mydb</span><span class="op">.</span><span class="nam">get_posid</span><span class="op">(</span><span class="nam">posorient</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t120" class="stm mis"> <span class="key">assert</span> <span class="nam">posid</span> <span class="op">==</span> <span class="num">1</span><span class="strut"> </span></p>
+<p id="t121" class="pln"><span class="strut"> </span></p>
+<p id="t122" class="pln"> <span class="com"># incorrect case missing column</span><span class="strut"> </span></p>
+<p id="t123" class="stm mis"> <span class="nam">tuples</span> <span class="op">=</span> <span class="op">[</span><span class="op">(</span><span class="str">'location'</span><span class="op">,</span> <span class="str">'y'</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t124" class="pln"> <span class="op">(</span><span class="str">'location'</span><span class="op">,</span> <span class="str">'z'</span><span class="op">)</span><span class="op">,</span> <span class="op">(</span><span class="str">'xyz'</span><span class="op">,</span> <span class="str">'alpha_0'</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t125" class="pln"> <span class="op">(</span><span class="str">'xyz'</span><span class="op">,</span> <span class="str">'alpha_1'</span><span class="op">)</span><span class="op">,</span> <span class="op">(</span><span class="str">'xyz'</span><span class="op">,</span> <span class="str">'alpha_2'</span><span class="op">)</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t126" class="stm mis"> <span class="nam">index</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">MultiIndex</span><span class="op">.</span><span class="nam">from_tuples</span><span class="op">(</span><span class="nam">tuples</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t127" class="pln"> <span class="nam">names</span><span class="op">=</span><span class="op">[</span><span class="str">'position'</span><span class="op">,</span> <span class="str">'orientation'</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t128" class="pln"><span class="strut"> </span></p>
+<p id="t129" class="stm mis"> <span class="nam">posorient2</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">Series</span><span class="op">(</span><span class="nam">index</span><span class="op">=</span><span class="nam">index</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t130" class="stm mis"> <span class="nam">posorient2</span><span class="op">[</span><span class="str">'location'</span><span class="op">]</span><span class="op">[</span><span class="str">'y'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">rows</span><span class="op">[</span><span class="num">7</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t131" class="stm mis"> <span class="nam">posorient2</span><span class="op">[</span><span class="str">'location'</span><span class="op">]</span><span class="op">[</span><span class="str">'z'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">rows</span><span class="op">[</span><span class="num">8</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t132" class="stm mis"> <span class="nam">posorient2</span><span class="op">[</span><span class="str">'xyz'</span><span class="op">]</span><span class="op">[</span><span class="str">'alpha_0'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">rows</span><span class="op">[</span><span class="num">3</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t133" class="stm mis"> <span class="nam">posorient2</span><span class="op">[</span><span class="str">'xyz'</span><span class="op">]</span><span class="op">[</span><span class="str">'alpha_1'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">rows</span><span class="op">[</span><span class="num">5</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t134" class="stm mis"> <span class="nam">posorient2</span><span class="op">[</span><span class="str">'xyz'</span><span class="op">]</span><span class="op">[</span><span class="str">'alpha_2'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">rows</span><span class="op">[</span><span class="num">4</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t135" class="pln"><span class="strut"> </span></p>
+<p id="t136" class="stm mis"> <span class="key">with</span> <span class="nam">self</span><span class="op">.</span><span class="nam">assertRaises</span><span class="op">(</span><span class="nam">Exception</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t137" class="stm mis"> <span class="nam">posid</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">mydb</span><span class="op">.</span><span class="nam">get_posid</span><span class="op">(</span><span class="nam">posorient2</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t138" class="pln"><span class="strut"> </span></p>
+<p id="t139" class="pln"> <span class="com"># incorrect case None</span><span class="strut"> </span></p>
+<p id="t140" class="stm mis"> <span class="nam">tuples</span> <span class="op">=</span> <span class="op">[</span><span class="op">(</span><span class="str">'location'</span><span class="op">,</span> <span class="str">'x'</span><span class="op">)</span><span class="op">,</span> <span class="op">(</span><span class="str">'location'</span><span class="op">,</span> <span class="str">'y'</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t141" class="pln"> <span class="op">(</span><span class="str">'location'</span><span class="op">,</span> <span class="str">'z'</span><span class="op">)</span><span class="op">,</span> <span class="op">(</span><span class="str">'xyz'</span><span class="op">,</span> <span class="str">'alpha_0'</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t142" class="pln"> <span class="op">(</span><span class="str">'xyz'</span><span class="op">,</span> <span class="str">'alpha_1'</span><span class="op">)</span><span class="op">,</span> <span class="op">(</span><span class="str">'xyz'</span><span class="op">,</span> <span class="str">'alpha_2'</span><span class="op">)</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t143" class="stm mis"> <span class="nam">index</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">MultiIndex</span><span class="op">.</span><span class="nam">from_tuples</span><span class="op">(</span><span class="nam">self</span><span class="op">.</span><span class="nam">tuples</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t144" class="pln"> <span class="nam">names</span><span class="op">=</span><span class="op">[</span><span class="str">'position'</span><span class="op">,</span> <span class="str">'orientation'</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t145" class="pln"><span class="strut"> </span></p>
+<p id="t146" class="stm mis"> <span class="nam">posorient3</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">Series</span><span class="op">(</span><span class="nam">index</span><span class="op">=</span><span class="nam">index</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t147" class="stm mis"> <span class="nam">posorient3</span><span class="op">[</span><span class="str">'location'</span><span class="op">]</span><span class="op">[</span><span class="str">'x'</span><span class="op">]</span> <span class="op">=</span> <span class="key">None</span><span class="strut"> </span></p>
+<p id="t148" class="stm mis"> <span class="nam">posorient3</span><span class="op">[</span><span class="str">'location'</span><span class="op">]</span><span class="op">[</span><span class="str">'y'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">rows</span><span class="op">[</span><span class="num">7</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t149" class="stm mis"> <span class="nam">posorient3</span><span class="op">[</span><span class="str">'location'</span><span class="op">]</span><span class="op">[</span><span class="str">'z'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">rows</span><span class="op">[</span><span class="num">8</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t150" class="stm mis"> <span class="nam">posorient3</span><span class="op">[</span><span class="str">'xyz'</span><span class="op">]</span><span class="op">[</span><span class="str">'alpha_0'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">rows</span><span class="op">[</span><span class="num">3</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t151" class="stm mis"> <span class="nam">posorient3</span><span class="op">[</span><span class="str">'xyz'</span><span class="op">]</span><span class="op">[</span><span class="str">'alpha_1'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">rows</span><span class="op">[</span><span class="num">5</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t152" class="stm mis"> <span class="nam">posorient3</span><span class="op">[</span><span class="str">'xyz'</span><span class="op">]</span><span class="op">[</span><span class="str">'alpha_2'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">rows</span><span class="op">[</span><span class="num">4</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t153" class="stm mis"> <span class="key">with</span> <span class="nam">self</span><span class="op">.</span><span class="nam">assertRaises</span><span class="op">(</span><span class="nam">ValueError</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t154" class="stm mis"> <span class="nam">posid</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">mydb</span><span class="op">.</span><span class="nam">get_posid</span><span class="op">(</span><span class="nam">posorient2</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t155" class="pln"><span class="strut"> </span></p>
+<p id="t156" class="pln"> <span class="com"># incorrect case nan</span><span class="strut"> </span></p>
+<p id="t157" class="stm mis"> <span class="nam">tuples</span> <span class="op">=</span> <span class="op">[</span><span class="op">(</span><span class="str">'location'</span><span class="op">,</span> <span class="str">'x'</span><span class="op">)</span><span class="op">,</span> <span class="op">(</span><span class="str">'location'</span><span class="op">,</span> <span class="str">'y'</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t158" class="pln"> <span class="op">(</span><span class="str">'location'</span><span class="op">,</span> <span class="str">'z'</span><span class="op">)</span><span class="op">,</span> <span class="op">(</span><span class="str">'xyz'</span><span class="op">,</span> <span class="str">'alpha_0'</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t159" class="pln"> <span class="op">(</span><span class="str">'xyz'</span><span class="op">,</span> <span class="str">'alpha_1'</span><span class="op">)</span><span class="op">,</span> <span class="op">(</span><span class="str">'xyz'</span><span class="op">,</span> <span class="str">'alpha_2'</span><span class="op">)</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t160" class="stm mis"> <span class="nam">index</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">MultiIndex</span><span class="op">.</span><span class="nam">from_tuples</span><span class="op">(</span><span class="nam">self</span><span class="op">.</span><span class="nam">tuples</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t161" class="pln"> <span class="nam">names</span><span class="op">=</span><span class="op">[</span><span class="str">'position'</span><span class="op">,</span> <span class="str">'orientation'</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t162" class="pln"><span class="strut"> </span></p>
+<p id="t163" class="stm mis"> <span class="nam">posorient2</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">Series</span><span class="op">(</span><span class="nam">index</span><span class="op">=</span><span class="nam">index</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t164" class="stm mis"> <span class="nam">posorient2</span><span class="op">[</span><span class="str">'location'</span><span class="op">]</span><span class="op">[</span><span class="str">'x'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">nan</span><span class="strut"> </span></p>
+<p id="t165" class="stm mis"> <span class="nam">posorient2</span><span class="op">[</span><span class="str">'location'</span><span class="op">]</span><span class="op">[</span><span class="str">'y'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">rows</span><span class="op">[</span><span class="num">7</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t166" class="stm mis"> <span class="nam">posorient2</span><span class="op">[</span><span class="str">'location'</span><span class="op">]</span><span class="op">[</span><span class="str">'z'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">rows</span><span class="op">[</span><span class="num">8</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t167" class="stm mis"> <span class="nam">posorient2</span><span class="op">[</span><span class="str">'xyz'</span><span class="op">]</span><span class="op">[</span><span class="str">'alpha_0'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">rows</span><span class="op">[</span><span class="num">3</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t168" class="stm mis"> <span class="nam">posorient2</span><span class="op">[</span><span class="str">'xyz'</span><span class="op">]</span><span class="op">[</span><span class="str">'alpha_1'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">rows</span><span class="op">[</span><span class="num">5</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t169" class="stm mis"> <span class="nam">posorient2</span><span class="op">[</span><span class="str">'xyz'</span><span class="op">]</span><span class="op">[</span><span class="str">'alpha_2'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">rows</span><span class="op">[</span><span class="num">4</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t170" class="stm mis"> <span class="key">with</span> <span class="nam">self</span><span class="op">.</span><span class="nam">assertRaises</span><span class="op">(</span><span class="nam">ValueError</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t171" class="stm mis"> <span class="nam">posid</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">mydb</span><span class="op">.</span><span class="nam">get_posid</span><span class="op">(</span><span class="nam">posorient2</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t172" class="pln"><span class="strut"> </span></p>
+<p id="t173" class="pln"> <span class="com"># incorrect case no pandas series but dict</span><span class="strut"> </span></p>
+<p id="t174" class="stm mis"> <span class="nam">posorient2</span> <span class="op">=</span> <span class="op">{</span><span class="op">}</span><span class="strut"> </span></p>
+<p id="t175" class="stm mis"> <span class="nam">posorient2</span><span class="op">[</span><span class="str">'location'</span><span class="op">]</span><span class="op">[</span><span class="str">'x'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">rows</span><span class="op">[</span><span class="num">6</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t176" class="stm mis"> <span class="nam">posorient2</span><span class="op">[</span><span class="str">'location'</span><span class="op">]</span><span class="op">[</span><span class="str">'y'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">rows</span><span class="op">[</span><span class="num">7</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t177" class="stm mis"> <span class="nam">posorient2</span><span class="op">[</span><span class="str">'location'</span><span class="op">]</span><span class="op">[</span><span class="str">'z'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">rows</span><span class="op">[</span><span class="num">8</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t178" class="stm mis"> <span class="nam">posorient2</span><span class="op">[</span><span class="str">'xyz'</span><span class="op">]</span><span class="op">[</span><span class="str">'alpha_0'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">rows</span><span class="op">[</span><span class="num">3</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t179" class="stm mis"> <span class="nam">posorient2</span><span class="op">[</span><span class="str">'xyz'</span><span class="op">]</span><span class="op">[</span><span class="str">'alpha_1'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">rows</span><span class="op">[</span><span class="num">5</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t180" class="stm mis"> <span class="nam">posorient2</span><span class="op">[</span><span class="str">'xyz'</span><span class="op">]</span><span class="op">[</span><span class="str">'alpha_2'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">rows</span><span class="op">[</span><span class="num">4</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t181" class="stm mis"> <span class="key">with</span> <span class="nam">self</span><span class="op">.</span><span class="nam">assertRaises</span><span class="op">(</span><span class="nam">TypeError</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t182" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">mydb</span><span class="op">.</span><span class="nam">get_posid</span><span class="op">(</span><span class="nam">posorient2</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t183" class="pln"><span class="strut"> </span></p>
+<p id="t184" class="pln"> <span class="com"># not working case empty</span><span class="strut"> </span></p>
+<p id="t185" class="stm mis"> <span class="nam">tuples</span> <span class="op">=</span> <span class="op">[</span><span class="op">(</span><span class="str">'location'</span><span class="op">,</span> <span class="str">'x'</span><span class="op">)</span><span class="op">,</span> <span class="op">(</span><span class="str">'location'</span><span class="op">,</span> <span class="str">'y'</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t186" class="pln"> <span class="op">(</span><span class="str">'location'</span><span class="op">,</span> <span class="str">'z'</span><span class="op">)</span><span class="op">,</span> <span class="op">(</span><span class="str">'xyz'</span><span class="op">,</span> <span class="str">'alpha_0'</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t187" class="pln"> <span class="op">(</span><span class="str">'xyz'</span><span class="op">,</span> <span class="str">'alpha_1'</span><span class="op">)</span><span class="op">,</span> <span class="op">(</span><span class="str">'xyz'</span><span class="op">,</span> <span class="str">'alpha_2'</span><span class="op">)</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t188" class="stm mis"> <span class="nam">index</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">MultiIndex</span><span class="op">.</span><span class="nam">from_tuples</span><span class="op">(</span><span class="nam">self</span><span class="op">.</span><span class="nam">tuples</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t189" class="pln"> <span class="nam">names</span><span class="op">=</span><span class="op">[</span><span class="str">'position'</span><span class="op">,</span> <span class="str">'orientation'</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t190" class="pln"><span class="strut"> </span></p>
+<p id="t191" class="stm mis"> <span class="nam">posorient2</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">Series</span><span class="op">(</span><span class="nam">index</span><span class="op">=</span><span class="nam">index</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t192" class="pln"><span class="strut"> </span></p>
+<p id="t193" class="stm mis"> <span class="key">with</span> <span class="nam">self</span><span class="op">.</span><span class="nam">assertRaises</span><span class="op">(</span><span class="nam">Exception</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t194" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">mydb</span><span class="op">.</span><span class="nam">get_posid</span><span class="op">(</span><span class="nam">posorient2</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t195" class="pln"><span class="strut"> </span></p>
+<p id="t196" class="stm run hide_run"> <span class="key">def</span> <span class="nam">test_read_posorient</span><span class="op">(</span><span class="nam">self</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t197" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t198" class="pln"><span class="str"> this test checks the function read_posorient works</span><span class="strut"> </span></p>
+<p id="t199" class="pln"><span class="str"> correctly.</span><span class="strut"> </span></p>
+<p id="t200" class="pln"><span class="str"> it checks if correct errors are raised for:</span><span class="strut"> </span></p>
+<p id="t201" class="pln"><span class="str"> - posorient is missing an entry (no 'x' column)</span><span class="strut"> </span></p>
+<p id="t202" class="pln"><span class="str"> - posorient contains nan or none values</span><span class="strut"> </span></p>
+<p id="t203" class="pln"><span class="str"> - posorient is of wrong type (dict instead of pd.series)</span><span class="strut"> </span></p>
+<p id="t204" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t205" class="stm run hide_run"> <span class="nam">conn</span> <span class="op">=</span> <span class="nam">sqlite3</span><span class="op">.</span><span class="nam">connect</span><span class="op">(</span><span class="nam">self</span><span class="op">.</span><span class="nam">mydb_filename</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t206" class="stm run hide_run"> <span class="nam">c</span> <span class="op">=</span> <span class="nam">conn</span><span class="op">.</span><span class="nam">cursor</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t207" class="stm run hide_run"> <span class="nam">c</span><span class="op">.</span><span class="nam">execute</span><span class="op">(</span><span class="str">""" SELECT * FROM position_orientation WHERE (rowid=1) """</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t208" class="stm run hide_run"> <span class="nam">rows</span> <span class="op">=</span> <span class="nam">c</span><span class="op">.</span><span class="nam">fetchall</span><span class="op">(</span><span class="op">)</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t209" class="pln"> <span class="com"># working case</span><span class="strut"> </span></p>
+<p id="t210" class="stm run hide_run"> <span class="nam">tuples</span> <span class="op">=</span> <span class="op">[</span><span class="op">(</span><span class="str">'location'</span><span class="op">,</span> <span class="str">'x'</span><span class="op">)</span><span class="op">,</span> <span class="op">(</span><span class="str">'location'</span><span class="op">,</span> <span class="str">'y'</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t211" class="pln"> <span class="op">(</span><span class="str">'location'</span><span class="op">,</span> <span class="str">'z'</span><span class="op">)</span><span class="op">,</span> <span class="op">(</span><span class="str">'xyz'</span><span class="op">,</span> <span class="str">'alpha_0'</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t212" class="pln"> <span class="op">(</span><span class="str">'xyz'</span><span class="op">,</span> <span class="str">'alpha_1'</span><span class="op">)</span><span class="op">,</span> <span class="op">(</span><span class="str">'xyz'</span><span class="op">,</span> <span class="str">'alpha_2'</span><span class="op">)</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t213" class="stm run hide_run"> <span class="nam">index</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">MultiIndex</span><span class="op">.</span><span class="nam">from_tuples</span><span class="op">(</span><span class="nam">tuples</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t214" class="pln"> <span class="nam">names</span><span class="op">=</span><span class="op">[</span><span class="str">'position'</span><span class="op">,</span> <span class="str">'orientation'</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t215" class="pln"><span class="strut"> </span></p>
+<p id="t216" class="stm run hide_run"> <span class="nam">posorient</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">Series</span><span class="op">(</span><span class="nam">index</span><span class="op">=</span><span class="nam">index</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t217" class="stm run hide_run"> <span class="nam">posorient</span><span class="op">[</span><span class="str">'location'</span><span class="op">]</span><span class="op">[</span><span class="str">'x'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">rows</span><span class="op">[</span><span class="num">6</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t218" class="stm run hide_run"> <span class="nam">posorient</span><span class="op">[</span><span class="str">'location'</span><span class="op">]</span><span class="op">[</span><span class="str">'y'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">rows</span><span class="op">[</span><span class="num">7</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t219" class="stm run hide_run"> <span class="nam">posorient</span><span class="op">[</span><span class="str">'location'</span><span class="op">]</span><span class="op">[</span><span class="str">'z'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">rows</span><span class="op">[</span><span class="num">8</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t220" class="stm run hide_run"> <span class="nam">posorient</span><span class="op">[</span><span class="str">'xyz'</span><span class="op">]</span><span class="op">[</span><span class="str">'alpha_0'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">rows</span><span class="op">[</span><span class="num">3</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t221" class="stm run hide_run"> <span class="nam">posorient</span><span class="op">[</span><span class="str">'xyz'</span><span class="op">]</span><span class="op">[</span><span class="str">'alpha_1'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">rows</span><span class="op">[</span><span class="num">5</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t222" class="stm run hide_run"> <span class="nam">posorient</span><span class="op">[</span><span class="str">'xyz'</span><span class="op">]</span><span class="op">[</span><span class="str">'alpha_2'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">rows</span><span class="op">[</span><span class="num">4</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t223" class="stm run hide_run"> <span class="nam">posid</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">mydb</span><span class="op">.</span><span class="nam">read_posorient</span><span class="op">(</span><span class="nam">posorient</span><span class="op">=</span><span class="nam">posorient</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t224" class="pln"> <span class="com"># print(posid)</span><span class="strut"> </span></p>
+<p id="t225" class="stm mis"> <span class="key">assert</span> <span class="nam">posid</span><span class="op">[</span><span class="str">'location'</span><span class="op">]</span><span class="op">[</span><span class="str">'x'</span><span class="op">]</span> <span class="op">==</span> <span class="nam">posorient</span><span class="op">[</span><span class="str">'location'</span><span class="op">]</span><span class="op">[</span><span class="str">'x'</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t226" class="pln"><span class="strut"> </span></p>
+<p id="t227" class="pln"> <span class="com"># incorrect case missing column</span><span class="strut"> </span></p>
+<p id="t228" class="stm mis"> <span class="nam">tuples</span> <span class="op">=</span> <span class="op">[</span><span class="op">(</span><span class="str">'location'</span><span class="op">,</span> <span class="str">'y'</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t229" class="pln"> <span class="op">(</span><span class="str">'location'</span><span class="op">,</span> <span class="str">'z'</span><span class="op">)</span><span class="op">,</span> <span class="op">(</span><span class="str">'xyz'</span><span class="op">,</span> <span class="str">'alpha_0'</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t230" class="pln"> <span class="op">(</span><span class="str">'xyz'</span><span class="op">,</span> <span class="str">'alpha_1'</span><span class="op">)</span><span class="op">,</span> <span class="op">(</span><span class="str">'xyz'</span><span class="op">,</span> <span class="str">'alpha_2'</span><span class="op">)</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t231" class="stm mis"> <span class="nam">index</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">MultiIndex</span><span class="op">.</span><span class="nam">from_tuples</span><span class="op">(</span><span class="nam">tuples</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t232" class="pln"> <span class="nam">names</span><span class="op">=</span><span class="op">[</span><span class="str">'position'</span><span class="op">,</span> <span class="str">'orientation'</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t233" class="pln"><span class="strut"> </span></p>
+<p id="t234" class="stm mis"> <span class="nam">posorient2</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">Series</span><span class="op">(</span><span class="nam">index</span><span class="op">=</span><span class="nam">index</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t235" class="stm mis"> <span class="nam">posorient2</span><span class="op">[</span><span class="str">'location'</span><span class="op">]</span><span class="op">[</span><span class="str">'y'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">rows</span><span class="op">[</span><span class="num">7</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t236" class="stm mis"> <span class="nam">posorient2</span><span class="op">[</span><span class="str">'location'</span><span class="op">]</span><span class="op">[</span><span class="str">'z'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">rows</span><span class="op">[</span><span class="num">8</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t237" class="stm mis"> <span class="nam">posorient2</span><span class="op">[</span><span class="str">'xyz'</span><span class="op">]</span><span class="op">[</span><span class="str">'alpha_0'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">rows</span><span class="op">[</span><span class="num">3</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t238" class="stm mis"> <span class="nam">posorient2</span><span class="op">[</span><span class="str">'xyz'</span><span class="op">]</span><span class="op">[</span><span class="str">'alpha_1'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">rows</span><span class="op">[</span><span class="num">5</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t239" class="stm mis"> <span class="nam">posorient2</span><span class="op">[</span><span class="str">'xyz'</span><span class="op">]</span><span class="op">[</span><span class="str">'alpha_2'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">rows</span><span class="op">[</span><span class="num">4</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t240" class="stm mis"> <span class="key">with</span> <span class="nam">self</span><span class="op">.</span><span class="nam">assertRaises</span><span class="op">(</span><span class="nam">ValueError</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t241" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">mydb</span><span class="op">.</span><span class="nam">read_posorient</span><span class="op">(</span><span class="nam">posorient</span><span class="op">=</span><span class="nam">posorient2</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t242" class="pln"><span class="strut"> </span></p>
+<p id="t243" class="pln"> <span class="com"># incorrect case None</span><span class="strut"> </span></p>
+<p id="t244" class="stm mis"> <span class="nam">tuples</span> <span class="op">=</span> <span class="op">[</span><span class="op">(</span><span class="str">'location'</span><span class="op">,</span> <span class="str">'x'</span><span class="op">)</span><span class="op">,</span> <span class="op">(</span><span class="str">'location'</span><span class="op">,</span> <span class="str">'y'</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t245" class="pln"> <span class="op">(</span><span class="str">'location'</span><span class="op">,</span> <span class="str">'z'</span><span class="op">)</span><span class="op">,</span> <span class="op">(</span><span class="str">'xyz'</span><span class="op">,</span> <span class="str">'alpha_0'</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t246" class="pln"> <span class="op">(</span><span class="str">'xyz'</span><span class="op">,</span> <span class="str">'alpha_1'</span><span class="op">)</span><span class="op">,</span> <span class="op">(</span><span class="str">'xyz'</span><span class="op">,</span> <span class="str">'alpha_2'</span><span class="op">)</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t247" class="stm mis"> <span class="nam">index</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">MultiIndex</span><span class="op">.</span><span class="nam">from_tuples</span><span class="op">(</span><span class="nam">tuples</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t248" class="pln"> <span class="nam">names</span><span class="op">=</span><span class="op">[</span><span class="str">'position'</span><span class="op">,</span> <span class="str">'orientation'</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t249" class="pln"><span class="strut"> </span></p>
+<p id="t250" class="stm mis"> <span class="nam">posorient2</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">Series</span><span class="op">(</span><span class="nam">index</span><span class="op">=</span><span class="nam">index</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t251" class="stm mis"> <span class="nam">posorient2</span><span class="op">[</span><span class="str">'location'</span><span class="op">]</span><span class="op">[</span><span class="str">'x'</span><span class="op">]</span> <span class="op">=</span> <span class="key">None</span><span class="strut"> </span></p>
+<p id="t252" class="stm mis"> <span class="nam">posorient2</span><span class="op">[</span><span class="str">'location'</span><span class="op">]</span><span class="op">[</span><span class="str">'y'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">rows</span><span class="op">[</span><span class="num">7</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t253" class="stm mis"> <span class="nam">posorient2</span><span class="op">[</span><span class="str">'location'</span><span class="op">]</span><span class="op">[</span><span class="str">'z'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">rows</span><span class="op">[</span><span class="num">8</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t254" class="stm mis"> <span class="nam">posorient2</span><span class="op">[</span><span class="str">'xyz'</span><span class="op">]</span><span class="op">[</span><span class="str">'alpha_0'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">rows</span><span class="op">[</span><span class="num">3</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t255" class="stm mis"> <span class="nam">posorient2</span><span class="op">[</span><span class="str">'xyz'</span><span class="op">]</span><span class="op">[</span><span class="str">'alpha_1'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">rows</span><span class="op">[</span><span class="num">5</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t256" class="stm mis"> <span class="nam">posorient2</span><span class="op">[</span><span class="str">'xyz'</span><span class="op">]</span><span class="op">[</span><span class="str">'alpha_2'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">rows</span><span class="op">[</span><span class="num">4</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t257" class="stm mis"> <span class="key">with</span> <span class="nam">self</span><span class="op">.</span><span class="nam">assertRaises</span><span class="op">(</span><span class="nam">ValueError</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t258" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">mydb</span><span class="op">.</span><span class="nam">read_posorient</span><span class="op">(</span><span class="nam">posorient</span><span class="op">=</span><span class="nam">posorient2</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t259" class="pln"><span class="strut"> </span></p>
+<p id="t260" class="pln"> <span class="com"># incorrect case nan</span><span class="strut"> </span></p>
+<p id="t261" class="stm mis"> <span class="nam">tuples</span> <span class="op">=</span> <span class="op">[</span><span class="op">(</span><span class="str">'location'</span><span class="op">,</span> <span class="str">'x'</span><span class="op">)</span><span class="op">,</span> <span class="op">(</span><span class="str">'location'</span><span class="op">,</span> <span class="str">'y'</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t262" class="pln"> <span class="op">(</span><span class="str">'location'</span><span class="op">,</span> <span class="str">'z'</span><span class="op">)</span><span class="op">,</span> <span class="op">(</span><span class="str">'xyz'</span><span class="op">,</span> <span class="str">'alpha_0'</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t263" class="pln"> <span class="op">(</span><span class="str">'xyz'</span><span class="op">,</span> <span class="str">'alpha_1'</span><span class="op">)</span><span class="op">,</span> <span class="op">(</span><span class="str">'xyz'</span><span class="op">,</span> <span class="str">'alpha_2'</span><span class="op">)</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t264" class="stm mis"> <span class="nam">index</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">MultiIndex</span><span class="op">.</span><span class="nam">from_tuples</span><span class="op">(</span><span class="nam">tuples</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t265" class="pln"> <span class="nam">names</span><span class="op">=</span><span class="op">[</span><span class="str">'position'</span><span class="op">,</span> <span class="str">'orientation'</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t266" class="pln"><span class="strut"> </span></p>
+<p id="t267" class="stm mis"> <span class="nam">posorient2</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">Series</span><span class="op">(</span><span class="nam">index</span><span class="op">=</span><span class="nam">index</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t268" class="stm mis"> <span class="nam">posorient2</span><span class="op">[</span><span class="str">'location'</span><span class="op">]</span><span class="op">[</span><span class="str">'x'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">nan</span><span class="strut"> </span></p>
+<p id="t269" class="stm mis"> <span class="nam">posorient2</span><span class="op">[</span><span class="str">'location'</span><span class="op">]</span><span class="op">[</span><span class="str">'y'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">rows</span><span class="op">[</span><span class="num">7</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t270" class="stm mis"> <span class="nam">posorient2</span><span class="op">[</span><span class="str">'location'</span><span class="op">]</span><span class="op">[</span><span class="str">'z'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">rows</span><span class="op">[</span><span class="num">8</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t271" class="stm mis"> <span class="nam">posorient2</span><span class="op">[</span><span class="str">'xyz'</span><span class="op">]</span><span class="op">[</span><span class="str">'alpha_0'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">rows</span><span class="op">[</span><span class="num">3</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t272" class="stm mis"> <span class="nam">posorient2</span><span class="op">[</span><span class="str">'xyz'</span><span class="op">]</span><span class="op">[</span><span class="str">'alpha_1'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">rows</span><span class="op">[</span><span class="num">5</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t273" class="stm mis"> <span class="nam">posorient2</span><span class="op">[</span><span class="str">'xyz'</span><span class="op">]</span><span class="op">[</span><span class="str">'alpha_2'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">rows</span><span class="op">[</span><span class="num">4</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t274" class="stm mis"> <span class="key">with</span> <span class="nam">self</span><span class="op">.</span><span class="nam">assertRaises</span><span class="op">(</span><span class="nam">ValueError</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t275" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">mydb</span><span class="op">.</span><span class="nam">read_posorient</span><span class="op">(</span><span class="nam">posorient</span><span class="op">=</span><span class="nam">posorient2</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t276" class="pln"><span class="strut"> </span></p>
+<p id="t277" class="pln"> <span class="com"># incorrect case no pandas series but dict</span><span class="strut"> </span></p>
+<p id="t278" class="stm mis"> <span class="nam">posorient2</span> <span class="op">=</span> <span class="op">{</span><span class="op">}</span><span class="strut"> </span></p>
+<p id="t279" class="stm mis"> <span class="nam">posorient2</span><span class="op">[</span><span class="str">'location'</span><span class="op">]</span> <span class="op">=</span> <span class="op">{</span><span class="op">}</span><span class="strut"> </span></p>
+<p id="t280" class="stm mis"> <span class="nam">posorient2</span><span class="op">[</span><span class="str">'xyz'</span><span class="op">]</span> <span class="op">=</span> <span class="op">{</span><span class="op">}</span><span class="strut"> </span></p>
+<p id="t281" class="stm mis"> <span class="nam">posorient2</span><span class="op">[</span><span class="str">'location'</span><span class="op">]</span><span class="op">[</span><span class="str">'x'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">rows</span><span class="op">[</span><span class="num">6</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t282" class="stm mis"> <span class="nam">posorient2</span><span class="op">[</span><span class="str">'location'</span><span class="op">]</span><span class="op">[</span><span class="str">'y'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">rows</span><span class="op">[</span><span class="num">7</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t283" class="stm mis"> <span class="nam">posorient2</span><span class="op">[</span><span class="str">'location'</span><span class="op">]</span><span class="op">[</span><span class="str">'z'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">rows</span><span class="op">[</span><span class="num">8</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t284" class="stm mis"> <span class="nam">posorient2</span><span class="op">[</span><span class="str">'xyz'</span><span class="op">]</span><span class="op">[</span><span class="str">'alpha_0'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">rows</span><span class="op">[</span><span class="num">3</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t285" class="stm mis"> <span class="nam">posorient2</span><span class="op">[</span><span class="str">'xyz'</span><span class="op">]</span><span class="op">[</span><span class="str">'alpha_1'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">rows</span><span class="op">[</span><span class="num">5</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t286" class="stm mis"> <span class="nam">posorient2</span><span class="op">[</span><span class="str">'xyz'</span><span class="op">]</span><span class="op">[</span><span class="str">'alpha_2'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">rows</span><span class="op">[</span><span class="num">4</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t287" class="stm mis"> <span class="key">with</span> <span class="nam">self</span><span class="op">.</span><span class="nam">assertRaises</span><span class="op">(</span><span class="nam">TypeError</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t288" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">mydb</span><span class="op">.</span><span class="nam">read_posorient</span><span class="op">(</span><span class="nam">posorient</span><span class="op">=</span><span class="nam">posorient2</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t289" class="pln"><span class="strut"> </span></p>
+<p id="t290" class="pln"> <span class="com"># not working case empty</span><span class="strut"> </span></p>
+<p id="t291" class="stm mis"> <span class="nam">tuples</span> <span class="op">=</span> <span class="op">[</span><span class="op">(</span><span class="str">'location'</span><span class="op">,</span> <span class="str">'x'</span><span class="op">)</span><span class="op">,</span> <span class="op">(</span><span class="str">'location'</span><span class="op">,</span> <span class="str">'y'</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t292" class="pln"> <span class="op">(</span><span class="str">'location'</span><span class="op">,</span> <span class="str">'z'</span><span class="op">)</span><span class="op">,</span> <span class="op">(</span><span class="str">'xyz'</span><span class="op">,</span> <span class="str">'alpha_0'</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t293" class="pln"> <span class="op">(</span><span class="str">'xyz'</span><span class="op">,</span> <span class="str">'alpha_1'</span><span class="op">)</span><span class="op">,</span> <span class="op">(</span><span class="str">'xyz'</span><span class="op">,</span> <span class="str">'alpha_2'</span><span class="op">)</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t294" class="stm mis"> <span class="nam">index</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">MultiIndex</span><span class="op">.</span><span class="nam">from_tuples</span><span class="op">(</span><span class="nam">tuples</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t295" class="pln"> <span class="nam">names</span><span class="op">=</span><span class="op">[</span><span class="str">'position'</span><span class="op">,</span> <span class="str">'orientation'</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t296" class="pln"><span class="strut"> </span></p>
+<p id="t297" class="stm mis"> <span class="nam">posorient2</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">Series</span><span class="op">(</span><span class="nam">index</span><span class="op">=</span><span class="nam">index</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t298" class="pln"><span class="strut"> </span></p>
+<p id="t299" class="stm mis"> <span class="key">with</span> <span class="nam">self</span><span class="op">.</span><span class="nam">assertRaises</span><span class="op">(</span><span class="nam">Exception</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t300" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">mydb</span><span class="op">.</span><span class="nam">read_posorient</span><span class="op">(</span><span class="nam">posorient</span><span class="op">=</span><span class="nam">posorient2</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t301" class="pln"><span class="strut"> </span></p>
+<p id="t302" class="stm run hide_run"> <span class="key">def</span> <span class="nam">test_read_posid_id</span><span class="op">(</span><span class="nam">self</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t303" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t304" class="pln"><span class="str"> this test checks the function read_posorient works</span><span class="strut"> </span></p>
+<p id="t305" class="pln"><span class="str"> correctly.</span><span class="strut"> </span></p>
+<p id="t306" class="pln"><span class="str"> it checks if correct errors are raised for:</span><span class="strut"> </span></p>
+<p id="t307" class="pln"><span class="str"> - rowid is out of range (<=0)</span><span class="strut"> </span></p>
+<p id="t308" class="pln"><span class="str"> - rowid is of type char, none, nan, float</span><span class="strut"> </span></p>
+<p id="t309" class="pln"><span class="str"> and checks if the returned entry for rowid 1 is correct</span><span class="strut"> </span></p>
+<p id="t310" class="pln"><span class="str"> - that it all columns and correct values</span><span class="strut"> </span></p>
+<p id="t311" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t312" class="stm run hide_run"> <span class="nam">conn</span> <span class="op">=</span> <span class="nam">sqlite3</span><span class="op">.</span><span class="nam">connect</span><span class="op">(</span><span class="nam">self</span><span class="op">.</span><span class="nam">mydb_filename</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t313" class="stm run hide_run"> <span class="nam">c</span> <span class="op">=</span> <span class="nam">conn</span><span class="op">.</span><span class="nam">cursor</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t314" class="stm run hide_run"> <span class="nam">c</span><span class="op">.</span><span class="nam">execute</span><span class="op">(</span><span class="str">""" SELECT * FROM position_orientation WHERE (rowid=1) """</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t315" class="stm run hide_run"> <span class="nam">rows</span> <span class="op">=</span> <span class="nam">c</span><span class="op">.</span><span class="nam">fetchall</span><span class="op">(</span><span class="op">)</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t316" class="pln"> <span class="com"># working case</span><span class="strut"> </span></p>
+<p id="t317" class="stm run hide_run"> <span class="nam">tuples</span> <span class="op">=</span> <span class="op">[</span><span class="op">(</span><span class="str">'location'</span><span class="op">,</span> <span class="str">'x'</span><span class="op">)</span><span class="op">,</span> <span class="op">(</span><span class="str">'location'</span><span class="op">,</span> <span class="str">'y'</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t318" class="pln"> <span class="op">(</span><span class="str">'location'</span><span class="op">,</span> <span class="str">'z'</span><span class="op">)</span><span class="op">,</span> <span class="op">(</span><span class="str">'xyz'</span><span class="op">,</span> <span class="str">'alpha_0'</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t319" class="pln"> <span class="op">(</span><span class="str">'xyz'</span><span class="op">,</span> <span class="str">'alpha_1'</span><span class="op">)</span><span class="op">,</span> <span class="op">(</span><span class="str">'xyz'</span><span class="op">,</span> <span class="str">'alpha_2'</span><span class="op">)</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t320" class="stm run hide_run"> <span class="nam">index</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">MultiIndex</span><span class="op">.</span><span class="nam">from_tuples</span><span class="op">(</span><span class="nam">tuples</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t321" class="pln"> <span class="nam">names</span><span class="op">=</span><span class="op">[</span><span class="str">'position'</span><span class="op">,</span> <span class="str">'orientation'</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t322" class="pln"><span class="strut"> </span></p>
+<p id="t323" class="stm run hide_run"> <span class="nam">posorient</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">Series</span><span class="op">(</span><span class="nam">index</span><span class="op">=</span><span class="nam">index</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t324" class="stm run hide_run"> <span class="nam">posorient</span><span class="op">[</span><span class="str">'location'</span><span class="op">]</span><span class="op">[</span><span class="str">'x'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">rows</span><span class="op">[</span><span class="num">6</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t325" class="stm run hide_run"> <span class="nam">posorient</span><span class="op">[</span><span class="str">'location'</span><span class="op">]</span><span class="op">[</span><span class="str">'y'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">rows</span><span class="op">[</span><span class="num">7</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t326" class="stm run hide_run"> <span class="nam">posorient</span><span class="op">[</span><span class="str">'location'</span><span class="op">]</span><span class="op">[</span><span class="str">'z'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">rows</span><span class="op">[</span><span class="num">8</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t327" class="stm run hide_run"> <span class="nam">posorient</span><span class="op">[</span><span class="str">'xyz'</span><span class="op">]</span><span class="op">[</span><span class="str">'alpha_0'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">rows</span><span class="op">[</span><span class="num">3</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t328" class="stm run hide_run"> <span class="nam">posorient</span><span class="op">[</span><span class="str">'xyz'</span><span class="op">]</span><span class="op">[</span><span class="str">'alpha_1'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">rows</span><span class="op">[</span><span class="num">5</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t329" class="stm run hide_run"> <span class="nam">posorient</span><span class="op">[</span><span class="str">'xyz'</span><span class="op">]</span><span class="op">[</span><span class="str">'alpha_2'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">rows</span><span class="op">[</span><span class="num">4</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t330" class="stm run hide_run"> <span class="key">for</span> <span class="nam">rowid</span> <span class="key">in</span> <span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="op">-</span><span class="num">2</span><span class="op">]</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t331" class="stm run hide_run"> <span class="key">with</span> <span class="nam">self</span><span class="op">.</span><span class="nam">assertRaises</span><span class="op">(</span><span class="nam">ValueError</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t332" class="pln"> <span class="com"># print("rowid",rowid)</span><span class="strut"> </span></p>
+<p id="t333" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">mydb</span><span class="op">.</span><span class="nam">read_posorient</span><span class="op">(</span><span class="nam">rowid</span><span class="op">=</span><span class="nam">rowid</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t334" class="stm run hide_run"> <span class="key">with</span> <span class="nam">self</span><span class="op">.</span><span class="nam">assertRaises</span><span class="op">(</span><span class="nam">TypeError</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t335" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">mydb</span><span class="op">.</span><span class="nam">read_posorient</span><span class="op">(</span><span class="nam">rowid</span><span class="op">=</span><span class="str">'T'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t336" class="stm run hide_run"> <span class="key">with</span> <span class="nam">self</span><span class="op">.</span><span class="nam">assertRaises</span><span class="op">(</span><span class="nam">Exception</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t337" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">mydb</span><span class="op">.</span><span class="nam">read_posorient</span><span class="op">(</span><span class="nam">rowid</span><span class="op">=</span><span class="key">None</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t338" class="stm run hide_run"> <span class="key">with</span> <span class="nam">self</span><span class="op">.</span><span class="nam">assertRaises</span><span class="op">(</span><span class="nam">TypeError</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t339" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">mydb</span><span class="op">.</span><span class="nam">read_posorient</span><span class="op">(</span><span class="nam">rowid</span><span class="op">=</span><span class="nam">np</span><span class="op">.</span><span class="nam">nan</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t340" class="stm run hide_run"> <span class="key">with</span> <span class="nam">self</span><span class="op">.</span><span class="nam">assertRaises</span><span class="op">(</span><span class="nam">TypeError</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t341" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">mydb</span><span class="op">.</span><span class="nam">read_posorient</span><span class="op">(</span><span class="nam">rowid</span><span class="op">=</span><span class="num">4.5</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t342" class="pln"><span class="strut"> </span></p>
+<p id="t343" class="stm run hide_run"> <span class="key">for</span> <span class="nam">rowid</span> <span class="key">in</span> <span class="op">[</span><span class="num">1</span><span class="op">]</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t344" class="stm run hide_run"> <span class="nam">posoriend2</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">mydb</span><span class="op">.</span><span class="nam">read_posorient</span><span class="op">(</span><span class="nam">rowid</span><span class="op">=</span><span class="nam">rowid</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t345" class="stm run hide_run"> <span class="key">assert</span> <span class="nam">posoriend2</span><span class="op">[</span><span class="str">'location'</span><span class="op">]</span><span class="op">[</span><span class="str">'x'</span><span class="op">]</span> <span class="op">==</span> <span class="nam">posorient</span><span class="op">[</span><span class="str">'location'</span><span class="op">]</span><span class="op">[</span><span class="str">'x'</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t346" class="stm mis"> <span class="key">assert</span> <span class="nam">posoriend2</span><span class="op">[</span><span class="str">'location'</span><span class="op">]</span><span class="op">[</span><span class="str">'y'</span><span class="op">]</span> <span class="op">==</span> <span class="nam">posorient</span><span class="op">[</span><span class="str">'location'</span><span class="op">]</span><span class="op">[</span><span class="str">'y'</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t347" class="stm mis"> <span class="key">assert</span> <span class="nam">posoriend2</span><span class="op">[</span><span class="str">'location'</span><span class="op">]</span><span class="op">[</span><span class="str">'z'</span><span class="op">]</span> <span class="op">==</span> <span class="nam">posorient</span><span class="op">[</span><span class="str">'location'</span><span class="op">]</span><span class="op">[</span><span class="str">'z'</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t348" class="stm mis"> <span class="key">assert</span> <span class="op">(</span><span class="nam">posoriend2</span><span class="op">[</span><span class="str">'xyz'</span><span class="op">]</span><span class="op">[</span><span class="str">'alpha_0'</span><span class="op">]</span> <span class="op">==</span><span class="strut"> </span></p>
+<p id="t349" class="pln"> <span class="nam">posorient</span><span class="op">[</span><span class="str">'xyz'</span><span class="op">]</span><span class="op">[</span><span class="str">'alpha_0'</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t350" class="stm mis"> <span class="key">assert</span> <span class="op">(</span><span class="nam">posoriend2</span><span class="op">[</span><span class="str">'xyz'</span><span class="op">]</span><span class="op">[</span><span class="str">'alpha_1'</span><span class="op">]</span> <span class="op">==</span><span class="strut"> </span></p>
+<p id="t351" class="pln"> <span class="nam">posorient</span><span class="op">[</span><span class="str">'xyz'</span><span class="op">]</span><span class="op">[</span><span class="str">'alpha_1'</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t352" class="stm mis"> <span class="key">assert</span> <span class="op">(</span><span class="nam">posoriend2</span><span class="op">[</span><span class="str">'xyz'</span><span class="op">]</span><span class="op">[</span><span class="str">'alpha_2'</span><span class="op">]</span> <span class="op">==</span><span class="strut"> </span></p>
+<p id="t353" class="pln"> <span class="nam">posorient</span><span class="op">[</span><span class="str">'xyz'</span><span class="op">]</span><span class="op">[</span><span class="str">'alpha_2'</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t354" class="pln"><span class="strut"> </span></p>
+<p id="t355" class="stm run hide_run"> <span class="key">def</span> <span class="nam">test_scene_id</span><span class="op">(</span><span class="nam">self</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t356" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t357" class="pln"><span class="str"> this test checks the function scene works</span><span class="strut"> </span></p>
+<p id="t358" class="pln"><span class="str"> correctly.</span><span class="strut"> </span></p>
+<p id="t359" class="pln"><span class="str"> it checks if correct errors are raised for:</span><span class="strut"> </span></p>
+<p id="t360" class="pln"><span class="str"> - rowid is out of range (<=0)</span><span class="strut"> </span></p>
+<p id="t361" class="pln"><span class="str"> - rowid is of type char, none, nan, float</span><span class="strut"> </span></p>
+<p id="t362" class="pln"><span class="strut"> </span></p>
+<p id="t363" class="pln"><span class="str"> and checks if the returned entry for different</span><span class="strut"> </span></p>
+<p id="t364" class="pln"><span class="str"> rows is correct</span><span class="strut"> </span></p>
+<p id="t365" class="pln"><span class="str"> - has correct shape</span><span class="strut"> </span></p>
+<p id="t366" class="pln"><span class="str"> - does not contain nans</span><span class="strut"> </span></p>
+<p id="t367" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t368" class="stm run hide_run"> <span class="key">for</span> <span class="nam">rowid</span> <span class="key">in</span> <span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="op">-</span><span class="num">2</span><span class="op">]</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t369" class="stm run hide_run"> <span class="key">with</span> <span class="nam">self</span><span class="op">.</span><span class="nam">assertRaises</span><span class="op">(</span><span class="nam">ValueError</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t370" class="pln"> <span class="com"># print("rowid",rowid)</span><span class="strut"> </span></p>
+<p id="t371" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">mydb</span><span class="op">.</span><span class="nam">scene</span><span class="op">(</span><span class="nam">rowid</span><span class="op">=</span><span class="nam">rowid</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t372" class="stm run hide_run"> <span class="key">with</span> <span class="nam">self</span><span class="op">.</span><span class="nam">assertRaises</span><span class="op">(</span><span class="nam">TypeError</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t373" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">mydb</span><span class="op">.</span><span class="nam">scene</span><span class="op">(</span><span class="nam">rowid</span><span class="op">=</span><span class="str">'T'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t374" class="stm run hide_run"> <span class="key">with</span> <span class="nam">self</span><span class="op">.</span><span class="nam">assertRaises</span><span class="op">(</span><span class="nam">Exception</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t375" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">mydb</span><span class="op">.</span><span class="nam">scene</span><span class="op">(</span><span class="nam">rowid</span><span class="op">=</span><span class="key">None</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t376" class="stm run hide_run"> <span class="key">with</span> <span class="nam">self</span><span class="op">.</span><span class="nam">assertRaises</span><span class="op">(</span><span class="nam">TypeError</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t377" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">mydb</span><span class="op">.</span><span class="nam">scene</span><span class="op">(</span><span class="nam">rowid</span><span class="op">=</span><span class="nam">np</span><span class="op">.</span><span class="nam">nan</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t378" class="stm run hide_run"> <span class="key">with</span> <span class="nam">self</span><span class="op">.</span><span class="nam">assertRaises</span><span class="op">(</span><span class="nam">TypeError</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t379" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">mydb</span><span class="op">.</span><span class="nam">scene</span><span class="op">(</span><span class="nam">rowid</span><span class="op">=</span><span class="num">4.5</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t380" class="pln"><span class="strut"> </span></p>
+<p id="t381" class="stm run hide_run"> <span class="key">for</span> <span class="nam">rowid</span> <span class="key">in</span> <span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">2</span><span class="op">,</span> <span class="num">3</span><span class="op">,</span> <span class="num">4</span><span class="op">,</span> <span class="num">5</span><span class="op">]</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t382" class="stm run hide_run"> <span class="nam">image</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">mydb</span><span class="op">.</span><span class="nam">scene</span><span class="op">(</span><span class="nam">rowid</span><span class="op">=</span><span class="nam">rowid</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t383" class="pln"> <span class="com"># image=np.array(image)</span><span class="strut"> </span></p>
+<p id="t384" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertIsNotNone</span><span class="op">(</span><span class="nam">image</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t385" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertFalse</span><span class="op">(</span><span class="nam">sum</span><span class="op">(</span><span class="nam">image</span><span class="op">.</span><span class="nam">shape</span><span class="op">)</span> <span class="op">==</span> <span class="num">0</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t386" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertTrue</span><span class="op">(</span><span class="nam">len</span><span class="op">(</span><span class="nam">image</span><span class="op">.</span><span class="nam">shape</span><span class="op">)</span> <span class="op">==</span> <span class="num">4</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t387" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertFalse</span><span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">any</span><span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">isnan</span><span class="op">(</span><span class="nam">image</span><span class="op">)</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t388" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertTrue</span><span class="op">(</span><span class="nam">image</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">3</span><span class="op">]</span> <span class="op">==</span> <span class="num">1</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t389" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertTrue</span><span class="op">(</span><span class="nam">image</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">2</span><span class="op">]</span> <span class="op">==</span> <span class="num">4</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t390" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertTrue</span><span class="op">(</span><span class="nam">image</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">0</span><span class="op">]</span> <span class="op">></span> <span class="num">0</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t391" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertTrue</span><span class="op">(</span><span class="nam">image</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">1</span><span class="op">]</span> <span class="op">></span> <span class="num">0</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t392" class="pln"><span class="strut"> </span></p>
+<p id="t393" class="stm run hide_run"> <span class="key">def</span> <span class="nam">test_scene_posorient</span><span class="op">(</span><span class="nam">self</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t394" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t395" class="pln"><span class="str"> this test checks the function scene works</span><span class="strut"> </span></p>
+<p id="t396" class="pln"><span class="str"> correctly.</span><span class="strut"> </span></p>
+<p id="t397" class="pln"><span class="str"> it checks if correct errors are raised for:</span><span class="strut"> </span></p>
+<p id="t398" class="pln"><span class="str"> - posorient is missing an entry (no 'x' column)</span><span class="strut"> </span></p>
+<p id="t399" class="pln"><span class="str"> - posorient contains nan or none values</span><span class="strut"> </span></p>
+<p id="t400" class="pln"><span class="str"> - posorient is of wrong type (dict instead of pd.series)</span><span class="strut"> </span></p>
+<p id="t401" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t402" class="stm run hide_run"> <span class="nam">conn</span> <span class="op">=</span> <span class="nam">sqlite3</span><span class="op">.</span><span class="nam">connect</span><span class="op">(</span><span class="nam">self</span><span class="op">.</span><span class="nam">mydb_filename</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t403" class="stm run hide_run"> <span class="nam">c</span> <span class="op">=</span> <span class="nam">conn</span><span class="op">.</span><span class="nam">cursor</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t404" class="stm run hide_run"> <span class="nam">c</span><span class="op">.</span><span class="nam">execute</span><span class="op">(</span><span class="str">""" SELECT * FROM position_orientation WHERE (rowid=1) """</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t405" class="stm run hide_run"> <span class="nam">rows</span> <span class="op">=</span> <span class="nam">c</span><span class="op">.</span><span class="nam">fetchall</span><span class="op">(</span><span class="op">)</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t406" class="pln"> <span class="com"># working case</span><span class="strut"> </span></p>
+<p id="t407" class="stm run hide_run"> <span class="nam">tuples</span> <span class="op">=</span> <span class="op">[</span><span class="op">(</span><span class="str">'location'</span><span class="op">,</span> <span class="str">'x'</span><span class="op">)</span><span class="op">,</span> <span class="op">(</span><span class="str">'location'</span><span class="op">,</span> <span class="str">'y'</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t408" class="pln"> <span class="op">(</span><span class="str">'location'</span><span class="op">,</span> <span class="str">'z'</span><span class="op">)</span><span class="op">,</span> <span class="op">(</span><span class="str">'xyz'</span><span class="op">,</span> <span class="str">'alpha_0'</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t409" class="pln"> <span class="op">(</span><span class="str">'xyz'</span><span class="op">,</span> <span class="str">'alpha_1'</span><span class="op">)</span><span class="op">,</span> <span class="op">(</span><span class="str">'xyz'</span><span class="op">,</span> <span class="str">'alpha_2'</span><span class="op">)</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t410" class="stm run hide_run"> <span class="nam">index</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">MultiIndex</span><span class="op">.</span><span class="nam">from_tuples</span><span class="op">(</span><span class="nam">tuples</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t411" class="pln"> <span class="nam">names</span><span class="op">=</span><span class="op">[</span><span class="str">'position'</span><span class="op">,</span> <span class="str">'orientation'</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t412" class="stm run hide_run"> <span class="nam">posorient</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">Series</span><span class="op">(</span><span class="nam">index</span><span class="op">=</span><span class="nam">index</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t413" class="stm run hide_run"> <span class="nam">posorient</span><span class="op">[</span><span class="str">'location'</span><span class="op">]</span><span class="op">[</span><span class="str">'x'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">rows</span><span class="op">[</span><span class="num">6</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t414" class="stm run hide_run"> <span class="nam">posorient</span><span class="op">[</span><span class="str">'location'</span><span class="op">]</span><span class="op">[</span><span class="str">'y'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">rows</span><span class="op">[</span><span class="num">7</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t415" class="stm run hide_run"> <span class="nam">posorient</span><span class="op">[</span><span class="str">'location'</span><span class="op">]</span><span class="op">[</span><span class="str">'z'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">rows</span><span class="op">[</span><span class="num">8</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t416" class="stm run hide_run"> <span class="nam">posorient</span><span class="op">[</span><span class="str">'xyz'</span><span class="op">]</span><span class="op">[</span><span class="str">'alpha_0'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">rows</span><span class="op">[</span><span class="num">3</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t417" class="stm run hide_run"> <span class="nam">posorient</span><span class="op">[</span><span class="str">'xyz'</span><span class="op">]</span><span class="op">[</span><span class="str">'alpha_1'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">rows</span><span class="op">[</span><span class="num">5</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t418" class="stm run hide_run"> <span class="nam">posorient</span><span class="op">[</span><span class="str">'xyz'</span><span class="op">]</span><span class="op">[</span><span class="str">'alpha_2'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">rows</span><span class="op">[</span><span class="num">4</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t419" class="stm run hide_run"> <span class="nam">image</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">mydb</span><span class="op">.</span><span class="nam">scene</span><span class="op">(</span><span class="nam">posorient</span><span class="op">=</span><span class="nam">posorient</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t420" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertIsNotNone</span><span class="op">(</span><span class="nam">image</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t421" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertFalse</span><span class="op">(</span><span class="nam">sum</span><span class="op">(</span><span class="nam">image</span><span class="op">.</span><span class="nam">shape</span><span class="op">)</span> <span class="op">==</span> <span class="num">0</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t422" class="pln"> <span class="com"># print("shape",image.shape)</span><span class="strut"> </span></p>
+<p id="t423" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertTrue</span><span class="op">(</span><span class="nam">len</span><span class="op">(</span><span class="nam">image</span><span class="op">.</span><span class="nam">shape</span><span class="op">)</span> <span class="op">==</span> <span class="num">4</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t424" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertTrue</span><span class="op">(</span><span class="nam">image</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">3</span><span class="op">]</span> <span class="op">==</span> <span class="num">1</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t425" class="pln"><span class="strut"> </span></p>
+<p id="t426" class="pln"> <span class="com"># incorrect case missing column</span><span class="strut"> </span></p>
+<p id="t427" class="stm mis"> <span class="nam">tuples</span> <span class="op">=</span> <span class="op">[</span><span class="op">(</span><span class="str">'location'</span><span class="op">,</span> <span class="str">'x'</span><span class="op">)</span><span class="op">,</span> <span class="op">(</span><span class="str">'location'</span><span class="op">,</span> <span class="str">'y'</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t428" class="pln"> <span class="op">(</span><span class="str">'location'</span><span class="op">,</span> <span class="str">'z'</span><span class="op">)</span><span class="op">,</span> <span class="op">(</span><span class="str">'xyz'</span><span class="op">,</span> <span class="str">'alpha_0'</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t429" class="pln"> <span class="op">(</span><span class="str">'xyz'</span><span class="op">,</span> <span class="str">'alpha_1'</span><span class="op">)</span><span class="op">,</span> <span class="op">(</span><span class="str">'xyz'</span><span class="op">,</span> <span class="str">'alpha_2'</span><span class="op">)</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t430" class="stm mis"> <span class="nam">index</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">MultiIndex</span><span class="op">.</span><span class="nam">from_tuples</span><span class="op">(</span><span class="nam">tuples</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t431" class="pln"> <span class="nam">names</span><span class="op">=</span><span class="op">[</span><span class="str">'position'</span><span class="op">,</span> <span class="str">'orientation'</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t432" class="pln"><span class="strut"> </span></p>
+<p id="t433" class="stm mis"> <span class="nam">posorient2</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">Series</span><span class="op">(</span><span class="nam">index</span><span class="op">=</span><span class="nam">index</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t434" class="stm mis"> <span class="nam">posorient2</span><span class="op">[</span><span class="str">'location'</span><span class="op">]</span><span class="op">[</span><span class="str">'y'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">rows</span><span class="op">[</span><span class="num">7</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t435" class="stm mis"> <span class="nam">posorient2</span><span class="op">[</span><span class="str">'location'</span><span class="op">]</span><span class="op">[</span><span class="str">'z'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">rows</span><span class="op">[</span><span class="num">8</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t436" class="stm mis"> <span class="nam">posorient2</span><span class="op">[</span><span class="str">'xyz'</span><span class="op">]</span><span class="op">[</span><span class="str">'alpha_0'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">rows</span><span class="op">[</span><span class="num">3</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t437" class="stm mis"> <span class="nam">posorient2</span><span class="op">[</span><span class="str">'xyz'</span><span class="op">]</span><span class="op">[</span><span class="str">'alpha_1'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">rows</span><span class="op">[</span><span class="num">5</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t438" class="stm mis"> <span class="nam">posorient2</span><span class="op">[</span><span class="str">'xyz'</span><span class="op">]</span><span class="op">[</span><span class="str">'alpha_2'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">rows</span><span class="op">[</span><span class="num">4</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t439" class="stm mis"> <span class="key">with</span> <span class="nam">self</span><span class="op">.</span><span class="nam">assertRaises</span><span class="op">(</span><span class="nam">Exception</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t440" class="stm mis"> <span class="nam">image</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">mydb</span><span class="op">.</span><span class="nam">scene</span><span class="op">(</span><span class="nam">posorient</span><span class="op">=</span><span class="nam">posorient2</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t441" class="pln"><span class="strut"> </span></p>
+<p id="t442" class="pln"> <span class="com"># incorrect case None</span><span class="strut"> </span></p>
+<p id="t443" class="stm mis"> <span class="nam">tuples</span> <span class="op">=</span> <span class="op">[</span><span class="op">(</span><span class="str">'location'</span><span class="op">,</span> <span class="str">'x'</span><span class="op">)</span><span class="op">,</span> <span class="op">(</span><span class="str">'location'</span><span class="op">,</span> <span class="str">'y'</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t444" class="pln"> <span class="op">(</span><span class="str">'location'</span><span class="op">,</span> <span class="str">'z'</span><span class="op">)</span><span class="op">,</span> <span class="op">(</span><span class="str">'xyz'</span><span class="op">,</span> <span class="str">'alpha_0'</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t445" class="pln"> <span class="op">(</span><span class="str">'xyz'</span><span class="op">,</span> <span class="str">'alpha_1'</span><span class="op">)</span><span class="op">,</span> <span class="op">(</span><span class="str">'xyz'</span><span class="op">,</span> <span class="str">'alpha_2'</span><span class="op">)</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t446" class="stm mis"> <span class="nam">index</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">MultiIndex</span><span class="op">.</span><span class="nam">from_tuples</span><span class="op">(</span><span class="nam">tuples</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t447" class="pln"> <span class="nam">names</span><span class="op">=</span><span class="op">[</span><span class="str">'position'</span><span class="op">,</span> <span class="str">'orientation'</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t448" class="pln"><span class="strut"> </span></p>
+<p id="t449" class="stm mis"> <span class="nam">posorient2</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">Series</span><span class="op">(</span><span class="nam">index</span><span class="op">=</span><span class="nam">index</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t450" class="stm mis"> <span class="nam">posorient2</span><span class="op">[</span><span class="str">'location'</span><span class="op">]</span><span class="op">[</span><span class="str">'x'</span><span class="op">]</span> <span class="op">=</span> <span class="key">None</span><span class="strut"> </span></p>
+<p id="t451" class="stm mis"> <span class="nam">posorient2</span><span class="op">[</span><span class="str">'location'</span><span class="op">]</span><span class="op">[</span><span class="str">'y'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">rows</span><span class="op">[</span><span class="num">7</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t452" class="stm mis"> <span class="nam">posorient2</span><span class="op">[</span><span class="str">'location'</span><span class="op">]</span><span class="op">[</span><span class="str">'z'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">rows</span><span class="op">[</span><span class="num">8</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t453" class="stm mis"> <span class="nam">posorient2</span><span class="op">[</span><span class="str">'xyz'</span><span class="op">]</span><span class="op">[</span><span class="str">'alpha_0'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">rows</span><span class="op">[</span><span class="num">3</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t454" class="stm mis"> <span class="nam">posorient2</span><span class="op">[</span><span class="str">'xyz'</span><span class="op">]</span><span class="op">[</span><span class="str">'alpha_1'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">rows</span><span class="op">[</span><span class="num">5</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t455" class="stm mis"> <span class="nam">posorient2</span><span class="op">[</span><span class="str">'xyz'</span><span class="op">]</span><span class="op">[</span><span class="str">'alpha_2'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">rows</span><span class="op">[</span><span class="num">4</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t456" class="stm mis"> <span class="key">with</span> <span class="nam">self</span><span class="op">.</span><span class="nam">assertRaises</span><span class="op">(</span><span class="nam">ValueError</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t457" class="stm mis"> <span class="nam">image</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">mydb</span><span class="op">.</span><span class="nam">scene</span><span class="op">(</span><span class="nam">posorient</span><span class="op">=</span><span class="nam">posorient2</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t458" class="pln"><span class="strut"> </span></p>
+<p id="t459" class="pln"> <span class="com"># incorrect case nan</span><span class="strut"> </span></p>
+<p id="t460" class="stm mis"> <span class="nam">tuples</span> <span class="op">=</span> <span class="op">[</span><span class="op">(</span><span class="str">'location'</span><span class="op">,</span> <span class="str">'x'</span><span class="op">)</span><span class="op">,</span> <span class="op">(</span><span class="str">'location'</span><span class="op">,</span> <span class="str">'y'</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t461" class="pln"> <span class="op">(</span><span class="str">'location'</span><span class="op">,</span> <span class="str">'z'</span><span class="op">)</span><span class="op">,</span> <span class="op">(</span><span class="str">'xyz'</span><span class="op">,</span> <span class="str">'alpha_0'</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t462" class="pln"> <span class="op">(</span><span class="str">'xyz'</span><span class="op">,</span> <span class="str">'alpha_1'</span><span class="op">)</span><span class="op">,</span> <span class="op">(</span><span class="str">'xyz'</span><span class="op">,</span> <span class="str">'alpha_2'</span><span class="op">)</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t463" class="stm mis"> <span class="nam">index</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">MultiIndex</span><span class="op">.</span><span class="nam">from_tuples</span><span class="op">(</span><span class="nam">tuples</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t464" class="pln"> <span class="nam">names</span><span class="op">=</span><span class="op">[</span><span class="str">'position'</span><span class="op">,</span> <span class="str">'orientation'</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t465" class="pln"><span class="strut"> </span></p>
+<p id="t466" class="stm mis"> <span class="nam">posorient2</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">Series</span><span class="op">(</span><span class="nam">index</span><span class="op">=</span><span class="nam">index</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t467" class="stm mis"> <span class="nam">posorient2</span><span class="op">[</span><span class="str">'location'</span><span class="op">]</span><span class="op">[</span><span class="str">'x'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">nan</span><span class="strut"> </span></p>
+<p id="t468" class="stm mis"> <span class="nam">posorient2</span><span class="op">[</span><span class="str">'location'</span><span class="op">]</span><span class="op">[</span><span class="str">'y'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">rows</span><span class="op">[</span><span class="num">7</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t469" class="stm mis"> <span class="nam">posorient2</span><span class="op">[</span><span class="str">'location'</span><span class="op">]</span><span class="op">[</span><span class="str">'z'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">rows</span><span class="op">[</span><span class="num">8</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t470" class="stm mis"> <span class="nam">posorient2</span><span class="op">[</span><span class="str">'xyz'</span><span class="op">]</span><span class="op">[</span><span class="str">'alpha_0'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">rows</span><span class="op">[</span><span class="num">3</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t471" class="stm mis"> <span class="nam">posorient2</span><span class="op">[</span><span class="str">'xyz'</span><span class="op">]</span><span class="op">[</span><span class="str">'alpha_1'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">rows</span><span class="op">[</span><span class="num">5</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t472" class="stm mis"> <span class="nam">posorient2</span><span class="op">[</span><span class="str">'xyz'</span><span class="op">]</span><span class="op">[</span><span class="str">'alpha_2'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">rows</span><span class="op">[</span><span class="num">4</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t473" class="stm mis"> <span class="key">with</span> <span class="nam">self</span><span class="op">.</span><span class="nam">assertRaises</span><span class="op">(</span><span class="nam">ValueError</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t474" class="stm mis"> <span class="nam">image</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">mydb</span><span class="op">.</span><span class="nam">scene</span><span class="op">(</span><span class="nam">posorient</span><span class="op">=</span><span class="nam">posorient2</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t475" class="pln"><span class="strut"> </span></p>
+<p id="t476" class="pln"> <span class="com"># incorrect case no pandas series but dict</span><span class="strut"> </span></p>
+<p id="t477" class="stm mis"> <span class="nam">posorient2</span> <span class="op">=</span> <span class="op">{</span><span class="op">}</span><span class="strut"> </span></p>
+<p id="t478" class="stm mis"> <span class="nam">posorient2</span><span class="op">[</span><span class="str">'location'</span><span class="op">]</span> <span class="op">=</span> <span class="op">{</span><span class="op">}</span><span class="strut"> </span></p>
+<p id="t479" class="stm mis"> <span class="nam">posorient2</span><span class="op">[</span><span class="str">'xyz'</span><span class="op">]</span> <span class="op">=</span> <span class="op">{</span><span class="op">}</span><span class="strut"> </span></p>
+<p id="t480" class="stm mis"> <span class="nam">posorient2</span><span class="op">[</span><span class="str">'location'</span><span class="op">]</span><span class="op">[</span><span class="str">'x'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">rows</span><span class="op">[</span><span class="num">6</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t481" class="stm mis"> <span class="nam">posorient2</span><span class="op">[</span><span class="str">'location'</span><span class="op">]</span><span class="op">[</span><span class="str">'y'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">rows</span><span class="op">[</span><span class="num">7</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t482" class="stm mis"> <span class="nam">posorient2</span><span class="op">[</span><span class="str">'location'</span><span class="op">]</span><span class="op">[</span><span class="str">'z'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">rows</span><span class="op">[</span><span class="num">8</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t483" class="stm mis"> <span class="nam">posorient2</span><span class="op">[</span><span class="str">'xyz'</span><span class="op">]</span><span class="op">[</span><span class="str">'alpha_0'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">rows</span><span class="op">[</span><span class="num">3</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t484" class="stm mis"> <span class="nam">posorient2</span><span class="op">[</span><span class="str">'xyz'</span><span class="op">]</span><span class="op">[</span><span class="str">'alpha_1'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">rows</span><span class="op">[</span><span class="num">5</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t485" class="stm mis"> <span class="nam">posorient2</span><span class="op">[</span><span class="str">'xyz'</span><span class="op">]</span><span class="op">[</span><span class="str">'alpha_2'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">rows</span><span class="op">[</span><span class="num">4</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t486" class="stm mis"> <span class="key">with</span> <span class="nam">self</span><span class="op">.</span><span class="nam">assertRaises</span><span class="op">(</span><span class="nam">TypeError</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t487" class="stm mis"> <span class="nam">image</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">mydb</span><span class="op">.</span><span class="nam">scene</span><span class="op">(</span><span class="nam">posorient</span><span class="op">=</span><span class="nam">posorient2</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t488" class="pln"><span class="strut"> </span></p>
+<p id="t489" class="pln"> <span class="com"># not working case empty</span><span class="strut"> </span></p>
+<p id="t490" class="stm mis"> <span class="nam">index</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">MultiIndex</span><span class="op">.</span><span class="nam">from_tuples</span><span class="op">(</span><span class="nam">tuples</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t491" class="pln"> <span class="nam">names</span><span class="op">=</span><span class="op">[</span><span class="str">'position'</span><span class="op">,</span> <span class="str">'orientation'</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t492" class="pln"><span class="strut"> </span></p>
+<p id="t493" class="stm mis"> <span class="nam">posorient2</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">Series</span><span class="op">(</span><span class="nam">index</span><span class="op">=</span><span class="nam">index</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t494" class="pln"><span class="strut"> </span></p>
+<p id="t495" class="stm mis"> <span class="key">with</span> <span class="nam">self</span><span class="op">.</span><span class="nam">assertRaises</span><span class="op">(</span><span class="nam">Exception</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t496" class="stm mis"> <span class="nam">image</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">mydb</span><span class="op">.</span><span class="nam">scene</span><span class="op">(</span><span class="nam">posorient</span><span class="op">=</span><span class="nam">posorient2</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t497" class="pln"><span class="strut"> </span></p>
+<p id="t498" class="stm run hide_run"> <span class="key">def</span> <span class="nam">test_denormalise_image</span><span class="op">(</span><span class="nam">self</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t499" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t500" class="pln"><span class="str"> this test checks the function denormalise_image works</span><span class="strut"> </span></p>
+<p id="t501" class="pln"><span class="str"> correctly.</span><span class="strut"> </span></p>
+<p id="t502" class="pln"><span class="str"> it checks if correct errors are raised for:</span><span class="strut"> </span></p>
+<p id="t503" class="pln"><span class="str"> - image has wrong type (list instead of np.ndarray)</span><span class="strut"> </span></p>
+<p id="t504" class="pln"><span class="str"> - image does not have enough dimensions</span><span class="strut"> </span></p>
+<p id="t505" class="pln"><span class="str"> - image contains nan values</span><span class="strut"> </span></p>
+<p id="t506" class="pln"><span class="str"> - image has to many dimensions</span><span class="strut"> </span></p>
+<p id="t507" class="pln"><span class="str"> - cminmax range is missing one channel</span><span class="strut"> </span></p>
+<p id="t508" class="pln"><span class="str"> - cminmax range is empty pd.series</span><span class="strut"> </span></p>
+<p id="t509" class="pln"><span class="str"> - cminmax range is dictionary</span><span class="strut"> </span></p>
+<p id="t510" class="pln"><span class="str"> - cminmax contains nans</span><span class="strut"> </span></p>
+<p id="t511" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t512" class="stm run hide_run"> <span class="nam">image</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">mydb</span><span class="op">.</span><span class="nam">scene</span><span class="op">(</span><span class="nam">rowid</span><span class="op">=</span><span class="num">1</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t513" class="stm run hide_run"> <span class="nam">image</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">squeeze</span><span class="op">(</span><span class="nam">image</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t514" class="stm run hide_run"> <span class="nam">cminmaxrange</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">Series</span><span class="op">(</span><span class="nam">index</span><span class="op">=</span><span class="op">[</span><span class="str">'R_min'</span><span class="op">,</span> <span class="str">'R_max'</span><span class="op">,</span> <span class="str">'R_range'</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t515" class="pln"> <span class="str">'G_min'</span><span class="op">,</span> <span class="str">'G_max'</span><span class="op">,</span> <span class="str">'G_range'</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t516" class="pln"> <span class="str">'B_min'</span><span class="op">,</span> <span class="str">'B_max'</span><span class="op">,</span> <span class="str">'B_range'</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t517" class="pln"> <span class="str">'D_min'</span><span class="op">,</span> <span class="str">'D_max'</span><span class="op">,</span> <span class="str">'D_range'</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t518" class="stm run hide_run"> <span class="nam">cminmaxrange</span><span class="op">.</span><span class="nam">R_min</span> <span class="op">=</span> <span class="num">0</span><span class="strut"> </span></p>
+<p id="t519" class="stm run hide_run"> <span class="nam">cminmaxrange</span><span class="op">.</span><span class="nam">R_max</span> <span class="op">=</span> <span class="num">1</span><span class="strut"> </span></p>
+<p id="t520" class="stm run hide_run"> <span class="nam">cminmaxrange</span><span class="op">.</span><span class="nam">R_range</span> <span class="op">=</span> <span class="num">1</span><span class="strut"> </span></p>
+<p id="t521" class="stm run hide_run"> <span class="nam">cminmaxrange</span><span class="op">.</span><span class="nam">G_min</span> <span class="op">=</span> <span class="num">0</span><span class="strut"> </span></p>
+<p id="t522" class="stm run hide_run"> <span class="nam">cminmaxrange</span><span class="op">.</span><span class="nam">G_max</span> <span class="op">=</span> <span class="num">1</span><span class="strut"> </span></p>
+<p id="t523" class="stm run hide_run"> <span class="nam">cminmaxrange</span><span class="op">.</span><span class="nam">G_range</span> <span class="op">=</span> <span class="num">1</span><span class="strut"> </span></p>
+<p id="t524" class="stm run hide_run"> <span class="nam">cminmaxrange</span><span class="op">.</span><span class="nam">B_min</span> <span class="op">=</span> <span class="num">0</span><span class="strut"> </span></p>
+<p id="t525" class="stm run hide_run"> <span class="nam">cminmaxrange</span><span class="op">.</span><span class="nam">B_max</span> <span class="op">=</span> <span class="num">1</span><span class="strut"> </span></p>
+<p id="t526" class="stm run hide_run"> <span class="nam">cminmaxrange</span><span class="op">.</span><span class="nam">B_range</span> <span class="op">=</span> <span class="num">1</span><span class="strut"> </span></p>
+<p id="t527" class="stm run hide_run"> <span class="nam">cminmaxrange</span><span class="op">.</span><span class="nam">D_min</span> <span class="op">=</span> <span class="num">0</span><span class="strut"> </span></p>
+<p id="t528" class="stm run hide_run"> <span class="nam">cminmaxrange</span><span class="op">.</span><span class="nam">D_max</span> <span class="op">=</span> <span class="num">1</span><span class="strut"> </span></p>
+<p id="t529" class="stm run hide_run"> <span class="nam">cminmaxrange</span><span class="op">.</span><span class="nam">D_range</span> <span class="op">=</span> <span class="num">1</span><span class="strut"> </span></p>
+<p id="t530" class="stm run hide_run"> <span class="nam">imagecorrect</span> <span class="op">=</span> <span class="op">(</span><span class="nam">image</span><span class="op">.</span><span class="nam">copy</span><span class="op">(</span><span class="op">)</span> <span class="op">*</span> <span class="num">500</span><span class="op">)</span><span class="op">.</span><span class="nam">astype</span><span class="op">(</span><span class="nam">int</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t531" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">mydb</span><span class="op">.</span><span class="nam">denormalise_image</span><span class="op">(</span><span class="nam">imagecorrect</span><span class="op">,</span> <span class="nam">cminmaxrange</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t532" class="pln"><span class="strut"> </span></p>
+<p id="t533" class="pln"> <span class="com"># not working</span><span class="strut"> </span></p>
+<p id="t534" class="stm run hide_run"> <span class="nam">image2</span> <span class="op">=</span> <span class="nam">image</span><span class="op">.</span><span class="nam">copy</span><span class="op">(</span><span class="op">)</span><span class="op">.</span><span class="nam">tolist</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t535" class="stm run hide_run"> <span class="key">with</span> <span class="nam">self</span><span class="op">.</span><span class="nam">assertRaises</span><span class="op">(</span><span class="nam">TypeError</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t536" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">mydb</span><span class="op">.</span><span class="nam">denormalise_image</span><span class="op">(</span><span class="nam">image2</span><span class="op">,</span> <span class="nam">cminmaxrange</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t537" class="pln"><span class="strut"> </span></p>
+<p id="t538" class="stm run hide_run"> <span class="nam">image2</span> <span class="op">=</span> <span class="nam">image</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="op">:</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span><span class="op">.</span><span class="nam">copy</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t539" class="stm run hide_run"> <span class="key">with</span> <span class="nam">self</span><span class="op">.</span><span class="nam">assertRaises</span><span class="op">(</span><span class="nam">Exception</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t540" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">mydb</span><span class="op">.</span><span class="nam">denormalise_image</span><span class="op">(</span><span class="nam">image2</span><span class="op">,</span> <span class="nam">cminmaxrange</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t541" class="pln"><span class="strut"> </span></p>
+<p id="t542" class="stm run hide_run"> <span class="nam">image2</span> <span class="op">=</span> <span class="nam">image</span><span class="op">.</span><span class="nam">copy</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t543" class="stm run hide_run"> <span class="nam">image2</span><span class="op">[</span><span class="num">23</span><span class="op">,</span> <span class="num">34</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">nan</span><span class="strut"> </span></p>
+<p id="t544" class="stm run hide_run"> <span class="key">with</span> <span class="nam">self</span><span class="op">.</span><span class="nam">assertRaises</span><span class="op">(</span><span class="nam">ValueError</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t545" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">mydb</span><span class="op">.</span><span class="nam">denormalise_image</span><span class="op">(</span><span class="nam">image2</span><span class="op">,</span> <span class="nam">cminmaxrange</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t546" class="pln"><span class="strut"> </span></p>
+<p id="t547" class="pln"> <span class="com"># image2 = image</span><span class="strut"> </span></p>
+<p id="t548" class="pln"> <span class="com"># image2[23,34,0] = 'addsf'</span><span class="strut"> </span></p>
+<p id="t549" class="pln"> <span class="com"># with self.assertRaises(ValueError):</span><span class="strut"> </span></p>
+<p id="t550" class="pln"> <span class="com"># denormed=self.mydb.denormalise_image(image2,cminmaxrange)</span><span class="strut"> </span></p>
+<p id="t551" class="pln"><span class="strut"> </span></p>
+<p id="t552" class="stm run hide_run"> <span class="nam">image2</span> <span class="op">=</span> <span class="nam">image</span><span class="op">[</span><span class="nam">np</span><span class="op">.</span><span class="nam">newaxis</span><span class="op">,</span> <span class="op">:</span><span class="op">,</span> <span class="op">:</span><span class="op">,</span> <span class="op">:</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t553" class="stm run hide_run"> <span class="key">with</span> <span class="nam">self</span><span class="op">.</span><span class="nam">assertRaises</span><span class="op">(</span><span class="nam">Exception</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t554" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">mydb</span><span class="op">.</span><span class="nam">denormalise_image</span><span class="op">(</span><span class="nam">image2</span><span class="op">,</span> <span class="nam">cminmaxrange</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t555" class="pln"><span class="strut"> </span></p>
+<p id="t556" class="stm run hide_run"> <span class="nam">cminmaxrange2</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">Series</span><span class="op">(</span><span class="nam">index</span><span class="op">=</span><span class="op">[</span><span class="str">'R_min'</span><span class="op">,</span> <span class="str">'R_max'</span><span class="op">,</span> <span class="str">'R_range'</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t557" class="pln"> <span class="str">'B_min'</span><span class="op">,</span> <span class="str">'B_max'</span><span class="op">,</span> <span class="str">'B_range'</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t558" class="pln"> <span class="str">'D_min'</span><span class="op">,</span> <span class="str">'D_max'</span><span class="op">,</span> <span class="str">'D_range'</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t559" class="stm run hide_run"> <span class="nam">cminmaxrange2</span><span class="op">.</span><span class="nam">R_min</span> <span class="op">=</span> <span class="num">0</span><span class="strut"> </span></p>
+<p id="t560" class="stm run hide_run"> <span class="nam">cminmaxrange2</span><span class="op">.</span><span class="nam">R_max</span> <span class="op">=</span> <span class="num">1</span><span class="strut"> </span></p>
+<p id="t561" class="stm run hide_run"> <span class="nam">cminmaxrange2</span><span class="op">.</span><span class="nam">R_range</span> <span class="op">=</span> <span class="num">1</span><span class="strut"> </span></p>
+<p id="t562" class="stm run hide_run"> <span class="nam">cminmaxrange2</span><span class="op">.</span><span class="nam">B_min</span> <span class="op">=</span> <span class="num">0</span><span class="strut"> </span></p>
+<p id="t563" class="stm run hide_run"> <span class="nam">cminmaxrange2</span><span class="op">.</span><span class="nam">B_max</span> <span class="op">=</span> <span class="num">1</span><span class="strut"> </span></p>
+<p id="t564" class="stm run hide_run"> <span class="nam">cminmaxrange2</span><span class="op">.</span><span class="nam">B_range</span> <span class="op">=</span> <span class="num">1</span><span class="strut"> </span></p>
+<p id="t565" class="stm run hide_run"> <span class="nam">cminmaxrange2</span><span class="op">.</span><span class="nam">D_min</span> <span class="op">=</span> <span class="num">0</span><span class="strut"> </span></p>
+<p id="t566" class="stm run hide_run"> <span class="nam">cminmaxrange2</span><span class="op">.</span><span class="nam">D_max</span> <span class="op">=</span> <span class="num">1</span><span class="strut"> </span></p>
+<p id="t567" class="stm run hide_run"> <span class="nam">cminmaxrange2</span><span class="op">.</span><span class="nam">D_range</span> <span class="op">=</span> <span class="num">1</span><span class="strut"> </span></p>
+<p id="t568" class="stm run hide_run"> <span class="nam">imagecorrect</span> <span class="op">=</span> <span class="op">(</span><span class="nam">image</span><span class="op">.</span><span class="nam">copy</span><span class="op">(</span><span class="op">)</span> <span class="op">*</span> <span class="num">500</span><span class="op">)</span><span class="op">.</span><span class="nam">astype</span><span class="op">(</span><span class="nam">int</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t569" class="stm run hide_run"> <span class="key">with</span> <span class="nam">self</span><span class="op">.</span><span class="nam">assertRaises</span><span class="op">(</span><span class="nam">ValueError</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t570" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">mydb</span><span class="op">.</span><span class="nam">denormalise_image</span><span class="op">(</span><span class="nam">imagecorrect</span><span class="op">,</span> <span class="nam">cminmaxrange2</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t571" class="pln"><span class="strut"> </span></p>
+<p id="t572" class="stm run hide_run"> <span class="nam">cminmaxrange3</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">Series</span><span class="op">(</span><span class="nam">index</span><span class="op">=</span><span class="op">[</span><span class="str">'R_min'</span><span class="op">,</span> <span class="str">'R_max'</span><span class="op">,</span> <span class="str">'R_range'</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t573" class="pln"> <span class="str">'G_min'</span><span class="op">,</span> <span class="str">'G_max'</span><span class="op">,</span> <span class="str">'G_range'</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t574" class="pln"> <span class="str">'B_min'</span><span class="op">,</span> <span class="str">'B_max'</span><span class="op">,</span> <span class="str">'B_range'</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t575" class="pln"> <span class="str">'D_min'</span><span class="op">,</span> <span class="str">'D_max'</span><span class="op">,</span> <span class="str">'D_range'</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t576" class="pln"> <span class="com"># cminmaxrange3.R_min = []</span><span class="strut"> </span></p>
+<p id="t577" class="pln"> <span class="com"># cminmaxrange3.R_max = []</span><span class="strut"> </span></p>
+<p id="t578" class="pln"> <span class="com"># cminmaxrange3.R_range = []</span><span class="strut"> </span></p>
+<p id="t579" class="pln"> <span class="com"># cminmaxrange3.G_min = []</span><span class="strut"> </span></p>
+<p id="t580" class="pln"> <span class="com"># cminmaxrange3.G_max = []</span><span class="strut"> </span></p>
+<p id="t581" class="pln"> <span class="com"># cminmaxrange3.G_range = []</span><span class="strut"> </span></p>
+<p id="t582" class="pln"> <span class="com"># cminmaxrange3.B_min = []</span><span class="strut"> </span></p>
+<p id="t583" class="pln"> <span class="com"># cminmaxrange3.B_max = []</span><span class="strut"> </span></p>
+<p id="t584" class="pln"> <span class="com"># cminmaxrange3.B_range = []</span><span class="strut"> </span></p>
+<p id="t585" class="pln"> <span class="com"># cminmaxrange3.D_min = []</span><span class="strut"> </span></p>
+<p id="t586" class="pln"> <span class="com"># cminmaxrange3.D_max = []</span><span class="strut"> </span></p>
+<p id="t587" class="pln"> <span class="com"># cminmaxrange3.D_range = []</span><span class="strut"> </span></p>
+<p id="t588" class="pln"><span class="strut"> </span></p>
+<p id="t589" class="stm run hide_run"> <span class="key">with</span> <span class="nam">self</span><span class="op">.</span><span class="nam">assertRaises</span><span class="op">(</span><span class="nam">ValueError</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t590" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">mydb</span><span class="op">.</span><span class="nam">denormalise_image</span><span class="op">(</span><span class="nam">imagecorrect</span><span class="op">,</span> <span class="nam">cminmaxrange3</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t591" class="pln"><span class="strut"> </span></p>
+<p id="t592" class="stm run hide_run"> <span class="nam">cminmaxrange3</span> <span class="op">=</span> <span class="op">{</span><span class="op">}</span><span class="strut"> </span></p>
+<p id="t593" class="stm run hide_run"> <span class="nam">cminmaxrange3</span><span class="op">[</span><span class="str">'R_min'</span><span class="op">]</span> <span class="op">=</span> <span class="num">0</span><span class="strut"> </span></p>
+<p id="t594" class="stm run hide_run"> <span class="nam">cminmaxrange3</span><span class="op">[</span><span class="str">'R_max'</span><span class="op">]</span> <span class="op">=</span> <span class="num">1</span><span class="strut"> </span></p>
+<p id="t595" class="stm run hide_run"> <span class="nam">cminmaxrange3</span><span class="op">[</span><span class="str">'R_range'</span><span class="op">]</span> <span class="op">=</span> <span class="num">1</span><span class="strut"> </span></p>
+<p id="t596" class="stm run hide_run"> <span class="nam">cminmaxrange3</span><span class="op">[</span><span class="str">'G_min'</span><span class="op">]</span> <span class="op">=</span> <span class="num">0</span><span class="strut"> </span></p>
+<p id="t597" class="stm run hide_run"> <span class="nam">cminmaxrange3</span><span class="op">[</span><span class="str">'G_max'</span><span class="op">]</span> <span class="op">=</span> <span class="num">1</span><span class="strut"> </span></p>
+<p id="t598" class="stm run hide_run"> <span class="nam">cminmaxrange3</span><span class="op">[</span><span class="str">'G_range'</span><span class="op">]</span> <span class="op">=</span> <span class="num">1</span><span class="strut"> </span></p>
+<p id="t599" class="stm run hide_run"> <span class="nam">cminmaxrange3</span><span class="op">[</span><span class="str">'B_min'</span><span class="op">]</span> <span class="op">=</span> <span class="num">0</span><span class="strut"> </span></p>
+<p id="t600" class="stm run hide_run"> <span class="nam">cminmaxrange3</span><span class="op">[</span><span class="str">'B_max'</span><span class="op">]</span> <span class="op">=</span> <span class="num">1</span><span class="strut"> </span></p>
+<p id="t601" class="stm run hide_run"> <span class="nam">cminmaxrange3</span><span class="op">[</span><span class="str">'B_range'</span><span class="op">]</span> <span class="op">=</span> <span class="num">1</span><span class="strut"> </span></p>
+<p id="t602" class="stm run hide_run"> <span class="nam">cminmaxrange3</span><span class="op">[</span><span class="str">'D_min'</span><span class="op">]</span> <span class="op">=</span> <span class="num">0</span><span class="strut"> </span></p>
+<p id="t603" class="stm run hide_run"> <span class="nam">cminmaxrange3</span><span class="op">[</span><span class="str">'D_max'</span><span class="op">]</span> <span class="op">=</span> <span class="num">1</span><span class="strut"> </span></p>
+<p id="t604" class="stm run hide_run"> <span class="nam">cminmaxrange3</span><span class="op">[</span><span class="str">'D_range'</span><span class="op">]</span> <span class="op">=</span> <span class="num">1</span><span class="strut"> </span></p>
+<p id="t605" class="stm run hide_run"> <span class="key">with</span> <span class="nam">self</span><span class="op">.</span><span class="nam">assertRaises</span><span class="op">(</span><span class="nam">TypeError</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t606" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">mydb</span><span class="op">.</span><span class="nam">denormalise_image</span><span class="op">(</span><span class="nam">imagecorrect</span><span class="op">,</span> <span class="nam">cminmaxrange3</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t607" class="pln"><span class="strut"> </span></p>
+<p id="t608" class="stm run hide_run"> <span class="nam">cminmaxrange</span><span class="op">.</span><span class="nam">R_min</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">nan</span><span class="strut"> </span></p>
+<p id="t609" class="stm run hide_run"> <span class="key">with</span> <span class="nam">self</span><span class="op">.</span><span class="nam">assertRaises</span><span class="op">(</span><span class="nam">ValueError</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t610" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">mydb</span><span class="op">.</span><span class="nam">denormalise_image</span><span class="op">(</span><span class="nam">imagecorrect</span><span class="op">,</span> <span class="nam">cminmaxrange</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t611" class="pln"><span class="strut"> </span></p>
+<p id="t612" class="stm run hide_run"> <span class="key">def</span> <span class="nam">test_normalise_image</span><span class="op">(</span><span class="nam">self</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t613" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t614" class="pln"><span class="str"> this test checks the function normalise_image works</span><span class="strut"> </span></p>
+<p id="t615" class="pln"><span class="str"> correctly.</span><span class="strut"> </span></p>
+<p id="t616" class="pln"><span class="str"> it checks if correct errors are raised for:</span><span class="strut"> </span></p>
+<p id="t617" class="pln"><span class="str"> - image is of wrong type (list)</span><span class="strut"> </span></p>
+<p id="t618" class="pln"><span class="str"> - image has wrong dimensionality (too big, too small)</span><span class="strut"> </span></p>
+<p id="t619" class="pln"><span class="str"> - image contains nan values</span><span class="strut"> </span></p>
+<p id="t620" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t621" class="stm run hide_run"> <span class="nam">image</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">mydb</span><span class="op">.</span><span class="nam">scene</span><span class="op">(</span><span class="nam">rowid</span><span class="op">=</span><span class="num">1</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t622" class="stm run hide_run"> <span class="nam">image</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">squeeze</span><span class="op">(</span><span class="nam">image</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t623" class="stm run hide_run"> <span class="key">with</span> <span class="nam">tempfile</span><span class="op">.</span><span class="nam">TemporaryDirectory</span><span class="op">(</span><span class="op">)</span> <span class="key">as</span> <span class="nam">folder</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t624" class="stm run hide_run"> <span class="nam">testdb_filename</span> <span class="op">=</span> <span class="nam">folder</span> <span class="op">+</span> <span class="str">'/testdatabase.db'</span><span class="strut"> </span></p>
+<p id="t625" class="stm run hide_run"> <span class="nam">loadDB</span> <span class="op">=</span> <span class="nam">DataBase</span><span class="op">(</span><span class="nam">testdb_filename</span><span class="op">,</span> <span class="nam">mode</span><span class="op">=</span><span class="str">'w'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t626" class="stm run hide_run"> <span class="nam">loadDB</span><span class="op">.</span><span class="nam">normalise_image</span><span class="op">(</span><span class="nam">image</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t627" class="pln"><span class="strut"> </span></p>
+<p id="t628" class="pln"> <span class="com"># not working</span><span class="strut"> </span></p>
+<p id="t629" class="stm run hide_run"> <span class="nam">image2</span> <span class="op">=</span> <span class="nam">image</span><span class="op">.</span><span class="nam">tolist</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t630" class="stm run hide_run"> <span class="key">with</span> <span class="nam">self</span><span class="op">.</span><span class="nam">assertRaises</span><span class="op">(</span><span class="nam">TypeError</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t631" class="stm run hide_run"> <span class="nam">loadDB</span><span class="op">.</span><span class="nam">normalise_image</span><span class="op">(</span><span class="nam">image2</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t632" class="pln"><span class="strut"> </span></p>
+<p id="t633" class="stm run hide_run"> <span class="nam">image2</span> <span class="op">=</span> <span class="nam">image</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="op">:</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span><span class="op">.</span><span class="nam">copy</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t634" class="stm run hide_run"> <span class="key">with</span> <span class="nam">self</span><span class="op">.</span><span class="nam">assertRaises</span><span class="op">(</span><span class="nam">Exception</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t635" class="stm run hide_run"> <span class="nam">loadDB</span><span class="op">.</span><span class="nam">normalise_image</span><span class="op">(</span><span class="nam">image2</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t636" class="pln"><span class="strut"> </span></p>
+<p id="t637" class="stm run hide_run"> <span class="nam">image2</span> <span class="op">=</span> <span class="nam">image</span><span class="op">.</span><span class="nam">copy</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t638" class="stm run hide_run"> <span class="nam">image2</span><span class="op">[</span><span class="num">23</span><span class="op">,</span> <span class="num">34</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">nan</span><span class="strut"> </span></p>
+<p id="t639" class="stm run hide_run"> <span class="key">with</span> <span class="nam">self</span><span class="op">.</span><span class="nam">assertRaises</span><span class="op">(</span><span class="nam">ValueError</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t640" class="stm run hide_run"> <span class="nam">loadDB</span><span class="op">.</span><span class="nam">normalise_image</span><span class="op">(</span><span class="nam">image2</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t641" class="pln"><span class="strut"> </span></p>
+<p id="t642" class="pln"> <span class="str">"""image2 = image.copy()</span><span class="strut"> </span></p>
+<p id="t643" class="pln"><span class="str"> image2[23,34,0] = 'addsf'</span><span class="strut"> </span></p>
+<p id="t644" class="pln"><span class="str"> with self.assertRaises(ValueError):</span><span class="strut"> </span></p>
+<p id="t645" class="pln"><span class="str"> denormed=loadDB.normalise_image(image2)"""</span><span class="strut"> </span></p>
+<p id="t646" class="pln"><span class="strut"> </span></p>
+<p id="t647" class="stm run hide_run"> <span class="nam">image2</span> <span class="op">=</span> <span class="nam">image</span><span class="op">[</span><span class="nam">np</span><span class="op">.</span><span class="nam">newaxis</span><span class="op">,</span> <span class="op">:</span><span class="op">,</span> <span class="op">:</span><span class="op">,</span> <span class="op">:</span><span class="op">]</span><span class="op">.</span><span class="nam">copy</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t648" class="stm run hide_run"> <span class="key">with</span> <span class="nam">self</span><span class="op">.</span><span class="nam">assertRaises</span><span class="op">(</span><span class="nam">Exception</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t649" class="stm run hide_run"> <span class="nam">loadDB</span><span class="op">.</span><span class="nam">normalise_image</span><span class="op">(</span><span class="nam">image2</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t650" class="pln"><span class="strut"> </span></p>
+<p id="t651" class="stm run hide_run"> <span class="key">def</span> <span class="nam">test_insert_replace</span><span class="op">(</span><span class="nam">self</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t652" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t653" class="pln"><span class="str"> this test checks the function insert_replace works</span><span class="strut"> </span></p>
+<p id="t654" class="pln"><span class="str"> correctly.</span><span class="strut"> </span></p>
+<p id="t655" class="pln"><span class="str"> it checks if correct errors are raised for:</span><span class="strut"> </span></p>
+<p id="t656" class="pln"><span class="str"> - filename is of type integer, float, nan or none</span><span class="strut"> </span></p>
+<p id="t657" class="pln"><span class="str"> - filename does not exist in database/params are wrong</span><span class="strut"> </span></p>
+<p id="t658" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t659" class="stm run hide_run"> <span class="nam">params</span> <span class="op">=</span> <span class="op">{</span><span class="op">}</span><span class="strut"> </span></p>
+<p id="t660" class="stm run hide_run"> <span class="nam">params</span><span class="op">[</span><span class="str">'hight'</span><span class="op">]</span> <span class="op">=</span> <span class="num">1.7</span><span class="strut"> </span></p>
+<p id="t661" class="stm run hide_run"> <span class="nam">params</span><span class="op">[</span><span class="str">'age'</span><span class="op">]</span> <span class="op">=</span> <span class="num">20</span><span class="strut"> </span></p>
+<p id="t662" class="stm run hide_run"> <span class="key">with</span> <span class="nam">tempfile</span><span class="op">.</span><span class="nam">TemporaryDirectory</span><span class="op">(</span><span class="op">)</span> <span class="key">as</span> <span class="nam">folder</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t663" class="stm run hide_run"> <span class="nam">testdb_filename</span> <span class="op">=</span> <span class="nam">folder</span> <span class="op">+</span> <span class="str">'/testdatabase.db'</span><span class="strut"> </span></p>
+<p id="t664" class="stm run hide_run"> <span class="nam">tmpmydb</span> <span class="op">=</span> <span class="nam">database</span><span class="op">.</span><span class="nam">DataBase</span><span class="op">(</span><span class="nam">testdb_filename</span><span class="op">,</span> <span class="nam">mode</span><span class="op">=</span><span class="str">'w'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t665" class="pln"><span class="strut"> </span></p>
+<p id="t666" class="stm run hide_run"> <span class="key">for</span> <span class="nam">name</span> <span class="key">in</span> <span class="op">[</span><span class="num">3</span><span class="op">,</span> <span class="num">7.5</span><span class="op">,</span> <span class="nam">np</span><span class="op">.</span><span class="nam">nan</span><span class="op">,</span> <span class="key">None</span><span class="op">]</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t667" class="stm run hide_run"> <span class="key">with</span> <span class="nam">self</span><span class="op">.</span><span class="nam">assertRaises</span><span class="op">(</span><span class="nam">TypeError</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t668" class="stm run hide_run"> <span class="nam">tmpmydb</span><span class="op">.</span><span class="nam">insert_replace</span><span class="op">(</span><span class="nam">name</span><span class="op">,</span> <span class="nam">params</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t669" class="pln"><span class="strut"> </span></p>
+<p id="t670" class="stm run hide_run"> <span class="key">with</span> <span class="nam">self</span><span class="op">.</span><span class="nam">assertRaises</span><span class="op">(</span><span class="nam">sqlite3</span><span class="op">.</span><span class="nam">OperationalError</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t671" class="stm run hide_run"> <span class="nam">tmpmydb</span><span class="op">.</span><span class="nam">insert_replace</span><span class="op">(</span><span class="str">'test'</span><span class="op">,</span> <span class="nam">params</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t672" class="pln"><span class="strut"> </span></p>
+<p id="t673" class="pln"><span class="strut"> </span></p>
+<p id="t674" class="stm run hide_run"><span class="key">if</span> <span class="nam">__name__</span> <span class="op">==</span> <span class="str">'__main__'</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t675" class="stm mis"> <span class="nam">unittest</span><span class="op">.</span><span class="nam">main</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+
+ </td>
+ </tr>
+ </table>
+</div>
+
+<div id="footer">
+ <div class="content">
+ <p>
+ <a class="nav" href="index.html">« index</a> <a class="nav" href="https://coverage.readthedocs.io">coverage.py v4.5.2</a>,
+ created at 2019-01-13 14:34
+ </p>
+ </div>
+</div>
+
+</body>
+</html>
diff --git a/coverage_html_report/navipy_database_tools_py.html b/coverage_html_report/navipy_database_tools_py.html
new file mode 100644
index 0000000000000000000000000000000000000000..c992b2102adca6d0e3d1ecdcebe058bbb2b8eef2
--- /dev/null
+++ b/coverage_html_report/navipy_database_tools_py.html
@@ -0,0 +1,131 @@
+
+
+
+<!DOCTYPE html>
+<html>
+<head>
+ <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
+
+
+ <meta http-equiv="X-UA-Compatible" content="IE=emulateIE7" />
+ <title>Coverage for navipy/database/tools.py: 0%</title>
+ <link rel="stylesheet" href="style.css" type="text/css">
+
+ <script type="text/javascript" src="jquery.min.js"></script>
+ <script type="text/javascript" src="jquery.hotkeys.js"></script>
+ <script type="text/javascript" src="jquery.isonscreen.js"></script>
+ <script type="text/javascript" src="coverage_html.js"></script>
+ <script type="text/javascript">
+ jQuery(document).ready(coverage.pyfile_ready);
+ </script>
+</head>
+<body class="pyfile">
+
+<div id="header">
+ <div class="content">
+ <h1>Coverage for <b>navipy/database/tools.py</b> :
+ <span class="pc_cov">0%</span>
+ </h1>
+
+ <img id="keyboard_icon" src="keybd_closed.png" alt="Show keyboard shortcuts" />
+
+ <h2 class="stats">
+ 11 statements
+ <span class="run hide_run shortkey_r button_toggle_run">0 run</span>
+ <span class="mis shortkey_m button_toggle_mis">11 missing</span>
+ <span class="exc shortkey_x button_toggle_exc">0 excluded</span>
+
+
+ </h2>
+ </div>
+</div>
+
+<div class="help_panel">
+ <img id="panel_icon" src="keybd_open.png" alt="Hide keyboard shortcuts" />
+ <p class="legend">Hot-keys on this page</p>
+ <div>
+ <p class="keyhelp">
+ <span class="key">r</span>
+ <span class="key">m</span>
+ <span class="key">x</span>
+ <span class="key">p</span> toggle line displays
+ </p>
+ <p class="keyhelp">
+ <span class="key">j</span>
+ <span class="key">k</span> next/prev highlighted chunk
+ </p>
+ <p class="keyhelp">
+ <span class="key">0</span> (zero) top of page
+ </p>
+ <p class="keyhelp">
+ <span class="key">1</span> (one) first highlighted chunk
+ </p>
+ </div>
+</div>
+
+<div id="source">
+ <table>
+ <tr>
+ <td class="linenos">
+<p id="n1" class="pln"><a href="#n1">1</a></p>
+<p id="n2" class="pln"><a href="#n2">2</a></p>
+<p id="n3" class="pln"><a href="#n3">3</a></p>
+<p id="n4" class="stm mis"><a href="#n4">4</a></p>
+<p id="n5" class="pln"><a href="#n5">5</a></p>
+<p id="n6" class="pln"><a href="#n6">6</a></p>
+<p id="n7" class="stm mis"><a href="#n7">7</a></p>
+<p id="n8" class="pln"><a href="#n8">8</a></p>
+<p id="n9" class="pln"><a href="#n9">9</a></p>
+<p id="n10" class="pln"><a href="#n10">10</a></p>
+<p id="n11" class="pln"><a href="#n11">11</a></p>
+<p id="n12" class="pln"><a href="#n12">12</a></p>
+<p id="n13" class="stm mis"><a href="#n13">13</a></p>
+<p id="n14" class="stm mis"><a href="#n14">14</a></p>
+<p id="n15" class="stm mis"><a href="#n15">15</a></p>
+<p id="n16" class="stm mis"><a href="#n16">16</a></p>
+<p id="n17" class="stm mis"><a href="#n17">17</a></p>
+<p id="n18" class="stm mis"><a href="#n18">18</a></p>
+<p id="n19" class="stm mis"><a href="#n19">19</a></p>
+<p id="n20" class="stm mis"><a href="#n20">20</a></p>
+<p id="n21" class="stm mis"><a href="#n21">21</a></p>
+
+ </td>
+ <td class="text">
+<p id="t1" class="pln"><span class="str">"""</span><span class="strut"> </span></p>
+<p id="t2" class="pln"><span class="str">Some tools to work with databases</span><span class="strut"> </span></p>
+<p id="t3" class="pln"><span class="str">"""</span><span class="strut"> </span></p>
+<p id="t4" class="stm mis"><span class="key">from</span> <span class="nam">navipy</span><span class="op">.</span><span class="nam">database</span> <span class="key">import</span> <span class="nam">DataBase</span><span class="strut"> </span></p>
+<p id="t5" class="pln"><span class="strut"> </span></p>
+<p id="t6" class="pln"><span class="strut"> </span></p>
+<p id="t7" class="stm mis"><span class="key">def</span> <span class="nam">copy</span><span class="op">(</span><span class="nam">filename_in</span><span class="op">,</span> <span class="nam">filename_out</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t8" class="pln"> <span class="str">""" Copy database until in crashed or finish</span><span class="strut"> </span></p>
+<p id="t9" class="pln"><span class="strut"> </span></p>
+<p id="t10" class="pln"><span class="str"> :param filename_in: Path to the input database</span><span class="strut"> </span></p>
+<p id="t11" class="pln"><span class="str"> :param filename_out: Path to the output database</span><span class="strut"> </span></p>
+<p id="t12" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t13" class="stm mis"> <span class="nam">dbin</span> <span class="op">=</span> <span class="nam">DataBase</span><span class="op">(</span><span class="nam">filename_in</span><span class="op">,</span> <span class="nam">mode</span><span class="op">=</span><span class="str">'r'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t14" class="stm mis"> <span class="nam">dbout</span> <span class="op">=</span> <span class="nam">DataBase</span><span class="op">(</span><span class="nam">filename_out</span><span class="op">,</span> <span class="nam">mode</span><span class="op">=</span><span class="str">'a'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t15" class="stm mis"> <span class="key">for</span> <span class="nam">i</span><span class="op">,</span> <span class="nam">posorient</span> <span class="key">in</span> <span class="nam">dbin</span><span class="op">.</span><span class="nam">get_posorients</span><span class="op">(</span><span class="op">)</span><span class="op">.</span><span class="nam">iterrows</span><span class="op">(</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t16" class="stm mis"> <span class="nam">print</span><span class="op">(</span><span class="nam">posorient</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t17" class="stm mis"> <span class="key">try</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t18" class="stm mis"> <span class="nam">image</span> <span class="op">=</span> <span class="nam">dbin</span><span class="op">.</span><span class="nam">read_image</span><span class="op">(</span><span class="nam">posorient</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t19" class="stm mis"> <span class="key">except</span> <span class="nam">ValueError</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t20" class="stm mis"> <span class="key">break</span><span class="strut"> </span></p>
+<p id="t21" class="stm mis"> <span class="nam">dbout</span><span class="op">.</span><span class="nam">write_image</span><span class="op">(</span><span class="nam">posorient</span><span class="op">,</span> <span class="nam">image</span><span class="op">)</span><span class="strut"> </span></p>
+
+ </td>
+ </tr>
+ </table>
+</div>
+
+<div id="footer">
+ <div class="content">
+ <p>
+ <a class="nav" href="index.html">« index</a> <a class="nav" href="https://coverage.readthedocs.io">coverage.py v4.5.2</a>,
+ created at 2019-01-13 14:34
+ </p>
+ </div>
+</div>
+
+</body>
+</html>
diff --git a/coverage_html_report/navipy_errorprop___init___py.html b/coverage_html_report/navipy_errorprop___init___py.html
new file mode 100644
index 0000000000000000000000000000000000000000..604754158a9895c626c0a446bd8290cad6bdfe21
--- /dev/null
+++ b/coverage_html_report/navipy_errorprop___init___py.html
@@ -0,0 +1,261 @@
+
+
+
+<!DOCTYPE html>
+<html>
+<head>
+ <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
+
+
+ <meta http-equiv="X-UA-Compatible" content="IE=emulateIE7" />
+ <title>Coverage for navipy/errorprop/__init__.py: 74%</title>
+ <link rel="stylesheet" href="style.css" type="text/css">
+
+ <script type="text/javascript" src="jquery.min.js"></script>
+ <script type="text/javascript" src="jquery.hotkeys.js"></script>
+ <script type="text/javascript" src="jquery.isonscreen.js"></script>
+ <script type="text/javascript" src="coverage_html.js"></script>
+ <script type="text/javascript">
+ jQuery(document).ready(coverage.pyfile_ready);
+ </script>
+</head>
+<body class="pyfile">
+
+<div id="header">
+ <div class="content">
+ <h1>Coverage for <b>navipy/errorprop/__init__.py</b> :
+ <span class="pc_cov">74%</span>
+ </h1>
+
+ <img id="keyboard_icon" src="keybd_closed.png" alt="Show keyboard shortcuts" />
+
+ <h2 class="stats">
+ 38 statements
+ <span class="run hide_run shortkey_r button_toggle_run">28 run</span>
+ <span class="mis shortkey_m button_toggle_mis">10 missing</span>
+ <span class="exc shortkey_x button_toggle_exc">0 excluded</span>
+
+
+ </h2>
+ </div>
+</div>
+
+<div class="help_panel">
+ <img id="panel_icon" src="keybd_open.png" alt="Hide keyboard shortcuts" />
+ <p class="legend">Hot-keys on this page</p>
+ <div>
+ <p class="keyhelp">
+ <span class="key">r</span>
+ <span class="key">m</span>
+ <span class="key">x</span>
+ <span class="key">p</span> toggle line displays
+ </p>
+ <p class="keyhelp">
+ <span class="key">j</span>
+ <span class="key">k</span> next/prev highlighted chunk
+ </p>
+ <p class="keyhelp">
+ <span class="key">0</span> (zero) top of page
+ </p>
+ <p class="keyhelp">
+ <span class="key">1</span> (one) first highlighted chunk
+ </p>
+ </div>
+</div>
+
+<div id="source">
+ <table>
+ <tr>
+ <td class="linenos">
+<p id="n1" class="pln"><a href="#n1">1</a></p>
+<p id="n2" class="pln"><a href="#n2">2</a></p>
+<p id="n3" class="pln"><a href="#n3">3</a></p>
+<p id="n4" class="pln"><a href="#n4">4</a></p>
+<p id="n5" class="pln"><a href="#n5">5</a></p>
+<p id="n6" class="pln"><a href="#n6">6</a></p>
+<p id="n7" class="stm run hide_run"><a href="#n7">7</a></p>
+<p id="n8" class="pln"><a href="#n8">8</a></p>
+<p id="n9" class="pln"><a href="#n9">9</a></p>
+<p id="n10" class="stm run hide_run"><a href="#n10">10</a></p>
+<p id="n11" class="pln"><a href="#n11">11</a></p>
+<p id="n12" class="pln"><a href="#n12">12</a></p>
+<p id="n13" class="pln"><a href="#n13">13</a></p>
+<p id="n14" class="pln"><a href="#n14">14</a></p>
+<p id="n15" class="stm mis"><a href="#n15">15</a></p>
+<p id="n16" class="stm mis"><a href="#n16">16</a></p>
+<p id="n17" class="stm mis"><a href="#n17">17</a></p>
+<p id="n18" class="stm mis"><a href="#n18">18</a></p>
+<p id="n19" class="stm mis"><a href="#n19">19</a></p>
+<p id="n20" class="pln"><a href="#n20">20</a></p>
+<p id="n21" class="pln"><a href="#n21">21</a></p>
+<p id="n22" class="stm mis"><a href="#n22">22</a></p>
+<p id="n23" class="stm mis"><a href="#n23">23</a></p>
+<p id="n24" class="pln"><a href="#n24">24</a></p>
+<p id="n25" class="pln"><a href="#n25">25</a></p>
+<p id="n26" class="stm run hide_run"><a href="#n26">26</a></p>
+<p id="n27" class="pln"><a href="#n27">27</a></p>
+<p id="n28" class="pln"><a href="#n28">28</a></p>
+<p id="n29" class="pln"><a href="#n29">29</a></p>
+<p id="n30" class="pln"><a href="#n30">30</a></p>
+<p id="n31" class="pln"><a href="#n31">31</a></p>
+<p id="n32" class="pln"><a href="#n32">32</a></p>
+<p id="n33" class="pln"><a href="#n33">33</a></p>
+<p id="n34" class="pln"><a href="#n34">34</a></p>
+<p id="n35" class="pln"><a href="#n35">35</a></p>
+<p id="n36" class="pln"><a href="#n36">36</a></p>
+<p id="n37" class="pln"><a href="#n37">37</a></p>
+<p id="n38" class="pln"><a href="#n38">38</a></p>
+<p id="n39" class="stm run hide_run"><a href="#n39">39</a></p>
+<p id="n40" class="stm run hide_run"><a href="#n40">40</a></p>
+<p id="n41" class="stm run hide_run"><a href="#n41">41</a></p>
+<p id="n42" class="stm run hide_run"><a href="#n42">42</a></p>
+<p id="n43" class="stm run hide_run"><a href="#n43">43</a></p>
+<p id="n44" class="stm run hide_run"><a href="#n44">44</a></p>
+<p id="n45" class="stm run hide_run"><a href="#n45">45</a></p>
+<p id="n46" class="pln"><a href="#n46">46</a></p>
+<p id="n47" class="stm run hide_run"><a href="#n47">47</a></p>
+<p id="n48" class="stm run hide_run"><a href="#n48">48</a></p>
+<p id="n49" class="stm run hide_run"><a href="#n49">49</a></p>
+<p id="n50" class="pln"><a href="#n50">50</a></p>
+<p id="n51" class="stm mis"><a href="#n51">51</a></p>
+<p id="n52" class="stm mis"><a href="#n52">52</a></p>
+<p id="n53" class="stm run hide_run"><a href="#n53">53</a></p>
+<p id="n54" class="stm run hide_run"><a href="#n54">54</a></p>
+<p id="n55" class="stm run hide_run"><a href="#n55">55</a></p>
+<p id="n56" class="stm run hide_run"><a href="#n56">56</a></p>
+<p id="n57" class="stm run hide_run"><a href="#n57">57</a></p>
+<p id="n58" class="pln"><a href="#n58">58</a></p>
+<p id="n59" class="stm run hide_run"><a href="#n59">59</a></p>
+<p id="n60" class="stm run hide_run"><a href="#n60">60</a></p>
+<p id="n61" class="stm run hide_run"><a href="#n61">61</a></p>
+<p id="n62" class="stm run hide_run"><a href="#n62">62</a></p>
+<p id="n63" class="pln"><a href="#n63">63</a></p>
+<p id="n64" class="stm mis"><a href="#n64">64</a></p>
+<p id="n65" class="stm run hide_run"><a href="#n65">65</a></p>
+<p id="n66" class="pln"><a href="#n66">66</a></p>
+<p id="n67" class="pln"><a href="#n67">67</a></p>
+<p id="n68" class="stm run hide_run"><a href="#n68">68</a></p>
+<p id="n69" class="pln"><a href="#n69">69</a></p>
+<p id="n70" class="pln"><a href="#n70">70</a></p>
+<p id="n71" class="pln"><a href="#n71">71</a></p>
+<p id="n72" class="pln"><a href="#n72">72</a></p>
+<p id="n73" class="pln"><a href="#n73">73</a></p>
+<p id="n74" class="pln"><a href="#n74">74</a></p>
+<p id="n75" class="pln"><a href="#n75">75</a></p>
+<p id="n76" class="pln"><a href="#n76">76</a></p>
+<p id="n77" class="pln"><a href="#n77">77</a></p>
+<p id="n78" class="pln"><a href="#n78">78</a></p>
+<p id="n79" class="pln"><a href="#n79">79</a></p>
+<p id="n80" class="pln"><a href="#n80">80</a></p>
+<p id="n81" class="pln"><a href="#n81">81</a></p>
+<p id="n82" class="stm run hide_run"><a href="#n82">82</a></p>
+<p id="n83" class="stm run hide_run"><a href="#n83">83</a></p>
+<p id="n84" class="stm run hide_run"><a href="#n84">84</a></p>
+<p id="n85" class="pln"><a href="#n85">85</a></p>
+<p id="n86" class="stm run hide_run"><a href="#n86">86</a></p>
+
+ </td>
+ <td class="text">
+<p id="t1" class="pln"><span class="str">"""</span><span class="strut"> </span></p>
+<p id="t2" class="pln"><span class="str">Numerical error propagation</span><span class="strut"> </span></p>
+<p id="t3" class="pln"><span class="strut"> </span></p>
+<p id="t4" class="pln"><span class="str">tools to propogate the error by using an estimate</span><span class="strut"> </span></p>
+<p id="t5" class="pln"><span class="str">of the jacobian matrix (matrix of derivatives)</span><span class="strut"> </span></p>
+<p id="t6" class="pln"><span class="str">"""</span><span class="strut"> </span></p>
+<p id="t7" class="stm run hide_run"><span class="key">import</span> <span class="nam">numpy</span> <span class="key">as</span> <span class="nam">np</span><span class="strut"> </span></p>
+<p id="t8" class="pln"><span class="strut"> </span></p>
+<p id="t9" class="pln"><span class="strut"> </span></p>
+<p id="t10" class="stm run hide_run"><span class="key">def</span> <span class="nam">estimate_error</span><span class="op">(</span><span class="nam">markers</span><span class="op">,</span> <span class="nam">rigid_marker_id</span><span class="op">=</span><span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="num">1</span><span class="op">]</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t11" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t12" class="pln"><span class="str"> Estimate the error by using the deviation from the median</span><span class="strut"> </span></p>
+<p id="t13" class="pln"><span class="str">distance between two markers</span><span class="strut"> </span></p>
+<p id="t14" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t15" class="stm mis"> <span class="key">if</span> <span class="key">not</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">rigid_marker_id</span><span class="op">,</span> <span class="nam">list</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t16" class="stm mis"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="str">'rigid_marker_id should be a list'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t17" class="stm mis"> <span class="key">if</span> <span class="nam">len</span><span class="op">(</span><span class="nam">rigid_marker_id</span><span class="op">)</span> <span class="op">!=</span> <span class="num">2</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t18" class="stm mis"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="str">'rigid_marker_id should be a list with two elements'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t19" class="stm mis"> <span class="nam">dist</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">sqrt</span><span class="op">(</span><span class="op">(</span><span class="op">(</span><span class="nam">markers</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="nam">rigid_marker_id</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">]</span> <span class="op">-</span><span class="strut"> </span></p>
+<p id="t20" class="pln"> <span class="nam">markers</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="nam">rigid_marker_id</span><span class="op">[</span><span class="num">1</span><span class="op">]</span><span class="op">]</span><span class="op">)</span><span class="op">**</span><span class="num">2</span><span class="op">)</span><span class="op">.</span><span class="nam">sum</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t21" class="pln"> <span class="nam">axis</span><span class="op">=</span><span class="num">1</span><span class="op">,</span> <span class="nam">skipna</span><span class="op">=</span><span class="key">False</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t22" class="stm mis"> <span class="nam">median_dist</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">nanmedian</span><span class="op">(</span><span class="nam">dist</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t23" class="stm mis"> <span class="key">return</span> <span class="nam">np</span><span class="op">.</span><span class="nam">abs</span><span class="op">(</span><span class="nam">dist</span> <span class="op">-</span> <span class="nam">median_dist</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t24" class="pln"><span class="strut"> </span></p>
+<p id="t25" class="pln"><span class="strut"> </span></p>
+<p id="t26" class="stm run hide_run"><span class="key">def</span> <span class="nam">estimate_jacobian</span><span class="op">(</span><span class="nam">fun</span><span class="op">,</span> <span class="nam">x</span><span class="op">,</span> <span class="nam">args</span><span class="op">=</span><span class="key">None</span><span class="op">,</span> <span class="nam">epsilon</span><span class="op">=</span><span class="num">1e-6</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t27" class="pln"> <span class="str">"""Estimate the jacobian matrix</span><span class="strut"> </span></p>
+<p id="t28" class="pln"><span class="strut"> </span></p>
+<p id="t29" class="pln"><span class="str"> :param fun: The objective function to be derivated. Must be in \</span><span class="strut"> </span></p>
+<p id="t30" class="pln"><span class="str">the form f(x, *args). \</span><span class="strut"> </span></p>
+<p id="t31" class="pln"><span class="str">The argument, x, is a 1-D array of points, and args is a tuple of \</span><span class="strut"> </span></p>
+<p id="t32" class="pln"><span class="str">any additional \</span><span class="strut"> </span></p>
+<p id="t33" class="pln"><span class="str">fixed parameters needed to completely specify the function.</span><span class="strut"> </span></p>
+<p id="t34" class="pln"><span class="str"> :param x: values at which the jacobian should be calculated</span><span class="strut"> </span></p>
+<p id="t35" class="pln"><span class="str"> :param args: Extra arguments passed to the objective function</span><span class="strut"> </span></p>
+<p id="t36" class="pln"><span class="str"> :param epsilon: step used to estimate the jacobian</span><span class="strut"> </span></p>
+<p id="t37" class="pln"><span class="str"> :returns: An estimated jacobian matrix</span><span class="strut"> </span></p>
+<p id="t38" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t39" class="stm run hide_run"> <span class="key">if</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">x</span><span class="op">,</span> <span class="op">(</span><span class="nam">list</span><span class="op">,</span> <span class="nam">tuple</span><span class="op">,</span> <span class="nam">np</span><span class="op">.</span><span class="nam">ndarray</span><span class="op">)</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t40" class="stm run hide_run"> <span class="nam">jacobian_matrix</span> <span class="op">=</span> <span class="nam">list</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t41" class="stm run hide_run"> <span class="key">for</span> <span class="nam">vari</span><span class="op">,</span> <span class="nam">_</span> <span class="key">in</span> <span class="nam">enumerate</span><span class="op">(</span><span class="nam">x</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t42" class="stm run hide_run"> <span class="nam">x_minus</span> <span class="op">=</span> <span class="nam">x</span><span class="op">.</span><span class="nam">copy</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t43" class="stm run hide_run"> <span class="nam">x_plus</span> <span class="op">=</span> <span class="nam">x</span><span class="op">.</span><span class="nam">copy</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t44" class="stm run hide_run"> <span class="nam">x_minus</span><span class="op">[</span><span class="nam">vari</span><span class="op">]</span> <span class="op">-=</span> <span class="nam">epsilon</span><span class="strut"> </span></p>
+<p id="t45" class="stm run hide_run"> <span class="nam">x_plus</span><span class="op">[</span><span class="nam">vari</span><span class="op">]</span> <span class="op">+=</span> <span class="nam">epsilon</span><span class="strut"> </span></p>
+<p id="t46" class="pln"><span class="strut"> </span></p>
+<p id="t47" class="stm run hide_run"> <span class="key">if</span> <span class="nam">args</span> <span class="key">is</span> <span class="key">None</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t48" class="stm run hide_run"> <span class="nam">dfs1</span> <span class="op">=</span> <span class="nam">fun</span><span class="op">(</span><span class="nam">x_minus</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t49" class="stm run hide_run"> <span class="nam">dfs2</span> <span class="op">=</span> <span class="nam">fun</span><span class="op">(</span><span class="nam">x_plus</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t50" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t51" class="stm mis"> <span class="nam">dfs1</span> <span class="op">=</span> <span class="nam">fun</span><span class="op">(</span><span class="nam">x_minus</span><span class="op">,</span> <span class="nam">args</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t52" class="stm mis"> <span class="nam">dfs2</span> <span class="op">=</span> <span class="nam">fun</span><span class="op">(</span><span class="nam">x_plus</span><span class="op">,</span> <span class="nam">args</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t53" class="stm run hide_run"> <span class="nam">dfs1</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">array</span><span class="op">(</span><span class="nam">dfs1</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t54" class="stm run hide_run"> <span class="nam">dfs2</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">array</span><span class="op">(</span><span class="nam">dfs2</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t55" class="stm run hide_run"> <span class="nam">deriv</span> <span class="op">=</span> <span class="op">(</span><span class="nam">dfs2</span> <span class="op">-</span> <span class="nam">dfs1</span><span class="op">)</span> <span class="op">/</span> <span class="op">(</span><span class="num">2</span> <span class="op">*</span> <span class="nam">epsilon</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t56" class="stm run hide_run"> <span class="nam">jacobian_matrix</span><span class="op">.</span><span class="nam">append</span><span class="op">(</span><span class="nam">deriv</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t57" class="stm run hide_run"> <span class="key">return</span> <span class="nam">np</span><span class="op">.</span><span class="nam">array</span><span class="op">(</span><span class="nam">jacobian_matrix</span><span class="op">)</span><span class="op">.</span><span class="nam">transpose</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t58" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t59" class="stm run hide_run"> <span class="nam">x_minus</span> <span class="op">=</span> <span class="nam">x</span> <span class="op">-</span> <span class="nam">epsilon</span><span class="strut"> </span></p>
+<p id="t60" class="stm run hide_run"> <span class="nam">x_plus</span> <span class="op">=</span> <span class="nam">x</span> <span class="op">+</span> <span class="nam">epsilon</span><span class="strut"> </span></p>
+<p id="t61" class="stm run hide_run"> <span class="key">if</span> <span class="nam">args</span> <span class="key">is</span> <span class="key">None</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t62" class="stm run hide_run"> <span class="nam">deriv</span> <span class="op">=</span> <span class="op">(</span><span class="nam">fun</span><span class="op">(</span><span class="nam">x_plus</span><span class="op">)</span> <span class="op">-</span> <span class="nam">fun</span><span class="op">(</span><span class="nam">x_minus</span><span class="op">)</span><span class="op">)</span> <span class="op">/</span> <span class="op">(</span><span class="num">2</span> <span class="op">*</span> <span class="nam">epsilon</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t63" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t64" class="stm mis"> <span class="nam">deriv</span> <span class="op">=</span> <span class="op">(</span><span class="nam">fun</span><span class="op">(</span><span class="nam">x_plus</span><span class="op">,</span> <span class="nam">args</span><span class="op">)</span> <span class="op">-</span> <span class="nam">fun</span><span class="op">(</span><span class="nam">x_minus</span><span class="op">,</span> <span class="nam">args</span><span class="op">)</span><span class="op">)</span> <span class="op">/</span> <span class="op">(</span><span class="num">2</span> <span class="op">*</span> <span class="nam">epsilon</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t65" class="stm run hide_run"> <span class="key">return</span> <span class="nam">deriv</span><span class="strut"> </span></p>
+<p id="t66" class="pln"><span class="strut"> </span></p>
+<p id="t67" class="pln"><span class="strut"> </span></p>
+<p id="t68" class="stm run hide_run"><span class="key">def</span> <span class="nam">propagate_error</span><span class="op">(</span><span class="nam">fun</span><span class="op">,</span> <span class="nam">x</span><span class="op">,</span> <span class="nam">covar</span><span class="op">,</span> <span class="nam">args</span><span class="op">=</span><span class="key">None</span><span class="op">,</span> <span class="nam">epsilon</span><span class="op">=</span><span class="num">1e-6</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t69" class="pln"> <span class="str">"""Estimate the jacobian matrix</span><span class="strut"> </span></p>
+<p id="t70" class="pln"><span class="strut"> </span></p>
+<p id="t71" class="pln"><span class="str"> :param fun: The objective function to be error propagated. \</span><span class="strut"> </span></p>
+<p id="t72" class="pln"><span class="str">Must be in the form f(x, *args). \</span><span class="strut"> </span></p>
+<p id="t73" class="pln"><span class="str">The argument, x, is a 1-D array of points, and args is a tuple of \</span><span class="strut"> </span></p>
+<p id="t74" class="pln"><span class="str">any additional \</span><span class="strut"> </span></p>
+<p id="t75" class="pln"><span class="str">fixed parameters needed to completely specify the function.</span><span class="strut"> </span></p>
+<p id="t76" class="pln"><span class="str"> :param x: values at which the error should be calculated</span><span class="strut"> </span></p>
+<p id="t77" class="pln"><span class="str"> :param covar: variance-covariance matrix</span><span class="strut"> </span></p>
+<p id="t78" class="pln"><span class="str"> :param args: Extra arguments passed to the objective function</span><span class="strut"> </span></p>
+<p id="t79" class="pln"><span class="str"> :param epsilon: step used to estimate the jacobian</span><span class="strut"> </span></p>
+<p id="t80" class="pln"><span class="str"> :returns: An estimated jacobian matrix</span><span class="strut"> </span></p>
+<p id="t81" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t82" class="stm run hide_run"> <span class="nam">jacobian_matrix</span> <span class="op">=</span> <span class="nam">estimate_jacobian</span><span class="op">(</span><span class="nam">fun</span><span class="op">,</span> <span class="nam">x</span><span class="op">,</span> <span class="nam">args</span><span class="op">,</span> <span class="nam">epsilon</span><span class="op">=</span><span class="num">1e-6</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t83" class="stm run hide_run"> <span class="key">if</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">x</span><span class="op">,</span> <span class="op">(</span><span class="nam">list</span><span class="op">,</span> <span class="nam">tuple</span><span class="op">,</span> <span class="nam">np</span><span class="op">.</span><span class="nam">ndarray</span><span class="op">)</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t84" class="stm run hide_run"> <span class="key">return</span> <span class="nam">jacobian_matrix</span><span class="op">.</span><span class="nam">dot</span><span class="op">(</span><span class="nam">covar</span><span class="op">.</span><span class="nam">dot</span><span class="op">(</span><span class="nam">jacobian_matrix</span><span class="op">.</span><span class="nam">transpose</span><span class="op">(</span><span class="op">)</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t85" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t86" class="stm run hide_run"> <span class="key">return</span> <span class="nam">np</span><span class="op">.</span><span class="nam">abs</span><span class="op">(</span><span class="nam">jacobian_matrix</span><span class="op">)</span> <span class="op">*</span> <span class="nam">covar</span><span class="strut"> </span></p>
+
+ </td>
+ </tr>
+ </table>
+</div>
+
+<div id="footer">
+ <div class="content">
+ <p>
+ <a class="nav" href="index.html">« index</a> <a class="nav" href="https://coverage.readthedocs.io">coverage.py v4.5.2</a>,
+ created at 2019-01-13 14:34
+ </p>
+ </div>
+</div>
+
+</body>
+</html>
diff --git a/coverage_html_report/navipy_errorprop_test_py.html b/coverage_html_report/navipy_errorprop_test_py.html
new file mode 100644
index 0000000000000000000000000000000000000000..7c30b1fde1fc7bcb93204266b830c0d5eed9f62d
--- /dev/null
+++ b/coverage_html_report/navipy_errorprop_test_py.html
@@ -0,0 +1,187 @@
+
+
+
+<!DOCTYPE html>
+<html>
+<head>
+ <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
+
+
+ <meta http-equiv="X-UA-Compatible" content="IE=emulateIE7" />
+ <title>Coverage for navipy/errorprop/test.py: 97%</title>
+ <link rel="stylesheet" href="style.css" type="text/css">
+
+ <script type="text/javascript" src="jquery.min.js"></script>
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+ jQuery(document).ready(coverage.pyfile_ready);
+ </script>
+</head>
+<body class="pyfile">
+
+<div id="header">
+ <div class="content">
+ <h1>Coverage for <b>navipy/errorprop/test.py</b> :
+ <span class="pc_cov">97%</span>
+ </h1>
+
+ <img id="keyboard_icon" src="keybd_closed.png" alt="Show keyboard shortcuts" />
+
+ <h2 class="stats">
+ 36 statements
+ <span class="run hide_run shortkey_r button_toggle_run">35 run</span>
+ <span class="mis shortkey_m button_toggle_mis">1 missing</span>
+ <span class="exc shortkey_x button_toggle_exc">0 excluded</span>
+
+
+ </h2>
+ </div>
+</div>
+
+<div class="help_panel">
+ <img id="panel_icon" src="keybd_open.png" alt="Hide keyboard shortcuts" />
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+ <table>
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+<p id="n1" class="stm run hide_run"><a href="#n1">1</a></p>
+<p id="n2" class="stm run hide_run"><a href="#n2">2</a></p>
+<p id="n3" class="stm run hide_run"><a href="#n3">3</a></p>
+<p id="n4" class="pln"><a href="#n4">4</a></p>
+<p id="n5" class="pln"><a href="#n5">5</a></p>
+<p id="n6" class="stm run hide_run"><a href="#n6">6</a></p>
+<p id="n7" class="stm run hide_run"><a href="#n7">7</a></p>
+<p id="n8" class="pln"><a href="#n8">8</a></p>
+<p id="n9" class="pln"><a href="#n9">9</a></p>
+<p id="n10" class="stm run hide_run"><a href="#n10">10</a></p>
+<p id="n11" class="pln"><a href="#n11">11</a></p>
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+<p id="n14" class="stm run hide_run"><a href="#n14">14</a></p>
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+<p id="n16" class="stm run hide_run"><a href="#n16">16</a></p>
+<p id="n17" class="stm run hide_run"><a href="#n17">17</a></p>
+<p id="n18" class="stm run hide_run"><a href="#n18">18</a></p>
+<p id="n19" class="pln"><a href="#n19">19</a></p>
+<p id="n20" class="stm run hide_run"><a href="#n20">20</a></p>
+<p id="n21" class="stm run hide_run"><a href="#n21">21</a></p>
+<p id="n22" class="stm run hide_run"><a href="#n22">22</a></p>
+<p id="n23" class="stm run hide_run"><a href="#n23">23</a></p>
+<p id="n24" class="pln"><a href="#n24">24</a></p>
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+<p id="n27" class="pln"><a href="#n27">27</a></p>
+<p id="n28" class="stm run hide_run"><a href="#n28">28</a></p>
+<p id="n29" class="stm run hide_run"><a href="#n29">29</a></p>
+<p id="n30" class="pln"><a href="#n30">30</a></p>
+<p id="n31" class="pln"><a href="#n31">31</a></p>
+<p id="n32" class="pln"><a href="#n32">32</a></p>
+<p id="n33" class="stm run hide_run"><a href="#n33">33</a></p>
+<p id="n34" class="stm run hide_run"><a href="#n34">34</a></p>
+<p id="n35" class="stm run hide_run"><a href="#n35">35</a></p>
+<p id="n36" class="stm run hide_run"><a href="#n36">36</a></p>
+<p id="n37" class="stm run hide_run"><a href="#n37">37</a></p>
+<p id="n38" class="stm run hide_run"><a href="#n38">38</a></p>
+<p id="n39" class="stm run hide_run"><a href="#n39">39</a></p>
+<p id="n40" class="stm run hide_run"><a href="#n40">40</a></p>
+<p id="n41" class="stm run hide_run"><a href="#n41">41</a></p>
+<p id="n42" class="stm run hide_run"><a href="#n42">42</a></p>
+<p id="n43" class="stm run hide_run"><a href="#n43">43</a></p>
+<p id="n44" class="stm run hide_run"><a href="#n44">44</a></p>
+<p id="n45" class="stm run hide_run"><a href="#n45">45</a></p>
+<p id="n46" class="pln"><a href="#n46">46</a></p>
+<p id="n47" class="pln"><a href="#n47">47</a></p>
+<p id="n48" class="stm run hide_run"><a href="#n48">48</a></p>
+<p id="n49" class="stm mis"><a href="#n49">49</a></p>
+
+ </td>
+ <td class="text">
+<p id="t1" class="stm run hide_run"><span class="key">import</span> <span class="nam">unittest</span><span class="strut"> </span></p>
+<p id="t2" class="stm run hide_run"><span class="key">import</span> <span class="nam">numpy</span> <span class="key">as</span> <span class="nam">np</span><span class="strut"> </span></p>
+<p id="t3" class="stm run hide_run"><span class="key">from</span> <span class="nam">navipy</span><span class="op">.</span><span class="nam">errorprop</span> <span class="key">import</span> <span class="nam">propagate_error</span><span class="op">,</span> <span class="nam">estimate_jacobian</span><span class="strut"> </span></p>
+<p id="t4" class="pln"><span class="strut"> </span></p>
+<p id="t5" class="pln"><span class="strut"> </span></p>
+<p id="t6" class="stm run hide_run"><span class="key">def</span> <span class="nam">sincosine</span><span class="op">(</span><span class="nam">x</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t7" class="stm run hide_run"> <span class="key">return</span> <span class="nam">np</span><span class="op">.</span><span class="nam">cos</span><span class="op">(</span><span class="nam">x</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">+</span><span class="nam">x</span><span class="op">[</span><span class="num">1</span><span class="op">]</span><span class="op">)</span><span class="op">,</span> <span class="nam">np</span><span class="op">.</span><span class="nam">sin</span><span class="op">(</span><span class="nam">x</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">-</span><span class="nam">x</span><span class="op">[</span><span class="num">1</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t8" class="pln"><span class="strut"> </span></p>
+<p id="t9" class="pln"><span class="strut"> </span></p>
+<p id="t10" class="stm run hide_run"><span class="key">class</span> <span class="nam">TestErrorProp</span><span class="op">(</span><span class="nam">unittest</span><span class="op">.</span><span class="nam">TestCase</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t11" class="pln"><span class="strut"> </span></p>
+<p id="t12" class="stm run hide_run"> <span class="key">def</span> <span class="nam">test_cosine</span><span class="op">(</span><span class="nam">self</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t13" class="stm run hide_run"> <span class="nam">fun</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">cos</span><span class="strut"> </span></p>
+<p id="t14" class="stm run hide_run"> <span class="nam">x</span> <span class="op">=</span> <span class="num">2</span><span class="op">*</span><span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">random</span><span class="op">.</span><span class="nam">rand</span><span class="op">(</span><span class="op">)</span><span class="op">-</span><span class="num">0.5</span><span class="op">)</span><span class="op">*</span><span class="nam">np</span><span class="op">.</span><span class="nam">pi</span><span class="strut"> </span></p>
+<p id="t15" class="stm run hide_run"> <span class="nam">covar</span> <span class="op">=</span> <span class="num">2</span><span class="op">*</span><span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">random</span><span class="op">.</span><span class="nam">rand</span><span class="op">(</span><span class="op">)</span><span class="op">-</span><span class="num">0.5</span><span class="op">)</span><span class="op">*</span><span class="nam">np</span><span class="op">.</span><span class="nam">pi</span> <span class="op">/</span> <span class="num">10</span><span class="strut"> </span></p>
+<p id="t16" class="stm run hide_run"> <span class="nam">err</span> <span class="op">=</span> <span class="nam">propagate_error</span><span class="op">(</span><span class="nam">fun</span><span class="op">,</span> <span class="nam">x</span><span class="op">,</span> <span class="nam">covar</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t17" class="stm run hide_run"> <span class="nam">err_theo</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">abs</span><span class="op">(</span><span class="op">-</span><span class="nam">np</span><span class="op">.</span><span class="nam">sin</span><span class="op">(</span><span class="nam">x</span><span class="op">)</span><span class="op">)</span><span class="op">*</span><span class="nam">covar</span><span class="strut"> </span></p>
+<p id="t18" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertAlmostEqual</span><span class="op">(</span><span class="nam">err</span><span class="op">,</span> <span class="nam">err_theo</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t19" class="pln"><span class="strut"> </span></p>
+<p id="t20" class="stm run hide_run"> <span class="key">def</span> <span class="nam">test_sincosine</span><span class="op">(</span><span class="nam">self</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t21" class="stm run hide_run"> <span class="nam">fun</span> <span class="op">=</span> <span class="nam">sincosine</span><span class="strut"> </span></p>
+<p id="t22" class="stm run hide_run"> <span class="nam">x</span> <span class="op">=</span> <span class="num">2</span><span class="op">*</span><span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">random</span><span class="op">.</span><span class="nam">rand</span><span class="op">(</span><span class="num">2</span><span class="op">)</span><span class="op">-</span><span class="num">0.5</span><span class="op">)</span><span class="op">*</span><span class="nam">np</span><span class="op">.</span><span class="nam">pi</span><span class="strut"> </span></p>
+<p id="t23" class="stm run hide_run"> <span class="nam">covar</span> <span class="op">=</span> <span class="num">2</span><span class="op">*</span><span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">random</span><span class="op">.</span><span class="nam">rand</span><span class="op">(</span><span class="num">2</span><span class="op">,</span> <span class="num">2</span><span class="op">)</span><span class="op">-</span><span class="num">0.5</span><span class="op">)</span><span class="op">*</span><span class="nam">np</span><span class="op">.</span><span class="nam">pi</span> <span class="op">/</span> <span class="num">10</span><span class="strut"> </span></p>
+<p id="t24" class="pln"> <span class="com"># Test jacobian</span><span class="strut"> </span></p>
+<p id="t25" class="stm run hide_run"> <span class="nam">jacobian_matrix</span> <span class="op">=</span> <span class="nam">estimate_jacobian</span><span class="op">(</span><span class="nam">fun</span><span class="op">,</span> <span class="nam">x</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t26" class="stm run hide_run"> <span class="nam">jacobian_matrix_theo</span> <span class="op">=</span> <span class="op">[</span><span class="op">[</span><span class="op">-</span><span class="nam">np</span><span class="op">.</span><span class="nam">sin</span><span class="op">(</span><span class="nam">x</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">+</span><span class="nam">x</span><span class="op">[</span><span class="num">1</span><span class="op">]</span><span class="op">)</span><span class="op">,</span> <span class="op">-</span><span class="nam">np</span><span class="op">.</span><span class="nam">sin</span><span class="op">(</span><span class="nam">x</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">+</span><span class="nam">x</span><span class="op">[</span><span class="num">1</span><span class="op">]</span><span class="op">)</span><span class="op">]</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t27" class="pln"> <span class="op">[</span><span class="nam">np</span><span class="op">.</span><span class="nam">cos</span><span class="op">(</span><span class="nam">x</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">-</span><span class="nam">x</span><span class="op">[</span><span class="num">1</span><span class="op">]</span><span class="op">)</span><span class="op">,</span> <span class="op">-</span><span class="nam">np</span><span class="op">.</span><span class="nam">cos</span><span class="op">(</span><span class="nam">x</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">-</span><span class="nam">x</span><span class="op">[</span><span class="num">1</span><span class="op">]</span><span class="op">)</span><span class="op">]</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t28" class="stm run hide_run"> <span class="nam">jacobian_matrix_theo</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">array</span><span class="op">(</span><span class="nam">jacobian_matrix_theo</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t29" class="stm run hide_run"> <span class="nam">np</span><span class="op">.</span><span class="nam">testing</span><span class="op">.</span><span class="nam">assert_array_almost_equal</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t30" class="pln"> <span class="nam">jacobian_matrix</span><span class="op">,</span> <span class="nam">jacobian_matrix_theo</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t31" class="pln"><span class="strut"> </span></p>
+<p id="t32" class="pln"> <span class="com"># Test prop error</span><span class="strut"> </span></p>
+<p id="t33" class="stm run hide_run"> <span class="nam">err</span> <span class="op">=</span> <span class="nam">propagate_error</span><span class="op">(</span><span class="nam">fun</span><span class="op">,</span> <span class="nam">x</span><span class="op">,</span> <span class="nam">covar</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t34" class="stm run hide_run"> <span class="nam">s</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">sin</span><span class="op">(</span><span class="nam">x</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">+</span><span class="nam">x</span><span class="op">[</span><span class="num">1</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t35" class="stm run hide_run"> <span class="nam">c</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">cos</span><span class="op">(</span><span class="nam">x</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">-</span><span class="nam">x</span><span class="op">[</span><span class="num">1</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t36" class="stm run hide_run"> <span class="nam">d</span> <span class="op">=</span> <span class="nam">covar</span><span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t37" class="stm run hide_run"> <span class="nam">e</span> <span class="op">=</span> <span class="nam">covar</span><span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="num">1</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t38" class="stm run hide_run"> <span class="nam">f</span> <span class="op">=</span> <span class="nam">covar</span><span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t39" class="stm run hide_run"> <span class="nam">g</span> <span class="op">=</span> <span class="nam">covar</span><span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">1</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t40" class="stm run hide_run"> <span class="nam">err_theo</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">zeros</span><span class="op">(</span><span class="op">(</span><span class="num">2</span><span class="op">,</span> <span class="num">2</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t41" class="stm run hide_run"> <span class="nam">err_theo</span><span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span> <span class="op">=</span> <span class="op">-</span><span class="nam">s</span><span class="op">*</span><span class="op">(</span><span class="op">-</span><span class="nam">d</span><span class="op">*</span><span class="nam">s</span> <span class="op">-</span> <span class="nam">f</span><span class="op">*</span><span class="nam">s</span><span class="op">)</span> <span class="op">-</span> <span class="nam">s</span><span class="op">*</span><span class="op">(</span><span class="op">-</span><span class="nam">g</span><span class="op">*</span><span class="nam">s</span> <span class="op">-</span> <span class="nam">e</span><span class="op">*</span><span class="nam">s</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t42" class="stm run hide_run"> <span class="nam">err_theo</span><span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="num">1</span><span class="op">]</span> <span class="op">=</span> <span class="nam">c</span><span class="op">*</span><span class="op">(</span><span class="op">-</span><span class="nam">d</span><span class="op">*</span><span class="nam">s</span> <span class="op">-</span> <span class="nam">f</span><span class="op">*</span><span class="nam">s</span><span class="op">)</span> <span class="op">-</span> <span class="nam">c</span><span class="op">*</span><span class="op">(</span><span class="op">-</span><span class="nam">g</span><span class="op">*</span><span class="nam">s</span> <span class="op">-</span> <span class="nam">e</span><span class="op">*</span><span class="nam">s</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t43" class="stm run hide_run"> <span class="nam">err_theo</span><span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span> <span class="op">=</span> <span class="op">-</span><span class="nam">s</span><span class="op">*</span><span class="op">(</span><span class="nam">c</span><span class="op">*</span><span class="nam">d</span> <span class="op">-</span> <span class="nam">c</span><span class="op">*</span><span class="nam">f</span><span class="op">)</span> <span class="op">-</span> <span class="nam">s</span><span class="op">*</span><span class="op">(</span><span class="nam">c</span><span class="op">*</span><span class="nam">e</span> <span class="op">-</span> <span class="nam">c</span><span class="op">*</span><span class="nam">g</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t44" class="stm run hide_run"> <span class="nam">err_theo</span><span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">1</span><span class="op">]</span> <span class="op">=</span> <span class="nam">c</span><span class="op">*</span><span class="op">(</span><span class="nam">c</span><span class="op">*</span><span class="nam">d</span> <span class="op">-</span> <span class="nam">c</span><span class="op">*</span><span class="nam">f</span><span class="op">)</span> <span class="op">-</span> <span class="nam">c</span><span class="op">*</span><span class="op">(</span><span class="nam">c</span><span class="op">*</span><span class="nam">e</span> <span class="op">-</span> <span class="nam">c</span><span class="op">*</span><span class="nam">g</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t45" class="stm run hide_run"> <span class="nam">np</span><span class="op">.</span><span class="nam">testing</span><span class="op">.</span><span class="nam">assert_array_almost_equal</span><span class="op">(</span><span class="nam">err</span><span class="op">,</span> <span class="nam">err_theo</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t46" class="pln"><span class="strut"> </span></p>
+<p id="t47" class="pln"><span class="strut"> </span></p>
+<p id="t48" class="stm run hide_run"><span class="key">if</span> <span class="nam">__name__</span> <span class="op">==</span> <span class="str">'__main__'</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t49" class="stm mis"> <span class="nam">unittest</span><span class="op">.</span><span class="nam">main</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+
+ </td>
+ </tr>
+ </table>
+</div>
+
+<div id="footer">
+ <div class="content">
+ <p>
+ <a class="nav" href="index.html">« index</a> <a class="nav" href="https://coverage.readthedocs.io">coverage.py v4.5.2</a>,
+ created at 2019-01-13 14:34
+ </p>
+ </div>
+</div>
+
+</body>
+</html>
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--- /dev/null
+++ b/coverage_html_report/navipy_io___init___py.html
@@ -0,0 +1,89 @@
+
+
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+<html>
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+ <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
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+ <div class="content">
+ <p>
+ <a class="nav" href="index.html">« index</a> <a class="nav" href="https://coverage.readthedocs.io">coverage.py v4.5.2</a>,
+ created at 2019-01-13 14:34
+ </p>
+ </div>
+</div>
+
+</body>
+</html>
diff --git a/coverage_html_report/navipy_io_ivfile_py.html b/coverage_html_report/navipy_io_ivfile_py.html
new file mode 100644
index 0000000000000000000000000000000000000000..da4da7c4680a29376e9ec87309f112c851b2ae6a
--- /dev/null
+++ b/coverage_html_report/navipy_io_ivfile_py.html
@@ -0,0 +1,623 @@
+
+
+
+<!DOCTYPE html>
+<html>
+<head>
+ <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
+
+
+ <meta http-equiv="X-UA-Compatible" content="IE=emulateIE7" />
+ <title>Coverage for navipy/io/ivfile.py: 0%</title>
+ <link rel="stylesheet" href="style.css" type="text/css">
+
+ <script type="text/javascript" src="jquery.min.js"></script>
+ <script type="text/javascript" src="jquery.hotkeys.js"></script>
+ <script type="text/javascript" src="jquery.isonscreen.js"></script>
+ <script type="text/javascript" src="coverage_html.js"></script>
+ <script type="text/javascript">
+ jQuery(document).ready(coverage.pyfile_ready);
+ </script>
+</head>
+<body class="pyfile">
+
+<div id="header">
+ <div class="content">
+ <h1>Coverage for <b>navipy/io/ivfile.py</b> :
+ <span class="pc_cov">0%</span>
+ </h1>
+
+ <img id="keyboard_icon" src="keybd_closed.png" alt="Show keyboard shortcuts" />
+
+ <h2 class="stats">
+ 146 statements
+ <span class="run hide_run shortkey_r button_toggle_run">0 run</span>
+ <span class="mis shortkey_m button_toggle_mis">146 missing</span>
+ <span class="exc shortkey_x button_toggle_exc">0 excluded</span>
+
+
+ </h2>
+ </div>
+</div>
+
+<div class="help_panel">
+ <img id="panel_icon" src="keybd_open.png" alt="Hide keyboard shortcuts" />
+ <p class="legend">Hot-keys on this page</p>
+ <div>
+ <p class="keyhelp">
+ <span class="key">r</span>
+ <span class="key">m</span>
+ <span class="key">x</span>
+ <span class="key">p</span> toggle line displays
+ </p>
+ <p class="keyhelp">
+ <span class="key">j</span>
+ <span class="key">k</span> next/prev highlighted chunk
+ </p>
+ <p class="keyhelp">
+ <span class="key">0</span> (zero) top of page
+ </p>
+ <p class="keyhelp">
+ <span class="key">1</span> (one) first highlighted chunk
+ </p>
+ </div>
+</div>
+
+<div id="source">
+ <table>
+ <tr>
+ <td class="linenos">
+<p id="n1" class="stm mis"><a href="#n1">1</a></p>
+<p id="n2" class="stm mis"><a href="#n2">2</a></p>
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+<p id="n6" class="pln"><a href="#n6">6</a></p>
+<p id="n7" class="pln"><a href="#n7">7</a></p>
+<p id="n8" class="pln"><a href="#n8">8</a></p>
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+<p id="n10" class="pln"><a href="#n10">10</a></p>
+<p id="n11" class="pln"><a href="#n11">11</a></p>
+<p id="n12" class="pln"><a href="#n12">12</a></p>
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+<p id="n258" class="pln"><a href="#n258">258</a></p>
+<p id="n259" class="pln"><a href="#n259">259</a></p>
+<p id="n260" class="stm mis"><a href="#n260">260</a></p>
+<p id="n261" class="stm mis"><a href="#n261">261</a></p>
+<p id="n262" class="stm mis"><a href="#n262">262</a></p>
+<p id="n263" class="stm mis"><a href="#n263">263</a></p>
+<p id="n264" class="stm mis"><a href="#n264">264</a></p>
+<p id="n265" class="pln"><a href="#n265">265</a></p>
+<p id="n266" class="stm mis"><a href="#n266">266</a></p>
+<p id="n267" class="stm mis"><a href="#n267">267</a></p>
+
+ </td>
+ <td class="text">
+<p id="t1" class="stm mis"><span class="key">import</span> <span class="nam">pandas</span> <span class="key">as</span> <span class="nam">pd</span><span class="strut"> </span></p>
+<p id="t2" class="stm mis"><span class="key">import</span> <span class="nam">numpy</span> <span class="key">as</span> <span class="nam">np</span><span class="strut"> </span></p>
+<p id="t3" class="pln"><span class="strut"> </span></p>
+<p id="t4" class="pln"><span class="strut"> </span></p>
+<p id="t5" class="stm mis"><span class="key">def</span> <span class="nam">load</span><span class="op">(</span><span class="nam">filename_tra</span><span class="op">,</span> <span class="nam">separator</span><span class="op">=</span><span class="str">' '</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t6" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t7" class="pln"><span class="str"> Read a trajectory file created by ivTrace</span><span class="strut"> </span></p>
+<p id="t8" class="pln"><span class="str"> The separator in the file is repeated such,</span><span class="strut"> </span></p>
+<p id="t9" class="pln"><span class="str"> that columns are alligned in a text editor.</span><span class="strut"> </span></p>
+<p id="t10" class="pln"><span class="strut"> </span></p>
+<p id="t11" class="pln"><span class="str"> :param filename_tra: filename of the trajectory to load</span><span class="strut"> </span></p>
+<p id="t12" class="pln"><span class="str"> :type filename_tra: string</span><span class="strut"> </span></p>
+<p id="t13" class="pln"><span class="str"> :param separator:(optional, default a space), \</span><span class="strut"> </span></p>
+<p id="t14" class="pln"><span class="str">the separator in the tra file</span><span class="strut"> </span></p>
+<p id="t15" class="pln"><span class="str"> :type separator: string</span><span class="strut"> </span></p>
+<p id="t16" class="pln"><span class="str"> :return: a pandas dataframe</span><span class="strut"> </span></p>
+<p id="t17" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t18" class="stm mis"> <span class="nam">name_param_ellipse</span> <span class="op">=</span> <span class="nam">get_ellipse_param</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t19" class="stm mis"> <span class="nam">nbcolumn</span> <span class="op">=</span> <span class="op">-</span><span class="nam">np</span><span class="op">.</span><span class="nam">inf</span><span class="strut"> </span></p>
+<p id="t20" class="pln"> <span class="com"># Count the number of separators</span><span class="strut"> </span></p>
+<p id="t21" class="stm mis"> <span class="key">with</span> <span class="nam">open</span><span class="op">(</span><span class="nam">filename_tra</span><span class="op">,</span> <span class="str">'r'</span><span class="op">)</span> <span class="key">as</span> <span class="nam">f</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t22" class="stm mis"> <span class="key">for</span> <span class="nam">line_i</span><span class="op">,</span> <span class="nam">line</span> <span class="key">in</span> <span class="nam">enumerate</span><span class="op">(</span><span class="nam">f</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t23" class="stm mis"> <span class="nam">nbcol</span> <span class="op">=</span> <span class="nam">len</span><span class="op">(</span><span class="nam">line</span><span class="op">.</span><span class="nam">strip</span><span class="op">(</span><span class="op">)</span><span class="op">.</span><span class="nam">split</span><span class="op">(</span><span class="nam">separator</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t24" class="stm mis"> <span class="key">if</span> <span class="nam">nbcol</span> <span class="op">></span> <span class="nam">nbcolumn</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t25" class="stm mis"> <span class="nam">nbcolumn</span> <span class="op">=</span> <span class="nam">nbcol</span><span class="strut"> </span></p>
+<p id="t26" class="pln"> <span class="com"># print(line_i,nbcolumn)</span><span class="strut"> </span></p>
+<p id="t27" class="stm mis"> <span class="nam">nb_line</span> <span class="op">=</span> <span class="nam">line_i</span><span class="strut"> </span></p>
+<p id="t28" class="pln"> <span class="com"># print(nb_line)</span><span class="strut"> </span></p>
+<p id="t29" class="pln"><span class="strut"> </span></p>
+<p id="t30" class="pln"> <span class="com"># Create a dataframe with the number of detected columns and lines</span><span class="strut"> </span></p>
+<p id="t31" class="stm mis"> <span class="nam">data</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">DataFrame</span><span class="op">(</span><span class="nam">index</span><span class="op">=</span><span class="nam">np</span><span class="op">.</span><span class="nam">arange</span><span class="op">(</span><span class="nam">nb_line</span><span class="op">)</span><span class="op">,</span> <span class="nam">columns</span><span class="op">=</span><span class="nam">np</span><span class="op">.</span><span class="nam">arange</span><span class="op">(</span><span class="nam">nbcol</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t32" class="pln"> <span class="com"># Populate the dataframe with the data</span><span class="strut"> </span></p>
+<p id="t33" class="pln"> <span class="com"># Empty columns are skipped in the following manner:</span><span class="strut"> </span></p>
+<p id="t34" class="pln"> <span class="com"># if 1st column is empty in the file, and the 2nd is not,</span><span class="strut"> </span></p>
+<p id="t35" class="pln"> <span class="com"># the 2nd column will be at the first column of data</span><span class="strut"> </span></p>
+<p id="t36" class="stm mis"> <span class="key">import</span> <span class="nam">re</span><span class="strut"> </span></p>
+<p id="t37" class="stm mis"> <span class="nam">nums</span> <span class="op">=</span> <span class="nam">re</span><span class="op">.</span><span class="nam">compile</span><span class="op">(</span><span class="str">r"[+-]?\d+(?:\.\d+)?"</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t38" class="stm mis"> <span class="key">with</span> <span class="nam">open</span><span class="op">(</span><span class="nam">filename_tra</span><span class="op">,</span> <span class="str">'r'</span><span class="op">)</span> <span class="key">as</span> <span class="nam">f</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t39" class="stm mis"> <span class="key">for</span> <span class="nam">line_i</span><span class="op">,</span> <span class="nam">line</span> <span class="key">in</span> <span class="nam">enumerate</span><span class="op">(</span><span class="nam">f</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t40" class="pln"> <span class="com"># print(line_i)</span><span class="strut"> </span></p>
+<p id="t41" class="stm mis"> <span class="nam">m</span> <span class="op">=</span> <span class="nam">nums</span><span class="op">.</span><span class="nam">search</span><span class="op">(</span><span class="nam">line</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t42" class="stm mis"> <span class="nam">frame_i</span> <span class="op">=</span> <span class="nam">int</span><span class="op">(</span><span class="nam">m</span><span class="op">.</span><span class="nam">group</span><span class="op">(</span><span class="num">0</span><span class="op">)</span><span class="op">)</span> <span class="com"># '{:7d}'</span><span class="strut"> </span></p>
+<p id="t43" class="stm mis"> <span class="nam">line</span> <span class="op">=</span> <span class="nam">line</span><span class="op">[</span><span class="op">(</span><span class="nam">line</span><span class="op">.</span><span class="nam">find</span><span class="op">(</span><span class="nam">m</span><span class="op">.</span><span class="nam">group</span><span class="op">(</span><span class="num">0</span><span class="op">)</span><span class="op">)</span> <span class="op">+</span> <span class="nam">len</span><span class="op">(</span><span class="nam">m</span><span class="op">.</span><span class="nam">group</span><span class="op">(</span><span class="num">0</span><span class="op">)</span><span class="op">)</span><span class="op">)</span><span class="op">:</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t44" class="stm mis"> <span class="nam">data</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="nam">line_i</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span> <span class="op">=</span> <span class="nam">frame_i</span><span class="strut"> </span></p>
+<p id="t45" class="stm mis"> <span class="nam">col_i</span> <span class="op">=</span> <span class="num">1</span><span class="strut"> </span></p>
+<p id="t46" class="stm mis"> <span class="key">while</span> <span class="nam">len</span><span class="op">(</span><span class="nam">line</span><span class="op">)</span> <span class="op">></span> <span class="num">39</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t47" class="stm mis"> <span class="nam">cline</span> <span class="op">=</span> <span class="nam">line</span><span class="op">[</span><span class="op">:</span><span class="num">8</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t48" class="stm mis"> <span class="key">if</span> <span class="nam">cline</span> <span class="op">==</span> <span class="str">' '</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t49" class="stm mis"> <span class="nam">field</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">nan</span><span class="strut"> </span></p>
+<p id="t50" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t51" class="stm mis"> <span class="nam">field</span> <span class="op">=</span> <span class="nam">float</span><span class="op">(</span><span class="nam">cline</span><span class="op">)</span> <span class="com"># ' {:7.2f}'</span><span class="strut"> </span></p>
+<p id="t52" class="stm mis"> <span class="nam">line</span> <span class="op">=</span> <span class="nam">line</span><span class="op">[</span><span class="num">8</span><span class="op">:</span><span class="op">]</span> <span class="com"># Truncate line it is easier to process later</span><span class="strut"> </span></p>
+<p id="t53" class="stm mis"> <span class="nam">data</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="nam">line_i</span><span class="op">,</span> <span class="nam">col_i</span><span class="op">]</span> <span class="op">=</span> <span class="nam">field</span><span class="strut"> </span></p>
+<p id="t54" class="stm mis"> <span class="nam">col_i</span> <span class="op">+=</span> <span class="num">1</span><span class="strut"> </span></p>
+<p id="t55" class="stm mis"> <span class="nam">cline</span> <span class="op">=</span> <span class="nam">line</span><span class="op">[</span><span class="op">:</span><span class="num">8</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t56" class="stm mis"> <span class="key">if</span> <span class="nam">cline</span> <span class="op">==</span> <span class="str">' '</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t57" class="stm mis"> <span class="nam">field</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">nan</span><span class="strut"> </span></p>
+<p id="t58" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t59" class="stm mis"> <span class="nam">field</span> <span class="op">=</span> <span class="nam">float</span><span class="op">(</span><span class="nam">cline</span><span class="op">)</span> <span class="com"># ' {:7.2f}'</span><span class="strut"> </span></p>
+<p id="t60" class="stm mis"> <span class="nam">line</span> <span class="op">=</span> <span class="nam">line</span><span class="op">[</span><span class="num">8</span><span class="op">:</span><span class="op">]</span> <span class="com"># Truncate line it is easier to process later</span><span class="strut"> </span></p>
+<p id="t61" class="stm mis"> <span class="nam">data</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="nam">line_i</span><span class="op">,</span> <span class="nam">col_i</span><span class="op">]</span> <span class="op">=</span> <span class="nam">field</span><span class="strut"> </span></p>
+<p id="t62" class="stm mis"> <span class="nam">col_i</span> <span class="op">+=</span> <span class="num">1</span><span class="strut"> </span></p>
+<p id="t63" class="stm mis"> <span class="nam">cline</span> <span class="op">=</span> <span class="nam">line</span><span class="op">[</span><span class="op">:</span><span class="num">10</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t64" class="stm mis"> <span class="key">if</span> <span class="nam">cline</span> <span class="op">==</span> <span class="str">' '</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t65" class="stm mis"> <span class="nam">field</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">nan</span><span class="strut"> </span></p>
+<p id="t66" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t67" class="stm mis"> <span class="nam">field</span> <span class="op">=</span> <span class="nam">float</span><span class="op">(</span><span class="nam">cline</span><span class="op">)</span> <span class="com"># ' {:7.2f}'</span><span class="strut"> </span></p>
+<p id="t68" class="stm mis"> <span class="nam">line</span> <span class="op">=</span> <span class="nam">line</span><span class="op">[</span><span class="num">10</span><span class="op">:</span><span class="op">]</span> <span class="com"># Truncate line it is easier to process later</span><span class="strut"> </span></p>
+<p id="t69" class="stm mis"> <span class="nam">data</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="nam">line_i</span><span class="op">,</span> <span class="nam">col_i</span><span class="op">]</span> <span class="op">=</span> <span class="nam">field</span><span class="strut"> </span></p>
+<p id="t70" class="stm mis"> <span class="nam">col_i</span> <span class="op">+=</span> <span class="num">1</span><span class="strut"> </span></p>
+<p id="t71" class="stm mis"> <span class="nam">cline</span> <span class="op">=</span> <span class="nam">line</span><span class="op">[</span><span class="op">:</span><span class="num">6</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t72" class="stm mis"> <span class="key">if</span> <span class="nam">cline</span> <span class="op">==</span> <span class="str">' '</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t73" class="stm mis"> <span class="nam">field</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">nan</span><span class="strut"> </span></p>
+<p id="t74" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t75" class="stm mis"> <span class="nam">field</span> <span class="op">=</span> <span class="nam">int</span><span class="op">(</span><span class="nam">cline</span><span class="op">)</span> <span class="com"># ' {:7.2f}'</span><span class="strut"> </span></p>
+<p id="t76" class="stm mis"> <span class="nam">line</span> <span class="op">=</span> <span class="nam">line</span><span class="op">[</span><span class="num">6</span><span class="op">:</span><span class="op">]</span> <span class="com"># Truncate line it is easier to process later</span><span class="strut"> </span></p>
+<p id="t77" class="stm mis"> <span class="nam">data</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="nam">line_i</span><span class="op">,</span> <span class="nam">col_i</span><span class="op">]</span> <span class="op">=</span> <span class="nam">field</span><span class="strut"> </span></p>
+<p id="t78" class="stm mis"> <span class="nam">col_i</span> <span class="op">+=</span> <span class="num">1</span><span class="strut"> </span></p>
+<p id="t79" class="stm mis"> <span class="nam">cline</span> <span class="op">=</span> <span class="nam">line</span><span class="op">[</span><span class="op">:</span><span class="num">7</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t80" class="stm mis"> <span class="key">if</span> <span class="nam">cline</span> <span class="op">==</span> <span class="str">' '</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t81" class="stm mis"> <span class="nam">field</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">nan</span><span class="strut"> </span></p>
+<p id="t82" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t83" class="stm mis"> <span class="nam">field</span> <span class="op">=</span> <span class="nam">float</span><span class="op">(</span><span class="nam">cline</span><span class="op">)</span> <span class="com"># ' {:7.2f}'</span><span class="strut"> </span></p>
+<p id="t84" class="stm mis"> <span class="nam">line</span> <span class="op">=</span> <span class="nam">line</span><span class="op">[</span><span class="num">7</span><span class="op">:</span><span class="op">]</span> <span class="com"># Truncate line it is easier to process later</span><span class="strut"> </span></p>
+<p id="t85" class="stm mis"> <span class="nam">data</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="nam">line_i</span><span class="op">,</span> <span class="nam">col_i</span><span class="op">]</span> <span class="op">=</span> <span class="nam">field</span><span class="strut"> </span></p>
+<p id="t86" class="stm mis"> <span class="nam">col_i</span> <span class="op">+=</span> <span class="num">1</span><span class="strut"> </span></p>
+<p id="t87" class="pln"> <span class="com"># We remove unecessary columns:</span><span class="strut"> </span></p>
+<p id="t88" class="stm mis"> <span class="nam">data_2</span> <span class="op">=</span> <span class="nam">data</span><span class="op">.</span><span class="nam">set_index</span><span class="op">(</span><span class="nam">keys</span><span class="op">=</span><span class="num">0</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t89" class="stm mis"> <span class="nam">data_2</span><span class="op">.</span><span class="nam">index</span><span class="op">.</span><span class="nam">name</span> <span class="op">=</span> <span class="str">'frame'</span><span class="strut"> </span></p>
+<p id="t90" class="stm mis"> <span class="nam">data_2</span> <span class="op">=</span> <span class="nam">data_2</span><span class="op">.</span><span class="nam">dropna</span><span class="op">(</span><span class="nam">axis</span><span class="op">=</span><span class="num">1</span><span class="op">,</span> <span class="nam">how</span><span class="op">=</span><span class="str">'all'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t91" class="stm mis"> <span class="nam">data_2</span><span class="op">.</span><span class="nam">index</span> <span class="op">=</span> <span class="nam">data_2</span><span class="op">.</span><span class="nam">index</span><span class="op">.</span><span class="nam">astype</span><span class="op">(</span><span class="nam">int</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t92" class="stm mis"> <span class="nam">data_2</span> <span class="op">=</span> <span class="nam">data_2</span><span class="op">.</span><span class="nam">astype</span><span class="op">(</span><span class="nam">float</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t93" class="pln"> <span class="com"># Calculate the number of ellipses</span><span class="strut"> </span></p>
+<p id="t94" class="stm mis"> <span class="key">if</span> <span class="nam">np</span><span class="op">.</span><span class="nam">mod</span><span class="op">(</span><span class="nam">data_2</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">1</span><span class="op">]</span><span class="op">,</span> <span class="nam">len</span><span class="op">(</span><span class="nam">name_param_ellipse</span><span class="op">)</span><span class="op">)</span> <span class="op">!=</span> <span class="num">0</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t95" class="stm mis"> <span class="nam">msg</span> <span class="op">=</span> <span class="str">"Wrong number of ellipses read from files"</span><span class="strut"> </span></p>
+<p id="t96" class="stm mis"> <span class="nam">msg</span> <span class="op">+=</span> <span class="str">"{} not devisable by {}"</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">data_2</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">1</span><span class="op">]</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t97" class="pln"> <span class="nam">len</span><span class="op">(</span><span class="nam">name_param_ellipse</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t98" class="stm mis"> <span class="key">raise</span> <span class="nam">IOError</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t99" class="pln"> <span class="com"># Name nicely the data</span><span class="strut"> </span></p>
+<p id="t100" class="stm mis"> <span class="nam">columns</span> <span class="op">=</span> <span class="nam">list</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t101" class="stm mis"> <span class="key">for</span> <span class="nam">mark_i</span> <span class="key">in</span> <span class="nam">range</span><span class="op">(</span><span class="nam">data_2</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">1</span><span class="op">]</span> <span class="op">//</span> <span class="nam">len</span><span class="op">(</span><span class="nam">name_param_ellipse</span><span class="op">)</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t102" class="stm mis"> <span class="key">for</span> <span class="nam">label</span> <span class="key">in</span> <span class="nam">name_param_ellipse</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t103" class="stm mis"> <span class="nam">columns</span><span class="op">.</span><span class="nam">append</span><span class="op">(</span><span class="op">(</span><span class="nam">mark_i</span><span class="op">,</span> <span class="nam">label</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t104" class="stm mis"> <span class="nam">data_2</span><span class="op">.</span><span class="nam">columns</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">MultiIndex</span><span class="op">.</span><span class="nam">from_tuples</span><span class="op">(</span><span class="nam">columns</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t105" class="stm mis"> <span class="nam">data_2</span><span class="op">.</span><span class="nam">columns</span><span class="op">.</span><span class="nam">names</span> <span class="op">=</span> <span class="op">[</span><span class="str">'marker'</span><span class="op">,</span> <span class="str">'ellipse_param'</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t106" class="stm mis"> <span class="nam">data_2</span><span class="op">.</span><span class="nam">head</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t107" class="stm mis"> <span class="key">return</span> <span class="nam">data_2</span><span class="strut"> </span></p>
+<p id="t108" class="pln"><span class="strut"> </span></p>
+<p id="t109" class="pln"><span class="strut"> </span></p>
+<p id="t110" class="stm mis"><span class="key">def</span> <span class="nam">get_nbmarker</span><span class="op">(</span><span class="nam">data</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t111" class="stm mis"> <span class="key">return</span> <span class="nam">len</span><span class="op">(</span><span class="nam">data</span><span class="op">.</span><span class="nam">columns</span><span class="op">.</span><span class="nam">levels</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t112" class="pln"><span class="strut"> </span></p>
+<p id="t113" class="pln"><span class="strut"> </span></p>
+<p id="t114" class="stm mis"><span class="key">def</span> <span class="nam">get_ellipse_param</span><span class="op">(</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t115" class="stm mis"> <span class="key">return</span> <span class="op">[</span><span class="str">'x'</span><span class="op">,</span> <span class="str">'y'</span><span class="op">,</span> <span class="str">'orientation'</span><span class="op">,</span> <span class="str">'size'</span><span class="op">,</span> <span class="str">'roundness'</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t116" class="pln"><span class="strut"> </span></p>
+<p id="t117" class="pln"><span class="strut"> </span></p>
+<p id="t118" class="stm mis"><span class="key">def</span> <span class="nam">append</span><span class="op">(</span><span class="nam">tra_file</span><span class="op">,</span> <span class="nam">frame_i</span><span class="op">,</span> <span class="nam">ellipses</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t119" class="pln"> <span class="str">""" Append a line in a ivtrace files</span><span class="strut"> </span></p>
+<p id="t120" class="pln"><span class="str"> an ascii file reconstructing the format ivTrace writes.</span><span class="strut"> </span></p>
+<p id="t121" class="pln"><span class="strut"> </span></p>
+<p id="t122" class="pln"><span class="str"> line format:</span><span class="strut"> </span></p>
+<p id="t123" class="pln"><span class="str"> '{:7d} {:7.2f} {:7.2f} {:9.5f} {:5d} {:6.2f} {:7.2f} {:7.2f} {:9.5f} ... '</span><span class="strut"> </span></p>
+<p id="t124" class="pln"><span class="str"> ^ ^ ^ ^ ^ ^ | ^ ^ ^</span><span class="strut"> </span></p>
+<p id="t125" class="pln"><span class="str"> | | | | | | | | | |</span><span class="strut"> </span></p>
+<p id="t126" class="pln"><span class="str"> Frame# | | angle | eccentricity | | angle</span><span class="strut"> </span></p>
+<p id="t127" class="pln"><span class="str"> | x y area | x y</span><span class="strut"> </span></p>
+<p id="t128" class="pln"><span class="str"> |<---------------Ellipse #1 ------------->| |<--------Ellipse #2 --->...</span><span class="strut"> </span></p>
+<p id="t129" class="pln"><span class="strut"> </span></p>
+<p id="t130" class="pln"><span class="strut"> </span></p>
+<p id="t131" class="pln"><span class="str"> :param file: file to append the line</span><span class="strut"> </span></p>
+<p id="t132" class="pln"><span class="str"> :type file: file</span><span class="strut"> </span></p>
+<p id="t133" class="pln"><span class="str"> :param frame_i: frame number</span><span class="strut"> </span></p>
+<p id="t134" class="pln"><span class="str"> :type frame_i: integer</span><span class="strut"> </span></p>
+<p id="t135" class="pln"><span class="str"> :param ellipses: a Nx5 array containing x,y,Ma,ma,angle of an\</span><span class="strut"> </span></p>
+<p id="t136" class="pln"><span class="str">ellipse</span><span class="strut"> </span></p>
+<p id="t137" class="pln"><span class="str"> :type ellipses: a numpy array</span><span class="strut"> </span></p>
+<p id="t138" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t139" class="stm mis"> <span class="nam">tra_file</span><span class="op">.</span><span class="nam">write</span><span class="op">(</span><span class="str">'{:7d}'</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">frame_i</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t140" class="pln"> <span class="com"># for each region write 5 fields...</span><span class="strut"> </span></p>
+<p id="t141" class="stm mis"> <span class="key">for</span> <span class="nam">ell</span> <span class="key">in</span> <span class="nam">ellipses</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t142" class="stm mis"> <span class="nam">ell_x</span> <span class="op">=</span> <span class="nam">ell</span><span class="op">.</span><span class="nam">x</span><span class="strut"> </span></p>
+<p id="t143" class="stm mis"> <span class="nam">ell_y</span> <span class="op">=</span> <span class="nam">ell</span><span class="op">.</span><span class="nam">y</span><span class="strut"> </span></p>
+<p id="t144" class="stm mis"> <span class="key">if</span> <span class="nam">np</span><span class="op">.</span><span class="nam">any</span><span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">isnan</span><span class="op">(</span><span class="op">[</span><span class="nam">ell</span><span class="op">.</span><span class="nam">width</span><span class="op">,</span> <span class="nam">ell</span><span class="op">.</span><span class="nam">height</span><span class="op">]</span><span class="op">)</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t145" class="stm mis"> <span class="nam">ell_area</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">nan</span><span class="strut"> </span></p>
+<p id="t146" class="stm mis"> <span class="nam">ell_ecc</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">nan</span><span class="strut"> </span></p>
+<p id="t147" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t148" class="stm mis"> <span class="nam">ell_area</span> <span class="op">=</span> <span class="nam">ell</span><span class="op">.</span><span class="nam">area</span><span class="strut"> </span></p>
+<p id="t149" class="stm mis"> <span class="key">if</span> <span class="nam">ell</span><span class="op">.</span><span class="nam">width</span> <span class="op">==</span> <span class="num">0</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t150" class="stm mis"> <span class="nam">ell_ecc</span> <span class="op">=</span> <span class="num">1</span><span class="strut"> </span></p>
+<p id="t151" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t152" class="stm mis"> <span class="nam">ell_ecc</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">sqrt</span><span class="op">(</span><span class="num">1</span> <span class="op">-</span> <span class="op">(</span><span class="nam">ell</span><span class="op">.</span><span class="nam">roundness</span><span class="op">)</span><span class="op">**</span><span class="num">2</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t153" class="stm mis"> <span class="nam">ell_angle</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">deg2rad</span><span class="op">(</span><span class="nam">ell</span><span class="op">.</span><span class="nam">angle</span><span class="op">)</span> <span class="op">+</span> <span class="nam">np</span><span class="op">.</span><span class="nam">pi</span> <span class="op">/</span> <span class="num">2</span> <span class="com"># Because ivTrace</span><span class="strut"> </span></p>
+<p id="t154" class="pln"><span class="strut"> </span></p>
+<p id="t155" class="stm mis"> <span class="key">if</span> <span class="nam">np</span><span class="op">.</span><span class="nam">isnan</span><span class="op">(</span><span class="nam">ell_x</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t156" class="stm mis"> <span class="nam">tra_file</span><span class="op">.</span><span class="nam">write</span><span class="op">(</span><span class="str">' '</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t157" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t158" class="stm mis"> <span class="nam">tra_file</span><span class="op">.</span><span class="nam">write</span><span class="op">(</span><span class="str">' {:7.2f}'</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">ell_x</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t159" class="pln"><span class="strut"> </span></p>
+<p id="t160" class="stm mis"> <span class="key">if</span> <span class="nam">np</span><span class="op">.</span><span class="nam">isnan</span><span class="op">(</span><span class="nam">ell_y</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t161" class="stm mis"> <span class="nam">tra_file</span><span class="op">.</span><span class="nam">write</span><span class="op">(</span><span class="str">' '</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t162" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t163" class="stm mis"> <span class="nam">tra_file</span><span class="op">.</span><span class="nam">write</span><span class="op">(</span><span class="str">' {:7.2f}'</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">ell_y</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t164" class="pln"><span class="strut"> </span></p>
+<p id="t165" class="stm mis"> <span class="key">if</span> <span class="nam">np</span><span class="op">.</span><span class="nam">isnan</span><span class="op">(</span><span class="nam">ell_angle</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t166" class="stm mis"> <span class="nam">tra_file</span><span class="op">.</span><span class="nam">write</span><span class="op">(</span><span class="str">' '</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t167" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t168" class="stm mis"> <span class="nam">tra_file</span><span class="op">.</span><span class="nam">write</span><span class="op">(</span><span class="str">' {:9.5f}'</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">ell_angle</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t169" class="pln"><span class="strut"> </span></p>
+<p id="t170" class="stm mis"> <span class="key">if</span> <span class="nam">np</span><span class="op">.</span><span class="nam">isnan</span><span class="op">(</span><span class="nam">ell_area</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t171" class="stm mis"> <span class="nam">tra_file</span><span class="op">.</span><span class="nam">write</span><span class="op">(</span><span class="str">' '</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t172" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t173" class="stm mis"> <span class="nam">tra_file</span><span class="op">.</span><span class="nam">write</span><span class="op">(</span><span class="str">' {:5d}'</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">round</span><span class="op">(</span><span class="nam">ell_area</span><span class="op">)</span><span class="op">.</span><span class="nam">astype</span><span class="op">(</span><span class="nam">int</span><span class="op">)</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t174" class="pln"><span class="strut"> </span></p>
+<p id="t175" class="stm mis"> <span class="key">if</span> <span class="nam">np</span><span class="op">.</span><span class="nam">isnan</span><span class="op">(</span><span class="nam">ell_ecc</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t176" class="stm mis"> <span class="nam">tra_file</span><span class="op">.</span><span class="nam">write</span><span class="op">(</span><span class="str">' '</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t177" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t178" class="stm mis"> <span class="nam">tra_file</span><span class="op">.</span><span class="nam">write</span><span class="op">(</span><span class="str">' {:6.2f}'</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">ell_ecc</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t179" class="pln"> <span class="com"># append end of line</span><span class="strut"> </span></p>
+<p id="t180" class="stm mis"> <span class="nam">tra_file</span><span class="op">.</span><span class="nam">write</span><span class="op">(</span><span class="str">'\n'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t181" class="pln"><span class="strut"> </span></p>
+<p id="t182" class="pln"><span class="strut"> </span></p>
+<p id="t183" class="stm mis"><span class="key">def</span> <span class="nam">save</span><span class="op">(</span><span class="nam">traFile</span><span class="op">,</span> <span class="nam">data</span><span class="op">,</span> <span class="nam">mode</span><span class="op">=</span><span class="str">'w'</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t184" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t185" class="pln"><span class="str"> write_tra - write trajectory data into an ivtrace file</span><span class="strut"> </span></p>
+<p id="t186" class="pln"><span class="str"> write_tra (traFile, traData) writes the trajectory data in traData into</span><span class="strut"> </span></p>
+<p id="t187" class="pln"><span class="str"> an ascii file reconstructing the format ivTrace writes.</span><span class="strut"> </span></p>
+<p id="t188" class="pln"><span class="strut"> </span></p>
+<p id="t189" class="pln"><span class="str"> :param traFile: filename of the trajectory</span><span class="strut"> </span></p>
+<p id="t190" class="pln"><span class="str"> :type traFile: string</span><span class="strut"> </span></p>
+<p id="t191" class="pln"><span class="str"> :param traData: Dataframe with index the frame number</span><span class="strut"> </span></p>
+<p id="t192" class="pln"><span class="str"> :type traData: pandas dataframe</span><span class="strut"> </span></p>
+<p id="t193" class="pln"><span class="strut"> </span></p>
+<p id="t194" class="pln"><span class="str"> >>write_tra_file('trajectory.tra', data);</span><span class="strut"> </span></p>
+<p id="t195" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t196" class="pln"> <span class="com"># Convert dataframe to matrix</span><span class="strut"> </span></p>
+<p id="t197" class="stm mis"> <span class="nam">nb_markers</span> <span class="op">=</span> <span class="nam">get_nbmarker</span><span class="op">(</span><span class="nam">data</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t198" class="stm mis"> <span class="nam">name_param_ellipse</span> <span class="op">=</span> <span class="nam">get_ellipse_param</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t199" class="pln"> <span class="com"># Save</span><span class="strut"> </span></p>
+<p id="t200" class="stm mis"> <span class="nam">file</span> <span class="op">=</span> <span class="nam">open</span><span class="op">(</span><span class="nam">traFile</span><span class="op">,</span> <span class="nam">mode</span><span class="op">,</span> <span class="nam">newline</span><span class="op">=</span><span class="str">'\n'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t201" class="stm mis"> <span class="key">for</span> <span class="nam">frame_i</span> <span class="key">in</span> <span class="nam">data</span><span class="op">.</span><span class="nam">index</span><span class="op">.</span><span class="nam">values</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t202" class="pln"> <span class="com"># print index field of the line</span><span class="strut"> </span></p>
+<p id="t203" class="stm mis"> <span class="nam">file</span><span class="op">.</span><span class="nam">write</span><span class="op">(</span><span class="str">'{:7d}'</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">int</span><span class="op">(</span><span class="nam">frame_i</span><span class="op">)</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t204" class="pln"> <span class="com"># for each region write 5 fields...</span><span class="strut"> </span></p>
+<p id="t205" class="stm mis"> <span class="key">for</span> <span class="nam">mark_i</span> <span class="key">in</span> <span class="nam">range</span><span class="op">(</span><span class="nam">nb_markers</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t206" class="stm mis"> <span class="nam">val</span> <span class="op">=</span> <span class="nam">data</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="nam">frame_i</span><span class="op">,</span> <span class="op">(</span><span class="nam">mark_i</span><span class="op">,</span> <span class="nam">name_param_ellipse</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">)</span><span class="op">]</span> <span class="com"># x</span><span class="strut"> </span></p>
+<p id="t207" class="stm mis"> <span class="key">if</span> <span class="nam">np</span><span class="op">.</span><span class="nam">isnan</span><span class="op">(</span><span class="nam">val</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t208" class="stm mis"> <span class="nam">file</span><span class="op">.</span><span class="nam">write</span><span class="op">(</span><span class="str">' '</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t209" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t210" class="stm mis"> <span class="nam">file</span><span class="op">.</span><span class="nam">write</span><span class="op">(</span><span class="str">' {:7.2f}'</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">val</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t211" class="pln"><span class="strut"> </span></p>
+<p id="t212" class="stm mis"> <span class="nam">val</span> <span class="op">=</span> <span class="nam">data</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="nam">frame_i</span><span class="op">,</span> <span class="op">(</span><span class="nam">mark_i</span><span class="op">,</span> <span class="nam">name_param_ellipse</span><span class="op">[</span><span class="num">1</span><span class="op">]</span><span class="op">)</span><span class="op">]</span> <span class="com"># y</span><span class="strut"> </span></p>
+<p id="t213" class="stm mis"> <span class="key">if</span> <span class="nam">np</span><span class="op">.</span><span class="nam">isnan</span><span class="op">(</span><span class="nam">val</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t214" class="stm mis"> <span class="nam">file</span><span class="op">.</span><span class="nam">write</span><span class="op">(</span><span class="str">' '</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t215" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t216" class="stm mis"> <span class="nam">file</span><span class="op">.</span><span class="nam">write</span><span class="op">(</span><span class="str">' {:7.2f}'</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">val</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t217" class="pln"><span class="strut"> </span></p>
+<p id="t218" class="pln"> <span class="com"># orientation</span><span class="strut"> </span></p>
+<p id="t219" class="stm mis"> <span class="nam">val</span> <span class="op">=</span> <span class="nam">data</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="nam">frame_i</span><span class="op">,</span> <span class="op">(</span><span class="nam">mark_i</span><span class="op">,</span> <span class="nam">name_param_ellipse</span><span class="op">[</span><span class="num">2</span><span class="op">]</span><span class="op">)</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t220" class="stm mis"> <span class="key">if</span> <span class="nam">np</span><span class="op">.</span><span class="nam">isnan</span><span class="op">(</span><span class="nam">val</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t221" class="stm mis"> <span class="nam">file</span><span class="op">.</span><span class="nam">write</span><span class="op">(</span><span class="str">' '</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t222" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t223" class="stm mis"> <span class="nam">file</span><span class="op">.</span><span class="nam">write</span><span class="op">(</span><span class="str">' {:9.5f}'</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">val</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t224" class="pln"><span class="strut"> </span></p>
+<p id="t225" class="stm mis"> <span class="nam">val</span> <span class="op">=</span> <span class="nam">data</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="nam">frame_i</span><span class="op">,</span> <span class="op">(</span><span class="nam">mark_i</span><span class="op">,</span> <span class="nam">name_param_ellipse</span><span class="op">[</span><span class="num">3</span><span class="op">]</span><span class="op">)</span><span class="op">]</span> <span class="com"># size</span><span class="strut"> </span></p>
+<p id="t226" class="stm mis"> <span class="key">if</span> <span class="nam">np</span><span class="op">.</span><span class="nam">isnan</span><span class="op">(</span><span class="nam">val</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t227" class="stm mis"> <span class="nam">file</span><span class="op">.</span><span class="nam">write</span><span class="op">(</span><span class="str">' '</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t228" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t229" class="stm mis"> <span class="nam">file</span><span class="op">.</span><span class="nam">write</span><span class="op">(</span><span class="str">' {:5d}'</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">int</span><span class="op">(</span><span class="nam">val</span><span class="op">)</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t230" class="pln"><span class="strut"> </span></p>
+<p id="t231" class="pln"> <span class="com"># roundness</span><span class="strut"> </span></p>
+<p id="t232" class="stm mis"> <span class="nam">val</span> <span class="op">=</span> <span class="nam">data</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="nam">frame_i</span><span class="op">,</span> <span class="op">(</span><span class="nam">mark_i</span><span class="op">,</span> <span class="nam">name_param_ellipse</span><span class="op">[</span><span class="num">4</span><span class="op">]</span><span class="op">)</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t233" class="stm mis"> <span class="key">if</span> <span class="nam">np</span><span class="op">.</span><span class="nam">isnan</span><span class="op">(</span><span class="nam">val</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t234" class="stm mis"> <span class="nam">file</span><span class="op">.</span><span class="nam">write</span><span class="op">(</span><span class="str">' '</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t235" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t236" class="stm mis"> <span class="nam">file</span><span class="op">.</span><span class="nam">write</span><span class="op">(</span><span class="str">' {:6.2f}'</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">val</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t237" class="pln"> <span class="com"># append end of line</span><span class="strut"> </span></p>
+<p id="t238" class="stm mis"> <span class="nam">file</span><span class="op">.</span><span class="nam">write</span><span class="op">(</span><span class="str">'\n'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t239" class="stm mis"> <span class="nam">file</span><span class="op">.</span><span class="nam">close</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t240" class="pln"><span class="strut"> </span></p>
+<p id="t241" class="pln"><span class="strut"> </span></p>
+<p id="t242" class="stm mis"><span class="key">def</span> <span class="nam">manhattan</span><span class="op">(</span><span class="nam">filename</span><span class="op">,</span> <span class="nam">corner_th</span><span class="op">=</span><span class="op">-</span><span class="num">1</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t243" class="pln"> <span class="str">"""Load a manhattan clicked on ivTrace</span><span class="strut"> </span></p>
+<p id="t244" class="pln"><span class="strut"> </span></p>
+<p id="t245" class="pln"><span class="str"> The points within the top left corner will be set to NaN</span><span class="strut"> </span></p>
+<p id="t246" class="pln"><span class="str"> The corner region is: [[0, corner_th],[0, corner_th]]</span><span class="strut"> </span></p>
+<p id="t247" class="pln"><span class="strut"> </span></p>
+<p id="t248" class="pln"><span class="str"> :param filename: the ivTrace file (.tra file)</span><span class="strut"> </span></p>
+<p id="t249" class="pln"><span class="str"> :type filename: str</span><span class="strut"> </span></p>
+<p id="t250" class="pln"><span class="str"> :param corner_th: threshold to ignore points</span><span class="strut"> </span></p>
+<p id="t251" class="pln"><span class="str"> :type corner_th: numeric</span><span class="strut"> </span></p>
+<p id="t252" class="pln"><span class="str"> :returns: A x,y manhattan with index i, the i-th tower</span><span class="strut"> </span></p>
+<p id="t253" class="pln"><span class="str"> :rtype: pd.DataFrame</span><span class="strut"> </span></p>
+<p id="t254" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t255" class="pln"><span class="strut"> </span></p>
+<p id="t256" class="stm mis"> <span class="nam">df</span> <span class="op">=</span> <span class="nam">load</span><span class="op">(</span><span class="nam">filename</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t257" class="stm mis"> <span class="nam">manhattan_2d</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">DataFrame</span><span class="op">(</span><span class="nam">index</span><span class="op">=</span><span class="nam">range</span><span class="op">(</span><span class="nam">get_nbmarker</span><span class="op">(</span><span class="nam">df</span><span class="op">)</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t258" class="pln"> <span class="nam">columns</span><span class="op">=</span><span class="op">[</span><span class="str">'x'</span><span class="op">,</span> <span class="str">'y'</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t259" class="pln"><span class="strut"> </span></p>
+<p id="t260" class="stm mis"> <span class="nam">df</span> <span class="op">=</span> <span class="nam">df</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="op">:</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t261" class="stm mis"> <span class="key">for</span> <span class="nam">mark_i</span> <span class="key">in</span> <span class="nam">manhattan_2d</span><span class="op">.</span><span class="nam">index</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t262" class="stm mis"> <span class="nam">manhattan_2d</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="nam">mark_i</span><span class="op">,</span> <span class="str">'x'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">df</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="op">(</span><span class="nam">mark_i</span><span class="op">,</span> <span class="str">'x'</span><span class="op">)</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t263" class="stm mis"> <span class="nam">manhattan_2d</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="nam">mark_i</span><span class="op">,</span> <span class="str">'y'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">df</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="op">(</span><span class="nam">mark_i</span><span class="op">,</span> <span class="str">'y'</span><span class="op">)</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t264" class="stm mis"> <span class="nam">topleft_corner</span> <span class="op">=</span> <span class="op">(</span><span class="nam">manhattan_2d</span><span class="op">.</span><span class="nam">x</span> <span class="op"><</span> <span class="nam">corner_th</span><span class="op">)</span> <span class="xx">\</span><span class="strut"> </span></p>
+<p id="t265" class="pln"> <span class="op">&</span> <span class="op">(</span><span class="nam">manhattan_2d</span><span class="op">.</span><span class="nam">y</span> <span class="op"><</span> <span class="nam">corner_th</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t266" class="stm mis"> <span class="nam">manhattan_2d</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="nam">topleft_corner</span><span class="op">,</span> <span class="op">:</span><span class="op">]</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">nan</span><span class="strut"> </span></p>
+<p id="t267" class="stm mis"> <span class="key">return</span> <span class="nam">manhattan_2d</span><span class="strut"> </span></p>
+
+ </td>
+ </tr>
+ </table>
+</div>
+
+<div id="footer">
+ <div class="content">
+ <p>
+ <a class="nav" href="index.html">« index</a> <a class="nav" href="https://coverage.readthedocs.io">coverage.py v4.5.2</a>,
+ created at 2019-01-13 14:34
+ </p>
+ </div>
+</div>
+
+</body>
+</html>
diff --git a/coverage_html_report/navipy_io_opencv_py.html b/coverage_html_report/navipy_io_opencv_py.html
new file mode 100644
index 0000000000000000000000000000000000000000..b8db99ea3912e763115816d755ddce30191b299c
--- /dev/null
+++ b/coverage_html_report/navipy_io_opencv_py.html
@@ -0,0 +1,277 @@
+
+
+
+<!DOCTYPE html>
+<html>
+<head>
+ <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
+
+
+ <meta http-equiv="X-UA-Compatible" content="IE=emulateIE7" />
+ <title>Coverage for navipy/io/opencv.py: 0%</title>
+ <link rel="stylesheet" href="style.css" type="text/css">
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+</head>
+<body class="pyfile">
+
+<div id="header">
+ <div class="content">
+ <h1>Coverage for <b>navipy/io/opencv.py</b> :
+ <span class="pc_cov">0%</span>
+ </h1>
+
+ <img id="keyboard_icon" src="keybd_closed.png" alt="Show keyboard shortcuts" />
+
+ <h2 class="stats">
+ 55 statements
+ <span class="run hide_run shortkey_r button_toggle_run">0 run</span>
+ <span class="mis shortkey_m button_toggle_mis">55 missing</span>
+ <span class="exc shortkey_x button_toggle_exc">0 excluded</span>
+
+
+ </h2>
+ </div>
+</div>
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+ <img id="panel_icon" src="keybd_open.png" alt="Hide keyboard shortcuts" />
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+ <table>
+ <tr>
+ <td class="linenos">
+<p id="n1" class="stm mis"><a href="#n1">1</a></p>
+<p id="n2" class="stm mis"><a href="#n2">2</a></p>
+<p id="n3" class="stm mis"><a href="#n3">3</a></p>
+<p id="n4" class="stm mis"><a href="#n4">4</a></p>
+<p id="n5" class="pln"><a href="#n5">5</a></p>
+<p id="n6" class="pln"><a href="#n6">6</a></p>
+<p id="n7" class="stm mis"><a href="#n7">7</a></p>
+<p id="n8" class="stm mis"><a href="#n8">8</a></p>
+<p id="n9" class="stm mis"><a href="#n9">9</a></p>
+<p id="n10" class="stm mis"><a href="#n10">10</a></p>
+<p id="n11" class="stm mis"><a href="#n11">11</a></p>
+<p id="n12" class="pln"><a href="#n12">12</a></p>
+<p id="n13" class="pln"><a href="#n13">13</a></p>
+<p id="n14" class="stm mis"><a href="#n14">14</a></p>
+<p id="n15" class="stm mis"><a href="#n15">15</a></p>
+<p id="n16" class="stm mis"><a href="#n16">16</a></p>
+<p id="n17" class="pln"><a href="#n17">17</a></p>
+<p id="n18" class="stm mis"><a href="#n18">18</a></p>
+<p id="n19" class="stm mis"><a href="#n19">19</a></p>
+<p id="n20" class="stm mis"><a href="#n20">20</a></p>
+<p id="n21" class="pln"><a href="#n21">21</a></p>
+<p id="n22" class="pln"><a href="#n22">22</a></p>
+<p id="n23" class="stm mis"><a href="#n23">23</a></p>
+<p id="n24" class="stm mis"><a href="#n24">24</a></p>
+<p id="n25" class="pln"><a href="#n25">25</a></p>
+<p id="n26" class="pln"><a href="#n26">26</a></p>
+<p id="n27" class="stm mis"><a href="#n27">27</a></p>
+<p id="n28" class="stm mis"><a href="#n28">28</a></p>
+<p id="n29" class="pln"><a href="#n29">29</a></p>
+<p id="n30" class="pln"><a href="#n30">30</a></p>
+<p id="n31" class="stm mis"><a href="#n31">31</a></p>
+<p id="n32" class="pln"><a href="#n32">32</a></p>
+<p id="n33" class="pln"><a href="#n33">33</a></p>
+<p id="n34" class="pln"><a href="#n34">34</a></p>
+<p id="n35" class="pln"><a href="#n35">35</a></p>
+<p id="n36" class="pln"><a href="#n36">36</a></p>
+<p id="n37" class="pln"><a href="#n37">37</a></p>
+<p id="n38" class="pln"><a href="#n38">38</a></p>
+<p id="n39" class="pln"><a href="#n39">39</a></p>
+<p id="n40" class="stm mis"><a href="#n40">40</a></p>
+<p id="n41" class="stm mis"><a href="#n41">41</a></p>
+<p id="n42" class="stm mis"><a href="#n42">42</a></p>
+<p id="n43" class="stm mis"><a href="#n43">43</a></p>
+<p id="n44" class="stm mis"><a href="#n44">44</a></p>
+<p id="n45" class="stm mis"><a href="#n45">45</a></p>
+<p id="n46" class="pln"><a href="#n46">46</a></p>
+<p id="n47" class="pln"><a href="#n47">47</a></p>
+<p id="n48" class="stm mis"><a href="#n48">48</a></p>
+<p id="n49" class="pln"><a href="#n49">49</a></p>
+<p id="n50" class="pln"><a href="#n50">50</a></p>
+<p id="n51" class="pln"><a href="#n51">51</a></p>
+<p id="n52" class="pln"><a href="#n52">52</a></p>
+<p id="n53" class="pln"><a href="#n53">53</a></p>
+<p id="n54" class="pln"><a href="#n54">54</a></p>
+<p id="n55" class="pln"><a href="#n55">55</a></p>
+<p id="n56" class="stm mis"><a href="#n56">56</a></p>
+<p id="n57" class="stm mis"><a href="#n57">57</a></p>
+<p id="n58" class="pln"><a href="#n58">58</a></p>
+<p id="n59" class="stm mis"><a href="#n59">59</a></p>
+<p id="n60" class="stm mis"><a href="#n60">60</a></p>
+<p id="n61" class="stm mis"><a href="#n61">61</a></p>
+<p id="n62" class="stm mis"><a href="#n62">62</a></p>
+<p id="n63" class="stm mis"><a href="#n63">63</a></p>
+<p id="n64" class="stm mis"><a href="#n64">64</a></p>
+<p id="n65" class="stm mis"><a href="#n65">65</a></p>
+<p id="n66" class="pln"><a href="#n66">66</a></p>
+<p id="n67" class="stm mis"><a href="#n67">67</a></p>
+<p id="n68" class="stm mis"><a href="#n68">68</a></p>
+<p id="n69" class="stm mis"><a href="#n69">69</a></p>
+<p id="n70" class="stm mis"><a href="#n70">70</a></p>
+<p id="n71" class="stm mis"><a href="#n71">71</a></p>
+<p id="n72" class="pln"><a href="#n72">72</a></p>
+<p id="n73" class="stm mis"><a href="#n73">73</a></p>
+<p id="n74" class="pln"><a href="#n74">74</a></p>
+<p id="n75" class="pln"><a href="#n75">75</a></p>
+<p id="n76" class="stm mis"><a href="#n76">76</a></p>
+<p id="n77" class="pln"><a href="#n77">77</a></p>
+<p id="n78" class="pln"><a href="#n78">78</a></p>
+<p id="n79" class="pln"><a href="#n79">79</a></p>
+<p id="n80" class="stm mis"><a href="#n80">80</a></p>
+<p id="n81" class="stm mis"><a href="#n81">81</a></p>
+<p id="n82" class="stm mis"><a href="#n82">82</a></p>
+<p id="n83" class="stm mis"><a href="#n83">83</a></p>
+<p id="n84" class="pln"><a href="#n84">84</a></p>
+<p id="n85" class="pln"><a href="#n85">85</a></p>
+<p id="n86" class="stm mis"><a href="#n86">86</a></p>
+<p id="n87" class="pln"><a href="#n87">87</a></p>
+<p id="n88" class="stm mis"><a href="#n88">88</a></p>
+<p id="n89" class="stm mis"><a href="#n89">89</a></p>
+<p id="n90" class="stm mis"><a href="#n90">90</a></p>
+<p id="n91" class="stm mis"><a href="#n91">91</a></p>
+<p id="n92" class="stm mis"><a href="#n92">92</a></p>
+<p id="n93" class="stm mis"><a href="#n93">93</a></p>
+<p id="n94" class="stm mis"><a href="#n94">94</a></p>
+
+ </td>
+ <td class="text">
+<p id="t1" class="stm mis"><span class="key">import</span> <span class="nam">cv2</span><span class="strut"> </span></p>
+<p id="t2" class="stm mis"><span class="key">import</span> <span class="nam">os</span><span class="strut"> </span></p>
+<p id="t3" class="stm mis"><span class="key">import</span> <span class="nam">numpy</span> <span class="key">as</span> <span class="nam">np</span><span class="strut"> </span></p>
+<p id="t4" class="stm mis"><span class="key">import</span> <span class="nam">xml</span><span class="op">.</span><span class="nam">etree</span><span class="op">.</span><span class="nam">ElementTree</span> <span class="key">as</span> <span class="nam">ET</span><span class="strut"> </span></p>
+<p id="t5" class="pln"><span class="strut"> </span></p>
+<p id="t6" class="pln"><span class="strut"> </span></p>
+<p id="t7" class="stm mis"><span class="key">def</span> <span class="nam">load</span><span class="op">(</span><span class="nam">filename</span><span class="op">,</span> <span class="nam">key</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t8" class="stm mis"> <span class="nam">cv_file</span> <span class="op">=</span> <span class="nam">cv2</span><span class="op">.</span><span class="nam">FileStorage</span><span class="op">(</span><span class="nam">filename</span><span class="op">,</span> <span class="nam">cv2</span><span class="op">.</span><span class="nam">FILE_STORAGE_READ</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t9" class="stm mis"> <span class="nam">matrix</span> <span class="op">=</span> <span class="nam">cv_file</span><span class="op">.</span><span class="nam">getNode</span><span class="op">(</span><span class="nam">key</span><span class="op">)</span><span class="op">.</span><span class="nam">mat</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t10" class="stm mis"> <span class="nam">cv_file</span><span class="op">.</span><span class="nam">release</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t11" class="stm mis"> <span class="key">return</span> <span class="nam">matrix</span><span class="strut"> </span></p>
+<p id="t12" class="pln"><span class="strut"> </span></p>
+<p id="t13" class="pln"><span class="strut"> </span></p>
+<p id="t14" class="stm mis"><span class="key">def</span> <span class="nam">save</span><span class="op">(</span><span class="nam">filename</span><span class="op">,</span> <span class="nam">key</span><span class="op">,</span> <span class="nam">data</span><span class="op">,</span> <span class="nam">overwrite</span><span class="op">=</span><span class="key">False</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t15" class="stm mis"> <span class="key">if</span> <span class="nam">os</span><span class="op">.</span><span class="nam">path</span><span class="op">.</span><span class="nam">exists</span><span class="op">(</span><span class="nam">filename</span><span class="op">)</span> <span class="key">and</span> <span class="op">(</span><span class="nam">overwrite</span> <span class="key">is</span> <span class="key">False</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t16" class="stm mis"> <span class="nam">cv_file</span> <span class="op">=</span> <span class="nam">cv2</span><span class="op">.</span><span class="nam">FileStorage</span><span class="op">(</span><span class="nam">filename</span><span class="op">,</span> <span class="nam">cv2</span><span class="op">.</span><span class="nam">FILE_STORAGE_APPEND</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t17" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t18" class="stm mis"> <span class="nam">cv_file</span> <span class="op">=</span> <span class="nam">cv2</span><span class="op">.</span><span class="nam">FileStorage</span><span class="op">(</span><span class="nam">filename</span><span class="op">,</span> <span class="nam">cv2</span><span class="op">.</span><span class="nam">FILE_STORAGE_WRITE</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t19" class="stm mis"> <span class="nam">cv_file</span><span class="op">.</span><span class="nam">write</span><span class="op">(</span><span class="nam">key</span><span class="op">,</span> <span class="nam">data</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t20" class="stm mis"> <span class="nam">cv_file</span><span class="op">.</span><span class="nam">release</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t21" class="pln"><span class="strut"> </span></p>
+<p id="t22" class="pln"><span class="strut"> </span></p>
+<p id="t23" class="stm mis"><span class="key">def</span> <span class="nam">intrinsic_matrix</span><span class="op">(</span><span class="nam">filename</span><span class="op">,</span> <span class="nam">key</span><span class="op">=</span><span class="str">"intrinsic_matrix"</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t24" class="stm mis"> <span class="key">return</span> <span class="nam">load</span><span class="op">(</span><span class="nam">filename</span><span class="op">,</span> <span class="nam">key</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t25" class="pln"><span class="strut"> </span></p>
+<p id="t26" class="pln"><span class="strut"> </span></p>
+<p id="t27" class="stm mis"><span class="key">def</span> <span class="nam">distortion</span><span class="op">(</span><span class="nam">filename</span><span class="op">,</span> <span class="nam">key</span><span class="op">=</span><span class="str">"distortion"</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t28" class="stm mis"> <span class="key">return</span> <span class="nam">load</span><span class="op">(</span><span class="nam">filename</span><span class="op">,</span> <span class="nam">key</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t29" class="pln"><span class="strut"> </span></p>
+<p id="t30" class="pln"><span class="strut"> </span></p>
+<p id="t31" class="stm mis"><span class="key">def</span> <span class="nam">cameras_intrinsic_calibration</span><span class="op">(</span><span class="nam">filenames</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t32" class="pln"> <span class="str">"""Load the intrinsic calibration from files</span><span class="strut"> </span></p>
+<p id="t33" class="pln"><span class="strut"> </span></p>
+<p id="t34" class="pln"><span class="str"> :param filenames:dictionary of filenames, here the key is the camera name</span><span class="strut"> </span></p>
+<p id="t35" class="pln"><span class="str"> :returns: a dictionary containing instrinsic_matrix and distortions</span><span class="strut"> </span></p>
+<p id="t36" class="pln"><span class="str"> :rtype: dict</span><span class="strut"> </span></p>
+<p id="t37" class="pln"><span class="strut"> </span></p>
+<p id="t38" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t39" class="pln"><span class="strut"> </span></p>
+<p id="t40" class="stm mis"> <span class="nam">cameras_intrinsics</span> <span class="op">=</span> <span class="nam">dict</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t41" class="stm mis"> <span class="key">for</span> <span class="nam">cam_i</span><span class="op">,</span> <span class="nam">cfile</span> <span class="key">in</span> <span class="nam">filenames</span><span class="op">.</span><span class="nam">items</span><span class="op">(</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t42" class="stm mis"> <span class="nam">cameras_intrinsics</span><span class="op">[</span><span class="nam">cam_i</span><span class="op">]</span> <span class="op">=</span> <span class="nam">dict</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t43" class="stm mis"> <span class="nam">cameras_intrinsics</span><span class="op">[</span><span class="nam">cam_i</span><span class="op">]</span><span class="op">[</span><span class="str">'intrinsic_matrix'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">intrinsic_matrix</span><span class="op">(</span><span class="nam">cfile</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t44" class="stm mis"> <span class="nam">cameras_intrinsics</span><span class="op">[</span><span class="nam">cam_i</span><span class="op">]</span><span class="op">[</span><span class="str">'distortion'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">distortion</span><span class="op">(</span><span class="nam">cfile</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t45" class="stm mis"> <span class="key">return</span> <span class="nam">cameras_intrinsics</span><span class="strut"> </span></p>
+<p id="t46" class="pln"><span class="strut"> </span></p>
+<p id="t47" class="pln"><span class="strut"> </span></p>
+<p id="t48" class="stm mis"><span class="key">def</span> <span class="nam">load_cameras_calibration</span><span class="op">(</span><span class="nam">filename</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t49" class="pln"> <span class="str">"""Load the intrinsic and intrinsic calibration from file</span><span class="strut"> </span></p>
+<p id="t50" class="pln"><span class="strut"> </span></p>
+<p id="t51" class="pln"><span class="str"> :param filenames:calibration filename</span><span class="strut"> </span></p>
+<p id="t52" class="pln"><span class="str"> :returns: a dictionary containing intrinsic and extrinsic calib</span><span class="strut"> </span></p>
+<p id="t53" class="pln"><span class="str"> :rtype: dict</span><span class="strut"> </span></p>
+<p id="t54" class="pln"><span class="strut"> </span></p>
+<p id="t55" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t56" class="stm mis"> <span class="nam">tree</span> <span class="op">=</span> <span class="nam">ET</span><span class="op">.</span><span class="nam">parse</span><span class="op">(</span><span class="nam">filename</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t57" class="stm mis"> <span class="nam">root</span> <span class="op">=</span> <span class="nam">tree</span><span class="op">.</span><span class="nam">getroot</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t58" class="pln"><span class="strut"> </span></p>
+<p id="t59" class="stm mis"> <span class="nam">ncameras_key</span> <span class="op">=</span> <span class="str">'ncameras'</span><span class="strut"> </span></p>
+<p id="t60" class="stm mis"> <span class="nam">ncameras</span> <span class="op">=</span> <span class="num">0</span><span class="strut"> </span></p>
+<p id="t61" class="stm mis"> <span class="key">for</span> <span class="nam">ncameras_node</span> <span class="key">in</span> <span class="nam">root</span><span class="op">.</span><span class="nam">iter</span><span class="op">(</span><span class="nam">ncameras_key</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t62" class="stm mis"> <span class="nam">ncameras</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">round</span><span class="op">(</span><span class="nam">float</span><span class="op">(</span><span class="nam">ncameras_node</span><span class="op">.</span><span class="nam">text</span><span class="op">)</span><span class="op">)</span><span class="op">.</span><span class="nam">astype</span><span class="op">(</span><span class="nam">int</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t63" class="stm mis"> <span class="key">break</span><span class="strut"> </span></p>
+<p id="t64" class="stm mis"> <span class="key">if</span> <span class="nam">ncameras</span> <span class="op">==</span> <span class="num">0</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t65" class="stm mis"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="str">'ncameras is missing in xml file'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t66" class="pln"><span class="strut"> </span></p>
+<p id="t67" class="stm mis"> <span class="nam">cameras_calib</span> <span class="op">=</span> <span class="nam">dict</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t68" class="stm mis"> <span class="key">for</span> <span class="nam">cam_i</span> <span class="key">in</span> <span class="nam">range</span><span class="op">(</span><span class="nam">ncameras</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t69" class="stm mis"> <span class="nam">cameras_calib</span><span class="op">[</span><span class="nam">cam_i</span><span class="op">]</span> <span class="op">=</span> <span class="nam">dict</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t70" class="stm mis"> <span class="key">for</span> <span class="nam">key</span> <span class="key">in</span> <span class="op">[</span><span class="str">'intrinsic_matrix'</span><span class="op">,</span> <span class="str">'pose'</span><span class="op">,</span> <span class="str">'distortion'</span><span class="op">]</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t71" class="stm mis"> <span class="nam">cameras_calib</span><span class="op">[</span><span class="nam">cam_i</span><span class="op">]</span><span class="op">[</span><span class="nam">key</span><span class="op">]</span> <span class="op">=</span> <span class="nam">load</span><span class="op">(</span><span class="nam">filename</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t72" class="pln"> <span class="nam">key</span> <span class="op">+</span> <span class="str">'_{}'</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">cam_i</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t73" class="stm mis"> <span class="key">return</span> <span class="nam">cameras_calib</span><span class="strut"> </span></p>
+<p id="t74" class="pln"><span class="strut"> </span></p>
+<p id="t75" class="pln"><span class="strut"> </span></p>
+<p id="t76" class="stm mis"><span class="key">def</span> <span class="nam">save_cameras_calibration</span><span class="op">(</span><span class="nam">cameras_intrinsics</span><span class="op">,</span> <span class="nam">cameras_extrinsics</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t77" class="pln"> <span class="nam">filename</span><span class="op">,</span> <span class="nam">overwrite</span><span class="op">=</span><span class="key">False</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t78" class="pln"> <span class="str">"""Save the intrinsic and intrinsic calibration</span><span class="strut"> </span></p>
+<p id="t79" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t80" class="stm mis"> <span class="nam">ncameras_key</span> <span class="op">=</span> <span class="str">'ncameras'</span><span class="strut"> </span></p>
+<p id="t81" class="stm mis"> <span class="nam">ncameras</span> <span class="op">=</span> <span class="nam">len</span><span class="op">(</span><span class="nam">cameras_intrinsics</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t82" class="stm mis"> <span class="key">if</span> <span class="nam">len</span><span class="op">(</span><span class="nam">cameras_extrinsics</span><span class="op">)</span> <span class="op">!=</span> <span class="nam">ncameras</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t83" class="stm mis"> <span class="key">raise</span> <span class="nam">KeyError</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t84" class="pln"> <span class="str">'Number of cameras differ between intrinsics, and extrinsics'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t85" class="pln"><span class="strut"> </span></p>
+<p id="t86" class="stm mis"> <span class="nam">save</span><span class="op">(</span><span class="nam">filename</span><span class="op">,</span> <span class="nam">ncameras_key</span><span class="op">,</span> <span class="nam">ncameras</span><span class="op">,</span> <span class="nam">overwrite</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t87" class="pln"><span class="strut"> </span></p>
+<p id="t88" class="stm mis"> <span class="key">for</span> <span class="nam">cam_i</span> <span class="key">in</span> <span class="nam">range</span><span class="op">(</span><span class="nam">ncameras</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t89" class="stm mis"> <span class="key">for</span> <span class="nam">key</span> <span class="key">in</span> <span class="op">[</span><span class="str">'pose'</span><span class="op">]</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t90" class="stm mis"> <span class="nam">data</span> <span class="op">=</span> <span class="nam">cameras_extrinsics</span><span class="op">[</span><span class="nam">cam_i</span><span class="op">]</span><span class="op">[</span><span class="nam">key</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t91" class="stm mis"> <span class="nam">save</span><span class="op">(</span><span class="nam">filename</span><span class="op">,</span> <span class="nam">key</span> <span class="op">+</span> <span class="str">'_{}'</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">cam_i</span><span class="op">)</span><span class="op">,</span> <span class="nam">data</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t92" class="stm mis"> <span class="key">for</span> <span class="nam">key</span> <span class="key">in</span> <span class="op">[</span><span class="str">'intrinsic_matrix'</span><span class="op">,</span> <span class="str">'distortion'</span><span class="op">]</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t93" class="stm mis"> <span class="nam">data</span> <span class="op">=</span> <span class="nam">cameras_intrinsics</span><span class="op">[</span><span class="nam">cam_i</span><span class="op">]</span><span class="op">[</span><span class="nam">key</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t94" class="stm mis"> <span class="nam">save</span><span class="op">(</span><span class="nam">filename</span><span class="op">,</span> <span class="nam">key</span> <span class="op">+</span> <span class="str">'_{}'</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">cam_i</span><span class="op">)</span><span class="op">,</span> <span class="nam">data</span><span class="op">)</span><span class="strut"> </span></p>
+
+ </td>
+ </tr>
+ </table>
+</div>
+
+<div id="footer">
+ <div class="content">
+ <p>
+ <a class="nav" href="index.html">« index</a> <a class="nav" href="https://coverage.readthedocs.io">coverage.py v4.5.2</a>,
+ created at 2019-01-13 14:34
+ </p>
+ </div>
+</div>
+
+</body>
+</html>
diff --git a/coverage_html_report/navipy_maths___init___py.html b/coverage_html_report/navipy_maths___init___py.html
new file mode 100644
index 0000000000000000000000000000000000000000..9cb78e31589a3088a4809c5f03335389a7603b32
--- /dev/null
+++ b/coverage_html_report/navipy_maths___init___py.html
@@ -0,0 +1,91 @@
+
+
+
+<!DOCTYPE html>
+<html>
+<head>
+ <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
+
+
+ <meta http-equiv="X-UA-Compatible" content="IE=emulateIE7" />
+ <title>Coverage for navipy/maths/__init__.py: 100%</title>
+ <link rel="stylesheet" href="style.css" type="text/css">
+
+ <script type="text/javascript" src="jquery.min.js"></script>
+ <script type="text/javascript" src="jquery.hotkeys.js"></script>
+ <script type="text/javascript" src="jquery.isonscreen.js"></script>
+ <script type="text/javascript" src="coverage_html.js"></script>
+ <script type="text/javascript">
+ jQuery(document).ready(coverage.pyfile_ready);
+ </script>
+</head>
+<body class="pyfile">
+
+<div id="header">
+ <div class="content">
+ <h1>Coverage for <b>navipy/maths/__init__.py</b> :
+ <span class="pc_cov">100%</span>
+ </h1>
+
+ <img id="keyboard_icon" src="keybd_closed.png" alt="Show keyboard shortcuts" />
+
+ <h2 class="stats">
+ 0 statements
+ <span class="run hide_run shortkey_r button_toggle_run">0 run</span>
+ <span class="mis shortkey_m button_toggle_mis">0 missing</span>
+ <span class="exc shortkey_x button_toggle_exc">0 excluded</span>
+
+
+ </h2>
+ </div>
+</div>
+
+<div class="help_panel">
+ <img id="panel_icon" src="keybd_open.png" alt="Hide keyboard shortcuts" />
+ <p class="legend">Hot-keys on this page</p>
+ <div>
+ <p class="keyhelp">
+ <span class="key">r</span>
+ <span class="key">m</span>
+ <span class="key">x</span>
+ <span class="key">p</span> toggle line displays
+ </p>
+ <p class="keyhelp">
+ <span class="key">j</span>
+ <span class="key">k</span> next/prev highlighted chunk
+ </p>
+ <p class="keyhelp">
+ <span class="key">0</span> (zero) top of page
+ </p>
+ <p class="keyhelp">
+ <span class="key">1</span> (one) first highlighted chunk
+ </p>
+ </div>
+</div>
+
+<div id="source">
+ <table>
+ <tr>
+ <td class="linenos">
+<p id="n1" class="pln"><a href="#n1">1</a></p>
+
+ </td>
+ <td class="text">
+<p id="t1" class="pln"><span class="com"># package</span><span class="strut"> </span></p>
+
+ </td>
+ </tr>
+ </table>
+</div>
+
+<div id="footer">
+ <div class="content">
+ <p>
+ <a class="nav" href="index.html">« index</a> <a class="nav" href="https://coverage.readthedocs.io">coverage.py v4.5.2</a>,
+ created at 2019-01-13 14:34
+ </p>
+ </div>
+</div>
+
+</body>
+</html>
diff --git a/coverage_html_report/navipy_maths_constants_py.html b/coverage_html_report/navipy_maths_constants_py.html
new file mode 100644
index 0000000000000000000000000000000000000000..7b6d691bfb0dc52dc96b01261db41c8bccc14604
--- /dev/null
+++ b/coverage_html_report/navipy_maths_constants_py.html
@@ -0,0 +1,121 @@
+
+
+
+<!DOCTYPE html>
+<html>
+<head>
+ <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
+
+
+ <meta http-equiv="X-UA-Compatible" content="IE=emulateIE7" />
+ <title>Coverage for navipy/maths/constants.py: 100%</title>
+ <link rel="stylesheet" href="style.css" type="text/css">
+
+ <script type="text/javascript" src="jquery.min.js"></script>
+ <script type="text/javascript" src="jquery.hotkeys.js"></script>
+ <script type="text/javascript" src="jquery.isonscreen.js"></script>
+ <script type="text/javascript" src="coverage_html.js"></script>
+ <script type="text/javascript">
+ jQuery(document).ready(coverage.pyfile_ready);
+ </script>
+</head>
+<body class="pyfile">
+
+<div id="header">
+ <div class="content">
+ <h1>Coverage for <b>navipy/maths/constants.py</b> :
+ <span class="pc_cov">100%</span>
+ </h1>
+
+ <img id="keyboard_icon" src="keybd_closed.png" alt="Show keyboard shortcuts" />
+
+ <h2 class="stats">
+ 4 statements
+ <span class="run hide_run shortkey_r button_toggle_run">4 run</span>
+ <span class="mis shortkey_m button_toggle_mis">0 missing</span>
+ <span class="exc shortkey_x button_toggle_exc">0 excluded</span>
+
+
+ </h2>
+ </div>
+</div>
+
+<div class="help_panel">
+ <img id="panel_icon" src="keybd_open.png" alt="Hide keyboard shortcuts" />
+ <p class="legend">Hot-keys on this page</p>
+ <div>
+ <p class="keyhelp">
+ <span class="key">r</span>
+ <span class="key">m</span>
+ <span class="key">x</span>
+ <span class="key">p</span> toggle line displays
+ </p>
+ <p class="keyhelp">
+ <span class="key">j</span>
+ <span class="key">k</span> next/prev highlighted chunk
+ </p>
+ <p class="keyhelp">
+ <span class="key">0</span> (zero) top of page
+ </p>
+ <p class="keyhelp">
+ <span class="key">1</span> (one) first highlighted chunk
+ </p>
+ </div>
+</div>
+
+<div id="source">
+ <table>
+ <tr>
+ <td class="linenos">
+<p id="n1" class="pln"><a href="#n1">1</a></p>
+<p id="n2" class="pln"><a href="#n2">2</a></p>
+<p id="n3" class="pln"><a href="#n3">3</a></p>
+<p id="n4" class="stm run hide_run"><a href="#n4">4</a></p>
+<p id="n5" class="pln"><a href="#n5">5</a></p>
+<p id="n6" class="stm run hide_run"><a href="#n6">6</a></p>
+<p id="n7" class="pln"><a href="#n7">7</a></p>
+<p id="n8" class="pln"><a href="#n8">8</a></p>
+<p id="n9" class="stm run hide_run"><a href="#n9">9</a></p>
+<p id="n10" class="pln"><a href="#n10">10</a></p>
+<p id="n11" class="pln"><a href="#n11">11</a></p>
+<p id="n12" class="stm run hide_run"><a href="#n12">12</a></p>
+<p id="n13" class="pln"><a href="#n13">13</a></p>
+<p id="n14" class="pln"><a href="#n14">14</a></p>
+<p id="n15" class="pln"><a href="#n15">15</a></p>
+<p id="n16" class="pln"><a href="#n16">16</a></p>
+
+ </td>
+ <td class="text">
+<p id="t1" class="pln"><span class="str">"""</span><span class="strut"> </span></p>
+<p id="t2" class="pln"><span class="strut"> </span></p>
+<p id="t3" class="pln"><span class="str">"""</span><span class="strut"> </span></p>
+<p id="t4" class="stm run hide_run"><span class="key">import</span> <span class="nam">numpy</span> <span class="key">as</span> <span class="nam">np</span><span class="strut"> </span></p>
+<p id="t5" class="pln"><span class="com"># For testing whether a number is close to zero or not we use epsilon:</span><span class="strut"> </span></p>
+<p id="t6" class="stm run hide_run"><span class="nam">_EPS</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">finfo</span><span class="op">(</span><span class="nam">float</span><span class="op">)</span><span class="op">.</span><span class="nam">eps</span> <span class="op">*</span> <span class="num">4.0</span><span class="strut"> </span></p>
+<p id="t7" class="pln"><span class="strut"> </span></p>
+<p id="t8" class="pln"><span class="com"># axis sequences for Euler angles</span><span class="strut"> </span></p>
+<p id="t9" class="stm run hide_run"><span class="nam">_NEXT_AXIS</span> <span class="op">=</span> <span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">2</span><span class="op">,</span> <span class="num">0</span><span class="op">,</span> <span class="num">1</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t10" class="pln"><span class="strut"> </span></p>
+<p id="t11" class="pln"><span class="com"># map axes strings to/from tuples of inner axis, parity, repetition, frame</span><span class="strut"> </span></p>
+<p id="t12" class="stm run hide_run"><span class="nam">_AXES2TUPLE</span> <span class="op">=</span> <span class="op">{</span><span class="strut"> </span></p>
+<p id="t13" class="pln"> <span class="str">'xyz'</span><span class="op">:</span> <span class="op">(</span><span class="num">0</span><span class="op">,</span> <span class="num">0</span><span class="op">,</span> <span class="num">1</span><span class="op">,</span> <span class="num">2</span><span class="op">)</span><span class="op">,</span> <span class="str">'xyx'</span><span class="op">:</span> <span class="op">(</span><span class="num">0</span><span class="op">,</span> <span class="num">0</span><span class="op">,</span> <span class="num">1</span><span class="op">,</span> <span class="num">0</span><span class="op">)</span><span class="op">,</span> <span class="str">'xzy'</span><span class="op">:</span> <span class="op">(</span><span class="num">0</span><span class="op">,</span> <span class="num">0</span><span class="op">,</span> <span class="num">2</span><span class="op">,</span> <span class="num">1</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t14" class="pln"> <span class="str">'xzx'</span><span class="op">:</span> <span class="op">(</span><span class="num">0</span><span class="op">,</span> <span class="num">0</span><span class="op">,</span> <span class="num">2</span><span class="op">,</span> <span class="num">0</span><span class="op">)</span><span class="op">,</span> <span class="str">'yzx'</span><span class="op">:</span> <span class="op">(</span><span class="num">0</span><span class="op">,</span> <span class="num">1</span><span class="op">,</span> <span class="num">2</span><span class="op">,</span> <span class="num">0</span><span class="op">)</span><span class="op">,</span> <span class="str">'yzy'</span><span class="op">:</span> <span class="op">(</span><span class="num">0</span><span class="op">,</span> <span class="num">1</span><span class="op">,</span> <span class="num">2</span><span class="op">,</span> <span class="num">1</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t15" class="pln"> <span class="str">'yxz'</span><span class="op">:</span> <span class="op">(</span><span class="num">0</span><span class="op">,</span> <span class="num">1</span><span class="op">,</span> <span class="num">0</span><span class="op">,</span> <span class="num">2</span><span class="op">)</span><span class="op">,</span> <span class="str">'yxy'</span><span class="op">:</span> <span class="op">(</span><span class="num">0</span><span class="op">,</span> <span class="num">1</span><span class="op">,</span> <span class="num">0</span><span class="op">,</span> <span class="num">1</span><span class="op">)</span><span class="op">,</span> <span class="str">'zxy'</span><span class="op">:</span> <span class="op">(</span><span class="num">0</span><span class="op">,</span> <span class="num">2</span><span class="op">,</span> <span class="num">0</span><span class="op">,</span> <span class="num">1</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t16" class="pln"> <span class="str">'zxz'</span><span class="op">:</span> <span class="op">(</span><span class="num">0</span><span class="op">,</span> <span class="num">2</span><span class="op">,</span> <span class="num">0</span><span class="op">,</span> <span class="num">2</span><span class="op">)</span><span class="op">,</span> <span class="str">'zyx'</span><span class="op">:</span> <span class="op">(</span><span class="num">0</span><span class="op">,</span> <span class="num">2</span><span class="op">,</span> <span class="num">1</span><span class="op">,</span> <span class="num">0</span><span class="op">)</span><span class="op">,</span> <span class="str">'zyz'</span><span class="op">:</span> <span class="op">(</span><span class="num">0</span><span class="op">,</span> <span class="num">2</span><span class="op">,</span> <span class="num">1</span><span class="op">,</span> <span class="num">2</span><span class="op">)</span><span class="op">}</span><span class="strut"> </span></p>
+
+ </td>
+ </tr>
+ </table>
+</div>
+
+<div id="footer">
+ <div class="content">
+ <p>
+ <a class="nav" href="index.html">« index</a> <a class="nav" href="https://coverage.readthedocs.io">coverage.py v4.5.2</a>,
+ created at 2019-01-13 14:34
+ </p>
+ </div>
+</div>
+
+</body>
+</html>
diff --git a/coverage_html_report/navipy_maths_coordinates_py.html b/coverage_html_report/navipy_maths_coordinates_py.html
new file mode 100644
index 0000000000000000000000000000000000000000..3804d704ce066d8bbd7a44d889c5ecc9dbeb5f40
--- /dev/null
+++ b/coverage_html_report/navipy_maths_coordinates_py.html
@@ -0,0 +1,295 @@
+
+
+
+<!DOCTYPE html>
+<html>
+<head>
+ <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
+
+
+ <meta http-equiv="X-UA-Compatible" content="IE=emulateIE7" />
+ <title>Coverage for navipy/maths/coordinates.py: 70%</title>
+ <link rel="stylesheet" href="style.css" type="text/css">
+
+ <script type="text/javascript" src="jquery.min.js"></script>
+ <script type="text/javascript" src="jquery.hotkeys.js"></script>
+ <script type="text/javascript" src="jquery.isonscreen.js"></script>
+ <script type="text/javascript" src="coverage_html.js"></script>
+ <script type="text/javascript">
+ jQuery(document).ready(coverage.pyfile_ready);
+ </script>
+</head>
+<body class="pyfile">
+
+<div id="header">
+ <div class="content">
+ <h1>Coverage for <b>navipy/maths/coordinates.py</b> :
+ <span class="pc_cov">70%</span>
+ </h1>
+
+ <img id="keyboard_icon" src="keybd_closed.png" alt="Show keyboard shortcuts" />
+
+ <h2 class="stats">
+ 46 statements
+ <span class="run hide_run shortkey_r button_toggle_run">32 run</span>
+ <span class="mis shortkey_m button_toggle_mis">14 missing</span>
+ <span class="exc shortkey_x button_toggle_exc">0 excluded</span>
+
+
+ </h2>
+ </div>
+</div>
+
+<div class="help_panel">
+ <img id="panel_icon" src="keybd_open.png" alt="Hide keyboard shortcuts" />
+ <p class="legend">Hot-keys on this page</p>
+ <div>
+ <p class="keyhelp">
+ <span class="key">r</span>
+ <span class="key">m</span>
+ <span class="key">x</span>
+ <span class="key">p</span> toggle line displays
+ </p>
+ <p class="keyhelp">
+ <span class="key">j</span>
+ <span class="key">k</span> next/prev highlighted chunk
+ </p>
+ <p class="keyhelp">
+ <span class="key">0</span> (zero) top of page
+ </p>
+ <p class="keyhelp">
+ <span class="key">1</span> (one) first highlighted chunk
+ </p>
+ </div>
+</div>
+
+<div id="source">
+ <table>
+ <tr>
+ <td class="linenos">
+<p id="n1" class="pln"><a href="#n1">1</a></p>
+<p id="n2" class="pln"><a href="#n2">2</a></p>
+<p id="n3" class="pln"><a href="#n3">3</a></p>
+<p id="n4" class="stm run hide_run"><a href="#n4">4</a></p>
+<p id="n5" class="stm run hide_run"><a href="#n5">5</a></p>
+<p id="n6" class="pln"><a href="#n6">6</a></p>
+<p id="n7" class="pln"><a href="#n7">7</a></p>
+<p id="n8" class="stm run hide_run"><a href="#n8">8</a></p>
+<p id="n9" class="pln"><a href="#n9">9</a></p>
+<p id="n10" class="pln"><a href="#n10">10</a></p>
+<p id="n11" class="pln"><a href="#n11">11</a></p>
+<p id="n12" class="pln"><a href="#n12">12</a></p>
+<p id="n13" class="pln"><a href="#n13">13</a></p>
+<p id="n14" class="pln"><a href="#n14">14</a></p>
+<p id="n15" class="pln"><a href="#n15">15</a></p>
+<p id="n16" class="pln"><a href="#n16">16</a></p>
+<p id="n17" class="pln"><a href="#n17">17</a></p>
+<p id="n18" class="pln"><a href="#n18">18</a></p>
+<p id="n19" class="pln"><a href="#n19">19</a></p>
+<p id="n20" class="pln"><a href="#n20">20</a></p>
+<p id="n21" class="pln"><a href="#n21">21</a></p>
+<p id="n22" class="stm mis"><a href="#n22">22</a></p>
+<p id="n23" class="stm mis"><a href="#n23">23</a></p>
+<p id="n24" class="stm mis"><a href="#n24">24</a></p>
+<p id="n25" class="stm mis"><a href="#n25">25</a></p>
+<p id="n26" class="stm mis"><a href="#n26">26</a></p>
+<p id="n27" class="stm mis"><a href="#n27">27</a></p>
+<p id="n28" class="pln"><a href="#n28">28</a></p>
+<p id="n29" class="pln"><a href="#n29">29</a></p>
+<p id="n30" class="stm run hide_run"><a href="#n30">30</a></p>
+<p id="n31" class="pln"><a href="#n31">31</a></p>
+<p id="n32" class="pln"><a href="#n32">32</a></p>
+<p id="n33" class="pln"><a href="#n33">33</a></p>
+<p id="n34" class="pln"><a href="#n34">34</a></p>
+<p id="n35" class="pln"><a href="#n35">35</a></p>
+<p id="n36" class="pln"><a href="#n36">36</a></p>
+<p id="n37" class="pln"><a href="#n37">37</a></p>
+<p id="n38" class="pln"><a href="#n38">38</a></p>
+<p id="n39" class="pln"><a href="#n39">39</a></p>
+<p id="n40" class="pln"><a href="#n40">40</a></p>
+<p id="n41" class="pln"><a href="#n41">41</a></p>
+<p id="n42" class="pln"><a href="#n42">42</a></p>
+<p id="n43" class="stm run hide_run"><a href="#n43">43</a></p>
+<p id="n44" class="stm run hide_run"><a href="#n44">44</a></p>
+<p id="n45" class="stm run hide_run"><a href="#n45">45</a></p>
+<p id="n46" class="stm run hide_run"><a href="#n46">46</a></p>
+<p id="n47" class="pln"><a href="#n47">47</a></p>
+<p id="n48" class="pln"><a href="#n48">48</a></p>
+<p id="n49" class="stm run hide_run"><a href="#n49">49</a></p>
+<p id="n50" class="pln"><a href="#n50">50</a></p>
+<p id="n51" class="pln"><a href="#n51">51</a></p>
+<p id="n52" class="pln"><a href="#n52">52</a></p>
+<p id="n53" class="pln"><a href="#n53">53</a></p>
+<p id="n54" class="pln"><a href="#n54">54</a></p>
+<p id="n55" class="pln"><a href="#n55">55</a></p>
+<p id="n56" class="pln"><a href="#n56">56</a></p>
+<p id="n57" class="pln"><a href="#n57">57</a></p>
+<p id="n58" class="pln"><a href="#n58">58</a></p>
+<p id="n59" class="pln"><a href="#n59">59</a></p>
+<p id="n60" class="pln"><a href="#n60">60</a></p>
+<p id="n61" class="pln"><a href="#n61">61</a></p>
+<p id="n62" class="pln"><a href="#n62">62</a></p>
+<p id="n63" class="pln"><a href="#n63">63</a></p>
+<p id="n64" class="pln"><a href="#n64">64</a></p>
+<p id="n65" class="stm run hide_run"><a href="#n65">65</a></p>
+<p id="n66" class="stm mis"><a href="#n66">66</a></p>
+<p id="n67" class="stm run hide_run"><a href="#n67">67</a></p>
+<p id="n68" class="stm mis"><a href="#n68">68</a></p>
+<p id="n69" class="stm run hide_run"><a href="#n69">69</a></p>
+<p id="n70" class="stm mis"><a href="#n70">70</a></p>
+<p id="n71" class="stm run hide_run"><a href="#n71">71</a></p>
+<p id="n72" class="stm mis"><a href="#n72">72</a></p>
+<p id="n73" class="pln"><a href="#n73">73</a></p>
+<p id="n74" class="stm run hide_run"><a href="#n74">74</a></p>
+<p id="n75" class="stm mis"><a href="#n75">75</a></p>
+<p id="n76" class="stm run hide_run"><a href="#n76">76</a></p>
+<p id="n77" class="pln"><a href="#n77">77</a></p>
+<p id="n78" class="stm mis"><a href="#n78">78</a></p>
+<p id="n79" class="stm run hide_run"><a href="#n79">79</a></p>
+<p id="n80" class="stm mis"><a href="#n80">80</a></p>
+<p id="n81" class="stm run hide_run"><a href="#n81">81</a></p>
+<p id="n82" class="stm mis"><a href="#n82">82</a></p>
+<p id="n83" class="pln"><a href="#n83">83</a></p>
+<p id="n84" class="pln"><a href="#n84">84</a></p>
+<p id="n85" class="stm run hide_run"><a href="#n85">85</a></p>
+<p id="n86" class="stm run hide_run"><a href="#n86">86</a></p>
+<p id="n87" class="stm run hide_run"><a href="#n87">87</a></p>
+<p id="n88" class="pln"><a href="#n88">88</a></p>
+<p id="n89" class="stm run hide_run"><a href="#n89">89</a></p>
+<p id="n90" class="stm run hide_run"><a href="#n90">90</a></p>
+<p id="n91" class="pln"><a href="#n91">91</a></p>
+<p id="n92" class="stm run hide_run"><a href="#n92">92</a></p>
+<p id="n93" class="stm run hide_run"><a href="#n93">93</a></p>
+<p id="n94" class="stm run hide_run"><a href="#n94">94</a></p>
+<p id="n95" class="stm run hide_run"><a href="#n95">95</a></p>
+<p id="n96" class="pln"><a href="#n96">96</a></p>
+<p id="n97" class="stm run hide_run"><a href="#n97">97</a></p>
+<p id="n98" class="stm run hide_run"><a href="#n98">98</a></p>
+<p id="n99" class="stm run hide_run"><a href="#n99">99</a></p>
+<p id="n100" class="stm run hide_run"><a href="#n100">100</a></p>
+<p id="n101" class="stm run hide_run"><a href="#n101">101</a></p>
+<p id="n102" class="pln"><a href="#n102">102</a></p>
+<p id="n103" class="stm run hide_run"><a href="#n103">103</a></p>
+
+ </td>
+ <td class="text">
+<p id="t1" class="pln"><span class="str">"""</span><span class="strut"> </span></p>
+<p id="t2" class="pln"><span class="str"> Conversion between coordinates systems</span><span class="strut"> </span></p>
+<p id="t3" class="pln"><span class="str">"""</span><span class="strut"> </span></p>
+<p id="t4" class="stm run hide_run"><span class="key">import</span> <span class="nam">numpy</span> <span class="key">as</span> <span class="nam">np</span><span class="strut"> </span></p>
+<p id="t5" class="stm run hide_run"><span class="key">from</span> <span class="nam">navipy</span><span class="op">.</span><span class="nam">scene</span> <span class="key">import</span> <span class="nam">is_numeric_array</span><span class="strut"> </span></p>
+<p id="t6" class="pln"><span class="strut"> </span></p>
+<p id="t7" class="pln"><span class="strut"> </span></p>
+<p id="t8" class="stm run hide_run"><span class="key">def</span> <span class="nam">cartesian_to_spherical</span><span class="op">(</span><span class="nam">x</span><span class="op">,</span> <span class="nam">y</span><span class="op">,</span> <span class="nam">z</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t9" class="pln"> <span class="str">""" Cartesian to spherical coordinates</span><span class="strut"> </span></p>
+<p id="t10" class="pln"><span class="strut"> </span></p>
+<p id="t11" class="pln"><span class="str"> :param x: position along x-axis</span><span class="strut"> </span></p>
+<p id="t12" class="pln"><span class="str"> :param y: position along y-axis</span><span class="strut"> </span></p>
+<p id="t13" class="pln"><span class="str"> :param z: position along z-axis</span><span class="strut"> </span></p>
+<p id="t14" class="pln"><span class="str"> :returns: elevation,azimuth,radius</span><span class="strut"> </span></p>
+<p id="t15" class="pln"><span class="strut"> </span></p>
+<p id="t16" class="pln"><span class="str"> inverse transform of :</span><span class="strut"> </span></p>
+<p id="t17" class="pln"><span class="str"> x = radius*cos(elevation) * cos(azimuth)</span><span class="strut"> </span></p>
+<p id="t18" class="pln"><span class="str"> y = radius*cos(elevation) * sin(azimuth)</span><span class="strut"> </span></p>
+<p id="t19" class="pln"><span class="str"> z = radius*sin(elevation)</span><span class="strut"> </span></p>
+<p id="t20" class="pln"><span class="strut"> </span></p>
+<p id="t21" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t22" class="stm mis"> <span class="nam">radius</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">sqrt</span><span class="op">(</span><span class="nam">x</span><span class="op">**</span><span class="num">2</span> <span class="op">+</span> <span class="nam">y</span><span class="op">**</span><span class="num">2</span> <span class="op">+</span> <span class="nam">z</span><span class="op">**</span><span class="num">2</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t23" class="stm mis"> <span class="nam">elevation</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">arctan2</span><span class="op">(</span><span class="nam">z</span><span class="op">,</span> <span class="nam">np</span><span class="op">.</span><span class="nam">sqrt</span><span class="op">(</span><span class="nam">x</span><span class="op">**</span><span class="num">2</span> <span class="op">+</span> <span class="nam">y</span><span class="op">**</span><span class="num">2</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t24" class="stm mis"> <span class="nam">azimuth</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">arctan2</span><span class="op">(</span><span class="nam">y</span><span class="op">,</span> <span class="nam">x</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t25" class="stm mis"> <span class="nam">spherical</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">zeros_like</span><span class="op">(</span><span class="nam">x</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t26" class="stm mis"> <span class="nam">spherical</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">tile</span><span class="op">(</span><span class="nam">spherical</span><span class="op">[</span><span class="op">...</span><span class="op">,</span> <span class="nam">np</span><span class="op">.</span><span class="nam">newaxis</span><span class="op">]</span><span class="op">,</span> <span class="op">(</span><span class="num">3</span><span class="op">,</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t27" class="stm mis"> <span class="key">return</span> <span class="nam">elevation</span><span class="op">,</span> <span class="nam">azimuth</span><span class="op">,</span> <span class="nam">radius</span><span class="strut"> </span></p>
+<p id="t28" class="pln"><span class="strut"> </span></p>
+<p id="t29" class="pln"><span class="strut"> </span></p>
+<p id="t30" class="stm run hide_run"><span class="key">def</span> <span class="nam">spherical_to_cartesian</span><span class="op">(</span><span class="nam">elevation</span><span class="op">,</span> <span class="nam">azimuth</span><span class="op">,</span> <span class="nam">radius</span><span class="op">=</span><span class="num">1</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t31" class="pln"> <span class="str">"""Spherical to cartesian coordinates</span><span class="strut"> </span></p>
+<p id="t32" class="pln"><span class="strut"> </span></p>
+<p id="t33" class="pln"><span class="str"> :param elevation: elevation</span><span class="strut"> </span></p>
+<p id="t34" class="pln"><span class="str"> :param azimuth: azimuth</span><span class="strut"> </span></p>
+<p id="t35" class="pln"><span class="str"> :param radius: radius</span><span class="strut"> </span></p>
+<p id="t36" class="pln"><span class="str"> :returns: x,y,z</span><span class="strut"> </span></p>
+<p id="t37" class="pln"><span class="strut"> </span></p>
+<p id="t38" class="pln"><span class="str"> transform :</span><span class="strut"> </span></p>
+<p id="t39" class="pln"><span class="str"> x = radius*cos(elevation) * cos(azimuth)</span><span class="strut"> </span></p>
+<p id="t40" class="pln"><span class="str"> y = radius*cos(elevation) * sin(azimuth)</span><span class="strut"> </span></p>
+<p id="t41" class="pln"><span class="str"> z = radius*sin(elevation)</span><span class="strut"> </span></p>
+<p id="t42" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t43" class="stm run hide_run"> <span class="nam">x</span> <span class="op">=</span> <span class="nam">radius</span><span class="op">*</span><span class="nam">np</span><span class="op">.</span><span class="nam">cos</span><span class="op">(</span><span class="nam">elevation</span><span class="op">)</span> <span class="op">*</span> <span class="nam">np</span><span class="op">.</span><span class="nam">cos</span><span class="op">(</span><span class="nam">azimuth</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t44" class="stm run hide_run"> <span class="nam">y</span> <span class="op">=</span> <span class="nam">radius</span><span class="op">*</span><span class="nam">np</span><span class="op">.</span><span class="nam">cos</span><span class="op">(</span><span class="nam">elevation</span><span class="op">)</span> <span class="op">*</span> <span class="nam">np</span><span class="op">.</span><span class="nam">sin</span><span class="op">(</span><span class="nam">azimuth</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t45" class="stm run hide_run"> <span class="nam">z</span> <span class="op">=</span> <span class="nam">radius</span><span class="op">*</span><span class="nam">np</span><span class="op">.</span><span class="nam">sin</span><span class="op">(</span><span class="nam">elevation</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t46" class="stm run hide_run"> <span class="key">return</span> <span class="nam">x</span><span class="op">,</span> <span class="nam">y</span><span class="op">,</span> <span class="nam">z</span><span class="strut"> </span></p>
+<p id="t47" class="pln"><span class="strut"> </span></p>
+<p id="t48" class="pln"><span class="strut"> </span></p>
+<p id="t49" class="stm run hide_run"><span class="key">def</span> <span class="nam">cartesian_to_spherical_vectors</span><span class="op">(</span><span class="nam">cart_vec</span><span class="op">,</span> <span class="nam">viewing_direction</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t50" class="pln"> <span class="str">"""Now we need the cartesian vector as a spherical vecotr.</span><span class="strut"> </span></p>
+<p id="t51" class="pln"><span class="str"> A vector in cartesian coordinates can be transform as one in</span><span class="strut"> </span></p>
+<p id="t52" class="pln"><span class="str"> the spherical coordinates following the transformation:</span><span class="strut"> </span></p>
+<p id="t53" class="pln"><span class="strut"> </span></p>
+<p id="t54" class="pln"><span class="str"> A_rho =+A_x.*cos(epsilon).*cos(phi)</span><span class="strut"> </span></p>
+<p id="t55" class="pln"><span class="str"> +A_y.*cos(epsilon).*sin(phi)</span><span class="strut"> </span></p>
+<p id="t56" class="pln"><span class="str"> +A_z.*sin(epsilon)</span><span class="strut"> </span></p>
+<p id="t57" class="pln"><span class="str"> A_epsilon=-A_x.*sin(epsilon).*cos(phi)</span><span class="strut"> </span></p>
+<p id="t58" class="pln"><span class="str"> -A_y.*sin(epsilon).*sin(phi)</span><span class="strut"> </span></p>
+<p id="t59" class="pln"><span class="str"> +A_z.*cos(epsilon)</span><span class="strut"> </span></p>
+<p id="t60" class="pln"><span class="str"> A_phi =-A_x.*sin(phi)+A_y.*cos(phi)</span><span class="strut"> </span></p>
+<p id="t61" class="pln"><span class="strut"> </span></p>
+<p id="t62" class="pln"><span class="str"> for epsilon in [-pi/2 +pi/2] and phi in [0 2pi]</span><span class="strut"> </span></p>
+<p id="t63" class="pln"><span class="str"> reverse tajectory, needed because the frame x,y,z is expressed in</span><span class="strut"> </span></p>
+<p id="t64" class="pln"><span class="str"> the orientation Yaw=pitch=roll=0"""</span><span class="strut"> </span></p>
+<p id="t65" class="stm run hide_run"> <span class="key">if</span> <span class="nam">cart_vec</span> <span class="key">is</span> <span class="key">None</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t66" class="stm mis"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="str">"cartesian vector must not be None"</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t67" class="stm run hide_run"> <span class="key">if</span> <span class="nam">viewing_direction</span> <span class="key">is</span> <span class="key">None</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t68" class="stm mis"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="str">"viewing direction must not be None"</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t69" class="stm run hide_run"> <span class="key">if</span> <span class="op">(</span><span class="key">not</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">cart_vec</span><span class="op">,</span> <span class="nam">np</span><span class="op">.</span><span class="nam">ndarray</span><span class="op">)</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t70" class="stm mis"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="str">"vector must be of type np.ndarray"</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t71" class="stm run hide_run"> <span class="key">if</span> <span class="nam">cart_vec</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">0</span><span class="op">]</span> <span class="op">!=</span> <span class="num">3</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t72" class="stm mis"> <span class="key">raise</span> <span class="nam">Exception</span><span class="op">(</span><span class="str">"first dimension of cartesian vector\</span><span class="strut"> </span></p>
+<p id="t73" class="pln"><span class="str"> must have size three"</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t74" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="nam">is_numeric_array</span><span class="op">(</span><span class="nam">cart_vec</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t75" class="stm mis"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="str">"cartesian vector must be of numerical type"</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t76" class="stm run hide_run"> <span class="key">if</span> <span class="op">(</span><span class="key">not</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">viewing_direction</span><span class="op">,</span> <span class="nam">list</span><span class="op">)</span><span class="op">)</span> <span class="key">and</span><span class="xx">\</span><span class="strut"> </span></p>
+<p id="t77" class="pln"> <span class="op">(</span><span class="key">not</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">viewing_direction</span><span class="op">,</span> <span class="nam">np</span><span class="op">.</span><span class="nam">ndarray</span><span class="op">)</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t78" class="stm mis"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="str">"angles must be list or np.ndarray"</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t79" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="nam">is_numeric_array</span><span class="op">(</span><span class="nam">viewing_direction</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t80" class="stm mis"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="str">"viewing_direction must be of numerical type"</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t81" class="stm run hide_run"> <span class="key">if</span> <span class="nam">len</span><span class="op">(</span><span class="nam">viewing_direction</span><span class="op">)</span> <span class="op">!=</span> <span class="num">2</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t82" class="stm mis"> <span class="key">raise</span> <span class="nam">Exception</span><span class="op">(</span><span class="str">"first dimension of viewing\</span><span class="strut"> </span></p>
+<p id="t83" class="pln"><span class="str"> direction must be of size two"</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t84" class="pln"><span class="strut"> </span></p>
+<p id="t85" class="stm run hide_run"> <span class="nam">SPH_x</span> <span class="op">=</span> <span class="nam">cart_vec</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t86" class="stm run hide_run"> <span class="nam">SPH_y</span> <span class="op">=</span> <span class="nam">cart_vec</span><span class="op">[</span><span class="num">1</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t87" class="stm run hide_run"> <span class="nam">SPH_z</span> <span class="op">=</span> <span class="nam">cart_vec</span><span class="op">[</span><span class="num">2</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t88" class="pln"><span class="strut"> </span></p>
+<p id="t89" class="stm run hide_run"> <span class="nam">epsilon</span> <span class="op">=</span> <span class="nam">viewing_direction</span><span class="op">[</span><span class="num">1</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t90" class="stm run hide_run"> <span class="nam">phi</span> <span class="op">=</span> <span class="nam">viewing_direction</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t91" class="pln"><span class="strut"> </span></p>
+<p id="t92" class="stm run hide_run"> <span class="nam">rofterm1</span> <span class="op">=</span> <span class="op">+</span><span class="nam">SPH_x</span><span class="op">*</span><span class="nam">np</span><span class="op">.</span><span class="nam">cos</span><span class="op">(</span><span class="nam">epsilon</span><span class="op">)</span><span class="op">*</span><span class="nam">np</span><span class="op">.</span><span class="nam">cos</span><span class="op">(</span><span class="nam">phi</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t93" class="stm run hide_run"> <span class="nam">rofterm2</span> <span class="op">=</span> <span class="op">+</span><span class="nam">SPH_y</span><span class="op">*</span><span class="nam">np</span><span class="op">.</span><span class="nam">cos</span><span class="op">(</span><span class="nam">epsilon</span><span class="op">)</span><span class="op">*</span><span class="nam">np</span><span class="op">.</span><span class="nam">sin</span><span class="op">(</span><span class="nam">phi</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t94" class="stm run hide_run"> <span class="nam">rofterm3</span> <span class="op">=</span> <span class="op">+</span><span class="nam">SPH_z</span><span class="op">*</span><span class="nam">np</span><span class="op">.</span><span class="nam">sin</span><span class="op">(</span><span class="nam">epsilon</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t95" class="stm run hide_run"> <span class="nam">sph_x</span> <span class="op">=</span> <span class="nam">rofterm1</span><span class="op">+</span><span class="nam">rofterm2</span><span class="op">+</span><span class="nam">rofterm3</span><span class="strut"> </span></p>
+<p id="t96" class="pln"><span class="strut"> </span></p>
+<p id="t97" class="stm run hide_run"> <span class="nam">vofterm1</span> <span class="op">=</span> <span class="op">-</span><span class="nam">SPH_x</span><span class="op">*</span><span class="nam">np</span><span class="op">.</span><span class="nam">sin</span><span class="op">(</span><span class="nam">epsilon</span><span class="op">)</span><span class="op">*</span><span class="nam">np</span><span class="op">.</span><span class="nam">cos</span><span class="op">(</span><span class="nam">phi</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t98" class="stm run hide_run"> <span class="nam">vofterm2</span> <span class="op">=</span> <span class="op">-</span><span class="nam">SPH_y</span><span class="op">*</span><span class="nam">np</span><span class="op">.</span><span class="nam">sin</span><span class="op">(</span><span class="nam">epsilon</span><span class="op">)</span><span class="op">*</span><span class="nam">np</span><span class="op">.</span><span class="nam">sin</span><span class="op">(</span><span class="nam">phi</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t99" class="stm run hide_run"> <span class="nam">vofterm3</span> <span class="op">=</span> <span class="nam">SPH_z</span><span class="op">*</span><span class="nam">np</span><span class="op">.</span><span class="nam">cos</span><span class="op">(</span><span class="nam">epsilon</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t100" class="stm run hide_run"> <span class="nam">sph_z</span> <span class="op">=</span> <span class="nam">vofterm1</span><span class="op">+</span><span class="nam">vofterm2</span><span class="op">+</span><span class="nam">vofterm3</span><span class="strut"> </span></p>
+<p id="t101" class="stm run hide_run"> <span class="nam">sph_y</span> <span class="op">=</span> <span class="op">-</span><span class="nam">SPH_x</span><span class="op">*</span><span class="nam">np</span><span class="op">.</span><span class="nam">sin</span><span class="op">(</span><span class="nam">phi</span><span class="op">)</span> <span class="op">+</span> <span class="nam">SPH_y</span><span class="op">*</span><span class="nam">np</span><span class="op">.</span><span class="nam">cos</span><span class="op">(</span><span class="nam">phi</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t102" class="pln"><span class="strut"> </span></p>
+<p id="t103" class="stm run hide_run"> <span class="key">return</span> <span class="op">[</span><span class="nam">sph_x</span><span class="op">,</span> <span class="nam">sph_y</span><span class="op">,</span> <span class="nam">sph_z</span><span class="op">]</span><span class="strut"> </span></p>
+
+ </td>
+ </tr>
+ </table>
+</div>
+
+<div id="footer">
+ <div class="content">
+ <p>
+ <a class="nav" href="index.html">« index</a> <a class="nav" href="https://coverage.readthedocs.io">coverage.py v4.5.2</a>,
+ created at 2019-01-13 14:34
+ </p>
+ </div>
+</div>
+
+</body>
+</html>
diff --git a/coverage_html_report/navipy_maths_euler_py.html b/coverage_html_report/navipy_maths_euler_py.html
new file mode 100644
index 0000000000000000000000000000000000000000..1231b0249f265537f698e8046e26f7aeaa56d05a
--- /dev/null
+++ b/coverage_html_report/navipy_maths_euler_py.html
@@ -0,0 +1,671 @@
+
+
+
+<!DOCTYPE html>
+<html>
+<head>
+ <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
+
+
+ <meta http-equiv="X-UA-Compatible" content="IE=emulateIE7" />
+ <title>Coverage for navipy/maths/euler.py: 91%</title>
+ <link rel="stylesheet" href="style.css" type="text/css">
+
+ <script type="text/javascript" src="jquery.min.js"></script>
+ <script type="text/javascript" src="jquery.hotkeys.js"></script>
+ <script type="text/javascript" src="jquery.isonscreen.js"></script>
+ <script type="text/javascript" src="coverage_html.js"></script>
+ <script type="text/javascript">
+ jQuery(document).ready(coverage.pyfile_ready);
+ </script>
+</head>
+<body class="pyfile">
+
+<div id="header">
+ <div class="content">
+ <h1>Coverage for <b>navipy/maths/euler.py</b> :
+ <span class="pc_cov">91%</span>
+ </h1>
+
+ <img id="keyboard_icon" src="keybd_closed.png" alt="Show keyboard shortcuts" />
+
+ <h2 class="stats">
+ 119 statements
+ <span class="run hide_run shortkey_r button_toggle_run">108 run</span>
+ <span class="mis shortkey_m button_toggle_mis">11 missing</span>
+ <span class="exc shortkey_x button_toggle_exc">0 excluded</span>
+
+
+ </h2>
+ </div>
+</div>
+
+<div class="help_panel">
+ <img id="panel_icon" src="keybd_open.png" alt="Hide keyboard shortcuts" />
+ <p class="legend">Hot-keys on this page</p>
+ <div>
+ <p class="keyhelp">
+ <span class="key">r</span>
+ <span class="key">m</span>
+ <span class="key">x</span>
+ <span class="key">p</span> toggle line displays
+ </p>
+ <p class="keyhelp">
+ <span class="key">j</span>
+ <span class="key">k</span> next/prev highlighted chunk
+ </p>
+ <p class="keyhelp">
+ <span class="key">0</span> (zero) top of page
+ </p>
+ <p class="keyhelp">
+ <span class="key">1</span> (one) first highlighted chunk
+ </p>
+ </div>
+</div>
+
+<div id="source">
+ <table>
+ <tr>
+ <td class="linenos">
+<p id="n1" class="stm run hide_run"><a href="#n1">1</a></p>
+<p id="n2" class="stm run hide_run"><a href="#n2">2</a></p>
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+<p id="n212" class="pln"><a href="#n212">212</a></p>
+<p id="n213" class="pln"><a href="#n213">213</a></p>
+<p id="n214" class="stm run hide_run"><a href="#n214">214</a></p>
+<p id="n215" class="stm run hide_run"><a href="#n215">215</a></p>
+<p id="n216" class="stm run hide_run"><a href="#n216">216</a></p>
+<p id="n217" class="stm mis"><a href="#n217">217</a></p>
+<p id="n218" class="stm run hide_run"><a href="#n218">218</a></p>
+<p id="n219" class="stm run hide_run"><a href="#n219">219</a></p>
+<p id="n220" class="pln"><a href="#n220">220</a></p>
+<p id="n221" class="pln"><a href="#n221">221</a></p>
+<p id="n222" class="pln"><a href="#n222">222</a></p>
+<p id="n223" class="pln"><a href="#n223">223</a></p>
+<p id="n224" class="stm run hide_run"><a href="#n224">224</a></p>
+<p id="n225" class="stm run hide_run"><a href="#n225">225</a></p>
+<p id="n226" class="stm run hide_run"><a href="#n226">226</a></p>
+<p id="n227" class="stm run hide_run"><a href="#n227">227</a></p>
+<p id="n228" class="stm run hide_run"><a href="#n228">228</a></p>
+<p id="n229" class="stm run hide_run"><a href="#n229">229</a></p>
+<p id="n230" class="stm run hide_run"><a href="#n230">230</a></p>
+<p id="n231" class="stm run hide_run"><a href="#n231">231</a></p>
+<p id="n232" class="stm run hide_run"><a href="#n232">232</a></p>
+<p id="n233" class="stm run hide_run"><a href="#n233">233</a></p>
+<p id="n234" class="stm run hide_run"><a href="#n234">234</a></p>
+<p id="n235" class="stm run hide_run"><a href="#n235">235</a></p>
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+<p id="n237" class="stm run hide_run"><a href="#n237">237</a></p>
+<p id="n238" class="stm run hide_run"><a href="#n238">238</a></p>
+<p id="n239" class="stm run hide_run"><a href="#n239">239</a></p>
+<p id="n240" class="stm run hide_run"><a href="#n240">240</a></p>
+<p id="n241" class="stm run hide_run"><a href="#n241">241</a></p>
+<p id="n242" class="pln"><a href="#n242">242</a></p>
+<p id="n243" class="pln"><a href="#n243">243</a></p>
+<p id="n244" class="stm run hide_run"><a href="#n244">244</a></p>
+<p id="n245" class="pln"><a href="#n245">245</a></p>
+<p id="n246" class="pln"><a href="#n246">246</a></p>
+<p id="n247" class="pln"><a href="#n247">247</a></p>
+<p id="n248" class="pln"><a href="#n248">248</a></p>
+<p id="n249" class="pln"><a href="#n249">249</a></p>
+<p id="n250" class="pln"><a href="#n250">250</a></p>
+<p id="n251" class="pln"><a href="#n251">251</a></p>
+<p id="n252" class="pln"><a href="#n252">252</a></p>
+<p id="n253" class="pln"><a href="#n253">253</a></p>
+<p id="n254" class="pln"><a href="#n254">254</a></p>
+<p id="n255" class="pln"><a href="#n255">255</a></p>
+<p id="n256" class="pln"><a href="#n256">256</a></p>
+<p id="n257" class="pln"><a href="#n257">257</a></p>
+<p id="n258" class="pln"><a href="#n258">258</a></p>
+<p id="n259" class="pln"><a href="#n259">259</a></p>
+<p id="n260" class="pln"><a href="#n260">260</a></p>
+<p id="n261" class="pln"><a href="#n261">261</a></p>
+<p id="n262" class="pln"><a href="#n262">262</a></p>
+<p id="n263" class="pln"><a href="#n263">263</a></p>
+<p id="n264" class="pln"><a href="#n264">264</a></p>
+<p id="n265" class="pln"><a href="#n265">265</a></p>
+<p id="n266" class="pln"><a href="#n266">266</a></p>
+<p id="n267" class="stm run hide_run"><a href="#n267">267</a></p>
+<p id="n268" class="stm run hide_run"><a href="#n268">268</a></p>
+<p id="n269" class="stm run hide_run"><a href="#n269">269</a></p>
+<p id="n270" class="stm run hide_run"><a href="#n270">270</a></p>
+<p id="n271" class="stm run hide_run"><a href="#n271">271</a></p>
+<p id="n272" class="stm run hide_run"><a href="#n272">272</a></p>
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+<p id="n275" class="stm run hide_run"><a href="#n275">275</a></p>
+<p id="n276" class="stm run hide_run"><a href="#n276">276</a></p>
+<p id="n277" class="stm run hide_run"><a href="#n277">277</a></p>
+<p id="n278" class="stm mis"><a href="#n278">278</a></p>
+<p id="n279" class="pln"><a href="#n279">279</a></p>
+<p id="n280" class="pln"><a href="#n280">280</a></p>
+<p id="n281" class="pln"><a href="#n281">281</a></p>
+<p id="n282" class="pln"><a href="#n282">282</a></p>
+<p id="n283" class="pln"><a href="#n283">283</a></p>
+<p id="n284" class="pln"><a href="#n284">284</a></p>
+<p id="n285" class="pln"><a href="#n285">285</a></p>
+<p id="n286" class="pln"><a href="#n286">286</a></p>
+<p id="n287" class="stm run hide_run"><a href="#n287">287</a></p>
+<p id="n288" class="stm run hide_run"><a href="#n288">288</a></p>
+<p id="n289" class="stm run hide_run"><a href="#n289">289</a></p>
+<p id="n290" class="stm run hide_run"><a href="#n290">290</a></p>
+<p id="n291" class="stm run hide_run"><a href="#n291">291</a></p>
+
+ </td>
+ <td class="text">
+<p id="t1" class="stm run hide_run"><span class="key">import</span> <span class="nam">numpy</span> <span class="key">as</span> <span class="nam">np</span><span class="strut"> </span></p>
+<p id="t2" class="stm run hide_run"><span class="key">from</span> <span class="nam">navipy</span><span class="op">.</span><span class="nam">maths</span> <span class="key">import</span> <span class="nam">quaternion</span> <span class="key">as</span> <span class="nam">quat</span><span class="strut"> </span></p>
+<p id="t3" class="stm run hide_run"><span class="key">from</span> <span class="nam">navipy</span><span class="op">.</span><span class="nam">scene</span> <span class="key">import</span> <span class="nam">is_numeric_array</span><span class="strut"> </span></p>
+<p id="t4" class="stm run hide_run"><span class="key">import</span> <span class="nam">numbers</span><span class="strut"> </span></p>
+<p id="t5" class="stm run hide_run"><span class="key">from</span> <span class="nam">navipy</span><span class="op">.</span><span class="nam">maths</span><span class="op">.</span><span class="nam">constants</span> <span class="key">import</span> <span class="nam">_AXES2TUPLE</span><span class="strut"> </span></p>
+<p id="t6" class="pln"><span class="strut"> </span></p>
+<p id="t7" class="stm run hide_run"><span class="nam">c</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">cos</span><span class="strut"> </span></p>
+<p id="t8" class="stm run hide_run"><span class="nam">s</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">sin</span><span class="strut"> </span></p>
+<p id="t9" class="pln"><span class="strut"> </span></p>
+<p id="t10" class="pln"><span class="strut"> </span></p>
+<p id="t11" class="stm run hide_run"><span class="key">def</span> <span class="nam">R1</span><span class="op">(</span><span class="nam">a</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t12" class="pln"> <span class="str">""" rotation matrix around the x- axis</span><span class="strut"> </span></p>
+<p id="t13" class="pln"><span class="strut"> </span></p>
+<p id="t14" class="pln"><span class="str"> :param a: angle in degrees to be rotated</span><span class="strut"> </span></p>
+<p id="t15" class="pln"><span class="str"> :returns: a matrix</span><span class="strut"> </span></p>
+<p id="t16" class="pln"><span class="str"> :rtype: (np.ndarray)</span><span class="strut"> </span></p>
+<p id="t17" class="pln"><span class="str"> ..ref: James Diebel</span><span class="strut"> </span></p>
+<p id="t18" class="pln"><span class="str"> "Representing Attitude: Euler Angles, Unit Quaternions, and Rotation</span><span class="strut"> </span></p>
+<p id="t19" class="pln"><span class="str"> Vectors."</span><span class="strut"> </span></p>
+<p id="t20" class="pln"><span class="str"> (2006): p. 5 (2.4).</span><span class="strut"> </span></p>
+<p id="t21" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t22" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">a</span><span class="op">,</span> <span class="nam">numbers</span><span class="op">.</span><span class="nam">Number</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t23" class="stm mis"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="str">"angle must be numeric value"</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t24" class="stm run hide_run"> <span class="nam">R1</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">array</span><span class="op">(</span><span class="op">[</span><span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">0</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t25" class="pln"> <span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="nam">c</span><span class="op">(</span><span class="nam">a</span><span class="op">)</span><span class="op">,</span> <span class="nam">s</span><span class="op">(</span><span class="nam">a</span><span class="op">)</span><span class="op">]</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t26" class="pln"> <span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="op">-</span><span class="nam">s</span><span class="op">(</span><span class="nam">a</span><span class="op">)</span><span class="op">,</span> <span class="nam">c</span><span class="op">(</span><span class="nam">a</span><span class="op">)</span><span class="op">]</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t27" class="stm run hide_run"> <span class="key">return</span> <span class="nam">R1</span><span class="strut"> </span></p>
+<p id="t28" class="pln"><span class="strut"> </span></p>
+<p id="t29" class="pln"><span class="strut"> </span></p>
+<p id="t30" class="stm run hide_run"><span class="key">def</span> <span class="nam">R2</span><span class="op">(</span><span class="nam">a</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t31" class="pln"> <span class="str">""" rotation matrix around the y- axis</span><span class="strut"> </span></p>
+<p id="t32" class="pln"><span class="strut"> </span></p>
+<p id="t33" class="pln"><span class="str"> :param a: angle in degrees to be rotated</span><span class="strut"> </span></p>
+<p id="t34" class="pln"><span class="str"> :returns: a matrix</span><span class="strut"> </span></p>
+<p id="t35" class="pln"><span class="str"> :rtype: (np.ndarray)</span><span class="strut"> </span></p>
+<p id="t36" class="pln"><span class="str"> ..ref: James Diebel</span><span class="strut"> </span></p>
+<p id="t37" class="pln"><span class="str"> "Representing Attitude: Euler Angles, Unit Quaternions, and Rotation</span><span class="strut"> </span></p>
+<p id="t38" class="pln"><span class="str"> Vectors."</span><span class="strut"> </span></p>
+<p id="t39" class="pln"><span class="str"> (2006): p. 5 (2.4).</span><span class="strut"> </span></p>
+<p id="t40" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t41" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">a</span><span class="op">,</span> <span class="nam">numbers</span><span class="op">.</span><span class="nam">Number</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t42" class="stm mis"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="str">"angle must be numeric value"</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t43" class="stm run hide_run"> <span class="nam">R2</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">array</span><span class="op">(</span><span class="op">[</span><span class="op">[</span><span class="nam">c</span><span class="op">(</span><span class="nam">a</span><span class="op">)</span><span class="op">,</span> <span class="num">0</span><span class="op">,</span> <span class="op">-</span><span class="nam">s</span><span class="op">(</span><span class="nam">a</span><span class="op">)</span><span class="op">]</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t44" class="pln"> <span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="num">1</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t45" class="pln"> <span class="op">[</span><span class="nam">s</span><span class="op">(</span><span class="nam">a</span><span class="op">)</span><span class="op">,</span> <span class="num">0</span><span class="op">,</span> <span class="nam">c</span><span class="op">(</span><span class="nam">a</span><span class="op">)</span><span class="op">]</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t46" class="stm run hide_run"> <span class="key">return</span> <span class="nam">R2</span><span class="strut"> </span></p>
+<p id="t47" class="pln"><span class="strut"> </span></p>
+<p id="t48" class="pln"><span class="strut"> </span></p>
+<p id="t49" class="stm run hide_run"><span class="key">def</span> <span class="nam">R3</span><span class="op">(</span><span class="nam">a</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t50" class="pln"> <span class="str">""" rotation matrix around the z- axis</span><span class="strut"> </span></p>
+<p id="t51" class="pln"><span class="strut"> </span></p>
+<p id="t52" class="pln"><span class="str"> :param a: angle in degrees to be rotated</span><span class="strut"> </span></p>
+<p id="t53" class="pln"><span class="str"> :returns: a matrix</span><span class="strut"> </span></p>
+<p id="t54" class="pln"><span class="str"> :rtype: (np.ndarray)</span><span class="strut"> </span></p>
+<p id="t55" class="pln"><span class="str"> ..ref: James Diebel</span><span class="strut"> </span></p>
+<p id="t56" class="pln"><span class="str"> "Representing Attitude: Euler Angles, Unit Quaternions, and Rotation</span><span class="strut"> </span></p>
+<p id="t57" class="pln"><span class="str"> Vectors."</span><span class="strut"> </span></p>
+<p id="t58" class="pln"><span class="str"> (2006): p. 5 (2.4).</span><span class="strut"> </span></p>
+<p id="t59" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t60" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">a</span><span class="op">,</span> <span class="nam">numbers</span><span class="op">.</span><span class="nam">Number</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t61" class="stm mis"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="str">"angle must be numeric value"</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t62" class="stm run hide_run"> <span class="nam">R3</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">array</span><span class="op">(</span><span class="op">[</span><span class="op">[</span><span class="nam">c</span><span class="op">(</span><span class="nam">a</span><span class="op">)</span><span class="op">,</span> <span class="nam">s</span><span class="op">(</span><span class="nam">a</span><span class="op">)</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t63" class="pln"> <span class="op">[</span><span class="op">-</span><span class="nam">s</span><span class="op">(</span><span class="nam">a</span><span class="op">)</span><span class="op">,</span> <span class="nam">c</span><span class="op">(</span><span class="nam">a</span><span class="op">)</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t64" class="pln"> <span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="num">0</span><span class="op">,</span> <span class="num">1</span><span class="op">]</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t65" class="stm run hide_run"> <span class="key">return</span> <span class="nam">R3</span><span class="strut"> </span></p>
+<p id="t66" class="pln"><span class="strut"> </span></p>
+<p id="t67" class="pln"><span class="strut"> </span></p>
+<p id="t68" class="stm run hide_run"><span class="key">def</span> <span class="nam">matrix</span><span class="op">(</span><span class="nam">ai</span><span class="op">,</span> <span class="nam">aj</span><span class="op">,</span> <span class="nam">ak</span><span class="op">,</span> <span class="nam">axes</span><span class="op">=</span><span class="str">'xyz'</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t69" class="pln"> <span class="str">""" rotation matrix around the three axis with the</span><span class="strut"> </span></p>
+<p id="t70" class="pln"><span class="str"> order given by the axes parameter</span><span class="strut"> </span></p>
+<p id="t71" class="pln"><span class="strut"> </span></p>
+<p id="t72" class="pln"><span class="str"> :param ai: angle in degrees to be rotated about the first axis</span><span class="strut"> </span></p>
+<p id="t73" class="pln"><span class="str"> :param aj: angle in degrees to be rotated about the second axis</span><span class="strut"> </span></p>
+<p id="t74" class="pln"><span class="str"> :param ak: angle in degrees to be rotated about the third axis</span><span class="strut"> </span></p>
+<p id="t75" class="pln"><span class="str"> :returns: a matrix</span><span class="strut"> </span></p>
+<p id="t76" class="pln"><span class="str"> :rtype: (np.ndarray)</span><span class="strut"> </span></p>
+<p id="t77" class="pln"><span class="str"> ..ref: James Diebel</span><span class="strut"> </span></p>
+<p id="t78" class="pln"><span class="str"> "Representing Attitude: Euler Angles, Unit Quaternions, and Rotation</span><span class="strut"> </span></p>
+<p id="t79" class="pln"><span class="str"> Vectors."</span><span class="strut"> </span></p>
+<p id="t80" class="pln"><span class="str"> (2006): p. 9</span><span class="strut"> </span></p>
+<p id="t81" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t82" class="stm run hide_run"> <span class="key">if</span> <span class="nam">axes</span> <span class="key">not</span> <span class="key">in</span> <span class="nam">list</span><span class="op">(</span><span class="nam">_AXES2TUPLE</span><span class="op">.</span><span class="nam">keys</span><span class="op">(</span><span class="op">)</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t83" class="stm mis"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="str">"the chosen convention is not supported"</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t84" class="stm run hide_run"> <span class="nam">r</span><span class="op">,</span> <span class="nam">i</span><span class="op">,</span> <span class="nam">j</span><span class="op">,</span> <span class="nam">k</span> <span class="op">=</span> <span class="nam">_AXES2TUPLE</span><span class="op">[</span><span class="nam">axes</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t85" class="stm run hide_run"> <span class="nam">matrixes</span> <span class="op">=</span> <span class="op">[</span><span class="nam">R1</span><span class="op">,</span> <span class="nam">R2</span><span class="op">,</span> <span class="nam">R3</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t86" class="stm run hide_run"> <span class="nam">Rijk</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">dot</span><span class="op">(</span><span class="nam">matrixes</span><span class="op">[</span><span class="nam">i</span><span class="op">]</span><span class="op">(</span><span class="nam">ai</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t87" class="pln"> <span class="nam">np</span><span class="op">.</span><span class="nam">dot</span><span class="op">(</span><span class="nam">matrixes</span><span class="op">[</span><span class="nam">j</span><span class="op">]</span><span class="op">(</span><span class="nam">aj</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t88" class="pln"> <span class="nam">matrixes</span><span class="op">[</span><span class="nam">k</span><span class="op">]</span><span class="op">(</span><span class="nam">ak</span><span class="op">)</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t89" class="stm run hide_run"> <span class="nam">ID</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">identity</span><span class="op">(</span><span class="num">4</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t90" class="stm run hide_run"> <span class="nam">ID</span><span class="op">[</span><span class="op">:</span><span class="num">3</span><span class="op">,</span> <span class="op">:</span><span class="num">3</span><span class="op">]</span> <span class="op">=</span> <span class="nam">Rijk</span><span class="strut"> </span></p>
+<p id="t91" class="stm run hide_run"> <span class="nam">Rijk</span> <span class="op">=</span> <span class="nam">ID</span><span class="strut"> </span></p>
+<p id="t92" class="stm run hide_run"> <span class="key">return</span> <span class="nam">Rijk</span><span class="strut"> </span></p>
+<p id="t93" class="pln"><span class="strut"> </span></p>
+<p id="t94" class="pln"><span class="strut"> </span></p>
+<p id="t95" class="stm run hide_run"><span class="key">def</span> <span class="nam">from_matrix</span><span class="op">(</span><span class="nam">matrix</span><span class="op">,</span> <span class="nam">axes</span><span class="op">=</span><span class="str">'xyz'</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t96" class="pln"> <span class="str">"""Return Euler angles from rotation matrix for specified axis sequence.</span><span class="strut"> </span></p>
+<p id="t97" class="pln"><span class="strut"> </span></p>
+<p id="t98" class="pln"><span class="str"> axes : One of 24 axis sequences as string or encoded tuple</span><span class="strut"> </span></p>
+<p id="t99" class="pln"><span class="strut"> </span></p>
+<p id="t100" class="pln"><span class="str"> Note that many Euler angle triplets can describe one matrix.</span><span class="strut"> </span></p>
+<p id="t101" class="pln"><span class="str"> ..ref: James Diebel</span><span class="strut"> </span></p>
+<p id="t102" class="pln"><span class="str"> "Representing Attitude: Euler Angles, Unit Quaternions, and Rotation</span><span class="strut"> </span></p>
+<p id="t103" class="pln"><span class="str"> Vectors."</span><span class="strut"> </span></p>
+<p id="t104" class="pln"><span class="str"> (2006): p. 23 - 31.</span><span class="strut"> </span></p>
+<p id="t105" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t106" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">matrix</span><span class="op">,</span> <span class="nam">np</span><span class="op">.</span><span class="nam">ndarray</span><span class="op">)</span> <span class="key">and</span> <span class="key">not</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">matrix</span><span class="op">,</span> <span class="nam">list</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t107" class="stm mis"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="str">"matrix must be np.array or list"</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t108" class="stm run hide_run"> <span class="key">if</span> <span class="nam">axes</span> <span class="key">not</span> <span class="key">in</span> <span class="nam">list</span><span class="op">(</span><span class="nam">_AXES2TUPLE</span><span class="op">.</span><span class="nam">keys</span><span class="op">(</span><span class="op">)</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t109" class="stm mis"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="str">"the chosen convention is not supported"</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t110" class="pln"> <span class="com"># if np.any(np.isnan(np.array(matrix, dtype=np.float64))):</span><span class="strut"> </span></p>
+<p id="t111" class="pln"> <span class="com"># raise ValueError('posorient must not contain nan')</span><span class="strut"> </span></p>
+<p id="t112" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="nam">is_numeric_array</span><span class="op">(</span><span class="nam">matrix</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t113" class="stm run hide_run"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="str">"matrix must contain numeric values"</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t114" class="stm run hide_run"> <span class="key">if</span> <span class="nam">matrix</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">0</span><span class="op">]</span> <span class="op">></span> <span class="num">3</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t115" class="stm run hide_run"> <span class="nam">matrix</span> <span class="op">=</span> <span class="nam">matrix</span><span class="op">[</span><span class="op">:</span><span class="num">3</span><span class="op">,</span> <span class="op">:</span><span class="num">3</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t116" class="stm run hide_run"> <span class="nam">u</span> <span class="op">=</span> <span class="key">None</span><span class="strut"> </span></p>
+<p id="t117" class="stm run hide_run"> <span class="nam">rot</span><span class="op">,</span> <span class="nam">i</span><span class="op">,</span> <span class="nam">j</span><span class="op">,</span> <span class="nam">k</span> <span class="op">=</span> <span class="nam">_AXES2TUPLE</span><span class="op">[</span><span class="nam">axes</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t118" class="pln"> <span class="com">#matrix = np.transpose(matrix)</span><span class="strut"> </span></p>
+<p id="t119" class="pln"> <span class="com"># if rot:</span><span class="strut"> </span></p>
+<p id="t120" class="pln"> <span class="com"># matrix = np.transpose(matrix)</span><span class="strut"> </span></p>
+<p id="t121" class="pln"> <span class="com"># new = list(axes)</span><span class="strut"> </span></p>
+<p id="t122" class="pln"> <span class="com"># new[0] = 's'</span><span class="strut"> </span></p>
+<p id="t123" class="pln"> <span class="com"># axes = ''.join(new)</span><span class="strut"> </span></p>
+<p id="t124" class="stm run hide_run"> <span class="key">if</span> <span class="nam">axes</span> <span class="op">==</span> <span class="str">'xyx'</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t125" class="stm run hide_run"> <span class="nam">u</span> <span class="op">=</span> <span class="op">[</span><span class="nam">np</span><span class="op">.</span><span class="nam">arctan2</span><span class="op">(</span><span class="nam">matrix</span><span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span><span class="op">,</span> <span class="nam">matrix</span><span class="op">[</span><span class="num">2</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t126" class="pln"> <span class="nam">np</span><span class="op">.</span><span class="nam">arccos</span><span class="op">(</span><span class="nam">matrix</span><span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t127" class="pln"> <span class="nam">np</span><span class="op">.</span><span class="nam">arctan2</span><span class="op">(</span><span class="nam">matrix</span><span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="num">1</span><span class="op">]</span><span class="op">,</span> <span class="op">-</span><span class="nam">matrix</span><span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="num">2</span><span class="op">]</span><span class="op">)</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t128" class="stm run hide_run"> <span class="key">elif</span> <span class="nam">axes</span> <span class="op">==</span> <span class="str">'xyz'</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t129" class="stm run hide_run"> <span class="nam">u</span> <span class="op">=</span> <span class="op">[</span><span class="nam">np</span><span class="op">.</span><span class="nam">arctan2</span><span class="op">(</span><span class="nam">matrix</span><span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">2</span><span class="op">]</span><span class="op">,</span> <span class="nam">matrix</span><span class="op">[</span><span class="num">2</span><span class="op">,</span> <span class="num">2</span><span class="op">]</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t130" class="pln"> <span class="op">-</span><span class="nam">np</span><span class="op">.</span><span class="nam">arcsin</span><span class="op">(</span><span class="nam">matrix</span><span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="num">2</span><span class="op">]</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t131" class="pln"> <span class="nam">np</span><span class="op">.</span><span class="nam">arctan2</span><span class="op">(</span><span class="nam">matrix</span><span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="num">1</span><span class="op">]</span><span class="op">,</span> <span class="nam">matrix</span><span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span><span class="op">)</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t132" class="stm run hide_run"> <span class="key">elif</span> <span class="nam">axes</span> <span class="op">==</span> <span class="str">'xzx'</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t133" class="stm run hide_run"> <span class="nam">u</span> <span class="op">=</span> <span class="op">[</span><span class="nam">np</span><span class="op">.</span><span class="nam">arctan2</span><span class="op">(</span><span class="nam">matrix</span><span class="op">[</span><span class="num">2</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span><span class="op">,</span> <span class="op">-</span><span class="nam">matrix</span><span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t134" class="pln"> <span class="nam">np</span><span class="op">.</span><span class="nam">arccos</span><span class="op">(</span><span class="nam">matrix</span><span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t135" class="pln"> <span class="nam">np</span><span class="op">.</span><span class="nam">arctan2</span><span class="op">(</span><span class="nam">matrix</span><span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="num">2</span><span class="op">]</span><span class="op">,</span> <span class="nam">matrix</span><span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="num">1</span><span class="op">]</span><span class="op">)</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t136" class="stm run hide_run"> <span class="key">elif</span> <span class="nam">axes</span> <span class="op">==</span> <span class="str">'xzy'</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t137" class="stm run hide_run"> <span class="nam">u</span> <span class="op">=</span> <span class="op">[</span><span class="nam">np</span><span class="op">.</span><span class="nam">arctan2</span><span class="op">(</span><span class="op">-</span><span class="nam">matrix</span><span class="op">[</span><span class="num">2</span><span class="op">,</span> <span class="num">1</span><span class="op">]</span><span class="op">,</span> <span class="nam">matrix</span><span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">1</span><span class="op">]</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t138" class="pln"> <span class="nam">np</span><span class="op">.</span><span class="nam">arcsin</span><span class="op">(</span><span class="nam">matrix</span><span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="num">1</span><span class="op">]</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t139" class="pln"> <span class="nam">np</span><span class="op">.</span><span class="nam">arctan2</span><span class="op">(</span><span class="op">-</span><span class="nam">matrix</span><span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="num">2</span><span class="op">]</span><span class="op">,</span> <span class="nam">matrix</span><span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span><span class="op">)</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t140" class="stm run hide_run"> <span class="key">elif</span> <span class="nam">axes</span> <span class="op">==</span> <span class="str">'yxy'</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t141" class="stm run hide_run"> <span class="nam">u</span> <span class="op">=</span> <span class="op">[</span><span class="nam">np</span><span class="op">.</span><span class="nam">arctan2</span><span class="op">(</span><span class="nam">matrix</span><span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="num">1</span><span class="op">]</span><span class="op">,</span> <span class="op">-</span><span class="nam">matrix</span><span class="op">[</span><span class="num">2</span><span class="op">,</span> <span class="num">1</span><span class="op">]</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t142" class="pln"> <span class="nam">np</span><span class="op">.</span><span class="nam">arccos</span><span class="op">(</span><span class="nam">matrix</span><span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">1</span><span class="op">]</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t143" class="pln"> <span class="nam">np</span><span class="op">.</span><span class="nam">arctan2</span><span class="op">(</span><span class="nam">matrix</span><span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span><span class="op">,</span> <span class="nam">matrix</span><span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">2</span><span class="op">]</span><span class="op">)</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t144" class="stm run hide_run"> <span class="key">elif</span> <span class="nam">axes</span> <span class="op">==</span> <span class="str">'yxz'</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t145" class="stm run hide_run"> <span class="nam">u</span> <span class="op">=</span> <span class="op">[</span><span class="nam">np</span><span class="op">.</span><span class="nam">arctan2</span><span class="op">(</span><span class="op">-</span><span class="nam">matrix</span><span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="num">2</span><span class="op">]</span><span class="op">,</span> <span class="nam">matrix</span><span class="op">[</span><span class="num">2</span><span class="op">,</span> <span class="num">2</span><span class="op">]</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t146" class="pln"> <span class="nam">np</span><span class="op">.</span><span class="nam">arcsin</span><span class="op">(</span><span class="nam">matrix</span><span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">2</span><span class="op">]</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t147" class="pln"> <span class="nam">np</span><span class="op">.</span><span class="nam">arctan2</span><span class="op">(</span><span class="op">-</span><span class="nam">matrix</span><span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span><span class="op">,</span> <span class="nam">matrix</span><span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">1</span><span class="op">]</span><span class="op">)</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t148" class="stm run hide_run"> <span class="key">elif</span> <span class="nam">axes</span> <span class="op">==</span> <span class="str">'yzx'</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t149" class="stm run hide_run"> <span class="nam">u</span> <span class="op">=</span> <span class="op">[</span><span class="nam">np</span><span class="op">.</span><span class="nam">arctan2</span><span class="op">(</span><span class="nam">matrix</span><span class="op">[</span><span class="num">2</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span><span class="op">,</span> <span class="nam">matrix</span><span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t150" class="pln"> <span class="op">-</span><span class="nam">np</span><span class="op">.</span><span class="nam">arcsin</span><span class="op">(</span><span class="nam">matrix</span><span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t151" class="pln"> <span class="nam">np</span><span class="op">.</span><span class="nam">arctan2</span><span class="op">(</span><span class="nam">matrix</span><span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">2</span><span class="op">]</span><span class="op">,</span> <span class="nam">matrix</span><span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">1</span><span class="op">]</span><span class="op">)</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t152" class="stm run hide_run"> <span class="key">elif</span> <span class="nam">axes</span> <span class="op">==</span> <span class="str">'yzy'</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t153" class="stm run hide_run"> <span class="nam">u</span> <span class="op">=</span> <span class="op">[</span><span class="nam">np</span><span class="op">.</span><span class="nam">arctan2</span><span class="op">(</span><span class="nam">matrix</span><span class="op">[</span><span class="num">2</span><span class="op">,</span> <span class="num">1</span><span class="op">]</span><span class="op">,</span> <span class="nam">matrix</span><span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="num">1</span><span class="op">]</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t154" class="pln"> <span class="nam">np</span><span class="op">.</span><span class="nam">arccos</span><span class="op">(</span><span class="nam">matrix</span><span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">1</span><span class="op">]</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t155" class="pln"> <span class="nam">np</span><span class="op">.</span><span class="nam">arctan2</span><span class="op">(</span><span class="nam">matrix</span><span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">2</span><span class="op">]</span><span class="op">,</span> <span class="op">-</span><span class="nam">matrix</span><span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span><span class="op">)</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t156" class="stm run hide_run"> <span class="key">elif</span> <span class="nam">axes</span> <span class="op">==</span> <span class="str">'zxy'</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t157" class="stm run hide_run"> <span class="nam">u</span> <span class="op">=</span> <span class="op">[</span><span class="nam">np</span><span class="op">.</span><span class="nam">arctan2</span><span class="op">(</span><span class="nam">matrix</span><span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="num">1</span><span class="op">]</span><span class="op">,</span> <span class="nam">matrix</span><span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">1</span><span class="op">]</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t158" class="pln"> <span class="op">-</span><span class="nam">np</span><span class="op">.</span><span class="nam">arcsin</span><span class="op">(</span><span class="nam">matrix</span><span class="op">[</span><span class="num">2</span><span class="op">,</span> <span class="num">1</span><span class="op">]</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t159" class="pln"> <span class="nam">np</span><span class="op">.</span><span class="nam">arctan2</span><span class="op">(</span><span class="nam">matrix</span><span class="op">[</span><span class="num">2</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span><span class="op">,</span> <span class="nam">matrix</span><span class="op">[</span><span class="num">2</span><span class="op">,</span> <span class="num">2</span><span class="op">]</span><span class="op">)</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t160" class="stm run hide_run"> <span class="key">elif</span> <span class="nam">axes</span> <span class="op">==</span> <span class="str">'zxz'</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t161" class="stm run hide_run"> <span class="nam">u</span> <span class="op">=</span> <span class="op">[</span><span class="nam">np</span><span class="op">.</span><span class="nam">arctan2</span><span class="op">(</span><span class="nam">matrix</span><span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="num">2</span><span class="op">]</span><span class="op">,</span> <span class="nam">matrix</span><span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">2</span><span class="op">]</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t162" class="pln"> <span class="nam">np</span><span class="op">.</span><span class="nam">arccos</span><span class="op">(</span><span class="nam">matrix</span><span class="op">[</span><span class="num">2</span><span class="op">,</span> <span class="num">2</span><span class="op">]</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t163" class="pln"> <span class="nam">np</span><span class="op">.</span><span class="nam">arctan2</span><span class="op">(</span><span class="nam">matrix</span><span class="op">[</span><span class="num">2</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span><span class="op">,</span> <span class="op">-</span><span class="nam">matrix</span><span class="op">[</span><span class="num">2</span><span class="op">,</span> <span class="num">1</span><span class="op">]</span><span class="op">)</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t164" class="stm run hide_run"> <span class="key">elif</span> <span class="nam">axes</span> <span class="op">==</span> <span class="str">'zyx'</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t165" class="stm run hide_run"> <span class="nam">u</span> <span class="op">=</span> <span class="op">[</span><span class="nam">np</span><span class="op">.</span><span class="nam">arctan2</span><span class="op">(</span><span class="op">-</span><span class="nam">matrix</span><span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span><span class="op">,</span> <span class="nam">matrix</span><span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t166" class="pln"> <span class="nam">np</span><span class="op">.</span><span class="nam">arcsin</span><span class="op">(</span><span class="nam">matrix</span><span class="op">[</span><span class="num">2</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t167" class="pln"> <span class="nam">np</span><span class="op">.</span><span class="nam">arctan2</span><span class="op">(</span><span class="op">-</span><span class="nam">matrix</span><span class="op">[</span><span class="num">2</span><span class="op">,</span> <span class="num">1</span><span class="op">]</span><span class="op">,</span> <span class="nam">matrix</span><span class="op">[</span><span class="num">2</span><span class="op">,</span> <span class="num">2</span><span class="op">]</span><span class="op">)</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t168" class="stm run hide_run"> <span class="key">elif</span> <span class="nam">axes</span> <span class="op">==</span> <span class="str">'zyz'</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t169" class="stm run hide_run"> <span class="nam">u</span> <span class="op">=</span> <span class="op">[</span><span class="nam">np</span><span class="op">.</span><span class="nam">arctan2</span><span class="op">(</span><span class="nam">matrix</span><span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">2</span><span class="op">]</span><span class="op">,</span> <span class="op">-</span><span class="nam">matrix</span><span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="num">2</span><span class="op">]</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t170" class="pln"> <span class="nam">np</span><span class="op">.</span><span class="nam">arccos</span><span class="op">(</span><span class="nam">matrix</span><span class="op">[</span><span class="num">2</span><span class="op">,</span> <span class="num">2</span><span class="op">]</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t171" class="pln"> <span class="nam">np</span><span class="op">.</span><span class="nam">arctan2</span><span class="op">(</span><span class="nam">matrix</span><span class="op">[</span><span class="num">2</span><span class="op">,</span> <span class="num">1</span><span class="op">]</span><span class="op">,</span> <span class="nam">matrix</span><span class="op">[</span><span class="num">2</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span><span class="op">)</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t172" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t173" class="stm mis"> <span class="nam">print</span><span class="op">(</span><span class="str">"conv"</span><span class="op">,</span> <span class="nam">axes</span><span class="op">,</span> <span class="nam">matrix</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t174" class="stm mis"> <span class="key">raise</span> <span class="nam">KeyError</span><span class="op">(</span><span class="str">'convention not in {}'</span><span class="op">,</span> <span class="nam">_AXES2TUPLE</span><span class="op">.</span><span class="nam">keys</span><span class="op">(</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t175" class="pln"><span class="strut"> </span></p>
+<p id="t176" class="stm run hide_run"> <span class="key">return</span> <span class="nam">u</span><span class="strut"> </span></p>
+<p id="t177" class="pln"><span class="strut"> </span></p>
+<p id="t178" class="pln"><span class="strut"> </span></p>
+<p id="t179" class="stm run hide_run"><span class="key">def</span> <span class="nam">from_quaternion</span><span class="op">(</span><span class="nam">quaternion</span><span class="op">,</span> <span class="nam">axes</span><span class="op">=</span><span class="str">'xyz'</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t180" class="pln"> <span class="str">"""Return Euler angles from quaternion for specified axis sequence.</span><span class="strut"> </span></p>
+<p id="t181" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t182" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">quaternion</span><span class="op">,</span> <span class="nam">np</span><span class="op">.</span><span class="nam">ndarray</span><span class="op">)</span> <span class="key">and</span><span class="xx">\</span><span class="strut"> </span></p>
+<p id="t183" class="pln"> <span class="key">not</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">quaternion</span><span class="op">,</span> <span class="nam">list</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t184" class="stm mis"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="str">"quaternions must be np.array or list"</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t185" class="pln"> <span class="com"># if np.any(np.isnan(np.array(quaternion, dtype=np.float64))):</span><span class="strut"> </span></p>
+<p id="t186" class="pln"> <span class="com"># raise ValueError('posorient must not contain nan')</span><span class="strut"> </span></p>
+<p id="t187" class="stm run hide_run"> <span class="key">if</span> <span class="nam">axes</span> <span class="key">not</span> <span class="key">in</span> <span class="nam">list</span><span class="op">(</span><span class="nam">_AXES2TUPLE</span><span class="op">.</span><span class="nam">keys</span><span class="op">(</span><span class="op">)</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t188" class="stm run hide_run"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="str">"the chosen convention is not supported"</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t189" class="stm run hide_run"> <span class="key">return</span> <span class="nam">from_matrix</span><span class="op">(</span><span class="nam">quat</span><span class="op">.</span><span class="nam">matrix</span><span class="op">(</span><span class="nam">quaternion</span><span class="op">)</span><span class="op">[</span><span class="op">:</span><span class="num">3</span><span class="op">,</span> <span class="op">:</span><span class="num">3</span><span class="op">]</span><span class="op">,</span> <span class="nam">axes</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t190" class="pln"><span class="strut"> </span></p>
+<p id="t191" class="pln"><span class="strut"> </span></p>
+<p id="t192" class="stm run hide_run"><span class="key">def</span> <span class="nam">angle_rate_matrix</span><span class="op">(</span><span class="nam">ai</span><span class="op">,</span> <span class="nam">aj</span><span class="op">,</span> <span class="nam">ak</span><span class="op">,</span> <span class="nam">axes</span><span class="op">=</span><span class="str">'xyz'</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t193" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t194" class="pln"><span class="str"> Return the Euler Angle Rates Matrix</span><span class="strut"> </span></p>
+<p id="t195" class="pln"><span class="strut"> </span></p>
+<p id="t196" class="pln"><span class="str"> from Diebels Representing Attitude: Euler Angles,</span><span class="strut"> </span></p>
+<p id="t197" class="pln"><span class="str"> Unit Quaternions, and Rotation, 2006</span><span class="strut"> </span></p>
+<p id="t198" class="pln"><span class="str"> rotation matrix around the three axis with the</span><span class="strut"> </span></p>
+<p id="t199" class="pln"><span class="str"> order given by the axes parameter</span><span class="strut"> </span></p>
+<p id="t200" class="pln"><span class="strut"> </span></p>
+<p id="t201" class="pln"><span class="str"> :param ai: angle in degrees to be rotated about the first axis</span><span class="strut"> </span></p>
+<p id="t202" class="pln"><span class="str"> :param aj: angle in degrees to be rotated about the second axis</span><span class="strut"> </span></p>
+<p id="t203" class="pln"><span class="str"> :param ak: angle in degrees to be rotated about the third axis</span><span class="strut"> </span></p>
+<p id="t204" class="pln"><span class="str"> :param axes: string representation for the order of axes to be rotated</span><span class="strut"> </span></p>
+<p id="t205" class="pln"><span class="str"> around and whether stationary or rotational</span><span class="strut"> </span></p>
+<p id="t206" class="pln"><span class="str"> axes should be used</span><span class="strut"> </span></p>
+<p id="t207" class="pln"><span class="str"> :returns: a matrix</span><span class="strut"> </span></p>
+<p id="t208" class="pln"><span class="str"> :rtype: (np.ndarray)</span><span class="strut"> </span></p>
+<p id="t209" class="pln"><span class="str"> ..ref: James Diebel</span><span class="strut"> </span></p>
+<p id="t210" class="pln"><span class="str"> "Representing Attitude: Euler Angles, Unit Quaternions, and Rotation</span><span class="strut"> </span></p>
+<p id="t211" class="pln"><span class="str"> Vectors."</span><span class="strut"> </span></p>
+<p id="t212" class="pln"><span class="str"> (2006): p. 9 (5.2)</span><span class="strut"> </span></p>
+<p id="t213" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t214" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">ai</span><span class="op">,</span> <span class="nam">float</span><span class="op">)</span> <span class="key">and</span> <span class="key">not</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">ai</span><span class="op">,</span> <span class="nam">int</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t215" class="stm run hide_run"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="str">"euler angle must be of type float"</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t216" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">aj</span><span class="op">,</span> <span class="nam">float</span><span class="op">)</span> <span class="key">and</span> <span class="key">not</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">aj</span><span class="op">,</span> <span class="nam">int</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t217" class="stm mis"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="str">"euler angle must be of type float"</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t218" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">ak</span><span class="op">,</span> <span class="nam">float</span><span class="op">)</span> <span class="key">and</span> <span class="key">not</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">ak</span><span class="op">,</span> <span class="nam">int</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t219" class="stm run hide_run"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="str">"euler angle must be of type float"</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t220" class="pln"> <span class="com"># if np.isnan(np.array([ai], dtype=np.float64)) or\</span><span class="strut"> </span></p>
+<p id="t221" class="pln"> <span class="com"># np.isnan(np.array([aj], dtype=np.float64)) or\</span><span class="strut"> </span></p>
+<p id="t222" class="pln"> <span class="com"># np.isnan(np.array([ak], dtype=np.float64)):</span><span class="strut"> </span></p>
+<p id="t223" class="pln"> <span class="com"># raise ValueError("quaternions must not be nan or none")</span><span class="strut"> </span></p>
+<p id="t224" class="stm run hide_run"> <span class="key">if</span> <span class="nam">axes</span> <span class="key">not</span> <span class="key">in</span> <span class="nam">list</span><span class="op">(</span><span class="nam">_AXES2TUPLE</span><span class="op">.</span><span class="nam">keys</span><span class="op">(</span><span class="op">)</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t225" class="stm run hide_run"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="str">"the chosen convention is not supported"</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t226" class="stm run hide_run"> <span class="nam">_</span><span class="op">,</span> <span class="nam">i</span><span class="op">,</span> <span class="nam">j</span><span class="op">,</span> <span class="nam">k</span> <span class="op">=</span> <span class="nam">_AXES2TUPLE</span><span class="op">[</span><span class="nam">axes</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t227" class="stm run hide_run"> <span class="nam">ei</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">zeros</span><span class="op">(</span><span class="num">3</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t228" class="stm run hide_run"> <span class="nam">ej</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">zeros</span><span class="op">(</span><span class="num">3</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t229" class="stm run hide_run"> <span class="nam">ek</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">zeros</span><span class="op">(</span><span class="num">3</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t230" class="stm run hide_run"> <span class="nam">ei</span><span class="op">[</span><span class="nam">i</span><span class="op">]</span> <span class="op">=</span> <span class="num">1</span><span class="strut"> </span></p>
+<p id="t231" class="stm run hide_run"> <span class="nam">ej</span><span class="op">[</span><span class="nam">j</span><span class="op">]</span> <span class="op">=</span> <span class="num">1</span><span class="strut"> </span></p>
+<p id="t232" class="stm run hide_run"> <span class="nam">ek</span><span class="op">[</span><span class="nam">k</span><span class="op">]</span> <span class="op">=</span> <span class="num">1</span><span class="strut"> </span></p>
+<p id="t233" class="stm run hide_run"> <span class="nam">matrixes</span> <span class="op">=</span> <span class="op">[</span><span class="nam">R1</span><span class="op">,</span> <span class="nam">R2</span><span class="op">,</span> <span class="nam">R3</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t234" class="stm run hide_run"> <span class="nam">Rj</span> <span class="op">=</span> <span class="nam">matrixes</span><span class="op">[</span><span class="nam">j</span><span class="op">]</span><span class="op">(</span><span class="nam">aj</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t235" class="stm run hide_run"> <span class="nam">Rj</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">transpose</span><span class="op">(</span><span class="nam">Rj</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t236" class="stm run hide_run"> <span class="nam">Rk</span> <span class="op">=</span> <span class="nam">matrixes</span><span class="op">[</span><span class="nam">k</span><span class="op">]</span><span class="op">(</span><span class="nam">ak</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t237" class="stm run hide_run"> <span class="nam">Rk</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">transpose</span><span class="op">(</span><span class="nam">Rk</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t238" class="stm run hide_run"> <span class="nam">p1</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">dot</span><span class="op">(</span><span class="nam">Rk</span><span class="op">,</span> <span class="nam">np</span><span class="op">.</span><span class="nam">dot</span><span class="op">(</span><span class="nam">Rj</span><span class="op">,</span> <span class="nam">ei</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t239" class="stm run hide_run"> <span class="nam">p2</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">dot</span><span class="op">(</span><span class="nam">Rk</span><span class="op">,</span> <span class="nam">ej</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t240" class="stm run hide_run"> <span class="nam">rotM</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">column_stack</span><span class="op">(</span><span class="op">[</span><span class="nam">p1</span><span class="op">,</span> <span class="nam">p2</span><span class="op">,</span> <span class="nam">ek</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t241" class="stm run hide_run"> <span class="key">return</span> <span class="nam">rotM</span><span class="strut"> </span></p>
+<p id="t242" class="pln"><span class="strut"> </span></p>
+<p id="t243" class="pln"><span class="strut"> </span></p>
+<p id="t244" class="stm run hide_run"><span class="key">def</span> <span class="nam">angular_velocity</span><span class="op">(</span><span class="nam">ai</span><span class="op">,</span> <span class="nam">aj</span><span class="op">,</span> <span class="nam">ak</span><span class="op">,</span> <span class="nam">dai</span><span class="op">,</span> <span class="nam">daj</span><span class="op">,</span> <span class="nam">dak</span><span class="op">,</span> <span class="nam">axes</span><span class="op">=</span><span class="str">'xyz'</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t245" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t246" class="pln"><span class="str"> Return the angular velocity</span><span class="strut"> </span></p>
+<p id="t247" class="pln"><span class="strut"> </span></p>
+<p id="t248" class="pln"><span class="str"> :param ai: angle in degrees to be rotated about the first axis</span><span class="strut"> </span></p>
+<p id="t249" class="pln"><span class="str"> :param aj: angle in degrees to be rotated about the second axis</span><span class="strut"> </span></p>
+<p id="t250" class="pln"><span class="str"> :param ak: angle in degrees to be rotated about the third axis</span><span class="strut"> </span></p>
+<p id="t251" class="pln"><span class="str"> :param dai: time derivative in degrees/time of the angle to be rotated</span><span class="strut"> </span></p>
+<p id="t252" class="pln"><span class="str"> about the first axis</span><span class="strut"> </span></p>
+<p id="t253" class="pln"><span class="str"> :param daj: time derivative in degrees/time of the angle to be rotated</span><span class="strut"> </span></p>
+<p id="t254" class="pln"><span class="str"> about the second axis</span><span class="strut"> </span></p>
+<p id="t255" class="pln"><span class="str"> :param dak: time derivative in degrees/time of the angle to be rotated</span><span class="strut"> </span></p>
+<p id="t256" class="pln"><span class="str"> about the third axis</span><span class="strut"> </span></p>
+<p id="t257" class="pln"><span class="str"> :param axes: string representation for the order of axes to be rotated</span><span class="strut"> </span></p>
+<p id="t258" class="pln"><span class="str"> around and whether stationary or rotational axes should</span><span class="strut"> </span></p>
+<p id="t259" class="pln"><span class="str"> be used</span><span class="strut"> </span></p>
+<p id="t260" class="pln"><span class="str"> :returns: a matrix</span><span class="strut"> </span></p>
+<p id="t261" class="pln"><span class="str"> :rtype: (np.ndarray)</span><span class="strut"> </span></p>
+<p id="t262" class="pln"><span class="str"> ..ref: James Diebel</span><span class="strut"> </span></p>
+<p id="t263" class="pln"><span class="str"> "Representing Attitude: Euler Angles, Unit Quaternions, and Rotation</span><span class="strut"> </span></p>
+<p id="t264" class="pln"><span class="str"> Vectors."</span><span class="strut"> </span></p>
+<p id="t265" class="pln"><span class="str"> (2006): p. 9 (5.2)</span><span class="strut"> </span></p>
+<p id="t266" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t267" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">ai</span><span class="op">,</span> <span class="nam">float</span><span class="op">)</span> <span class="key">and</span> <span class="key">not</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">ai</span><span class="op">,</span> <span class="nam">int</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t268" class="stm run hide_run"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="str">"euler angle must be of type float"</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t269" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">aj</span><span class="op">,</span> <span class="nam">float</span><span class="op">)</span> <span class="key">and</span> <span class="key">not</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">aj</span><span class="op">,</span> <span class="nam">int</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t270" class="stm run hide_run"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="str">"euler angle must be of type float"</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t271" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">ak</span><span class="op">,</span> <span class="nam">float</span><span class="op">)</span> <span class="key">and</span> <span class="key">not</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">ak</span><span class="op">,</span> <span class="nam">int</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t272" class="stm run hide_run"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="str">"euler angle must be of type float"</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t273" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">dai</span><span class="op">,</span> <span class="nam">float</span><span class="op">)</span> <span class="key">and</span> <span class="key">not</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">dai</span><span class="op">,</span> <span class="nam">int</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t274" class="stm run hide_run"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="str">"euler angle time derivative must be of type float"</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t275" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">daj</span><span class="op">,</span> <span class="nam">float</span><span class="op">)</span> <span class="key">and</span> <span class="key">not</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">daj</span><span class="op">,</span> <span class="nam">int</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t276" class="stm run hide_run"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="str">"euler angle time derivative must be of type float"</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t277" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">dak</span><span class="op">,</span> <span class="nam">float</span><span class="op">)</span> <span class="key">and</span> <span class="key">not</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">dak</span><span class="op">,</span> <span class="nam">int</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t278" class="stm mis"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="str">"euler angle time derivative must be of type float"</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t279" class="pln"> <span class="com"># if np.isnan(np.array([ai], dtype=np.float64)) or\</span><span class="strut"> </span></p>
+<p id="t280" class="pln"> <span class="com"># np.isnan(np.array([aj], dtype=np.float64)) or\</span><span class="strut"> </span></p>
+<p id="t281" class="pln"> <span class="com"># np.isnan(np.array([ak], dtype=np.float64)):</span><span class="strut"> </span></p>
+<p id="t282" class="pln"> <span class="com"># raise ValueError("quaternions must not be nan or none")</span><span class="strut"> </span></p>
+<p id="t283" class="pln"> <span class="com"># if np.isnan(np.array([dai], dtype=np.float64)) or\</span><span class="strut"> </span></p>
+<p id="t284" class="pln"> <span class="com"># np.isnan(np.array([daj], dtype=np.float64)) or\</span><span class="strut"> </span></p>
+<p id="t285" class="pln"> <span class="com"># np.isnan(np.array([dak], dtype=np.float64)):</span><span class="strut"> </span></p>
+<p id="t286" class="pln"> <span class="com"># raise ValueError("quaternions must not be nan or none")</span><span class="strut"> </span></p>
+<p id="t287" class="stm run hide_run"> <span class="key">if</span> <span class="nam">axes</span> <span class="key">not</span> <span class="key">in</span> <span class="nam">list</span><span class="op">(</span><span class="nam">_AXES2TUPLE</span><span class="op">.</span><span class="nam">keys</span><span class="op">(</span><span class="op">)</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t288" class="stm run hide_run"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="str">"the chosen convention is not supported"</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t289" class="stm run hide_run"> <span class="nam">rotM</span> <span class="op">=</span> <span class="nam">angle_rate_matrix</span><span class="op">(</span><span class="nam">ai</span><span class="op">,</span> <span class="nam">aj</span><span class="op">,</span> <span class="nam">ak</span><span class="op">,</span> <span class="nam">axes</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t290" class="stm run hide_run"> <span class="nam">vel</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">dot</span><span class="op">(</span><span class="nam">rotM</span><span class="op">,</span> <span class="op">[</span><span class="nam">dai</span><span class="op">,</span> <span class="nam">daj</span><span class="op">,</span> <span class="nam">dak</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t291" class="stm run hide_run"> <span class="key">return</span> <span class="nam">vel</span><span class="strut"> </span></p>
+
+ </td>
+ </tr>
+ </table>
+</div>
+
+<div id="footer">
+ <div class="content">
+ <p>
+ <a class="nav" href="index.html">« index</a> <a class="nav" href="https://coverage.readthedocs.io">coverage.py v4.5.2</a>,
+ created at 2019-01-13 14:34
+ </p>
+ </div>
+</div>
+
+</body>
+</html>
diff --git a/coverage_html_report/navipy_maths_homogeneous_transformations_py.html b/coverage_html_report/navipy_maths_homogeneous_transformations_py.html
new file mode 100644
index 0000000000000000000000000000000000000000..b6438f7ff79f4f7a75eab3e3f84831bc09c013a0
--- /dev/null
+++ b/coverage_html_report/navipy_maths_homogeneous_transformations_py.html
@@ -0,0 +1,857 @@
+
+
+
+<!DOCTYPE html>
+<html>
+<head>
+ <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
+
+
+ <meta http-equiv="X-UA-Compatible" content="IE=emulateIE7" />
+ <title>Coverage for navipy/maths/homogeneous_transformations.py: 80%</title>
+ <link rel="stylesheet" href="style.css" type="text/css">
+
+ <script type="text/javascript" src="jquery.min.js"></script>
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+ jQuery(document).ready(coverage.pyfile_ready);
+ </script>
+</head>
+<body class="pyfile">
+
+<div id="header">
+ <div class="content">
+ <h1>Coverage for <b>navipy/maths/homogeneous_transformations.py</b> :
+ <span class="pc_cov">80%</span>
+ </h1>
+
+ <img id="keyboard_icon" src="keybd_closed.png" alt="Show keyboard shortcuts" />
+
+ <h2 class="stats">
+ 234 statements
+ <span class="run hide_run shortkey_r button_toggle_run">187 run</span>
+ <span class="mis shortkey_m button_toggle_mis">47 missing</span>
+ <span class="exc shortkey_x button_toggle_exc">0 excluded</span>
+
+
+ </h2>
+ </div>
+</div>
+
+<div class="help_panel">
+ <img id="panel_icon" src="keybd_open.png" alt="Hide keyboard shortcuts" />
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+ <table>
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+ <td class="linenos">
+<p id="n1" class="pln"><a href="#n1">1</a></p>
+<p id="n2" class="pln"><a href="#n2">2</a></p>
+<p id="n3" class="stm run hide_run"><a href="#n3">3</a></p>
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+<p id="n72" class="pln"><a href="#n72">72</a></p>
+<p id="n73" class="stm run hide_run"><a href="#n73">73</a></p>
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+<p id="n96" class="stm run hide_run"><a href="#n96">96</a></p>
+<p id="n97" class="stm run hide_run"><a href="#n97">97</a></p>
+<p id="n98" class="stm run hide_run"><a href="#n98">98</a></p>
+<p id="n99" class="stm run hide_run"><a href="#n99">99</a></p>
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+<p id="n110" class="stm run hide_run"><a href="#n110">110</a></p>
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+<p id="n129" class="stm run hide_run"><a href="#n129">129</a></p>
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+<p id="n136" class="stm run hide_run"><a href="#n136">136</a></p>
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+<p id="n144" class="stm run hide_run"><a href="#n144">144</a></p>
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+<p id="n148" class="stm run hide_run"><a href="#n148">148</a></p>
+<p id="n149" class="stm run hide_run"><a href="#n149">149</a></p>
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+<p id="n152" class="pln"><a href="#n152">152</a></p>
+<p id="n153" class="stm run hide_run"><a href="#n153">153</a></p>
+<p id="n154" class="stm run hide_run"><a href="#n154">154</a></p>
+<p id="n155" class="stm run hide_run"><a href="#n155">155</a></p>
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+<p id="n157" class="pln"><a href="#n157">157</a></p>
+<p id="n158" class="stm run hide_run"><a href="#n158">158</a></p>
+<p id="n159" class="pln"><a href="#n159">159</a></p>
+<p id="n160" class="pln"><a href="#n160">160</a></p>
+<p id="n161" class="pln"><a href="#n161">161</a></p>
+<p id="n162" class="pln"><a href="#n162">162</a></p>
+<p id="n163" class="pln"><a href="#n163">163</a></p>
+<p id="n164" class="stm run hide_run"><a href="#n164">164</a></p>
+<p id="n165" class="stm run hide_run"><a href="#n165">165</a></p>
+<p id="n166" class="stm run hide_run"><a href="#n166">166</a></p>
+<p id="n167" class="stm run hide_run"><a href="#n167">167</a></p>
+<p id="n168" class="stm run hide_run"><a href="#n168">168</a></p>
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+<p id="n170" class="stm run hide_run"><a href="#n170">170</a></p>
+<p id="n171" class="stm run hide_run"><a href="#n171">171</a></p>
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+<p id="n180" class="stm run hide_run"><a href="#n180">180</a></p>
+<p id="n181" class="stm run hide_run"><a href="#n181">181</a></p>
+<p id="n182" class="stm run hide_run"><a href="#n182">182</a></p>
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+<p id="n184" class="stm run hide_run"><a href="#n184">184</a></p>
+<p id="n185" class="stm run hide_run"><a href="#n185">185</a></p>
+<p id="n186" class="stm run hide_run"><a href="#n186">186</a></p>
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+<p id="n188" class="pln"><a href="#n188">188</a></p>
+<p id="n189" class="stm mis"><a href="#n189">189</a></p>
+<p id="n190" class="pln"><a href="#n190">190</a></p>
+<p id="n191" class="pln"><a href="#n191">191</a></p>
+<p id="n192" class="stm mis"><a href="#n192">192</a></p>
+<p id="n193" class="stm mis"><a href="#n193">193</a></p>
+<p id="n194" class="stm mis"><a href="#n194">194</a></p>
+<p id="n195" class="pln"><a href="#n195">195</a></p>
+<p id="n196" class="stm mis"><a href="#n196">196</a></p>
+<p id="n197" class="stm mis"><a href="#n197">197</a></p>
+<p id="n198" class="stm mis"><a href="#n198">198</a></p>
+<p id="n199" class="stm mis"><a href="#n199">199</a></p>
+<p id="n200" class="stm mis"><a href="#n200">200</a></p>
+<p id="n201" class="stm mis"><a href="#n201">201</a></p>
+<p id="n202" class="stm mis"><a href="#n202">202</a></p>
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+<p id="n204" class="pln"><a href="#n204">204</a></p>
+<p id="n205" class="stm run hide_run"><a href="#n205">205</a></p>
+<p id="n206" class="pln"><a href="#n206">206</a></p>
+<p id="n207" class="pln"><a href="#n207">207</a></p>
+<p id="n208" class="pln"><a href="#n208">208</a></p>
+<p id="n209" class="pln"><a href="#n209">209</a></p>
+<p id="n210" class="pln"><a href="#n210">210</a></p>
+<p id="n211" class="pln"><a href="#n211">211</a></p>
+<p id="n212" class="pln"><a href="#n212">212</a></p>
+<p id="n213" class="pln"><a href="#n213">213</a></p>
+<p id="n214" class="pln"><a href="#n214">214</a></p>
+<p id="n215" class="pln"><a href="#n215">215</a></p>
+<p id="n216" class="stm run hide_run"><a href="#n216">216</a></p>
+<p id="n217" class="stm run hide_run"><a href="#n217">217</a></p>
+<p id="n218" class="stm run hide_run"><a href="#n218">218</a></p>
+<p id="n219" class="stm mis"><a href="#n219">219</a></p>
+<p id="n220" class="stm run hide_run"><a href="#n220">220</a></p>
+<p id="n221" class="stm run hide_run"><a href="#n221">221</a></p>
+<p id="n222" class="stm run hide_run"><a href="#n222">222</a></p>
+<p id="n223" class="stm run hide_run"><a href="#n223">223</a></p>
+<p id="n224" class="stm run hide_run"><a href="#n224">224</a></p>
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+<p id="n226" class="pln"><a href="#n226">226</a></p>
+<p id="n227" class="stm run hide_run"><a href="#n227">227</a></p>
+<p id="n228" class="pln"><a href="#n228">228</a></p>
+<p id="n229" class="pln"><a href="#n229">229</a></p>
+<p id="n230" class="stm mis"><a href="#n230">230</a></p>
+<p id="n231" class="stm mis"><a href="#n231">231</a></p>
+<p id="n232" class="pln"><a href="#n232">232</a></p>
+<p id="n233" class="stm mis"><a href="#n233">233</a></p>
+<p id="n234" class="stm mis"><a href="#n234">234</a></p>
+<p id="n235" class="stm mis"><a href="#n235">235</a></p>
+<p id="n236" class="stm mis"><a href="#n236">236</a></p>
+<p id="n237" class="stm mis"><a href="#n237">237</a></p>
+<p id="n238" class="stm mis"><a href="#n238">238</a></p>
+<p id="n239" class="stm mis"><a href="#n239">239</a></p>
+<p id="n240" class="stm mis"><a href="#n240">240</a></p>
+<p id="n241" class="stm mis"><a href="#n241">241</a></p>
+<p id="n242" class="stm mis"><a href="#n242">242</a></p>
+<p id="n243" class="stm mis"><a href="#n243">243</a></p>
+<p id="n244" class="stm mis"><a href="#n244">244</a></p>
+<p id="n245" class="stm mis"><a href="#n245">245</a></p>
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+<p id="n249" class="stm mis"><a href="#n249">249</a></p>
+<p id="n250" class="stm mis"><a href="#n250">250</a></p>
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+<p id="n253" class="stm mis"><a href="#n253">253</a></p>
+<p id="n254" class="stm mis"><a href="#n254">254</a></p>
+<p id="n255" class="stm mis"><a href="#n255">255</a></p>
+<p id="n256" class="stm mis"><a href="#n256">256</a></p>
+<p id="n257" class="stm mis"><a href="#n257">257</a></p>
+<p id="n258" class="stm mis"><a href="#n258">258</a></p>
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+<p id="n260" class="pln"><a href="#n260">260</a></p>
+<p id="n261" class="stm run hide_run"><a href="#n261">261</a></p>
+<p id="n262" class="pln"><a href="#n262">262</a></p>
+<p id="n263" class="pln"><a href="#n263">263</a></p>
+<p id="n264" class="pln"><a href="#n264">264</a></p>
+<p id="n265" class="pln"><a href="#n265">265</a></p>
+<p id="n266" class="pln"><a href="#n266">266</a></p>
+<p id="n267" class="pln"><a href="#n267">267</a></p>
+<p id="n268" class="pln"><a href="#n268">268</a></p>
+<p id="n269" class="pln"><a href="#n269">269</a></p>
+<p id="n270" class="pln"><a href="#n270">270</a></p>
+<p id="n271" class="pln"><a href="#n271">271</a></p>
+<p id="n272" class="pln"><a href="#n272">272</a></p>
+<p id="n273" class="pln"><a href="#n273">273</a></p>
+<p id="n274" class="pln"><a href="#n274">274</a></p>
+<p id="n275" class="pln"><a href="#n275">275</a></p>
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+<p id="n277" class="stm run hide_run"><a href="#n277">277</a></p>
+<p id="n278" class="stm mis"><a href="#n278">278</a></p>
+<p id="n279" class="stm run hide_run"><a href="#n279">279</a></p>
+<p id="n280" class="stm run hide_run"><a href="#n280">280</a></p>
+<p id="n281" class="stm run hide_run"><a href="#n281">281</a></p>
+<p id="n282" class="stm run hide_run"><a href="#n282">282</a></p>
+<p id="n283" class="stm mis"><a href="#n283">283</a></p>
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+<p id="n285" class="stm run hide_run"><a href="#n285">285</a></p>
+<p id="n286" class="stm run hide_run"><a href="#n286">286</a></p>
+<p id="n287" class="stm run hide_run"><a href="#n287">287</a></p>
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+<p id="n289" class="stm run hide_run"><a href="#n289">289</a></p>
+<p id="n290" class="stm run hide_run"><a href="#n290">290</a></p>
+<p id="n291" class="stm run hide_run"><a href="#n291">291</a></p>
+<p id="n292" class="pln"><a href="#n292">292</a></p>
+<p id="n293" class="stm run hide_run"><a href="#n293">293</a></p>
+<p id="n294" class="pln"><a href="#n294">294</a></p>
+<p id="n295" class="stm run hide_run"><a href="#n295">295</a></p>
+<p id="n296" class="stm run hide_run"><a href="#n296">296</a></p>
+<p id="n297" class="pln"><a href="#n297">297</a></p>
+<p id="n298" class="stm run hide_run"><a href="#n298">298</a></p>
+<p id="n299" class="stm run hide_run"><a href="#n299">299</a></p>
+<p id="n300" class="stm run hide_run"><a href="#n300">300</a></p>
+<p id="n301" class="stm run hide_run"><a href="#n301">301</a></p>
+<p id="n302" class="stm run hide_run"><a href="#n302">302</a></p>
+<p id="n303" class="stm run hide_run"><a href="#n303">303</a></p>
+<p id="n304" class="stm run hide_run"><a href="#n304">304</a></p>
+<p id="n305" class="stm run hide_run"><a href="#n305">305</a></p>
+<p id="n306" class="stm run hide_run"><a href="#n306">306</a></p>
+<p id="n307" class="stm run hide_run"><a href="#n307">307</a></p>
+<p id="n308" class="stm run hide_run"><a href="#n308">308</a></p>
+<p id="n309" class="stm run hide_run"><a href="#n309">309</a></p>
+<p id="n310" class="stm run hide_run"><a href="#n310">310</a></p>
+<p id="n311" class="stm run hide_run"><a href="#n311">311</a></p>
+<p id="n312" class="stm run hide_run"><a href="#n312">312</a></p>
+<p id="n313" class="pln"><a href="#n313">313</a></p>
+<p id="n314" class="stm run hide_run"><a href="#n314">314</a></p>
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+<p id="n316" class="stm mis"><a href="#n316">316</a></p>
+<p id="n317" class="pln"><a href="#n317">317</a></p>
+<p id="n318" class="stm run hide_run"><a href="#n318">318</a></p>
+<p id="n319" class="stm run hide_run"><a href="#n319">319</a></p>
+<p id="n320" class="stm run hide_run"><a href="#n320">320</a></p>
+<p id="n321" class="pln"><a href="#n321">321</a></p>
+<p id="n322" class="pln"><a href="#n322">322</a></p>
+<p id="n323" class="stm run hide_run"><a href="#n323">323</a></p>
+<p id="n324" class="pln"><a href="#n324">324</a></p>
+<p id="n325" class="pln"><a href="#n325">325</a></p>
+<p id="n326" class="pln"><a href="#n326">326</a></p>
+<p id="n327" class="pln"><a href="#n327">327</a></p>
+<p id="n328" class="pln"><a href="#n328">328</a></p>
+<p id="n329" class="pln"><a href="#n329">329</a></p>
+<p id="n330" class="pln"><a href="#n330">330</a></p>
+<p id="n331" class="pln"><a href="#n331">331</a></p>
+<p id="n332" class="pln"><a href="#n332">332</a></p>
+<p id="n333" class="pln"><a href="#n333">333</a></p>
+<p id="n334" class="pln"><a href="#n334">334</a></p>
+<p id="n335" class="pln"><a href="#n335">335</a></p>
+<p id="n336" class="stm run hide_run"><a href="#n336">336</a></p>
+<p id="n337" class="stm run hide_run"><a href="#n337">337</a></p>
+<p id="n338" class="stm run hide_run"><a href="#n338">338</a></p>
+<p id="n339" class="stm run hide_run"><a href="#n339">339</a></p>
+<p id="n340" class="stm run hide_run"><a href="#n340">340</a></p>
+<p id="n341" class="stm run hide_run"><a href="#n341">341</a></p>
+<p id="n342" class="stm run hide_run"><a href="#n342">342</a></p>
+<p id="n343" class="stm run hide_run"><a href="#n343">343</a></p>
+<p id="n344" class="stm run hide_run"><a href="#n344">344</a></p>
+<p id="n345" class="stm run hide_run"><a href="#n345">345</a></p>
+<p id="n346" class="stm run hide_run"><a href="#n346">346</a></p>
+<p id="n347" class="stm mis"><a href="#n347">347</a></p>
+<p id="n348" class="pln"><a href="#n348">348</a></p>
+<p id="n349" class="stm run hide_run"><a href="#n349">349</a></p>
+<p id="n350" class="stm run hide_run"><a href="#n350">350</a></p>
+<p id="n351" class="stm run hide_run"><a href="#n351">351</a></p>
+<p id="n352" class="stm run hide_run"><a href="#n352">352</a></p>
+<p id="n353" class="stm run hide_run"><a href="#n353">353</a></p>
+<p id="n354" class="stm run hide_run"><a href="#n354">354</a></p>
+<p id="n355" class="stm run hide_run"><a href="#n355">355</a></p>
+<p id="n356" class="stm run hide_run"><a href="#n356">356</a></p>
+<p id="n357" class="stm run hide_run"><a href="#n357">357</a></p>
+<p id="n358" class="stm run hide_run"><a href="#n358">358</a></p>
+<p id="n359" class="stm run hide_run"><a href="#n359">359</a></p>
+<p id="n360" class="stm run hide_run"><a href="#n360">360</a></p>
+<p id="n361" class="stm run hide_run"><a href="#n361">361</a></p>
+<p id="n362" class="stm run hide_run"><a href="#n362">362</a></p>
+<p id="n363" class="stm run hide_run"><a href="#n363">363</a></p>
+<p id="n364" class="stm run hide_run"><a href="#n364">364</a></p>
+<p id="n365" class="pln"><a href="#n365">365</a></p>
+<p id="n366" class="pln"><a href="#n366">366</a></p>
+<p id="n367" class="stm run hide_run"><a href="#n367">367</a></p>
+<p id="n368" class="pln"><a href="#n368">368</a></p>
+<p id="n369" class="pln"><a href="#n369">369</a></p>
+<p id="n370" class="stm run hide_run"><a href="#n370">370</a></p>
+<p id="n371" class="stm run hide_run"><a href="#n371">371</a></p>
+<p id="n372" class="stm run hide_run"><a href="#n372">372</a></p>
+<p id="n373" class="stm run hide_run"><a href="#n373">373</a></p>
+<p id="n374" class="stm run hide_run"><a href="#n374">374</a></p>
+<p id="n375" class="pln"><a href="#n375">375</a></p>
+<p id="n376" class="pln"><a href="#n376">376</a></p>
+<p id="n377" class="stm run hide_run"><a href="#n377">377</a></p>
+<p id="n378" class="pln"><a href="#n378">378</a></p>
+<p id="n379" class="pln"><a href="#n379">379</a></p>
+<p id="n380" class="stm run hide_run"><a href="#n380">380</a></p>
+<p id="n381" class="stm run hide_run"><a href="#n381">381</a></p>
+<p id="n382" class="stm run hide_run"><a href="#n382">382</a></p>
+<p id="n383" class="stm run hide_run"><a href="#n383">383</a></p>
+<p id="n384" class="stm run hide_run"><a href="#n384">384</a></p>
+
+ </td>
+ <td class="text">
+<p id="t1" class="pln"><span class="str">"""</span><span class="strut"> </span></p>
+<p id="t2" class="pln"><span class="str">"""</span><span class="strut"> </span></p>
+<p id="t3" class="stm run hide_run"><span class="key">import</span> <span class="nam">numpy</span> <span class="key">as</span> <span class="nam">np</span><span class="strut"> </span></p>
+<p id="t4" class="stm run hide_run"><span class="key">from</span> <span class="nam">navipy</span><span class="op">.</span><span class="nam">maths</span> <span class="key">import</span> <span class="nam">constants</span><span class="strut"> </span></p>
+<p id="t5" class="stm run hide_run"><span class="key">from</span> <span class="nam">navipy</span><span class="op">.</span><span class="nam">maths</span> <span class="key">import</span> <span class="nam">euler</span><span class="strut"> </span></p>
+<p id="t6" class="stm run hide_run"><span class="key">from</span> <span class="nam">navipy</span><span class="op">.</span><span class="nam">maths</span> <span class="key">import</span> <span class="nam">quaternion</span><span class="strut"> </span></p>
+<p id="t7" class="stm run hide_run"><span class="key">from</span> <span class="nam">navipy</span><span class="op">.</span><span class="nam">maths</span><span class="op">.</span><span class="nam">tools</span> <span class="key">import</span> <span class="nam">vector_norm</span><span class="strut"> </span></p>
+<p id="t8" class="stm run hide_run"><span class="key">from</span> <span class="nam">navipy</span><span class="op">.</span><span class="nam">maths</span><span class="op">.</span><span class="nam">tools</span> <span class="key">import</span> <span class="nam">unit_vector</span><span class="strut"> </span></p>
+<p id="t9" class="pln"><span class="strut"> </span></p>
+<p id="t10" class="pln"><span class="strut"> </span></p>
+<p id="t11" class="stm run hide_run"><span class="key">def</span> <span class="nam">translation_matrix</span><span class="op">(</span><span class="nam">direction</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t12" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t13" class="pln"><span class="str"> Return matrix to translate by direction vector</span><span class="strut"> </span></p>
+<p id="t14" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t15" class="pln"> <span class="com"># get 4x4 identity matrix</span><span class="strut"> </span></p>
+<p id="t16" class="stm run hide_run"> <span class="nam">tmatrix</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">identity</span><span class="op">(</span><span class="num">4</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t17" class="pln"> <span class="com"># set the first three rows of the last colum to be the direction vector</span><span class="strut"> </span></p>
+<p id="t18" class="stm run hide_run"> <span class="nam">tmatrix</span><span class="op">[</span><span class="op">:</span><span class="num">3</span><span class="op">,</span> <span class="num">3</span><span class="op">]</span> <span class="op">=</span> <span class="nam">direction</span><span class="op">[</span><span class="op">:</span><span class="num">3</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t19" class="stm run hide_run"> <span class="key">return</span> <span class="nam">tmatrix</span><span class="strut"> </span></p>
+<p id="t20" class="pln"><span class="strut"> </span></p>
+<p id="t21" class="pln"><span class="strut"> </span></p>
+<p id="t22" class="stm run hide_run"><span class="key">def</span> <span class="nam">translation_from_matrix</span><span class="op">(</span><span class="nam">matrix</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t23" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t24" class="pln"><span class="str"> Return translation vector from translation matrix</span><span class="strut"> </span></p>
+<p id="t25" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t26" class="pln"> <span class="com"># returns the first three rows of the last colum in the rotation matrix</span><span class="strut"> </span></p>
+<p id="t27" class="stm run hide_run"> <span class="key">return</span> <span class="nam">np</span><span class="op">.</span><span class="nam">array</span><span class="op">(</span><span class="nam">matrix</span><span class="op">,</span> <span class="nam">copy</span><span class="op">=</span><span class="key">False</span><span class="op">)</span><span class="op">[</span><span class="op">:</span><span class="num">3</span><span class="op">,</span> <span class="num">3</span><span class="op">]</span><span class="op">.</span><span class="nam">copy</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t28" class="pln"><span class="strut"> </span></p>
+<p id="t29" class="pln"><span class="strut"> </span></p>
+<p id="t30" class="stm run hide_run"><span class="key">def</span> <span class="nam">reflection_matrix</span><span class="op">(</span><span class="nam">point</span><span class="op">,</span> <span class="nam">normal</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t31" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t32" class="pln"><span class="str"> Return matrix to mirror at plane defined by point and normal vector</span><span class="strut"> </span></p>
+<p id="t33" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t34" class="pln"> <span class="com"># use only the first three columns of the normal vector</span><span class="strut"> </span></p>
+<p id="t35" class="stm run hide_run"> <span class="nam">normal</span> <span class="op">=</span> <span class="nam">unit_vector</span><span class="op">(</span><span class="nam">normal</span><span class="op">[</span><span class="op">:</span><span class="num">3</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t36" class="pln"> <span class="com"># get 4x4 identity matrix</span><span class="strut"> </span></p>
+<p id="t37" class="stm run hide_run"> <span class="nam">M</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">identity</span><span class="op">(</span><span class="num">4</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t38" class="pln"> <span class="com"># substract two times the outer product of the normal vector from the \</span><span class="strut"> </span></p>
+<p id="t39" class="pln"> <span class="com"># upper left 3x3 matrix of the unit matrix to</span><span class="strut"> </span></p>
+<p id="t40" class="stm run hide_run"> <span class="nam">M</span><span class="op">[</span><span class="op">:</span><span class="num">3</span><span class="op">,</span> <span class="op">:</span><span class="num">3</span><span class="op">]</span> <span class="op">-=</span> <span class="num">2.0</span> <span class="op">*</span> <span class="nam">np</span><span class="op">.</span><span class="nam">outer</span><span class="op">(</span><span class="nam">normal</span><span class="op">,</span> <span class="nam">normal</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t41" class="pln"> <span class="com"># set the fourth column of the resutlting matrix to 2* the dot product of \</span><span class="strut"> </span></p>
+<p id="t42" class="pln"> <span class="com"># the point and the normal vector times the noraml vector</span><span class="strut"> </span></p>
+<p id="t43" class="stm run hide_run"> <span class="nam">M</span><span class="op">[</span><span class="op">:</span><span class="num">3</span><span class="op">,</span> <span class="num">3</span><span class="op">]</span> <span class="op">=</span> <span class="op">(</span><span class="num">2.0</span> <span class="op">*</span> <span class="nam">np</span><span class="op">.</span><span class="nam">dot</span><span class="op">(</span><span class="nam">point</span><span class="op">[</span><span class="op">:</span><span class="num">3</span><span class="op">]</span><span class="op">,</span> <span class="nam">normal</span><span class="op">)</span><span class="op">)</span> <span class="op">*</span> <span class="nam">normal</span><span class="strut"> </span></p>
+<p id="t44" class="stm run hide_run"> <span class="key">return</span> <span class="nam">M</span><span class="strut"> </span></p>
+<p id="t45" class="pln"><span class="strut"> </span></p>
+<p id="t46" class="pln"><span class="strut"> </span></p>
+<p id="t47" class="stm run hide_run"><span class="key">def</span> <span class="nam">reflection_from_matrix</span><span class="op">(</span><span class="nam">matrix</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t48" class="pln"> <span class="str">"""Return mirror plane point and normal vector from reflection matrix.</span><span class="strut"> </span></p>
+<p id="t49" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t50" class="pln"> <span class="com"># pointer to matrix (same as input)</span><span class="strut"> </span></p>
+<p id="t51" class="stm run hide_run"> <span class="nam">M</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">array</span><span class="op">(</span><span class="nam">matrix</span><span class="op">,</span> <span class="nam">dtype</span><span class="op">=</span><span class="nam">np</span><span class="op">.</span><span class="nam">float64</span><span class="op">,</span> <span class="nam">copy</span><span class="op">=</span><span class="key">False</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t52" class="pln"> <span class="com"># normal: unit eigenvector corresponding to eigenvalue -1</span><span class="strut"> </span></p>
+<p id="t53" class="stm run hide_run"> <span class="nam">w</span><span class="op">,</span> <span class="nam">V</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">linalg</span><span class="op">.</span><span class="nam">eig</span><span class="op">(</span><span class="nam">M</span><span class="op">[</span><span class="op">:</span><span class="num">3</span><span class="op">,</span> <span class="op">:</span><span class="num">3</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t54" class="pln"> <span class="com"># get eigenvectors with eigenvalue close to length 1 -> unit eigenvector; \</span><span class="strut"> </span></p>
+<p id="t55" class="pln"> <span class="com"># only for the upper left 3x3 part</span><span class="strut"> </span></p>
+<p id="t56" class="stm run hide_run"> <span class="nam">i</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">where</span><span class="op">(</span><span class="nam">abs</span><span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">real</span><span class="op">(</span><span class="nam">w</span><span class="op">)</span> <span class="op">+</span> <span class="num">1.0</span><span class="op">)</span> <span class="op"><</span> <span class="num">1e-8</span><span class="op">)</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t57" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="nam">len</span><span class="op">(</span><span class="nam">i</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t58" class="stm mis"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="str">"no unit eigenvector corresponding to eigenvalue -1"</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t59" class="pln"> <span class="com"># choose only first of unit length eigenvectors</span><span class="strut"> </span></p>
+<p id="t60" class="stm run hide_run"> <span class="nam">normal</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">real</span><span class="op">(</span><span class="nam">V</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="nam">i</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">]</span><span class="op">)</span><span class="op">.</span><span class="nam">squeeze</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t61" class="pln"> <span class="com"># point: any unit eigenvector corresponding to eigenvalue 1</span><span class="strut"> </span></p>
+<p id="t62" class="pln"> <span class="com"># find eigenvector with unit length for whole matrix</span><span class="strut"> </span></p>
+<p id="t63" class="stm run hide_run"> <span class="nam">w</span><span class="op">,</span> <span class="nam">V</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">linalg</span><span class="op">.</span><span class="nam">eig</span><span class="op">(</span><span class="nam">M</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t64" class="stm run hide_run"> <span class="nam">i</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">where</span><span class="op">(</span><span class="nam">abs</span><span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">real</span><span class="op">(</span><span class="nam">w</span><span class="op">)</span> <span class="op">-</span> <span class="num">1.0</span><span class="op">)</span> <span class="op"><</span> <span class="num">1e-8</span><span class="op">)</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t65" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="nam">len</span><span class="op">(</span><span class="nam">i</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t66" class="stm mis"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="str">"no unit eigenvector corresponding to eigenvalue 1"</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t67" class="pln"> <span class="com"># choose last of the unit length eigenvectors</span><span class="strut"> </span></p>
+<p id="t68" class="stm run hide_run"> <span class="nam">point</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">real</span><span class="op">(</span><span class="nam">V</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="nam">i</span><span class="op">[</span><span class="op">-</span><span class="num">1</span><span class="op">]</span><span class="op">]</span><span class="op">)</span><span class="op">.</span><span class="nam">squeeze</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t69" class="stm run hide_run"> <span class="nam">point</span> <span class="op">/=</span> <span class="nam">point</span><span class="op">[</span><span class="num">3</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t70" class="stm run hide_run"> <span class="key">return</span> <span class="nam">point</span><span class="op">,</span> <span class="nam">normal</span><span class="strut"> </span></p>
+<p id="t71" class="pln"><span class="strut"> </span></p>
+<p id="t72" class="pln"><span class="strut"> </span></p>
+<p id="t73" class="stm run hide_run"><span class="key">def</span> <span class="nam">scale_matrix</span><span class="op">(</span><span class="nam">factor</span><span class="op">,</span> <span class="nam">origin</span><span class="op">=</span><span class="key">None</span><span class="op">,</span> <span class="nam">direction</span><span class="op">=</span><span class="key">None</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t74" class="pln"> <span class="str">"""Return matrix to scale by factor around origin in direction.</span><span class="strut"> </span></p>
+<p id="t75" class="pln"><span class="str"> Use factor -1 for point symmetry.</span><span class="strut"> </span></p>
+<p id="t76" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t77" class="stm run hide_run"> <span class="key">if</span> <span class="nam">direction</span> <span class="key">is</span> <span class="key">None</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t78" class="pln"> <span class="com"># uniform scaling</span><span class="strut"> </span></p>
+<p id="t79" class="stm run hide_run"> <span class="nam">M</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">diag</span><span class="op">(</span><span class="op">[</span><span class="nam">factor</span><span class="op">,</span> <span class="nam">factor</span><span class="op">,</span> <span class="nam">factor</span><span class="op">,</span> <span class="num">1.0</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t80" class="stm run hide_run"> <span class="key">if</span> <span class="nam">origin</span> <span class="key">is</span> <span class="key">not</span> <span class="key">None</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t81" class="stm run hide_run"> <span class="nam">M</span><span class="op">[</span><span class="op">:</span><span class="num">3</span><span class="op">,</span> <span class="num">3</span><span class="op">]</span> <span class="op">=</span> <span class="nam">origin</span><span class="op">[</span><span class="op">:</span><span class="num">3</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t82" class="stm run hide_run"> <span class="nam">M</span><span class="op">[</span><span class="op">:</span><span class="num">3</span><span class="op">,</span> <span class="num">3</span><span class="op">]</span> <span class="op">*=</span> <span class="num">1.0</span> <span class="op">-</span> <span class="nam">factor</span><span class="strut"> </span></p>
+<p id="t83" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t84" class="pln"> <span class="com"># nonuniform scaling</span><span class="strut"> </span></p>
+<p id="t85" class="stm run hide_run"> <span class="nam">direction</span> <span class="op">=</span> <span class="nam">unit_vector</span><span class="op">(</span><span class="nam">direction</span><span class="op">[</span><span class="op">:</span><span class="num">3</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t86" class="stm run hide_run"> <span class="nam">factor</span> <span class="op">=</span> <span class="num">1.0</span> <span class="op">-</span> <span class="nam">factor</span><span class="strut"> </span></p>
+<p id="t87" class="stm run hide_run"> <span class="nam">M</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">identity</span><span class="op">(</span><span class="num">4</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t88" class="stm run hide_run"> <span class="nam">M</span><span class="op">[</span><span class="op">:</span><span class="num">3</span><span class="op">,</span> <span class="op">:</span><span class="num">3</span><span class="op">]</span> <span class="op">-=</span> <span class="nam">factor</span> <span class="op">*</span> <span class="nam">np</span><span class="op">.</span><span class="nam">outer</span><span class="op">(</span><span class="nam">direction</span><span class="op">,</span> <span class="nam">direction</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t89" class="stm run hide_run"> <span class="key">if</span> <span class="nam">origin</span> <span class="key">is</span> <span class="key">not</span> <span class="key">None</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t90" class="stm run hide_run"> <span class="nam">M</span><span class="op">[</span><span class="op">:</span><span class="num">3</span><span class="op">,</span> <span class="num">3</span><span class="op">]</span> <span class="op">=</span> <span class="op">(</span><span class="nam">factor</span> <span class="op">*</span> <span class="nam">np</span><span class="op">.</span><span class="nam">dot</span><span class="op">(</span><span class="nam">origin</span><span class="op">[</span><span class="op">:</span><span class="num">3</span><span class="op">]</span><span class="op">,</span> <span class="nam">direction</span><span class="op">)</span><span class="op">)</span> <span class="op">*</span> <span class="nam">direction</span><span class="strut"> </span></p>
+<p id="t91" class="stm run hide_run"> <span class="key">return</span> <span class="nam">M</span><span class="strut"> </span></p>
+<p id="t92" class="pln"><span class="strut"> </span></p>
+<p id="t93" class="pln"><span class="strut"> </span></p>
+<p id="t94" class="stm run hide_run"><span class="key">def</span> <span class="nam">scale_from_matrix</span><span class="op">(</span><span class="nam">matrix</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t95" class="pln"> <span class="str">"""Return scaling factor, origin and direction from scaling matrix. """</span><span class="strut"> </span></p>
+<p id="t96" class="stm run hide_run"> <span class="nam">M</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">array</span><span class="op">(</span><span class="nam">matrix</span><span class="op">,</span> <span class="nam">dtype</span><span class="op">=</span><span class="nam">np</span><span class="op">.</span><span class="nam">float64</span><span class="op">,</span> <span class="nam">copy</span><span class="op">=</span><span class="key">False</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t97" class="stm run hide_run"> <span class="nam">M33</span> <span class="op">=</span> <span class="nam">M</span><span class="op">[</span><span class="op">:</span><span class="num">3</span><span class="op">,</span> <span class="op">:</span><span class="num">3</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t98" class="stm run hide_run"> <span class="nam">factor</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">trace</span><span class="op">(</span><span class="nam">M33</span><span class="op">)</span> <span class="op">-</span> <span class="num">2.0</span><span class="strut"> </span></p>
+<p id="t99" class="stm run hide_run"> <span class="key">try</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t100" class="pln"> <span class="com"># direction: unit eigenvector corresponding to eigenvalue factor</span><span class="strut"> </span></p>
+<p id="t101" class="stm run hide_run"> <span class="nam">w</span><span class="op">,</span> <span class="nam">V</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">linalg</span><span class="op">.</span><span class="nam">eig</span><span class="op">(</span><span class="nam">M33</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t102" class="stm run hide_run"> <span class="nam">i</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">where</span><span class="op">(</span><span class="nam">abs</span><span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">real</span><span class="op">(</span><span class="nam">w</span><span class="op">)</span> <span class="op">-</span> <span class="nam">factor</span><span class="op">)</span> <span class="op"><</span> <span class="num">1e-8</span><span class="op">)</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t103" class="stm run hide_run"> <span class="nam">direction</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">real</span><span class="op">(</span><span class="nam">V</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="nam">i</span><span class="op">]</span><span class="op">)</span><span class="op">.</span><span class="nam">squeeze</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t104" class="stm run hide_run"> <span class="nam">direction</span> <span class="op">/=</span> <span class="nam">vector_norm</span><span class="op">(</span><span class="nam">direction</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t105" class="stm run hide_run"> <span class="key">except</span> <span class="nam">IndexError</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t106" class="pln"> <span class="com"># uniform scaling</span><span class="strut"> </span></p>
+<p id="t107" class="stm run hide_run"> <span class="nam">factor</span> <span class="op">=</span> <span class="op">(</span><span class="nam">factor</span> <span class="op">+</span> <span class="num">2.0</span><span class="op">)</span> <span class="op">/</span> <span class="num">3.0</span><span class="strut"> </span></p>
+<p id="t108" class="stm run hide_run"> <span class="nam">direction</span> <span class="op">=</span> <span class="key">None</span><span class="strut"> </span></p>
+<p id="t109" class="pln"> <span class="com"># origin: any eigenvector corresponding to eigenvalue 1</span><span class="strut"> </span></p>
+<p id="t110" class="stm run hide_run"> <span class="nam">w</span><span class="op">,</span> <span class="nam">V</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">linalg</span><span class="op">.</span><span class="nam">eig</span><span class="op">(</span><span class="nam">M</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t111" class="stm run hide_run"> <span class="nam">i</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">where</span><span class="op">(</span><span class="nam">abs</span><span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">real</span><span class="op">(</span><span class="nam">w</span><span class="op">)</span> <span class="op">-</span> <span class="num">1.0</span><span class="op">)</span> <span class="op"><</span> <span class="num">1e-8</span><span class="op">)</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t112" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="nam">len</span><span class="op">(</span><span class="nam">i</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t113" class="stm mis"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="str">"no eigenvector corresponding to eigenvalue 1"</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t114" class="stm run hide_run"> <span class="nam">origin</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">real</span><span class="op">(</span><span class="nam">V</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="nam">i</span><span class="op">[</span><span class="op">-</span><span class="num">1</span><span class="op">]</span><span class="op">]</span><span class="op">)</span><span class="op">.</span><span class="nam">squeeze</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t115" class="stm run hide_run"> <span class="nam">origin</span> <span class="op">/=</span> <span class="nam">origin</span><span class="op">[</span><span class="num">3</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t116" class="stm run hide_run"> <span class="key">return</span> <span class="nam">factor</span><span class="op">,</span> <span class="nam">origin</span><span class="op">,</span> <span class="nam">direction</span><span class="strut"> </span></p>
+<p id="t117" class="pln"><span class="strut"> </span></p>
+<p id="t118" class="pln"><span class="strut"> </span></p>
+<p id="t119" class="stm run hide_run"><span class="key">def</span> <span class="nam">projection_matrix</span><span class="op">(</span><span class="nam">point</span><span class="op">,</span> <span class="nam">normal</span><span class="op">,</span> <span class="nam">direction</span><span class="op">=</span><span class="key">None</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t120" class="pln"> <span class="nam">perspective</span><span class="op">=</span><span class="key">None</span><span class="op">,</span> <span class="nam">pseudo</span><span class="op">=</span><span class="key">False</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t121" class="pln"> <span class="str">"""Return matrix to project onto plane defined by point and normal.</span><span class="strut"> </span></p>
+<p id="t122" class="pln"><span class="strut"> </span></p>
+<p id="t123" class="pln"><span class="str"> Using either perspective point, projection direction, or none of both.</span><span class="strut"> </span></p>
+<p id="t124" class="pln"><span class="strut"> </span></p>
+<p id="t125" class="pln"><span class="str"> If pseudo is True, perspective projections will preserve relative depth</span><span class="strut"> </span></p>
+<p id="t126" class="pln"><span class="str"> such that Perspective = dot(Orthogonal, PseudoPerspective).</span><span class="strut"> </span></p>
+<p id="t127" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t128" class="stm run hide_run"> <span class="nam">M</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">identity</span><span class="op">(</span><span class="num">4</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t129" class="stm run hide_run"> <span class="nam">point</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">array</span><span class="op">(</span><span class="nam">point</span><span class="op">[</span><span class="op">:</span><span class="num">3</span><span class="op">]</span><span class="op">,</span> <span class="nam">dtype</span><span class="op">=</span><span class="nam">np</span><span class="op">.</span><span class="nam">float64</span><span class="op">,</span> <span class="nam">copy</span><span class="op">=</span><span class="key">False</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t130" class="stm run hide_run"> <span class="nam">normal</span> <span class="op">=</span> <span class="nam">unit_vector</span><span class="op">(</span><span class="nam">normal</span><span class="op">[</span><span class="op">:</span><span class="num">3</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t131" class="stm run hide_run"> <span class="key">if</span> <span class="nam">perspective</span> <span class="key">is</span> <span class="key">not</span> <span class="key">None</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t132" class="pln"> <span class="com"># perspective projection</span><span class="strut"> </span></p>
+<p id="t133" class="stm run hide_run"> <span class="nam">perspective</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">array</span><span class="op">(</span><span class="nam">perspective</span><span class="op">[</span><span class="op">:</span><span class="num">3</span><span class="op">]</span><span class="op">,</span> <span class="nam">dtype</span><span class="op">=</span><span class="nam">np</span><span class="op">.</span><span class="nam">float64</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t134" class="pln"> <span class="nam">copy</span><span class="op">=</span><span class="key">False</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t135" class="stm run hide_run"> <span class="nam">M</span><span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span> <span class="op">=</span> <span class="nam">M</span><span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">1</span><span class="op">]</span> <span class="op">=</span> <span class="nam">M</span><span class="op">[</span><span class="num">2</span><span class="op">,</span> <span class="num">2</span><span class="op">]</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">dot</span><span class="op">(</span><span class="nam">perspective</span> <span class="op">-</span> <span class="nam">point</span><span class="op">,</span> <span class="nam">normal</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t136" class="stm run hide_run"> <span class="nam">M</span><span class="op">[</span><span class="op">:</span><span class="num">3</span><span class="op">,</span> <span class="op">:</span><span class="num">3</span><span class="op">]</span> <span class="op">-=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">outer</span><span class="op">(</span><span class="nam">perspective</span><span class="op">,</span> <span class="nam">normal</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t137" class="stm run hide_run"> <span class="key">if</span> <span class="nam">pseudo</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t138" class="pln"> <span class="com"># preserve relative depth</span><span class="strut"> </span></p>
+<p id="t139" class="stm run hide_run"> <span class="nam">M</span><span class="op">[</span><span class="op">:</span><span class="num">3</span><span class="op">,</span> <span class="op">:</span><span class="num">3</span><span class="op">]</span> <span class="op">-=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">outer</span><span class="op">(</span><span class="nam">normal</span><span class="op">,</span> <span class="nam">normal</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t140" class="stm run hide_run"> <span class="nam">M</span><span class="op">[</span><span class="op">:</span><span class="num">3</span><span class="op">,</span> <span class="num">3</span><span class="op">]</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">dot</span><span class="op">(</span><span class="nam">point</span><span class="op">,</span> <span class="nam">normal</span><span class="op">)</span> <span class="op">*</span> <span class="op">(</span><span class="nam">perspective</span> <span class="op">+</span> <span class="nam">normal</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t141" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t142" class="stm run hide_run"> <span class="nam">M</span><span class="op">[</span><span class="op">:</span><span class="num">3</span><span class="op">,</span> <span class="num">3</span><span class="op">]</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">dot</span><span class="op">(</span><span class="nam">point</span><span class="op">,</span> <span class="nam">normal</span><span class="op">)</span> <span class="op">*</span> <span class="nam">perspective</span><span class="strut"> </span></p>
+<p id="t143" class="stm run hide_run"> <span class="nam">M</span><span class="op">[</span><span class="num">3</span><span class="op">,</span> <span class="op">:</span><span class="num">3</span><span class="op">]</span> <span class="op">=</span> <span class="op">-</span><span class="nam">normal</span><span class="strut"> </span></p>
+<p id="t144" class="stm run hide_run"> <span class="nam">M</span><span class="op">[</span><span class="num">3</span><span class="op">,</span> <span class="num">3</span><span class="op">]</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">dot</span><span class="op">(</span><span class="nam">perspective</span><span class="op">,</span> <span class="nam">normal</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t145" class="stm run hide_run"> <span class="key">elif</span> <span class="nam">direction</span> <span class="key">is</span> <span class="key">not</span> <span class="key">None</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t146" class="pln"> <span class="com"># parallel projection</span><span class="strut"> </span></p>
+<p id="t147" class="stm run hide_run"> <span class="nam">direction</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">array</span><span class="op">(</span><span class="nam">direction</span><span class="op">[</span><span class="op">:</span><span class="num">3</span><span class="op">]</span><span class="op">,</span> <span class="nam">dtype</span><span class="op">=</span><span class="nam">np</span><span class="op">.</span><span class="nam">float64</span><span class="op">,</span> <span class="nam">copy</span><span class="op">=</span><span class="key">False</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t148" class="stm run hide_run"> <span class="nam">scale</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">dot</span><span class="op">(</span><span class="nam">direction</span><span class="op">,</span> <span class="nam">normal</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t149" class="stm run hide_run"> <span class="nam">M</span><span class="op">[</span><span class="op">:</span><span class="num">3</span><span class="op">,</span> <span class="op">:</span><span class="num">3</span><span class="op">]</span> <span class="op">-=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">outer</span><span class="op">(</span><span class="nam">direction</span><span class="op">,</span> <span class="nam">normal</span><span class="op">)</span> <span class="op">/</span> <span class="nam">scale</span><span class="strut"> </span></p>
+<p id="t150" class="stm run hide_run"> <span class="nam">M</span><span class="op">[</span><span class="op">:</span><span class="num">3</span><span class="op">,</span> <span class="num">3</span><span class="op">]</span> <span class="op">=</span> <span class="nam">direction</span> <span class="op">*</span> <span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">dot</span><span class="op">(</span><span class="nam">point</span><span class="op">,</span> <span class="nam">normal</span><span class="op">)</span> <span class="op">/</span> <span class="nam">scale</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t151" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t152" class="pln"> <span class="com"># orthogonal projection</span><span class="strut"> </span></p>
+<p id="t153" class="stm run hide_run"> <span class="nam">M</span><span class="op">[</span><span class="op">:</span><span class="num">3</span><span class="op">,</span> <span class="op">:</span><span class="num">3</span><span class="op">]</span> <span class="op">-=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">outer</span><span class="op">(</span><span class="nam">normal</span><span class="op">,</span> <span class="nam">normal</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t154" class="stm run hide_run"> <span class="nam">M</span><span class="op">[</span><span class="op">:</span><span class="num">3</span><span class="op">,</span> <span class="num">3</span><span class="op">]</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">dot</span><span class="op">(</span><span class="nam">point</span><span class="op">,</span> <span class="nam">normal</span><span class="op">)</span> <span class="op">*</span> <span class="nam">normal</span><span class="strut"> </span></p>
+<p id="t155" class="stm run hide_run"> <span class="key">return</span> <span class="nam">M</span><span class="strut"> </span></p>
+<p id="t156" class="pln"><span class="strut"> </span></p>
+<p id="t157" class="pln"><span class="strut"> </span></p>
+<p id="t158" class="stm run hide_run"><span class="key">def</span> <span class="nam">projection_from_matrix</span><span class="op">(</span><span class="nam">matrix</span><span class="op">,</span> <span class="nam">pseudo</span><span class="op">=</span><span class="key">False</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t159" class="pln"> <span class="str">"""Return projection plane and perspective point from projection matrix.</span><span class="strut"> </span></p>
+<p id="t160" class="pln"><span class="strut"> </span></p>
+<p id="t161" class="pln"><span class="str"> Return values are same as arguments for projection_matrix function:</span><span class="strut"> </span></p>
+<p id="t162" class="pln"><span class="str"> point, normal, direction, perspective, and pseudo.</span><span class="strut"> </span></p>
+<p id="t163" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t164" class="stm run hide_run"> <span class="nam">M</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">array</span><span class="op">(</span><span class="nam">matrix</span><span class="op">,</span> <span class="nam">dtype</span><span class="op">=</span><span class="nam">np</span><span class="op">.</span><span class="nam">float64</span><span class="op">,</span> <span class="nam">copy</span><span class="op">=</span><span class="key">False</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t165" class="stm run hide_run"> <span class="nam">M33</span> <span class="op">=</span> <span class="nam">M</span><span class="op">[</span><span class="op">:</span><span class="num">3</span><span class="op">,</span> <span class="op">:</span><span class="num">3</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t166" class="stm run hide_run"> <span class="nam">w</span><span class="op">,</span> <span class="nam">V</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">linalg</span><span class="op">.</span><span class="nam">eig</span><span class="op">(</span><span class="nam">M</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t167" class="stm run hide_run"> <span class="nam">i</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">where</span><span class="op">(</span><span class="nam">abs</span><span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">real</span><span class="op">(</span><span class="nam">w</span><span class="op">)</span> <span class="op">-</span> <span class="num">1.0</span><span class="op">)</span> <span class="op"><</span> <span class="num">1e-8</span><span class="op">)</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t168" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="nam">pseudo</span> <span class="key">and</span> <span class="nam">len</span><span class="op">(</span><span class="nam">i</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t169" class="pln"> <span class="com"># point: any eigenvector corresponding to eigenvalue 1</span><span class="strut"> </span></p>
+<p id="t170" class="stm run hide_run"> <span class="nam">point</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">real</span><span class="op">(</span><span class="nam">V</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="nam">i</span><span class="op">[</span><span class="op">-</span><span class="num">1</span><span class="op">]</span><span class="op">]</span><span class="op">)</span><span class="op">.</span><span class="nam">squeeze</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t171" class="stm run hide_run"> <span class="nam">point</span> <span class="op">/=</span> <span class="nam">point</span><span class="op">[</span><span class="num">3</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t172" class="pln"> <span class="com"># direction: unit eigenvector corresponding to eigenvalue 0</span><span class="strut"> </span></p>
+<p id="t173" class="stm run hide_run"> <span class="nam">w</span><span class="op">,</span> <span class="nam">V</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">linalg</span><span class="op">.</span><span class="nam">eig</span><span class="op">(</span><span class="nam">M33</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t174" class="stm run hide_run"> <span class="nam">i</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">where</span><span class="op">(</span><span class="nam">abs</span><span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">real</span><span class="op">(</span><span class="nam">w</span><span class="op">)</span><span class="op">)</span> <span class="op"><</span> <span class="num">1e-8</span><span class="op">)</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t175" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="nam">len</span><span class="op">(</span><span class="nam">i</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t176" class="stm mis"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="str">"no eigenvector corresponding to eigenvalue 0"</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t177" class="stm run hide_run"> <span class="nam">direction</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">real</span><span class="op">(</span><span class="nam">V</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="nam">i</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">]</span><span class="op">)</span><span class="op">.</span><span class="nam">squeeze</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t178" class="stm run hide_run"> <span class="nam">direction</span> <span class="op">/=</span> <span class="nam">vector_norm</span><span class="op">(</span><span class="nam">direction</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t179" class="pln"> <span class="com"># normal: unit eigenvector of M33.T corresponding to eigenvalue 0</span><span class="strut"> </span></p>
+<p id="t180" class="stm run hide_run"> <span class="nam">w</span><span class="op">,</span> <span class="nam">V</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">linalg</span><span class="op">.</span><span class="nam">eig</span><span class="op">(</span><span class="nam">M33</span><span class="op">.</span><span class="nam">T</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t181" class="stm run hide_run"> <span class="nam">i</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">where</span><span class="op">(</span><span class="nam">abs</span><span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">real</span><span class="op">(</span><span class="nam">w</span><span class="op">)</span><span class="op">)</span> <span class="op"><</span> <span class="num">1e-8</span><span class="op">)</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t182" class="stm run hide_run"> <span class="key">if</span> <span class="nam">len</span><span class="op">(</span><span class="nam">i</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t183" class="pln"> <span class="com"># parallel projection</span><span class="strut"> </span></p>
+<p id="t184" class="stm run hide_run"> <span class="nam">normal</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">real</span><span class="op">(</span><span class="nam">V</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="nam">i</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">]</span><span class="op">)</span><span class="op">.</span><span class="nam">squeeze</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t185" class="stm run hide_run"> <span class="nam">normal</span> <span class="op">/=</span> <span class="nam">vector_norm</span><span class="op">(</span><span class="nam">normal</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t186" class="stm run hide_run"> <span class="key">return</span> <span class="nam">point</span><span class="op">,</span> <span class="nam">normal</span><span class="op">,</span> <span class="nam">direction</span><span class="op">,</span> <span class="key">None</span><span class="op">,</span> <span class="key">False</span><span class="strut"> </span></p>
+<p id="t187" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t188" class="pln"> <span class="com"># orthogonal projection, where normal equals direction vector</span><span class="strut"> </span></p>
+<p id="t189" class="stm mis"> <span class="key">return</span> <span class="nam">point</span><span class="op">,</span> <span class="nam">direction</span><span class="op">,</span> <span class="key">None</span><span class="op">,</span> <span class="key">None</span><span class="op">,</span> <span class="key">False</span><span class="strut"> </span></p>
+<p id="t190" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t191" class="pln"> <span class="com"># perspective projection</span><span class="strut"> </span></p>
+<p id="t192" class="stm mis"> <span class="nam">i</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">where</span><span class="op">(</span><span class="nam">abs</span><span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">real</span><span class="op">(</span><span class="nam">w</span><span class="op">)</span><span class="op">)</span> <span class="op">></span> <span class="num">1e-8</span><span class="op">)</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t193" class="stm mis"> <span class="key">if</span> <span class="key">not</span> <span class="nam">len</span><span class="op">(</span><span class="nam">i</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t194" class="stm mis"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t195" class="pln"> <span class="str">"no eigenvector not corresponding to eigenvalue 0"</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t196" class="stm mis"> <span class="nam">point</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">real</span><span class="op">(</span><span class="nam">V</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="nam">i</span><span class="op">[</span><span class="op">-</span><span class="num">1</span><span class="op">]</span><span class="op">]</span><span class="op">)</span><span class="op">.</span><span class="nam">squeeze</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t197" class="stm mis"> <span class="nam">point</span> <span class="op">/=</span> <span class="nam">point</span><span class="op">[</span><span class="num">3</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t198" class="stm mis"> <span class="nam">normal</span> <span class="op">=</span> <span class="op">-</span> <span class="nam">M</span><span class="op">[</span><span class="num">3</span><span class="op">,</span> <span class="op">:</span><span class="num">3</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t199" class="stm mis"> <span class="nam">perspective</span> <span class="op">=</span> <span class="nam">M</span><span class="op">[</span><span class="op">:</span><span class="num">3</span><span class="op">,</span> <span class="num">3</span><span class="op">]</span> <span class="op">/</span> <span class="nam">np</span><span class="op">.</span><span class="nam">dot</span><span class="op">(</span><span class="nam">point</span><span class="op">[</span><span class="op">:</span><span class="num">3</span><span class="op">]</span><span class="op">,</span> <span class="nam">normal</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t200" class="stm mis"> <span class="key">if</span> <span class="nam">pseudo</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t201" class="stm mis"> <span class="nam">perspective</span> <span class="op">-=</span> <span class="nam">normal</span><span class="strut"> </span></p>
+<p id="t202" class="stm mis"> <span class="key">return</span> <span class="nam">point</span><span class="op">,</span> <span class="nam">normal</span><span class="op">,</span> <span class="key">None</span><span class="op">,</span> <span class="nam">perspective</span><span class="op">,</span> <span class="nam">pseudo</span><span class="strut"> </span></p>
+<p id="t203" class="pln"><span class="strut"> </span></p>
+<p id="t204" class="pln"><span class="strut"> </span></p>
+<p id="t205" class="stm run hide_run"><span class="key">def</span> <span class="nam">shear_matrix</span><span class="op">(</span><span class="nam">angle</span><span class="op">,</span> <span class="nam">direction</span><span class="op">,</span> <span class="nam">point</span><span class="op">,</span> <span class="nam">normal</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t206" class="pln"> <span class="str">"""Return matrix to shear by angle along direction vector on shear plane.</span><span class="strut"> </span></p>
+<p id="t207" class="pln"><span class="strut"> </span></p>
+<p id="t208" class="pln"><span class="str"> The shear plane is defined by a point and normal vector. The direction</span><span class="strut"> </span></p>
+<p id="t209" class="pln"><span class="str"> vector must be orthogonal to the plane's normal vector.</span><span class="strut"> </span></p>
+<p id="t210" class="pln"><span class="strut"> </span></p>
+<p id="t211" class="pln"><span class="str"> A point P is transformed by the shear matrix into P" such that</span><span class="strut"> </span></p>
+<p id="t212" class="pln"><span class="str"> the vector P-P" is parallel to the direction vector and its extent is</span><span class="strut"> </span></p>
+<p id="t213" class="pln"><span class="str"> given by the angle of P-P'-P", where P' is the orthogonal projection</span><span class="strut"> </span></p>
+<p id="t214" class="pln"><span class="str"> of P onto the shear plane.</span><span class="strut"> </span></p>
+<p id="t215" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t216" class="stm run hide_run"> <span class="nam">normal</span> <span class="op">=</span> <span class="nam">unit_vector</span><span class="op">(</span><span class="nam">normal</span><span class="op">[</span><span class="op">:</span><span class="num">3</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t217" class="stm run hide_run"> <span class="nam">direction</span> <span class="op">=</span> <span class="nam">unit_vector</span><span class="op">(</span><span class="nam">direction</span><span class="op">[</span><span class="op">:</span><span class="num">3</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t218" class="stm run hide_run"> <span class="key">if</span> <span class="nam">abs</span><span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">dot</span><span class="op">(</span><span class="nam">normal</span><span class="op">,</span> <span class="nam">direction</span><span class="op">)</span><span class="op">)</span> <span class="op">></span> <span class="nam">constants</span><span class="op">.</span><span class="nam">_EPS</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t219" class="stm mis"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="str">"direction and normal vectors are not orthogonal"</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t220" class="stm run hide_run"> <span class="nam">angle</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">tan</span><span class="op">(</span><span class="nam">angle</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t221" class="stm run hide_run"> <span class="nam">M</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">identity</span><span class="op">(</span><span class="num">4</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t222" class="stm run hide_run"> <span class="nam">M</span><span class="op">[</span><span class="op">:</span><span class="num">3</span><span class="op">,</span> <span class="op">:</span><span class="num">3</span><span class="op">]</span> <span class="op">+=</span> <span class="nam">angle</span> <span class="op">*</span> <span class="nam">np</span><span class="op">.</span><span class="nam">outer</span><span class="op">(</span><span class="nam">direction</span><span class="op">,</span> <span class="nam">normal</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t223" class="stm run hide_run"> <span class="nam">M</span><span class="op">[</span><span class="op">:</span><span class="num">3</span><span class="op">,</span> <span class="num">3</span><span class="op">]</span> <span class="op">=</span> <span class="op">-</span><span class="nam">angle</span> <span class="op">*</span> <span class="nam">np</span><span class="op">.</span><span class="nam">dot</span><span class="op">(</span><span class="nam">point</span><span class="op">[</span><span class="op">:</span><span class="num">3</span><span class="op">]</span><span class="op">,</span> <span class="nam">normal</span><span class="op">)</span> <span class="op">*</span> <span class="nam">direction</span><span class="strut"> </span></p>
+<p id="t224" class="stm run hide_run"> <span class="key">return</span> <span class="nam">M</span><span class="strut"> </span></p>
+<p id="t225" class="pln"><span class="strut"> </span></p>
+<p id="t226" class="pln"><span class="strut"> </span></p>
+<p id="t227" class="stm run hide_run"><span class="key">def</span> <span class="nam">shear_from_matrix</span><span class="op">(</span><span class="nam">matrix</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t228" class="pln"> <span class="str">"""Return shear angle, direction and plane from shear matrix.</span><span class="strut"> </span></p>
+<p id="t229" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t230" class="stm mis"> <span class="nam">M</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">array</span><span class="op">(</span><span class="nam">matrix</span><span class="op">,</span> <span class="nam">dtype</span><span class="op">=</span><span class="nam">np</span><span class="op">.</span><span class="nam">float64</span><span class="op">,</span> <span class="nam">copy</span><span class="op">=</span><span class="key">False</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t231" class="stm mis"> <span class="nam">M33</span> <span class="op">=</span> <span class="nam">M</span><span class="op">[</span><span class="op">:</span><span class="num">3</span><span class="op">,</span> <span class="op">:</span><span class="num">3</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t232" class="pln"> <span class="com"># normal: cross independent eigenvectors corresponding to the eigenvalue 1</span><span class="strut"> </span></p>
+<p id="t233" class="stm mis"> <span class="nam">w</span><span class="op">,</span> <span class="nam">V</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">linalg</span><span class="op">.</span><span class="nam">eig</span><span class="op">(</span><span class="nam">M33</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t234" class="stm mis"> <span class="nam">i</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">where</span><span class="op">(</span><span class="nam">abs</span><span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">real</span><span class="op">(</span><span class="nam">w</span><span class="op">)</span> <span class="op">-</span> <span class="num">1.0</span><span class="op">)</span> <span class="op"><</span> <span class="num">1e-4</span><span class="op">)</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t235" class="stm mis"> <span class="key">if</span> <span class="nam">len</span><span class="op">(</span><span class="nam">i</span><span class="op">)</span> <span class="op"><</span> <span class="num">2</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t236" class="stm mis"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="str">"no two linear independent eigenvectors found %s"</span> <span class="op">%</span> <span class="nam">w</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t237" class="stm mis"> <span class="nam">V</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">real</span><span class="op">(</span><span class="nam">V</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="nam">i</span><span class="op">]</span><span class="op">)</span><span class="op">.</span><span class="nam">squeeze</span><span class="op">(</span><span class="op">)</span><span class="op">.</span><span class="nam">T</span><span class="strut"> </span></p>
+<p id="t238" class="stm mis"> <span class="nam">lenorm</span> <span class="op">=</span> <span class="op">-</span><span class="num">1.0</span><span class="strut"> </span></p>
+<p id="t239" class="stm mis"> <span class="key">for</span> <span class="nam">i0</span><span class="op">,</span> <span class="nam">i1</span> <span class="key">in</span> <span class="op">(</span><span class="op">(</span><span class="num">0</span><span class="op">,</span> <span class="num">1</span><span class="op">)</span><span class="op">,</span> <span class="op">(</span><span class="num">0</span><span class="op">,</span> <span class="num">2</span><span class="op">)</span><span class="op">,</span> <span class="op">(</span><span class="num">1</span><span class="op">,</span> <span class="num">2</span><span class="op">)</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t240" class="stm mis"> <span class="nam">n</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">cross</span><span class="op">(</span><span class="nam">V</span><span class="op">[</span><span class="nam">i0</span><span class="op">]</span><span class="op">,</span> <span class="nam">V</span><span class="op">[</span><span class="nam">i1</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t241" class="stm mis"> <span class="nam">w</span> <span class="op">=</span> <span class="nam">vector_norm</span><span class="op">(</span><span class="nam">n</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t242" class="stm mis"> <span class="key">if</span> <span class="nam">w</span> <span class="op">></span> <span class="nam">lenorm</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t243" class="stm mis"> <span class="nam">lenorm</span> <span class="op">=</span> <span class="nam">w</span><span class="strut"> </span></p>
+<p id="t244" class="stm mis"> <span class="nam">normal</span> <span class="op">=</span> <span class="nam">n</span><span class="strut"> </span></p>
+<p id="t245" class="stm mis"> <span class="nam">normal</span> <span class="op">/=</span> <span class="nam">lenorm</span><span class="strut"> </span></p>
+<p id="t246" class="pln"> <span class="com"># direction and angle</span><span class="strut"> </span></p>
+<p id="t247" class="stm mis"> <span class="nam">direction</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">dot</span><span class="op">(</span><span class="nam">M33</span> <span class="op">-</span> <span class="nam">np</span><span class="op">.</span><span class="nam">identity</span><span class="op">(</span><span class="num">3</span><span class="op">)</span><span class="op">,</span> <span class="nam">normal</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t248" class="stm mis"> <span class="nam">angle</span> <span class="op">=</span> <span class="nam">vector_norm</span><span class="op">(</span><span class="nam">direction</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t249" class="stm mis"> <span class="nam">direction</span> <span class="op">/=</span> <span class="nam">angle</span><span class="strut"> </span></p>
+<p id="t250" class="stm mis"> <span class="nam">angle</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">arctan</span><span class="op">(</span><span class="nam">angle</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t251" class="pln"> <span class="com"># point: eigenvector corresponding to eigenvalue 1</span><span class="strut"> </span></p>
+<p id="t252" class="stm mis"> <span class="nam">w</span><span class="op">,</span> <span class="nam">V</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">linalg</span><span class="op">.</span><span class="nam">eig</span><span class="op">(</span><span class="nam">M</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t253" class="stm mis"> <span class="nam">i</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">where</span><span class="op">(</span><span class="nam">abs</span><span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">real</span><span class="op">(</span><span class="nam">w</span><span class="op">)</span> <span class="op">-</span> <span class="num">1.0</span><span class="op">)</span> <span class="op"><</span> <span class="num">1e-8</span><span class="op">)</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t254" class="stm mis"> <span class="key">if</span> <span class="key">not</span> <span class="nam">len</span><span class="op">(</span><span class="nam">i</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t255" class="stm mis"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="str">"no eigenvector corresponding to eigenvalue 1"</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t256" class="stm mis"> <span class="nam">point</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">real</span><span class="op">(</span><span class="nam">V</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="nam">i</span><span class="op">[</span><span class="op">-</span><span class="num">1</span><span class="op">]</span><span class="op">]</span><span class="op">)</span><span class="op">.</span><span class="nam">squeeze</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t257" class="stm mis"> <span class="nam">point</span> <span class="op">/=</span> <span class="nam">point</span><span class="op">[</span><span class="num">3</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t258" class="stm mis"> <span class="key">return</span> <span class="nam">angle</span><span class="op">,</span> <span class="nam">direction</span><span class="op">,</span> <span class="nam">point</span><span class="op">,</span> <span class="nam">normal</span><span class="strut"> </span></p>
+<p id="t259" class="pln"><span class="strut"> </span></p>
+<p id="t260" class="pln"><span class="strut"> </span></p>
+<p id="t261" class="stm run hide_run"><span class="key">def</span> <span class="nam">decompose_matrix</span><span class="op">(</span><span class="nam">matrix</span><span class="op">,</span> <span class="nam">axes</span><span class="op">=</span><span class="str">'xyz'</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t262" class="pln"> <span class="str">"""Return sequence oftransformations from transformation matrix.</span><span class="strut"> </span></p>
+<p id="t263" class="pln"><span class="strut"> </span></p>
+<p id="t264" class="pln"><span class="str"> matrix : array_like</span><span class="strut"> </span></p>
+<p id="t265" class="pln"><span class="str"> Non-degenerative homogeneous transformation matrix</span><span class="strut"> </span></p>
+<p id="t266" class="pln"><span class="strut"> </span></p>
+<p id="t267" class="pln"><span class="str"> Return tuple of:</span><span class="strut"> </span></p>
+<p id="t268" class="pln"><span class="str"> scale : vector of 3 scaling factors</span><span class="strut"> </span></p>
+<p id="t269" class="pln"><span class="str"> shear : list of shear factors for x-y, x-z, y-z axes</span><span class="strut"> </span></p>
+<p id="t270" class="pln"><span class="str"> angles : list of Euler angles about static x, y, z axes</span><span class="strut"> </span></p>
+<p id="t271" class="pln"><span class="str"> translate : translation vector along x, y, z axes</span><span class="strut"> </span></p>
+<p id="t272" class="pln"><span class="str"> perspective : perspective partition of matrix</span><span class="strut"> </span></p>
+<p id="t273" class="pln"><span class="strut"> </span></p>
+<p id="t274" class="pln"><span class="str"> Raise ValueError if matrix is of wrong type or degenerative.</span><span class="strut"> </span></p>
+<p id="t275" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t276" class="stm run hide_run"> <span class="nam">M</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">array</span><span class="op">(</span><span class="nam">matrix</span><span class="op">,</span> <span class="nam">dtype</span><span class="op">=</span><span class="nam">np</span><span class="op">.</span><span class="nam">float64</span><span class="op">,</span> <span class="nam">copy</span><span class="op">=</span><span class="key">True</span><span class="op">)</span><span class="op">.</span><span class="nam">T</span><span class="strut"> </span></p>
+<p id="t277" class="stm run hide_run"> <span class="key">if</span> <span class="nam">abs</span><span class="op">(</span><span class="nam">M</span><span class="op">[</span><span class="num">3</span><span class="op">,</span> <span class="num">3</span><span class="op">]</span><span class="op">)</span> <span class="op"><</span> <span class="nam">constants</span><span class="op">.</span><span class="nam">_EPS</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t278" class="stm mis"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="str">"M[3, 3] is zero"</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t279" class="stm run hide_run"> <span class="nam">M</span> <span class="op">/=</span> <span class="nam">M</span><span class="op">[</span><span class="num">3</span><span class="op">,</span> <span class="num">3</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t280" class="stm run hide_run"> <span class="nam">P</span> <span class="op">=</span> <span class="nam">M</span><span class="op">.</span><span class="nam">copy</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t281" class="stm run hide_run"> <span class="nam">P</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="num">3</span><span class="op">]</span> <span class="op">=</span> <span class="num">0.0</span><span class="op">,</span> <span class="num">0.0</span><span class="op">,</span> <span class="num">0.0</span><span class="op">,</span> <span class="num">1.0</span><span class="strut"> </span></p>
+<p id="t282" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="nam">np</span><span class="op">.</span><span class="nam">linalg</span><span class="op">.</span><span class="nam">det</span><span class="op">(</span><span class="nam">P</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t283" class="stm mis"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="str">"matrix is singular"</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t284" class="pln"><span class="strut"> </span></p>
+<p id="t285" class="stm run hide_run"> <span class="nam">scale</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">zeros</span><span class="op">(</span><span class="op">(</span><span class="num">3</span><span class="op">,</span> <span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t286" class="stm run hide_run"> <span class="nam">shear</span> <span class="op">=</span> <span class="op">[</span><span class="num">0.0</span><span class="op">,</span> <span class="num">0.0</span><span class="op">,</span> <span class="num">0.0</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t287" class="stm run hide_run"> <span class="nam">angles</span> <span class="op">=</span> <span class="op">[</span><span class="num">0.0</span><span class="op">,</span> <span class="num">0.0</span><span class="op">,</span> <span class="num">0.0</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t288" class="pln"><span class="strut"> </span></p>
+<p id="t289" class="stm run hide_run"> <span class="key">if</span> <span class="nam">any</span><span class="op">(</span><span class="nam">abs</span><span class="op">(</span><span class="nam">M</span><span class="op">[</span><span class="op">:</span><span class="num">3</span><span class="op">,</span> <span class="num">3</span><span class="op">]</span><span class="op">)</span> <span class="op">></span> <span class="nam">constants</span><span class="op">.</span><span class="nam">_EPS</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t290" class="stm run hide_run"> <span class="nam">perspective</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">dot</span><span class="op">(</span><span class="nam">M</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="num">3</span><span class="op">]</span><span class="op">,</span> <span class="nam">np</span><span class="op">.</span><span class="nam">linalg</span><span class="op">.</span><span class="nam">inv</span><span class="op">(</span><span class="nam">P</span><span class="op">.</span><span class="nam">T</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t291" class="stm run hide_run"> <span class="nam">M</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="num">3</span><span class="op">]</span> <span class="op">=</span> <span class="num">0.0</span><span class="op">,</span> <span class="num">0.0</span><span class="op">,</span> <span class="num">0.0</span><span class="op">,</span> <span class="num">1.0</span><span class="strut"> </span></p>
+<p id="t292" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t293" class="stm run hide_run"> <span class="nam">perspective</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">array</span><span class="op">(</span><span class="op">[</span><span class="num">0.0</span><span class="op">,</span> <span class="num">0.0</span><span class="op">,</span> <span class="num">0.0</span><span class="op">,</span> <span class="num">1.0</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t294" class="pln"><span class="strut"> </span></p>
+<p id="t295" class="stm run hide_run"> <span class="nam">translate</span> <span class="op">=</span> <span class="nam">M</span><span class="op">[</span><span class="num">3</span><span class="op">,</span> <span class="op">:</span><span class="num">3</span><span class="op">]</span><span class="op">.</span><span class="nam">copy</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t296" class="stm run hide_run"> <span class="nam">M</span><span class="op">[</span><span class="num">3</span><span class="op">,</span> <span class="op">:</span><span class="num">3</span><span class="op">]</span> <span class="op">=</span> <span class="num">0.0</span><span class="strut"> </span></p>
+<p id="t297" class="pln"><span class="strut"> </span></p>
+<p id="t298" class="stm run hide_run"> <span class="nam">row</span> <span class="op">=</span> <span class="nam">M</span><span class="op">[</span><span class="op">:</span><span class="num">3</span><span class="op">,</span> <span class="op">:</span><span class="num">3</span><span class="op">]</span><span class="op">.</span><span class="nam">copy</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t299" class="stm run hide_run"> <span class="nam">scale</span><span class="op">[</span><span class="num">0</span><span class="op">]</span> <span class="op">=</span> <span class="nam">vector_norm</span><span class="op">(</span><span class="nam">row</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t300" class="stm run hide_run"> <span class="nam">row</span><span class="op">[</span><span class="num">0</span><span class="op">]</span> <span class="op">/=</span> <span class="nam">scale</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t301" class="stm run hide_run"> <span class="nam">shear</span><span class="op">[</span><span class="num">0</span><span class="op">]</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">dot</span><span class="op">(</span><span class="nam">row</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">,</span> <span class="nam">row</span><span class="op">[</span><span class="num">1</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t302" class="stm run hide_run"> <span class="nam">row</span><span class="op">[</span><span class="num">1</span><span class="op">]</span> <span class="op">-=</span> <span class="nam">row</span><span class="op">[</span><span class="num">0</span><span class="op">]</span> <span class="op">*</span> <span class="nam">shear</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t303" class="stm run hide_run"> <span class="nam">scale</span><span class="op">[</span><span class="num">1</span><span class="op">]</span> <span class="op">=</span> <span class="nam">vector_norm</span><span class="op">(</span><span class="nam">row</span><span class="op">[</span><span class="num">1</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t304" class="stm run hide_run"> <span class="nam">row</span><span class="op">[</span><span class="num">1</span><span class="op">]</span> <span class="op">/=</span> <span class="nam">scale</span><span class="op">[</span><span class="num">1</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t305" class="stm run hide_run"> <span class="nam">shear</span><span class="op">[</span><span class="num">0</span><span class="op">]</span> <span class="op">/=</span> <span class="nam">scale</span><span class="op">[</span><span class="num">1</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t306" class="stm run hide_run"> <span class="nam">shear</span><span class="op">[</span><span class="num">1</span><span class="op">]</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">dot</span><span class="op">(</span><span class="nam">row</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">,</span> <span class="nam">row</span><span class="op">[</span><span class="num">2</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t307" class="stm run hide_run"> <span class="nam">row</span><span class="op">[</span><span class="num">2</span><span class="op">]</span> <span class="op">-=</span> <span class="nam">row</span><span class="op">[</span><span class="num">0</span><span class="op">]</span> <span class="op">*</span> <span class="nam">shear</span><span class="op">[</span><span class="num">1</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t308" class="stm run hide_run"> <span class="nam">shear</span><span class="op">[</span><span class="num">2</span><span class="op">]</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">dot</span><span class="op">(</span><span class="nam">row</span><span class="op">[</span><span class="num">1</span><span class="op">]</span><span class="op">,</span> <span class="nam">row</span><span class="op">[</span><span class="num">2</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t309" class="stm run hide_run"> <span class="nam">row</span><span class="op">[</span><span class="num">2</span><span class="op">]</span> <span class="op">-=</span> <span class="nam">row</span><span class="op">[</span><span class="num">1</span><span class="op">]</span> <span class="op">*</span> <span class="nam">shear</span><span class="op">[</span><span class="num">2</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t310" class="stm run hide_run"> <span class="nam">scale</span><span class="op">[</span><span class="num">2</span><span class="op">]</span> <span class="op">=</span> <span class="nam">vector_norm</span><span class="op">(</span><span class="nam">row</span><span class="op">[</span><span class="num">2</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t311" class="stm run hide_run"> <span class="nam">row</span><span class="op">[</span><span class="num">2</span><span class="op">]</span> <span class="op">/=</span> <span class="nam">scale</span><span class="op">[</span><span class="num">2</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t312" class="stm run hide_run"> <span class="nam">shear</span><span class="op">[</span><span class="num">1</span><span class="op">:</span><span class="op">]</span> <span class="op">/=</span> <span class="nam">scale</span><span class="op">[</span><span class="num">2</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t313" class="pln"><span class="strut"> </span></p>
+<p id="t314" class="stm run hide_run"> <span class="key">if</span> <span class="nam">np</span><span class="op">.</span><span class="nam">dot</span><span class="op">(</span><span class="nam">row</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">,</span> <span class="nam">np</span><span class="op">.</span><span class="nam">cross</span><span class="op">(</span><span class="nam">row</span><span class="op">[</span><span class="num">1</span><span class="op">]</span><span class="op">,</span> <span class="nam">row</span><span class="op">[</span><span class="num">2</span><span class="op">]</span><span class="op">)</span><span class="op">)</span> <span class="op"><</span> <span class="num">0</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t315" class="stm mis"> <span class="nam">np</span><span class="op">.</span><span class="nam">negative</span><span class="op">(</span><span class="nam">scale</span><span class="op">,</span> <span class="nam">scale</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t316" class="stm mis"> <span class="nam">np</span><span class="op">.</span><span class="nam">negative</span><span class="op">(</span><span class="nam">row</span><span class="op">,</span> <span class="nam">row</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t317" class="pln"><span class="strut"> </span></p>
+<p id="t318" class="stm run hide_run"> <span class="nam">mat</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">linalg</span><span class="op">.</span><span class="nam">inv</span><span class="op">(</span><span class="nam">row</span><span class="op">[</span><span class="op">:</span><span class="num">3</span><span class="op">,</span> <span class="op">:</span><span class="num">3</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t319" class="stm run hide_run"> <span class="nam">angles</span> <span class="op">=</span> <span class="nam">euler</span><span class="op">.</span><span class="nam">from_matrix</span><span class="op">(</span><span class="nam">mat</span><span class="op">,</span> <span class="nam">axes</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t320" class="stm run hide_run"> <span class="key">return</span> <span class="nam">scale</span><span class="op">,</span> <span class="nam">shear</span><span class="op">,</span> <span class="nam">angles</span><span class="op">,</span> <span class="nam">translate</span><span class="op">,</span> <span class="nam">perspective</span><span class="strut"> </span></p>
+<p id="t321" class="pln"><span class="strut"> </span></p>
+<p id="t322" class="pln"><span class="strut"> </span></p>
+<p id="t323" class="stm run hide_run"><span class="key">def</span> <span class="nam">compose_matrix</span><span class="op">(</span><span class="nam">scale</span><span class="op">=</span><span class="key">None</span><span class="op">,</span> <span class="nam">shear</span><span class="op">=</span><span class="key">None</span><span class="op">,</span> <span class="nam">angles</span><span class="op">=</span><span class="key">None</span><span class="op">,</span> <span class="nam">translate</span><span class="op">=</span><span class="key">None</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t324" class="pln"> <span class="nam">perspective</span><span class="op">=</span><span class="key">None</span><span class="op">,</span> <span class="nam">axes</span><span class="op">=</span><span class="str">'xyz'</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t325" class="pln"> <span class="str">"""Return transformation matrix from sequence oftransformations.</span><span class="strut"> </span></p>
+<p id="t326" class="pln"><span class="strut"> </span></p>
+<p id="t327" class="pln"><span class="str"> This is the inverse of the decompose_matrix function.</span><span class="strut"> </span></p>
+<p id="t328" class="pln"><span class="strut"> </span></p>
+<p id="t329" class="pln"><span class="str"> Sequence of transformations:</span><span class="strut"> </span></p>
+<p id="t330" class="pln"><span class="str"> scale : vector of 3 scaling factors</span><span class="strut"> </span></p>
+<p id="t331" class="pln"><span class="str"> shear : list of shear factors for x-y, x-z, y-z axes</span><span class="strut"> </span></p>
+<p id="t332" class="pln"><span class="str"> angles : list of Euler angles about static x, y, z axes</span><span class="strut"> </span></p>
+<p id="t333" class="pln"><span class="str"> translate : translation vector along x, y, z axes</span><span class="strut"> </span></p>
+<p id="t334" class="pln"><span class="str"> perspective : perspective partition of matrix</span><span class="strut"> </span></p>
+<p id="t335" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t336" class="stm run hide_run"> <span class="nam">M</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">identity</span><span class="op">(</span><span class="num">4</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t337" class="stm run hide_run"> <span class="key">if</span> <span class="nam">perspective</span> <span class="key">is</span> <span class="key">not</span> <span class="key">None</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t338" class="stm run hide_run"> <span class="nam">P</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">identity</span><span class="op">(</span><span class="num">4</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t339" class="stm run hide_run"> <span class="nam">P</span><span class="op">[</span><span class="num">3</span><span class="op">,</span> <span class="op">:</span><span class="op">]</span> <span class="op">=</span> <span class="nam">perspective</span><span class="op">[</span><span class="op">:</span><span class="num">4</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t340" class="stm run hide_run"> <span class="nam">M</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">dot</span><span class="op">(</span><span class="nam">M</span><span class="op">,</span> <span class="nam">P</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t341" class="stm run hide_run"> <span class="key">if</span> <span class="nam">translate</span> <span class="key">is</span> <span class="key">not</span> <span class="key">None</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t342" class="stm run hide_run"> <span class="nam">T</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">identity</span><span class="op">(</span><span class="num">4</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t343" class="stm run hide_run"> <span class="nam">T</span><span class="op">[</span><span class="op">:</span><span class="num">3</span><span class="op">,</span> <span class="num">3</span><span class="op">]</span> <span class="op">=</span> <span class="nam">translate</span><span class="op">[</span><span class="op">:</span><span class="num">3</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t344" class="stm run hide_run"> <span class="nam">M</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">dot</span><span class="op">(</span><span class="nam">M</span><span class="op">,</span> <span class="nam">T</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t345" class="stm run hide_run"> <span class="key">if</span> <span class="nam">angles</span> <span class="key">is</span> <span class="key">not</span> <span class="key">None</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t346" class="stm run hide_run"> <span class="key">if</span> <span class="nam">axes</span> <span class="op">==</span> <span class="str">'quaternion'</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t347" class="stm mis"> <span class="nam">R</span> <span class="op">=</span> <span class="nam">quaternion</span><span class="op">.</span><span class="nam">matrix</span><span class="op">(</span><span class="nam">angles</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t348" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t349" class="stm run hide_run"> <span class="nam">R</span> <span class="op">=</span> <span class="nam">euler</span><span class="op">.</span><span class="nam">matrix</span><span class="op">(</span><span class="nam">angles</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">,</span> <span class="nam">angles</span><span class="op">[</span><span class="num">1</span><span class="op">]</span><span class="op">,</span> <span class="nam">angles</span><span class="op">[</span><span class="num">2</span><span class="op">]</span><span class="op">,</span> <span class="nam">axes</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t350" class="stm run hide_run"> <span class="nam">M</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">dot</span><span class="op">(</span><span class="nam">M</span><span class="op">,</span> <span class="nam">R</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t351" class="stm run hide_run"> <span class="key">if</span> <span class="nam">shear</span> <span class="key">is</span> <span class="key">not</span> <span class="key">None</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t352" class="stm run hide_run"> <span class="nam">Z</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">identity</span><span class="op">(</span><span class="num">4</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t353" class="stm run hide_run"> <span class="nam">Z</span><span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">2</span><span class="op">]</span> <span class="op">=</span> <span class="nam">shear</span><span class="op">[</span><span class="num">2</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t354" class="stm run hide_run"> <span class="nam">Z</span><span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="num">2</span><span class="op">]</span> <span class="op">=</span> <span class="nam">shear</span><span class="op">[</span><span class="num">1</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t355" class="stm run hide_run"> <span class="nam">Z</span><span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="num">1</span><span class="op">]</span> <span class="op">=</span> <span class="nam">shear</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t356" class="stm run hide_run"> <span class="nam">M</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">dot</span><span class="op">(</span><span class="nam">M</span><span class="op">,</span> <span class="nam">Z</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t357" class="stm run hide_run"> <span class="key">if</span> <span class="nam">scale</span> <span class="key">is</span> <span class="key">not</span> <span class="key">None</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t358" class="stm run hide_run"> <span class="nam">S</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">identity</span><span class="op">(</span><span class="num">4</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t359" class="stm run hide_run"> <span class="nam">S</span><span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span> <span class="op">=</span> <span class="nam">scale</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t360" class="stm run hide_run"> <span class="nam">S</span><span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">1</span><span class="op">]</span> <span class="op">=</span> <span class="nam">scale</span><span class="op">[</span><span class="num">1</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t361" class="stm run hide_run"> <span class="nam">S</span><span class="op">[</span><span class="num">2</span><span class="op">,</span> <span class="num">2</span><span class="op">]</span> <span class="op">=</span> <span class="nam">scale</span><span class="op">[</span><span class="num">2</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t362" class="stm run hide_run"> <span class="nam">M</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">dot</span><span class="op">(</span><span class="nam">M</span><span class="op">,</span> <span class="nam">S</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t363" class="stm run hide_run"> <span class="nam">M</span> <span class="op">/=</span> <span class="nam">M</span><span class="op">[</span><span class="num">3</span><span class="op">,</span> <span class="num">3</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t364" class="stm run hide_run"> <span class="key">return</span> <span class="nam">M</span><span class="strut"> </span></p>
+<p id="t365" class="pln"><span class="strut"> </span></p>
+<p id="t366" class="pln"><span class="strut"> </span></p>
+<p id="t367" class="stm run hide_run"><span class="key">def</span> <span class="nam">is_same_transform</span><span class="op">(</span><span class="nam">matrix0</span><span class="op">,</span> <span class="nam">matrix1</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t368" class="pln"> <span class="str">"""Return True if two matrices perform same transformation.</span><span class="strut"> </span></p>
+<p id="t369" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t370" class="stm run hide_run"> <span class="nam">matrix0</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">array</span><span class="op">(</span><span class="nam">matrix0</span><span class="op">,</span> <span class="nam">dtype</span><span class="op">=</span><span class="nam">np</span><span class="op">.</span><span class="nam">float64</span><span class="op">,</span> <span class="nam">copy</span><span class="op">=</span><span class="key">True</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t371" class="stm run hide_run"> <span class="nam">matrix0</span> <span class="op">/=</span> <span class="nam">matrix0</span><span class="op">[</span><span class="num">3</span><span class="op">,</span> <span class="num">3</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t372" class="stm run hide_run"> <span class="nam">matrix1</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">array</span><span class="op">(</span><span class="nam">matrix1</span><span class="op">,</span> <span class="nam">dtype</span><span class="op">=</span><span class="nam">np</span><span class="op">.</span><span class="nam">float64</span><span class="op">,</span> <span class="nam">copy</span><span class="op">=</span><span class="key">True</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t373" class="stm run hide_run"> <span class="nam">matrix1</span> <span class="op">/=</span> <span class="nam">matrix1</span><span class="op">[</span><span class="num">3</span><span class="op">,</span> <span class="num">3</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t374" class="stm run hide_run"> <span class="key">return</span> <span class="nam">np</span><span class="op">.</span><span class="nam">allclose</span><span class="op">(</span><span class="nam">matrix0</span><span class="op">,</span> <span class="nam">matrix1</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t375" class="pln"><span class="strut"> </span></p>
+<p id="t376" class="pln"><span class="strut"> </span></p>
+<p id="t377" class="stm run hide_run"><span class="key">def</span> <span class="nam">testing_is_same_transform</span><span class="op">(</span><span class="nam">matrix0</span><span class="op">,</span> <span class="nam">matrix1</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t378" class="pln"> <span class="str">"""Return True if two matrices perform same transformation.</span><span class="strut"> </span></p>
+<p id="t379" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t380" class="stm run hide_run"> <span class="nam">matrix0</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">array</span><span class="op">(</span><span class="nam">matrix0</span><span class="op">,</span> <span class="nam">dtype</span><span class="op">=</span><span class="nam">np</span><span class="op">.</span><span class="nam">float64</span><span class="op">,</span> <span class="nam">copy</span><span class="op">=</span><span class="key">True</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t381" class="stm run hide_run"> <span class="nam">matrix0</span> <span class="op">/=</span> <span class="nam">matrix0</span><span class="op">[</span><span class="num">3</span><span class="op">,</span> <span class="num">3</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t382" class="stm run hide_run"> <span class="nam">matrix1</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">array</span><span class="op">(</span><span class="nam">matrix1</span><span class="op">,</span> <span class="nam">dtype</span><span class="op">=</span><span class="nam">np</span><span class="op">.</span><span class="nam">float64</span><span class="op">,</span> <span class="nam">copy</span><span class="op">=</span><span class="key">True</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t383" class="stm run hide_run"> <span class="nam">matrix1</span> <span class="op">/=</span> <span class="nam">matrix1</span><span class="op">[</span><span class="num">3</span><span class="op">,</span> <span class="num">3</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t384" class="stm run hide_run"> <span class="nam">np</span><span class="op">.</span><span class="nam">testing</span><span class="op">.</span><span class="nam">assert_allclose</span><span class="op">(</span><span class="nam">matrix0</span><span class="op">,</span> <span class="nam">matrix1</span><span class="op">)</span><span class="strut"> </span></p>
+
+ </td>
+ </tr>
+ </table>
+</div>
+
+<div id="footer">
+ <div class="content">
+ <p>
+ <a class="nav" href="index.html">« index</a> <a class="nav" href="https://coverage.readthedocs.io">coverage.py v4.5.2</a>,
+ created at 2019-01-13 14:34
+ </p>
+ </div>
+</div>
+
+</body>
+</html>
diff --git a/coverage_html_report/navipy_maths_quaternion_py.html b/coverage_html_report/navipy_maths_quaternion_py.html
new file mode 100644
index 0000000000000000000000000000000000000000..39b99070a86fda5f1296fce00c3232a5a30a58be
--- /dev/null
+++ b/coverage_html_report/navipy_maths_quaternion_py.html
@@ -0,0 +1,493 @@
+
+
+
+<!DOCTYPE html>
+<html>
+<head>
+ <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
+
+
+ <meta http-equiv="X-UA-Compatible" content="IE=emulateIE7" />
+ <title>Coverage for navipy/maths/quaternion.py: 77%</title>
+ <link rel="stylesheet" href="style.css" type="text/css">
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+ <script type="text/javascript" src="jquery.min.js"></script>
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+<body class="pyfile">
+
+<div id="header">
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+ <h1>Coverage for <b>navipy/maths/quaternion.py</b> :
+ <span class="pc_cov">77%</span>
+ </h1>
+
+ <img id="keyboard_icon" src="keybd_closed.png" alt="Show keyboard shortcuts" />
+
+ <h2 class="stats">
+ 70 statements
+ <span class="run hide_run shortkey_r button_toggle_run">54 run</span>
+ <span class="mis shortkey_m button_toggle_mis">16 missing</span>
+ <span class="exc shortkey_x button_toggle_exc">0 excluded</span>
+
+
+ </h2>
+ </div>
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+</div>
+
+<div id="source">
+ <table>
+ <tr>
+ <td class="linenos">
+<p id="n1" class="pln"><a href="#n1">1</a></p>
+<p id="n2" class="pln"><a href="#n2">2</a></p>
+<p id="n3" class="pln"><a href="#n3">3</a></p>
+<p id="n4" class="pln"><a href="#n4">4</a></p>
+<p id="n5" class="stm run hide_run"><a href="#n5">5</a></p>
+<p id="n6" class="stm run hide_run"><a href="#n6">6</a></p>
+<p id="n7" class="stm run hide_run"><a href="#n7">7</a></p>
+<p id="n8" class="pln"><a href="#n8">8</a></p>
+<p id="n9" class="pln"><a href="#n9">9</a></p>
+<p id="n10" class="stm run hide_run"><a href="#n10">10</a></p>
+<p id="n11" class="pln"><a href="#n11">11</a></p>
+<p id="n12" class="pln"><a href="#n12">12</a></p>
+<p id="n13" class="pln"><a href="#n13">13</a></p>
+<p id="n14" class="pln"><a href="#n14">14</a></p>
+<p id="n15" class="pln"><a href="#n15">15</a></p>
+<p id="n16" class="pln"><a href="#n16">16</a></p>
+<p id="n17" class="pln"><a href="#n17">17</a></p>
+<p id="n18" class="pln"><a href="#n18">18</a></p>
+<p id="n19" class="pln"><a href="#n19">19</a></p>
+<p id="n20" class="pln"><a href="#n20">20</a></p>
+<p id="n21" class="pln"><a href="#n21">21</a></p>
+<p id="n22" class="pln"><a href="#n22">22</a></p>
+<p id="n23" class="stm run hide_run"><a href="#n23">23</a></p>
+<p id="n24" class="stm run hide_run"><a href="#n24">24</a></p>
+<p id="n25" class="stm run hide_run"><a href="#n25">25</a></p>
+<p id="n26" class="stm run hide_run"><a href="#n26">26</a></p>
+<p id="n27" class="pln"><a href="#n27">27</a></p>
+<p id="n28" class="pln"><a href="#n28">28</a></p>
+<p id="n29" class="stm run hide_run"><a href="#n29">29</a></p>
+<p id="n30" class="pln"><a href="#n30">30</a></p>
+<p id="n31" class="pln"><a href="#n31">31</a></p>
+<p id="n32" class="pln"><a href="#n32">32</a></p>
+<p id="n33" class="pln"><a href="#n33">33</a></p>
+<p id="n34" class="pln"><a href="#n34">34</a></p>
+<p id="n35" class="pln"><a href="#n35">35</a></p>
+<p id="n36" class="pln"><a href="#n36">36</a></p>
+<p id="n37" class="pln"><a href="#n37">37</a></p>
+<p id="n38" class="pln"><a href="#n38">38</a></p>
+<p id="n39" class="pln"><a href="#n39">39</a></p>
+<p id="n40" class="pln"><a href="#n40">40</a></p>
+<p id="n41" class="pln"><a href="#n41">41</a></p>
+<p id="n42" class="pln"><a href="#n42">42</a></p>
+<p id="n43" class="pln"><a href="#n43">43</a></p>
+<p id="n44" class="pln"><a href="#n44">44</a></p>
+<p id="n45" class="stm run hide_run"><a href="#n45">45</a></p>
+<p id="n46" class="stm run hide_run"><a href="#n46">46</a></p>
+<p id="n47" class="stm run hide_run"><a href="#n47">47</a></p>
+<p id="n48" class="stm run hide_run"><a href="#n48">48</a></p>
+<p id="n49" class="stm run hide_run"><a href="#n49">49</a></p>
+<p id="n50" class="stm run hide_run"><a href="#n50">50</a></p>
+<p id="n51" class="stm run hide_run"><a href="#n51">51</a></p>
+<p id="n52" class="stm run hide_run"><a href="#n52">52</a></p>
+<p id="n53" class="pln"><a href="#n53">53</a></p>
+<p id="n54" class="pln"><a href="#n54">54</a></p>
+<p id="n55" class="stm run hide_run"><a href="#n55">55</a></p>
+<p id="n56" class="pln"><a href="#n56">56</a></p>
+<p id="n57" class="pln"><a href="#n57">57</a></p>
+<p id="n58" class="pln"><a href="#n58">58</a></p>
+<p id="n59" class="pln"><a href="#n59">59</a></p>
+<p id="n60" class="pln"><a href="#n60">60</a></p>
+<p id="n61" class="pln"><a href="#n61">61</a></p>
+<p id="n62" class="pln"><a href="#n62">62</a></p>
+<p id="n63" class="stm run hide_run"><a href="#n63">63</a></p>
+<p id="n64" class="stm run hide_run"><a href="#n64">64</a></p>
+<p id="n65" class="stm run hide_run"><a href="#n65">65</a></p>
+<p id="n66" class="stm run hide_run"><a href="#n66">66</a></p>
+<p id="n67" class="stm run hide_run"><a href="#n67">67</a></p>
+<p id="n68" class="stm run hide_run"><a href="#n68">68</a></p>
+<p id="n69" class="pln"><a href="#n69">69</a></p>
+<p id="n70" class="pln"><a href="#n70">70</a></p>
+<p id="n71" class="stm run hide_run"><a href="#n71">71</a></p>
+<p id="n72" class="pln"><a href="#n72">72</a></p>
+<p id="n73" class="pln"><a href="#n73">73</a></p>
+<p id="n74" class="pln"><a href="#n74">74</a></p>
+<p id="n75" class="pln"><a href="#n75">75</a></p>
+<p id="n76" class="pln"><a href="#n76">76</a></p>
+<p id="n77" class="pln"><a href="#n77">77</a></p>
+<p id="n78" class="pln"><a href="#n78">78</a></p>
+<p id="n79" class="pln"><a href="#n79">79</a></p>
+<p id="n80" class="pln"><a href="#n80">80</a></p>
+<p id="n81" class="stm run hide_run"><a href="#n81">81</a></p>
+<p id="n82" class="stm run hide_run"><a href="#n82">82</a></p>
+<p id="n83" class="stm run hide_run"><a href="#n83">83</a></p>
+<p id="n84" class="stm run hide_run"><a href="#n84">84</a></p>
+<p id="n85" class="stm run hide_run"><a href="#n85">85</a></p>
+<p id="n86" class="stm run hide_run"><a href="#n86">86</a></p>
+<p id="n87" class="stm run hide_run"><a href="#n87">87</a></p>
+<p id="n88" class="stm run hide_run"><a href="#n88">88</a></p>
+<p id="n89" class="pln"><a href="#n89">89</a></p>
+<p id="n90" class="stm run hide_run"><a href="#n90">90</a></p>
+<p id="n91" class="pln"><a href="#n91">91</a></p>
+<p id="n92" class="stm run hide_run"><a href="#n92">92</a></p>
+<p id="n93" class="pln"><a href="#n93">93</a></p>
+<p id="n94" class="pln"><a href="#n94">94</a></p>
+<p id="n95" class="pln"><a href="#n95">95</a></p>
+<p id="n96" class="pln"><a href="#n96">96</a></p>
+<p id="n97" class="pln"><a href="#n97">97</a></p>
+<p id="n98" class="stm run hide_run"><a href="#n98">98</a></p>
+<p id="n99" class="pln"><a href="#n99">99</a></p>
+<p id="n100" class="pln"><a href="#n100">100</a></p>
+<p id="n101" class="stm run hide_run"><a href="#n101">101</a></p>
+<p id="n102" class="pln"><a href="#n102">102</a></p>
+<p id="n103" class="pln"><a href="#n103">103</a></p>
+<p id="n104" class="pln"><a href="#n104">104</a></p>
+<p id="n105" class="pln"><a href="#n105">105</a></p>
+<p id="n106" class="pln"><a href="#n106">106</a></p>
+<p id="n107" class="pln"><a href="#n107">107</a></p>
+<p id="n108" class="pln"><a href="#n108">108</a></p>
+<p id="n109" class="pln"><a href="#n109">109</a></p>
+<p id="n110" class="pln"><a href="#n110">110</a></p>
+<p id="n111" class="pln"><a href="#n111">111</a></p>
+<p id="n112" class="stm run hide_run"><a href="#n112">112</a></p>
+<p id="n113" class="pln"><a href="#n113">113</a></p>
+<p id="n114" class="stm run hide_run"><a href="#n114">114</a></p>
+<p id="n115" class="pln"><a href="#n115">115</a></p>
+<p id="n116" class="stm run hide_run"><a href="#n116">116</a></p>
+<p id="n117" class="pln"><a href="#n117">117</a></p>
+<p id="n118" class="pln"><a href="#n118">118</a></p>
+<p id="n119" class="pln"><a href="#n119">119</a></p>
+<p id="n120" class="pln"><a href="#n120">120</a></p>
+<p id="n121" class="pln"><a href="#n121">121</a></p>
+<p id="n122" class="pln"><a href="#n122">122</a></p>
+<p id="n123" class="pln"><a href="#n123">123</a></p>
+<p id="n124" class="stm run hide_run"><a href="#n124">124</a></p>
+<p id="n125" class="pln"><a href="#n125">125</a></p>
+<p id="n126" class="stm run hide_run"><a href="#n126">126</a></p>
+<p id="n127" class="pln"><a href="#n127">127</a></p>
+<p id="n128" class="pln"><a href="#n128">128</a></p>
+<p id="n129" class="pln"><a href="#n129">129</a></p>
+<p id="n130" class="pln"><a href="#n130">130</a></p>
+<p id="n131" class="pln"><a href="#n131">131</a></p>
+<p id="n132" class="pln"><a href="#n132">132</a></p>
+<p id="n133" class="stm mis"><a href="#n133">133</a></p>
+<p id="n134" class="pln"><a href="#n134">134</a></p>
+<p id="n135" class="stm mis"><a href="#n135">135</a></p>
+<p id="n136" class="pln"><a href="#n136">136</a></p>
+<p id="n137" class="pln"><a href="#n137">137</a></p>
+<p id="n138" class="pln"><a href="#n138">138</a></p>
+<p id="n139" class="pln"><a href="#n139">139</a></p>
+<p id="n140" class="pln"><a href="#n140">140</a></p>
+<p id="n141" class="pln"><a href="#n141">141</a></p>
+<p id="n142" class="stm mis"><a href="#n142">142</a></p>
+<p id="n143" class="pln"><a href="#n143">143</a></p>
+<p id="n144" class="stm mis"><a href="#n144">144</a></p>
+<p id="n145" class="pln"><a href="#n145">145</a></p>
+<p id="n146" class="pln"><a href="#n146">146</a></p>
+<p id="n147" class="pln"><a href="#n147">147</a></p>
+<p id="n148" class="pln"><a href="#n148">148</a></p>
+<p id="n149" class="pln"><a href="#n149">149</a></p>
+<p id="n150" class="pln"><a href="#n150">150</a></p>
+<p id="n151" class="pln"><a href="#n151">151</a></p>
+<p id="n152" class="pln"><a href="#n152">152</a></p>
+<p id="n153" class="stm run hide_run"><a href="#n153">153</a></p>
+<p id="n154" class="pln"><a href="#n154">154</a></p>
+<p id="n155" class="pln"><a href="#n155">155</a></p>
+<p id="n156" class="stm run hide_run"><a href="#n156">156</a></p>
+<p id="n157" class="stm run hide_run"><a href="#n157">157</a></p>
+<p id="n158" class="stm run hide_run"><a href="#n158">158</a></p>
+<p id="n159" class="pln"><a href="#n159">159</a></p>
+<p id="n160" class="pln"><a href="#n160">160</a></p>
+<p id="n161" class="pln"><a href="#n161">161</a></p>
+<p id="n162" class="pln"><a href="#n162">162</a></p>
+<p id="n163" class="pln"><a href="#n163">163</a></p>
+<p id="n164" class="stm run hide_run"><a href="#n164">164</a></p>
+<p id="n165" class="pln"><a href="#n165">165</a></p>
+<p id="n166" class="pln"><a href="#n166">166</a></p>
+<p id="n167" class="stm mis"><a href="#n167">167</a></p>
+<p id="n168" class="stm mis"><a href="#n168">168</a></p>
+<p id="n169" class="stm mis"><a href="#n169">169</a></p>
+<p id="n170" class="pln"><a href="#n170">170</a></p>
+<p id="n171" class="pln"><a href="#n171">171</a></p>
+<p id="n172" class="stm run hide_run"><a href="#n172">172</a></p>
+<p id="n173" class="pln"><a href="#n173">173</a></p>
+<p id="n174" class="pln"><a href="#n174">174</a></p>
+<p id="n175" class="stm run hide_run"><a href="#n175">175</a></p>
+<p id="n176" class="stm run hide_run"><a href="#n176">176</a></p>
+<p id="n177" class="stm run hide_run"><a href="#n177">177</a></p>
+<p id="n178" class="pln"><a href="#n178">178</a></p>
+<p id="n179" class="pln"><a href="#n179">179</a></p>
+<p id="n180" class="stm run hide_run"><a href="#n180">180</a></p>
+<p id="n181" class="pln"><a href="#n181">181</a></p>
+<p id="n182" class="pln"><a href="#n182">182</a></p>
+<p id="n183" class="stm mis"><a href="#n183">183</a></p>
+<p id="n184" class="pln"><a href="#n184">184</a></p>
+<p id="n185" class="pln"><a href="#n185">185</a></p>
+<p id="n186" class="stm run hide_run"><a href="#n186">186</a></p>
+<p id="n187" class="pln"><a href="#n187">187</a></p>
+<p id="n188" class="pln"><a href="#n188">188</a></p>
+<p id="n189" class="stm mis"><a href="#n189">189</a></p>
+<p id="n190" class="pln"><a href="#n190">190</a></p>
+<p id="n191" class="pln"><a href="#n191">191</a></p>
+<p id="n192" class="stm run hide_run"><a href="#n192">192</a></p>
+<p id="n193" class="pln"><a href="#n193">193</a></p>
+<p id="n194" class="pln"><a href="#n194">194</a></p>
+<p id="n195" class="stm mis"><a href="#n195">195</a></p>
+<p id="n196" class="stm mis"><a href="#n196">196</a></p>
+<p id="n197" class="stm mis"><a href="#n197">197</a></p>
+<p id="n198" class="stm mis"><a href="#n198">198</a></p>
+<p id="n199" class="stm mis"><a href="#n199">199</a></p>
+<p id="n200" class="pln"><a href="#n200">200</a></p>
+<p id="n201" class="stm mis"><a href="#n201">201</a></p>
+<p id="n202" class="stm mis"><a href="#n202">202</a></p>
+
+ </td>
+ <td class="text">
+<p id="t1" class="pln"><span class="str">"""</span><span class="strut"> </span></p>
+<p id="t2" class="pln"><span class="strut"> </span></p>
+<p id="t3" class="pln"><span class="strut"> </span></p>
+<p id="t4" class="pln"><span class="str">"""</span><span class="strut"> </span></p>
+<p id="t5" class="stm run hide_run"><span class="key">import</span> <span class="nam">numpy</span> <span class="key">as</span> <span class="nam">np</span><span class="strut"> </span></p>
+<p id="t6" class="stm run hide_run"><span class="key">from</span> <span class="nam">navipy</span><span class="op">.</span><span class="nam">maths</span> <span class="key">import</span> <span class="nam">constants</span><span class="strut"> </span></p>
+<p id="t7" class="stm run hide_run"><span class="key">from</span> <span class="nam">navipy</span><span class="op">.</span><span class="nam">maths</span><span class="op">.</span><span class="nam">tools</span> <span class="key">import</span> <span class="nam">vector_norm</span><span class="strut"> </span></p>
+<p id="t8" class="pln"><span class="strut"> </span></p>
+<p id="t9" class="pln"><span class="strut"> </span></p>
+<p id="t10" class="stm run hide_run"><span class="key">def</span> <span class="nam">qat</span><span class="op">(</span><span class="nam">a</span><span class="op">,</span> <span class="nam">n</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t11" class="pln"> <span class="str">""" axis-angle quaternion function</span><span class="strut"> </span></p>
+<p id="t12" class="pln"><span class="str"> Returns a unit quaternion</span><span class="strut"> </span></p>
+<p id="t13" class="pln"><span class="strut"> </span></p>
+<p id="t14" class="pln"><span class="str"> :param a: angle in degrees</span><span class="strut"> </span></p>
+<p id="t15" class="pln"><span class="str"> :param n: unit canonical vector for a specific axis</span><span class="strut"> </span></p>
+<p id="t16" class="pln"><span class="str"> :returns: a vector</span><span class="strut"> </span></p>
+<p id="t17" class="pln"><span class="str"> :rtype: (np.ndarray)</span><span class="strut"> </span></p>
+<p id="t18" class="pln"><span class="str"> ..ref: James Diebel</span><span class="strut"> </span></p>
+<p id="t19" class="pln"><span class="str"> "Representing Attitude: Euler Angles, Unit Quaternions, and Rotation</span><span class="strut"> </span></p>
+<p id="t20" class="pln"><span class="str"> Vectors."</span><span class="strut"> </span></p>
+<p id="t21" class="pln"><span class="str"> (2006): p. 17 (6.12)</span><span class="strut"> </span></p>
+<p id="t22" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t23" class="stm run hide_run"> <span class="nam">tmp</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">zeros</span><span class="op">(</span><span class="op">(</span><span class="num">4</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t24" class="stm run hide_run"> <span class="nam">tmp</span><span class="op">[</span><span class="num">0</span><span class="op">]</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">cos</span><span class="op">(</span><span class="op">(</span><span class="num">1</span> <span class="op">/</span> <span class="num">2</span><span class="op">)</span> <span class="op">*</span> <span class="nam">a</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t25" class="stm run hide_run"> <span class="nam">tmp</span><span class="op">[</span><span class="num">1</span><span class="op">:</span><span class="num">4</span><span class="op">]</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">dot</span><span class="op">(</span><span class="nam">n</span><span class="op">,</span> <span class="nam">np</span><span class="op">.</span><span class="nam">sin</span><span class="op">(</span><span class="op">(</span><span class="num">1</span> <span class="op">/</span> <span class="num">2</span><span class="op">)</span> <span class="op">*</span> <span class="nam">a</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t26" class="stm run hide_run"> <span class="key">return</span> <span class="nam">tmp</span><span class="strut"> </span></p>
+<p id="t27" class="pln"><span class="strut"> </span></p>
+<p id="t28" class="pln"><span class="strut"> </span></p>
+<p id="t29" class="stm run hide_run"><span class="key">def</span> <span class="nam">from_euler</span><span class="op">(</span><span class="nam">ai</span><span class="op">,</span> <span class="nam">aj</span><span class="op">,</span> <span class="nam">ak</span><span class="op">,</span> <span class="nam">axes</span><span class="op">=</span><span class="str">'xyz'</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t30" class="pln"> <span class="str">"""Return quaternion from Euler angles and axis sequence.</span><span class="strut"> </span></p>
+<p id="t31" class="pln"><span class="str"> ai, aj, ak : Euler's roll, pitch and yaw angles</span><span class="strut"> </span></p>
+<p id="t32" class="pln"><span class="str"> axes : One of 24 axis sequences as string or encoded tuple</span><span class="strut"> </span></p>
+<p id="t33" class="pln"><span class="str"> :param ai: angle in degrees to be rotated about the first axis</span><span class="strut"> </span></p>
+<p id="t34" class="pln"><span class="str"> :param aj: angle in degrees to be rotated about the second axis</span><span class="strut"> </span></p>
+<p id="t35" class="pln"><span class="str"> :param ak: angle in degrees to be rotated about the third axis</span><span class="strut"> </span></p>
+<p id="t36" class="pln"><span class="str"> :param axes: string that encodes the order of the axes and</span><span class="strut"> </span></p>
+<p id="t37" class="pln"><span class="str"> whether rotational or stationary axes should be used</span><span class="strut"> </span></p>
+<p id="t38" class="pln"><span class="str"> :returns: a vector</span><span class="strut"> </span></p>
+<p id="t39" class="pln"><span class="str"> :rtype: (np.ndarray)</span><span class="strut"> </span></p>
+<p id="t40" class="pln"><span class="str"> ..ref: James Diebel</span><span class="strut"> </span></p>
+<p id="t41" class="pln"><span class="str"> "Representing Attitude: Euler Angles, Unit Quaternions, and Rotation</span><span class="strut"> </span></p>
+<p id="t42" class="pln"><span class="str"> Vectors."</span><span class="strut"> </span></p>
+<p id="t43" class="pln"><span class="str"> (2006): p. 18 (6.14)</span><span class="strut"> </span></p>
+<p id="t44" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t45" class="stm run hide_run"> <span class="nam">vects</span> <span class="op">=</span> <span class="op">[</span><span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">0</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span><span class="op">,</span> <span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="num">1</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span><span class="op">,</span> <span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="num">0</span><span class="op">,</span> <span class="num">1</span><span class="op">]</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t46" class="stm run hide_run"> <span class="nam">r</span><span class="op">,</span> <span class="nam">i</span><span class="op">,</span> <span class="nam">j</span><span class="op">,</span> <span class="nam">k</span> <span class="op">=</span> <span class="nam">constants</span><span class="op">.</span><span class="nam">_AXES2TUPLE</span><span class="op">[</span><span class="nam">axes</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t47" class="stm run hide_run"> <span class="nam">q1</span> <span class="op">=</span> <span class="nam">qat</span><span class="op">(</span><span class="nam">ai</span><span class="op">,</span> <span class="nam">vects</span><span class="op">[</span><span class="nam">i</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t48" class="stm run hide_run"> <span class="nam">q2</span> <span class="op">=</span> <span class="nam">qat</span><span class="op">(</span><span class="nam">aj</span><span class="op">,</span> <span class="nam">vects</span><span class="op">[</span><span class="nam">j</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t49" class="stm run hide_run"> <span class="nam">q3</span> <span class="op">=</span> <span class="nam">qat</span><span class="op">(</span><span class="nam">ak</span><span class="op">,</span> <span class="nam">vects</span><span class="op">[</span><span class="nam">k</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t50" class="stm run hide_run"> <span class="nam">quaternion</span> <span class="op">=</span> <span class="nam">multiply</span><span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">array</span><span class="op">(</span><span class="nam">q1</span><span class="op">)</span><span class="op">,</span> <span class="nam">np</span><span class="op">.</span><span class="nam">array</span><span class="op">(</span><span class="nam">q2</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t51" class="stm run hide_run"> <span class="nam">qijk</span> <span class="op">=</span> <span class="nam">multiply</span><span class="op">(</span><span class="nam">quaternion</span><span class="op">,</span> <span class="nam">np</span><span class="op">.</span><span class="nam">array</span><span class="op">(</span><span class="nam">q3</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t52" class="stm run hide_run"> <span class="key">return</span> <span class="nam">qijk</span><span class="strut"> </span></p>
+<p id="t53" class="pln"><span class="strut"> </span></p>
+<p id="t54" class="pln"><span class="strut"> </span></p>
+<p id="t55" class="stm run hide_run"><span class="key">def</span> <span class="nam">about_axis</span><span class="op">(</span><span class="nam">angle</span><span class="op">,</span> <span class="nam">axis</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t56" class="pln"> <span class="str">"""Return quaternion for rotation about axis.</span><span class="strut"> </span></p>
+<p id="t57" class="pln"><span class="strut"> </span></p>
+<p id="t58" class="pln"><span class="str"> ..ref: James Diebel</span><span class="strut"> </span></p>
+<p id="t59" class="pln"><span class="str"> "Representing Attitude: Euler Angles, Unit Quaternions, and Rotation</span><span class="strut"> </span></p>
+<p id="t60" class="pln"><span class="str"> Vectors."</span><span class="strut"> </span></p>
+<p id="t61" class="pln"><span class="str"> (2006): p. 17 (6.4), equation 175</span><span class="strut"> </span></p>
+<p id="t62" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t63" class="stm run hide_run"> <span class="nam">q</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">array</span><span class="op">(</span><span class="op">[</span><span class="num">0.0</span><span class="op">,</span> <span class="nam">axis</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">,</span> <span class="nam">axis</span><span class="op">[</span><span class="num">1</span><span class="op">]</span><span class="op">,</span> <span class="nam">axis</span><span class="op">[</span><span class="num">2</span><span class="op">]</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t64" class="stm run hide_run"> <span class="nam">qlen</span> <span class="op">=</span> <span class="nam">vector_norm</span><span class="op">(</span><span class="nam">q</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t65" class="stm run hide_run"> <span class="key">if</span> <span class="nam">qlen</span> <span class="op">></span> <span class="nam">constants</span><span class="op">.</span><span class="nam">_EPS</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t66" class="stm run hide_run"> <span class="nam">q</span> <span class="op">*=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">sin</span><span class="op">(</span><span class="nam">angle</span> <span class="op">/</span> <span class="num">2.0</span><span class="op">)</span> <span class="op">/</span> <span class="nam">qlen</span><span class="strut"> </span></p>
+<p id="t67" class="stm run hide_run"> <span class="nam">q</span><span class="op">[</span><span class="num">0</span><span class="op">]</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">cos</span><span class="op">(</span><span class="nam">angle</span> <span class="op">/</span> <span class="num">2.0</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t68" class="stm run hide_run"> <span class="key">return</span> <span class="nam">q</span><span class="strut"> </span></p>
+<p id="t69" class="pln"><span class="strut"> </span></p>
+<p id="t70" class="pln"><span class="strut"> </span></p>
+<p id="t71" class="stm run hide_run"><span class="key">def</span> <span class="nam">matrix</span><span class="op">(</span><span class="nam">quaternion</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t72" class="pln"> <span class="str">"""Return homogeneous rotation matrix from quaternion.</span><span class="strut"> </span></p>
+<p id="t73" class="pln"><span class="str"> :param quaternion : vector with at least 3 entrences (unit quaternion)</span><span class="strut"> </span></p>
+<p id="t74" class="pln"><span class="str"> :returns: a matrix</span><span class="strut"> </span></p>
+<p id="t75" class="pln"><span class="str"> :rtype: (np.ndarray)</span><span class="strut"> </span></p>
+<p id="t76" class="pln"><span class="str"> ..ref: James Diebel</span><span class="strut"> </span></p>
+<p id="t77" class="pln"><span class="str"> "Representing Attitude: Euler Angles, Unit Quaternions, and Rotation</span><span class="strut"> </span></p>
+<p id="t78" class="pln"><span class="str"> Vectors."</span><span class="strut"> </span></p>
+<p id="t79" class="pln"><span class="str"> (2006): p. 15 (6.4)</span><span class="strut"> </span></p>
+<p id="t80" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t81" class="stm run hide_run"> <span class="nam">q</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">array</span><span class="op">(</span><span class="nam">quaternion</span><span class="op">,</span> <span class="nam">dtype</span><span class="op">=</span><span class="nam">np</span><span class="op">.</span><span class="nam">float64</span><span class="op">,</span> <span class="nam">copy</span><span class="op">=</span><span class="key">True</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t82" class="stm run hide_run"> <span class="nam">qnorm</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">sqrt</span><span class="op">(</span><span class="nam">q</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">**</span><span class="num">2</span> <span class="op">+</span> <span class="nam">q</span><span class="op">[</span><span class="num">1</span><span class="op">]</span><span class="op">**</span><span class="num">2</span> <span class="op">+</span> <span class="nam">q</span><span class="op">[</span><span class="num">2</span><span class="op">]</span><span class="op">**</span><span class="num">2</span> <span class="op">+</span> <span class="nam">q</span><span class="op">[</span><span class="num">3</span><span class="op">]</span><span class="op">**</span><span class="num">2</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t83" class="stm run hide_run"> <span class="key">if</span> <span class="nam">qnorm</span> <span class="op">!=</span> <span class="num">1</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t84" class="stm run hide_run"> <span class="nam">q</span> <span class="op">=</span> <span class="nam">q</span> <span class="op">/</span> <span class="nam">qnorm</span><span class="strut"> </span></p>
+<p id="t85" class="stm run hide_run"> <span class="nam">q0</span> <span class="op">=</span> <span class="nam">q</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t86" class="stm run hide_run"> <span class="nam">q1</span> <span class="op">=</span> <span class="nam">q</span><span class="op">[</span><span class="num">1</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t87" class="stm run hide_run"> <span class="nam">q2</span> <span class="op">=</span> <span class="nam">q</span><span class="op">[</span><span class="num">2</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t88" class="stm run hide_run"> <span class="nam">q3</span> <span class="op">=</span> <span class="nam">q</span><span class="op">[</span><span class="num">3</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t89" class="pln"><span class="strut"> </span></p>
+<p id="t90" class="stm run hide_run"> <span class="nam">mat</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">identity</span><span class="op">(</span><span class="num">4</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t91" class="pln"> <span class="com"># According to equation 125</span><span class="strut"> </span></p>
+<p id="t92" class="stm run hide_run"> <span class="nam">mat</span><span class="op">[</span><span class="op">:</span><span class="num">3</span><span class="op">,</span> <span class="op">:</span><span class="num">3</span><span class="op">]</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">array</span><span class="op">(</span><span class="op">[</span><span class="strut"> </span></p>
+<p id="t93" class="pln"> <span class="op">[</span><span class="nam">q0</span><span class="op">**</span><span class="num">2</span> <span class="op">+</span> <span class="nam">q1</span><span class="op">**</span><span class="num">2</span> <span class="op">-</span> <span class="nam">q2</span><span class="op">**</span><span class="num">2</span> <span class="op">-</span> <span class="nam">q3</span><span class="op">**</span><span class="num">2</span><span class="op">,</span> <span class="num">2</span> <span class="op">*</span> <span class="nam">q1</span> <span class="op">*</span> <span class="nam">q2</span> <span class="op">+</span><span class="strut"> </span></p>
+<p id="t94" class="pln"> <span class="num">2</span> <span class="op">*</span> <span class="nam">q0</span> <span class="op">*</span> <span class="nam">q3</span><span class="op">,</span> <span class="num">2</span> <span class="op">*</span> <span class="nam">q1</span> <span class="op">*</span> <span class="nam">q3</span> <span class="op">-</span> <span class="num">2</span> <span class="op">*</span> <span class="nam">q0</span> <span class="op">*</span> <span class="nam">q2</span><span class="op">]</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t95" class="pln"> <span class="op">[</span><span class="num">2</span> <span class="op">*</span> <span class="nam">q1</span> <span class="op">*</span> <span class="nam">q2</span> <span class="op">-</span> <span class="num">2</span> <span class="op">*</span> <span class="nam">q0</span> <span class="op">*</span> <span class="nam">q3</span><span class="op">,</span> <span class="nam">q0</span><span class="op">**</span><span class="num">2</span> <span class="op">-</span> <span class="nam">q1</span><span class="op">**</span><span class="num">2</span> <span class="op">+</span><span class="strut"> </span></p>
+<p id="t96" class="pln"> <span class="nam">q2</span><span class="op">**</span><span class="num">2</span> <span class="op">-</span> <span class="nam">q3</span><span class="op">**</span><span class="num">2</span><span class="op">,</span> <span class="num">2</span> <span class="op">*</span> <span class="nam">q2</span> <span class="op">*</span> <span class="nam">q3</span> <span class="op">+</span> <span class="num">2</span> <span class="op">*</span> <span class="nam">q0</span> <span class="op">*</span> <span class="nam">q1</span><span class="op">]</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t97" class="pln"> <span class="op">[</span><span class="num">2</span> <span class="op">*</span> <span class="nam">q1</span> <span class="op">*</span> <span class="nam">q3</span> <span class="op">+</span> <span class="num">2</span> <span class="op">*</span> <span class="nam">q0</span> <span class="op">*</span> <span class="nam">q2</span><span class="op">,</span> <span class="num">2</span> <span class="op">*</span> <span class="nam">q2</span> <span class="op">*</span> <span class="nam">q3</span> <span class="op">-</span> <span class="num">2</span> <span class="op">*</span> <span class="nam">q0</span> <span class="op">*</span> <span class="nam">q1</span><span class="op">,</span> <span class="nam">q0</span><span class="op">**</span><span class="num">2</span> <span class="op">-</span> <span class="nam">q1</span><span class="op">**</span><span class="num">2</span> <span class="op">-</span> <span class="nam">q2</span><span class="op">**</span><span class="num">2</span> <span class="op">+</span> <span class="nam">q3</span><span class="op">**</span><span class="num">2</span><span class="op">]</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t98" class="stm run hide_run"> <span class="key">return</span> <span class="nam">mat</span><span class="strut"> </span></p>
+<p id="t99" class="pln"><span class="strut"> </span></p>
+<p id="t100" class="pln"><span class="strut"> </span></p>
+<p id="t101" class="stm run hide_run"><span class="key">def</span> <span class="nam">from_matrix</span><span class="op">(</span><span class="nam">matrix</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t102" class="pln"> <span class="str">"""Return quaternion from rotation matrix.</span><span class="strut"> </span></p>
+<p id="t103" class="pln"><span class="strut"> </span></p>
+<p id="t104" class="pln"><span class="str"> :param matrix: a rotation matrix</span><span class="strut"> </span></p>
+<p id="t105" class="pln"><span class="str"> :returns: a vector</span><span class="strut"> </span></p>
+<p id="t106" class="pln"><span class="str"> :rtype: (np.ndarray)</span><span class="strut"> </span></p>
+<p id="t107" class="pln"><span class="str"> ..ref: James Diebel</span><span class="strut"> </span></p>
+<p id="t108" class="pln"><span class="str"> "Representing Attitude: Euler Angles, Unit Quaternions, and Rotation</span><span class="strut"> </span></p>
+<p id="t109" class="pln"><span class="str"> Vectors."</span><span class="strut"> </span></p>
+<p id="t110" class="pln"><span class="str"> (2006): p. 15 (6.5)</span><span class="strut"> </span></p>
+<p id="t111" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t112" class="stm run hide_run"> <span class="nam">r</span> <span class="op">=</span> <span class="nam">matrix</span><span class="strut"> </span></p>
+<p id="t113" class="pln"> <span class="com"># Split cases according to equation 145</span><span class="strut"> </span></p>
+<p id="t114" class="stm run hide_run"> <span class="key">if</span> <span class="op">(</span><span class="nam">r</span><span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">1</span><span class="op">]</span> <span class="op">>=</span> <span class="op">-</span><span class="nam">r</span><span class="op">[</span><span class="num">2</span><span class="op">,</span> <span class="num">2</span><span class="op">]</span><span class="op">)</span> <span class="key">and</span> <span class="op">(</span><span class="nam">r</span><span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span> <span class="op">>=</span> <span class="op">-</span><span class="nam">r</span><span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">1</span><span class="op">]</span><span class="op">)</span> <span class="key">and</span> <span class="op">(</span><span class="nam">r</span><span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span> <span class="op">>=</span> <span class="op">-</span><span class="nam">r</span><span class="op">[</span><span class="num">2</span><span class="op">,</span> <span class="num">2</span><span class="op">]</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t115" class="pln"> <span class="com"># equation 141</span><span class="strut"> </span></p>
+<p id="t116" class="stm run hide_run"> <span class="key">return</span> <span class="op">(</span><span class="num">1</span> <span class="op">/</span> <span class="num">2</span><span class="op">)</span> <span class="op">*</span> <span class="nam">np</span><span class="op">.</span><span class="nam">array</span><span class="op">(</span><span class="op">[</span><span class="nam">np</span><span class="op">.</span><span class="nam">sqrt</span><span class="op">(</span><span class="num">1</span> <span class="op">+</span> <span class="nam">r</span><span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span> <span class="op">+</span> <span class="nam">r</span><span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">1</span><span class="op">]</span> <span class="op">+</span> <span class="nam">r</span><span class="op">[</span><span class="num">2</span><span class="op">,</span> <span class="num">2</span><span class="op">]</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t117" class="pln"> <span class="op">(</span><span class="nam">r</span><span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">2</span><span class="op">]</span> <span class="op">-</span> <span class="nam">r</span><span class="op">[</span><span class="num">2</span><span class="op">,</span> <span class="num">1</span><span class="op">]</span><span class="op">)</span> <span class="op">/</span><span class="strut"> </span></p>
+<p id="t118" class="pln"> <span class="nam">np</span><span class="op">.</span><span class="nam">sqrt</span><span class="op">(</span><span class="num">1</span> <span class="op">+</span> <span class="nam">r</span><span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span> <span class="op">+</span> <span class="nam">r</span><span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">1</span><span class="op">]</span> <span class="op">+</span> <span class="nam">r</span><span class="op">[</span><span class="num">2</span><span class="op">,</span> <span class="num">2</span><span class="op">]</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t119" class="pln"> <span class="op">(</span><span class="nam">r</span><span class="op">[</span><span class="num">2</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span> <span class="op">-</span> <span class="nam">r</span><span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="num">2</span><span class="op">]</span><span class="op">)</span> <span class="op">/</span><span class="strut"> </span></p>
+<p id="t120" class="pln"> <span class="nam">np</span><span class="op">.</span><span class="nam">sqrt</span><span class="op">(</span><span class="num">1</span> <span class="op">+</span> <span class="nam">r</span><span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span> <span class="op">+</span> <span class="nam">r</span><span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">1</span><span class="op">]</span> <span class="op">+</span> <span class="nam">r</span><span class="op">[</span><span class="num">2</span><span class="op">,</span> <span class="num">2</span><span class="op">]</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t121" class="pln"> <span class="op">(</span><span class="nam">r</span><span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="num">1</span><span class="op">]</span> <span class="op">-</span> <span class="nam">r</span><span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span><span class="op">)</span> <span class="op">/</span><span class="strut"> </span></p>
+<p id="t122" class="pln"> <span class="nam">np</span><span class="op">.</span><span class="nam">sqrt</span><span class="op">(</span><span class="num">1</span> <span class="op">+</span> <span class="nam">r</span><span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span> <span class="op">+</span> <span class="nam">r</span><span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">1</span><span class="op">]</span> <span class="op">+</span> <span class="nam">r</span><span class="op">[</span><span class="num">2</span><span class="op">,</span> <span class="num">2</span><span class="op">]</span><span class="op">)</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t123" class="pln"><span class="strut"> </span></p>
+<p id="t124" class="stm run hide_run"> <span class="key">if</span> <span class="op">(</span><span class="nam">r</span><span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">1</span><span class="op">]</span> <span class="op"><</span> <span class="op">-</span><span class="nam">r</span><span class="op">[</span><span class="num">2</span><span class="op">,</span> <span class="num">2</span><span class="op">]</span><span class="op">)</span> <span class="key">and</span> <span class="op">(</span><span class="nam">r</span><span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span> <span class="op">></span> <span class="nam">r</span><span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">1</span><span class="op">]</span><span class="op">)</span> <span class="key">and</span> <span class="op">(</span><span class="nam">r</span><span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span> <span class="op">></span> <span class="nam">r</span><span class="op">[</span><span class="num">2</span><span class="op">,</span> <span class="num">2</span><span class="op">]</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t125" class="pln"> <span class="com"># equation 142</span><span class="strut"> </span></p>
+<p id="t126" class="stm run hide_run"> <span class="key">return</span> <span class="op">(</span><span class="num">1</span> <span class="op">/</span> <span class="num">2</span><span class="op">)</span> <span class="op">*</span> <span class="nam">np</span><span class="op">.</span><span class="nam">array</span><span class="op">(</span><span class="op">[</span><span class="op">(</span><span class="nam">r</span><span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">2</span><span class="op">]</span> <span class="op">-</span> <span class="nam">r</span><span class="op">[</span><span class="num">2</span><span class="op">,</span> <span class="num">1</span><span class="op">]</span><span class="op">)</span> <span class="op">/</span><span class="strut"> </span></p>
+<p id="t127" class="pln"> <span class="nam">np</span><span class="op">.</span><span class="nam">sqrt</span><span class="op">(</span><span class="num">1</span> <span class="op">+</span> <span class="nam">r</span><span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span> <span class="op">-</span> <span class="nam">r</span><span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">1</span><span class="op">]</span> <span class="op">-</span> <span class="nam">r</span><span class="op">[</span><span class="num">2</span><span class="op">,</span> <span class="num">2</span><span class="op">]</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t128" class="pln"> <span class="nam">np</span><span class="op">.</span><span class="nam">sqrt</span><span class="op">(</span><span class="num">1</span> <span class="op">+</span> <span class="nam">r</span><span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span> <span class="op">-</span> <span class="nam">r</span><span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">1</span><span class="op">]</span> <span class="op">-</span> <span class="nam">r</span><span class="op">[</span><span class="num">2</span><span class="op">,</span> <span class="num">2</span><span class="op">]</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t129" class="pln"> <span class="op">(</span><span class="nam">r</span><span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="num">1</span><span class="op">]</span> <span class="op">+</span> <span class="nam">r</span><span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span><span class="op">)</span> <span class="op">/</span><span class="strut"> </span></p>
+<p id="t130" class="pln"> <span class="nam">np</span><span class="op">.</span><span class="nam">sqrt</span><span class="op">(</span><span class="num">1</span> <span class="op">+</span> <span class="nam">r</span><span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span> <span class="op">-</span> <span class="nam">r</span><span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">1</span><span class="op">]</span> <span class="op">-</span> <span class="nam">r</span><span class="op">[</span><span class="num">2</span><span class="op">,</span> <span class="num">2</span><span class="op">]</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t131" class="pln"> <span class="op">(</span><span class="nam">r</span><span class="op">[</span><span class="num">2</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span> <span class="op">+</span> <span class="nam">r</span><span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="num">2</span><span class="op">]</span><span class="op">)</span> <span class="op">/</span><span class="strut"> </span></p>
+<p id="t132" class="pln"> <span class="nam">np</span><span class="op">.</span><span class="nam">sqrt</span><span class="op">(</span><span class="num">1</span> <span class="op">+</span> <span class="nam">r</span><span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span> <span class="op">-</span> <span class="nam">r</span><span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">1</span><span class="op">]</span> <span class="op">-</span> <span class="nam">r</span><span class="op">[</span><span class="num">2</span><span class="op">,</span> <span class="num">2</span><span class="op">]</span><span class="op">)</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t133" class="stm mis"> <span class="key">if</span> <span class="op">(</span><span class="nam">r</span><span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">1</span><span class="op">]</span> <span class="op">></span> <span class="nam">r</span><span class="op">[</span><span class="num">2</span><span class="op">,</span> <span class="num">2</span><span class="op">]</span><span class="op">)</span> <span class="key">and</span> <span class="op">(</span><span class="nam">r</span><span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span> <span class="op"><</span> <span class="nam">r</span><span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">1</span><span class="op">]</span><span class="op">)</span> <span class="key">and</span> <span class="op">(</span><span class="nam">r</span><span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span> <span class="op"><</span> <span class="op">-</span><span class="nam">r</span><span class="op">[</span><span class="num">2</span><span class="op">,</span> <span class="num">2</span><span class="op">]</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t134" class="pln"> <span class="com"># equation 143</span><span class="strut"> </span></p>
+<p id="t135" class="stm mis"> <span class="key">return</span> <span class="op">(</span><span class="num">1</span> <span class="op">/</span> <span class="num">2</span><span class="op">)</span> <span class="op">*</span> <span class="nam">np</span><span class="op">.</span><span class="nam">array</span><span class="op">(</span><span class="op">[</span><span class="op">(</span><span class="nam">r</span><span class="op">[</span><span class="num">2</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span> <span class="op">-</span> <span class="nam">r</span><span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="num">2</span><span class="op">]</span><span class="op">)</span> <span class="op">/</span><span class="strut"> </span></p>
+<p id="t136" class="pln"> <span class="nam">np</span><span class="op">.</span><span class="nam">sqrt</span><span class="op">(</span><span class="num">1</span> <span class="op">-</span> <span class="nam">r</span><span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span> <span class="op">+</span> <span class="nam">r</span><span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">1</span><span class="op">]</span> <span class="op">-</span> <span class="nam">r</span><span class="op">[</span><span class="num">2</span><span class="op">,</span> <span class="num">2</span><span class="op">]</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t137" class="pln"> <span class="op">(</span><span class="nam">r</span><span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="num">1</span><span class="op">]</span> <span class="op">+</span> <span class="nam">r</span><span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span><span class="op">)</span> <span class="op">/</span><span class="strut"> </span></p>
+<p id="t138" class="pln"> <span class="nam">np</span><span class="op">.</span><span class="nam">sqrt</span><span class="op">(</span><span class="num">1</span> <span class="op">-</span> <span class="nam">r</span><span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span> <span class="op">+</span> <span class="nam">r</span><span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">1</span><span class="op">]</span> <span class="op">-</span> <span class="nam">r</span><span class="op">[</span><span class="num">2</span><span class="op">,</span> <span class="num">2</span><span class="op">]</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t139" class="pln"> <span class="nam">np</span><span class="op">.</span><span class="nam">sqrt</span><span class="op">(</span><span class="num">1</span> <span class="op">-</span> <span class="nam">r</span><span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span> <span class="op">+</span> <span class="nam">r</span><span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">1</span><span class="op">]</span> <span class="op">-</span> <span class="nam">r</span><span class="op">[</span><span class="num">2</span><span class="op">,</span> <span class="num">2</span><span class="op">]</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t140" class="pln"> <span class="op">(</span><span class="nam">r</span><span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">2</span><span class="op">]</span> <span class="op">+</span> <span class="nam">r</span><span class="op">[</span><span class="num">2</span><span class="op">,</span> <span class="num">1</span><span class="op">]</span><span class="op">)</span> <span class="op">/</span><span class="strut"> </span></p>
+<p id="t141" class="pln"> <span class="nam">np</span><span class="op">.</span><span class="nam">sqrt</span><span class="op">(</span><span class="num">1</span> <span class="op">-</span> <span class="nam">r</span><span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span> <span class="op">+</span> <span class="nam">r</span><span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">1</span><span class="op">]</span> <span class="op">-</span> <span class="nam">r</span><span class="op">[</span><span class="num">2</span><span class="op">,</span> <span class="num">2</span><span class="op">]</span><span class="op">)</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t142" class="stm mis"> <span class="key">if</span> <span class="op">(</span><span class="nam">r</span><span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">1</span><span class="op">]</span> <span class="op"><</span> <span class="nam">r</span><span class="op">[</span><span class="num">2</span><span class="op">,</span> <span class="num">2</span><span class="op">]</span><span class="op">)</span> <span class="key">and</span> <span class="op">(</span><span class="nam">r</span><span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span> <span class="op"><</span> <span class="op">-</span><span class="nam">r</span><span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">1</span><span class="op">]</span><span class="op">)</span> <span class="key">and</span> <span class="op">(</span><span class="nam">r</span><span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span> <span class="op"><</span> <span class="nam">r</span><span class="op">[</span><span class="num">2</span><span class="op">,</span> <span class="num">2</span><span class="op">]</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t143" class="pln"> <span class="com"># equation 144</span><span class="strut"> </span></p>
+<p id="t144" class="stm mis"> <span class="key">return</span> <span class="op">(</span><span class="num">1</span> <span class="op">/</span> <span class="num">2</span><span class="op">)</span> <span class="op">*</span> <span class="nam">np</span><span class="op">.</span><span class="nam">array</span><span class="op">(</span><span class="op">[</span><span class="op">(</span><span class="nam">r</span><span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="num">1</span><span class="op">]</span> <span class="op">-</span> <span class="nam">r</span><span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span><span class="op">)</span> <span class="op">/</span><span class="strut"> </span></p>
+<p id="t145" class="pln"> <span class="nam">np</span><span class="op">.</span><span class="nam">sqrt</span><span class="op">(</span><span class="num">1</span> <span class="op">-</span> <span class="nam">r</span><span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span> <span class="op">-</span> <span class="nam">r</span><span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">1</span><span class="op">]</span> <span class="op">+</span> <span class="nam">r</span><span class="op">[</span><span class="num">2</span><span class="op">,</span> <span class="num">2</span><span class="op">]</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t146" class="pln"> <span class="op">(</span><span class="nam">r</span><span class="op">[</span><span class="num">2</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span> <span class="op">+</span> <span class="nam">r</span><span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="num">2</span><span class="op">]</span><span class="op">)</span> <span class="op">/</span><span class="strut"> </span></p>
+<p id="t147" class="pln"> <span class="nam">np</span><span class="op">.</span><span class="nam">sqrt</span><span class="op">(</span><span class="num">1</span> <span class="op">-</span> <span class="nam">r</span><span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span> <span class="op">-</span> <span class="nam">r</span><span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">1</span><span class="op">]</span> <span class="op">+</span> <span class="nam">r</span><span class="op">[</span><span class="num">2</span><span class="op">,</span> <span class="num">2</span><span class="op">]</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t148" class="pln"> <span class="op">(</span><span class="nam">r</span><span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">2</span><span class="op">]</span> <span class="op">+</span> <span class="nam">r</span><span class="op">[</span><span class="num">2</span><span class="op">,</span> <span class="num">1</span><span class="op">]</span><span class="op">)</span> <span class="op">/</span><span class="strut"> </span></p>
+<p id="t149" class="pln"> <span class="nam">np</span><span class="op">.</span><span class="nam">sqrt</span><span class="op">(</span><span class="num">1</span> <span class="op">-</span> <span class="nam">r</span><span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span> <span class="op">-</span> <span class="nam">r</span><span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">1</span><span class="op">]</span> <span class="op">+</span> <span class="nam">r</span><span class="op">[</span><span class="num">2</span><span class="op">,</span> <span class="num">2</span><span class="op">]</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t150" class="pln"> <span class="nam">np</span><span class="op">.</span><span class="nam">sqrt</span><span class="op">(</span><span class="num">1</span> <span class="op">-</span> <span class="nam">r</span><span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span> <span class="op">-</span> <span class="nam">r</span><span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">1</span><span class="op">]</span> <span class="op">+</span> <span class="nam">r</span><span class="op">[</span><span class="num">2</span><span class="op">,</span> <span class="num">2</span><span class="op">]</span><span class="op">)</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t151" class="pln"><span class="strut"> </span></p>
+<p id="t152" class="pln"><span class="strut"> </span></p>
+<p id="t153" class="stm run hide_run"><span class="key">def</span> <span class="nam">multiply</span><span class="op">(</span><span class="nam">quaternion1</span><span class="op">,</span> <span class="nam">quaternion0</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t154" class="pln"> <span class="str">"""Return multiplication of two quaternions.</span><span class="strut"> </span></p>
+<p id="t155" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t156" class="stm run hide_run"> <span class="nam">w0</span><span class="op">,</span> <span class="nam">x0</span><span class="op">,</span> <span class="nam">y0</span><span class="op">,</span> <span class="nam">z0</span> <span class="op">=</span> <span class="nam">quaternion0</span><span class="strut"> </span></p>
+<p id="t157" class="stm run hide_run"> <span class="nam">w1</span><span class="op">,</span> <span class="nam">x1</span><span class="op">,</span> <span class="nam">y1</span><span class="op">,</span> <span class="nam">z1</span> <span class="op">=</span> <span class="nam">quaternion1</span><span class="strut"> </span></p>
+<p id="t158" class="stm run hide_run"> <span class="key">return</span> <span class="nam">np</span><span class="op">.</span><span class="nam">array</span><span class="op">(</span><span class="op">[</span><span class="op">-</span><span class="nam">x1</span> <span class="op">*</span> <span class="nam">x0</span> <span class="op">-</span> <span class="nam">y1</span> <span class="op">*</span> <span class="nam">y0</span> <span class="op">-</span> <span class="nam">z1</span> <span class="op">*</span> <span class="nam">z0</span> <span class="op">+</span> <span class="nam">w1</span> <span class="op">*</span> <span class="nam">w0</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t159" class="pln"> <span class="nam">x1</span> <span class="op">*</span> <span class="nam">w0</span> <span class="op">+</span> <span class="nam">y1</span> <span class="op">*</span> <span class="nam">z0</span> <span class="op">-</span> <span class="nam">z1</span> <span class="op">*</span> <span class="nam">y0</span> <span class="op">+</span> <span class="nam">w1</span> <span class="op">*</span> <span class="nam">x0</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t160" class="pln"> <span class="op">-</span><span class="nam">x1</span> <span class="op">*</span> <span class="nam">z0</span> <span class="op">+</span> <span class="nam">y1</span> <span class="op">*</span> <span class="nam">w0</span> <span class="op">+</span> <span class="nam">z1</span> <span class="op">*</span> <span class="nam">x0</span> <span class="op">+</span> <span class="nam">w1</span> <span class="op">*</span> <span class="nam">y0</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t161" class="pln"> <span class="nam">x1</span> <span class="op">*</span> <span class="nam">y0</span> <span class="op">-</span> <span class="nam">y1</span> <span class="op">*</span> <span class="nam">x0</span> <span class="op">+</span> <span class="nam">z1</span> <span class="op">*</span> <span class="nam">w0</span> <span class="op">+</span> <span class="nam">w1</span> <span class="op">*</span> <span class="nam">z0</span><span class="op">]</span><span class="op">,</span> <span class="nam">dtype</span><span class="op">=</span><span class="nam">np</span><span class="op">.</span><span class="nam">float64</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t162" class="pln"><span class="strut"> </span></p>
+<p id="t163" class="pln"><span class="strut"> </span></p>
+<p id="t164" class="stm run hide_run"><span class="key">def</span> <span class="nam">conjugate</span><span class="op">(</span><span class="nam">quaternion</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t165" class="pln"> <span class="str">"""Return conjugate of quaternion.</span><span class="strut"> </span></p>
+<p id="t166" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t167" class="stm mis"> <span class="nam">q</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">array</span><span class="op">(</span><span class="nam">quaternion</span><span class="op">,</span> <span class="nam">dtype</span><span class="op">=</span><span class="nam">np</span><span class="op">.</span><span class="nam">float64</span><span class="op">,</span> <span class="nam">copy</span><span class="op">=</span><span class="key">True</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t168" class="stm mis"> <span class="nam">np</span><span class="op">.</span><span class="nam">negative</span><span class="op">(</span><span class="nam">q</span><span class="op">[</span><span class="num">1</span><span class="op">:</span><span class="op">]</span><span class="op">,</span> <span class="nam">q</span><span class="op">[</span><span class="num">1</span><span class="op">:</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t169" class="stm mis"> <span class="key">return</span> <span class="nam">q</span><span class="strut"> </span></p>
+<p id="t170" class="pln"><span class="strut"> </span></p>
+<p id="t171" class="pln"><span class="strut"> </span></p>
+<p id="t172" class="stm run hide_run"><span class="key">def</span> <span class="nam">inverse</span><span class="op">(</span><span class="nam">quaternion</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t173" class="pln"> <span class="str">"""Return inverse of quaternion.</span><span class="strut"> </span></p>
+<p id="t174" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t175" class="stm run hide_run"> <span class="nam">q</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">array</span><span class="op">(</span><span class="nam">quaternion</span><span class="op">,</span> <span class="nam">dtype</span><span class="op">=</span><span class="nam">np</span><span class="op">.</span><span class="nam">float64</span><span class="op">,</span> <span class="nam">copy</span><span class="op">=</span><span class="key">True</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t176" class="stm run hide_run"> <span class="nam">np</span><span class="op">.</span><span class="nam">negative</span><span class="op">(</span><span class="nam">q</span><span class="op">[</span><span class="num">1</span><span class="op">:</span><span class="op">]</span><span class="op">,</span> <span class="nam">q</span><span class="op">[</span><span class="num">1</span><span class="op">:</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t177" class="stm run hide_run"> <span class="key">return</span> <span class="nam">q</span> <span class="op">/</span> <span class="nam">np</span><span class="op">.</span><span class="nam">dot</span><span class="op">(</span><span class="nam">q</span><span class="op">,</span> <span class="nam">q</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t178" class="pln"><span class="strut"> </span></p>
+<p id="t179" class="pln"><span class="strut"> </span></p>
+<p id="t180" class="stm run hide_run"><span class="key">def</span> <span class="nam">real</span><span class="op">(</span><span class="nam">quaternion</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t181" class="pln"> <span class="str">"""Return real part of quaternion.</span><span class="strut"> </span></p>
+<p id="t182" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t183" class="stm mis"> <span class="key">return</span> <span class="nam">float</span><span class="op">(</span><span class="nam">quaternion</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t184" class="pln"><span class="strut"> </span></p>
+<p id="t185" class="pln"><span class="strut"> </span></p>
+<p id="t186" class="stm run hide_run"><span class="key">def</span> <span class="nam">imag</span><span class="op">(</span><span class="nam">quaternion</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t187" class="pln"> <span class="str">"""Return imaginary part of quaternion.</span><span class="strut"> </span></p>
+<p id="t188" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t189" class="stm mis"> <span class="key">return</span> <span class="nam">np</span><span class="op">.</span><span class="nam">array</span><span class="op">(</span><span class="nam">quaternion</span><span class="op">[</span><span class="num">1</span><span class="op">:</span><span class="num">4</span><span class="op">]</span><span class="op">,</span> <span class="nam">dtype</span><span class="op">=</span><span class="nam">np</span><span class="op">.</span><span class="nam">float64</span><span class="op">,</span> <span class="nam">copy</span><span class="op">=</span><span class="key">True</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t190" class="pln"><span class="strut"> </span></p>
+<p id="t191" class="pln"><span class="strut"> </span></p>
+<p id="t192" class="stm run hide_run"><span class="key">def</span> <span class="nam">diff</span><span class="op">(</span><span class="nam">quaternion0</span><span class="op">,</span> <span class="nam">quaternion1</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t193" class="pln"> <span class="str">""" The axis and angle between two quaternions</span><span class="strut"> </span></p>
+<p id="t194" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t195" class="stm mis"> <span class="nam">q</span> <span class="op">=</span> <span class="nam">multiply</span><span class="op">(</span><span class="nam">quaternion1</span><span class="op">,</span> <span class="nam">conjugate</span><span class="op">(</span><span class="nam">quaternion0</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t196" class="stm mis"> <span class="nam">length</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">sum</span><span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">sqrt</span><span class="op">(</span><span class="nam">q</span><span class="op">[</span><span class="num">1</span><span class="op">:</span><span class="num">4</span><span class="op">]</span> <span class="op">*</span> <span class="nam">q</span><span class="op">[</span><span class="num">1</span><span class="op">:</span><span class="num">4</span><span class="op">]</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t197" class="stm mis"> <span class="nam">angle</span> <span class="op">=</span> <span class="num">2</span> <span class="op">*</span> <span class="nam">np</span><span class="op">.</span><span class="nam">arctan2</span><span class="op">(</span><span class="nam">length</span><span class="op">,</span> <span class="nam">q</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t198" class="stm mis"> <span class="key">if</span> <span class="nam">np</span><span class="op">.</span><span class="nam">isclose</span><span class="op">(</span><span class="nam">length</span><span class="op">,</span> <span class="num">0</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t199" class="stm mis"> <span class="nam">axis</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">array</span><span class="op">(</span><span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">0</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t200" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t201" class="stm mis"> <span class="nam">axis</span> <span class="op">=</span> <span class="nam">q</span><span class="op">[</span><span class="num">1</span><span class="op">:</span><span class="num">4</span><span class="op">]</span> <span class="op">/</span> <span class="nam">length</span><span class="strut"> </span></p>
+<p id="t202" class="stm mis"> <span class="key">return</span> <span class="nam">axis</span><span class="op">,</span> <span class="nam">angle</span><span class="strut"> </span></p>
+
+ </td>
+ </tr>
+ </table>
+</div>
+
+<div id="footer">
+ <div class="content">
+ <p>
+ <a class="nav" href="index.html">« index</a> <a class="nav" href="https://coverage.readthedocs.io">coverage.py v4.5.2</a>,
+ created at 2019-01-15 12:18
+ </p>
+ </div>
+</div>
+
+</body>
+</html>
diff --git a/coverage_html_report/navipy_maths_random_py.html b/coverage_html_report/navipy_maths_random_py.html
new file mode 100644
index 0000000000000000000000000000000000000000..83c9aaf83d7e086dfe1cd4ad181d69b882009230
--- /dev/null
+++ b/coverage_html_report/navipy_maths_random_py.html
@@ -0,0 +1,187 @@
+
+
+
+<!DOCTYPE html>
+<html>
+<head>
+ <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
+
+
+ <meta http-equiv="X-UA-Compatible" content="IE=emulateIE7" />
+ <title>Coverage for navipy/maths/random.py: 96%</title>
+ <link rel="stylesheet" href="style.css" type="text/css">
+
+ <script type="text/javascript" src="jquery.min.js"></script>
+ <script type="text/javascript" src="jquery.hotkeys.js"></script>
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+ jQuery(document).ready(coverage.pyfile_ready);
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+</head>
+<body class="pyfile">
+
+<div id="header">
+ <div class="content">
+ <h1>Coverage for <b>navipy/maths/random.py</b> :
+ <span class="pc_cov">96%</span>
+ </h1>
+
+ <img id="keyboard_icon" src="keybd_closed.png" alt="Show keyboard shortcuts" />
+
+ <h2 class="stats">
+ 26 statements
+ <span class="run hide_run shortkey_r button_toggle_run">25 run</span>
+ <span class="mis shortkey_m button_toggle_mis">1 missing</span>
+ <span class="exc shortkey_x button_toggle_exc">0 excluded</span>
+
+
+ </h2>
+ </div>
+</div>
+
+<div class="help_panel">
+ <img id="panel_icon" src="keybd_open.png" alt="Hide keyboard shortcuts" />
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+ <table>
+ <tr>
+ <td class="linenos">
+<p id="n1" class="stm run hide_run"><a href="#n1">1</a></p>
+<p id="n2" class="stm run hide_run"><a href="#n2">2</a></p>
+<p id="n3" class="stm run hide_run"><a href="#n3">3</a></p>
+<p id="n4" class="stm run hide_run"><a href="#n4">4</a></p>
+<p id="n5" class="pln"><a href="#n5">5</a></p>
+<p id="n6" class="pln"><a href="#n6">6</a></p>
+<p id="n7" class="stm run hide_run"><a href="#n7">7</a></p>
+<p id="n8" class="pln"><a href="#n8">8</a></p>
+<p id="n9" class="pln"><a href="#n9">9</a></p>
+<p id="n10" class="stm run hide_run"><a href="#n10">10</a></p>
+<p id="n11" class="stm run hide_run"><a href="#n11">11</a></p>
+<p id="n12" class="stm run hide_run"><a href="#n12">12</a></p>
+<p id="n13" class="stm run hide_run"><a href="#n13">13</a></p>
+<p id="n14" class="stm run hide_run"><a href="#n14">14</a></p>
+<p id="n15" class="stm run hide_run"><a href="#n15">15</a></p>
+<p id="n16" class="stm run hide_run"><a href="#n16">16</a></p>
+<p id="n17" class="stm run hide_run"><a href="#n17">17</a></p>
+<p id="n18" class="pln"><a href="#n18">18</a></p>
+<p id="n19" class="stm run hide_run"><a href="#n19">19</a></p>
+<p id="n20" class="pln"><a href="#n20">20</a></p>
+<p id="n21" class="pln"><a href="#n21">21</a></p>
+<p id="n22" class="stm run hide_run"><a href="#n22">22</a></p>
+<p id="n23" class="pln"><a href="#n23">23</a></p>
+<p id="n24" class="pln"><a href="#n24">24</a></p>
+<p id="n25" class="pln"><a href="#n25">25</a></p>
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+<p id="n27" class="pln"><a href="#n27">27</a></p>
+<p id="n28" class="pln"><a href="#n28">28</a></p>
+<p id="n29" class="stm run hide_run"><a href="#n29">29</a></p>
+<p id="n30" class="pln"><a href="#n30">30</a></p>
+<p id="n31" class="pln"><a href="#n31">31</a></p>
+<p id="n32" class="stm run hide_run"><a href="#n32">32</a></p>
+<p id="n33" class="pln"><a href="#n33">33</a></p>
+<p id="n34" class="pln"><a href="#n34">34</a></p>
+<p id="n35" class="pln"><a href="#n35">35</a></p>
+<p id="n36" class="pln"><a href="#n36">36</a></p>
+<p id="n37" class="pln"><a href="#n37">37</a></p>
+<p id="n38" class="pln"><a href="#n38">38</a></p>
+<p id="n39" class="stm run hide_run"><a href="#n39">39</a></p>
+<p id="n40" class="stm run hide_run"><a href="#n40">40</a></p>
+<p id="n41" class="pln"><a href="#n41">41</a></p>
+<p id="n42" class="stm mis"><a href="#n42">42</a></p>
+<p id="n43" class="stm run hide_run"><a href="#n43">43</a></p>
+<p id="n44" class="stm run hide_run"><a href="#n44">44</a></p>
+<p id="n45" class="stm run hide_run"><a href="#n45">45</a></p>
+<p id="n46" class="stm run hide_run"><a href="#n46">46</a></p>
+<p id="n47" class="stm run hide_run"><a href="#n47">47</a></p>
+<p id="n48" class="stm run hide_run"><a href="#n48">48</a></p>
+<p id="n49" class="pln"><a href="#n49">49</a></p>
+
+ </td>
+ <td class="text">
+<p id="t1" class="stm run hide_run"><span class="key">import</span> <span class="nam">numpy</span> <span class="key">as</span> <span class="nam">np</span><span class="strut"> </span></p>
+<p id="t2" class="stm run hide_run"><span class="key">from</span> <span class="nam">navipy</span><span class="op">.</span><span class="nam">maths</span> <span class="key">import</span> <span class="nam">quaternion</span> <span class="key">as</span> <span class="nam">quat</span><span class="strut"> </span></p>
+<p id="t3" class="stm run hide_run"><span class="key">from</span> <span class="nam">navipy</span><span class="op">.</span><span class="nam">maths</span> <span class="key">import</span> <span class="nam">constants</span><span class="strut"> </span></p>
+<p id="t4" class="stm run hide_run"><span class="key">from</span> <span class="nam">navipy</span><span class="op">.</span><span class="nam">maths</span><span class="op">.</span><span class="nam">tools</span> <span class="key">import</span> <span class="nam">unit_vector</span><span class="strut"> </span></p>
+<p id="t5" class="pln"><span class="strut"> </span></p>
+<p id="t6" class="pln"><span class="strut"> </span></p>
+<p id="t7" class="stm run hide_run"><span class="key">def</span> <span class="nam">orthogonal_vectors</span><span class="op">(</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t8" class="pln"> <span class="str">""" Generate two random vector, which are orthogonal</span><span class="strut"> </span></p>
+<p id="t9" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t10" class="stm run hide_run"> <span class="nam">orthogonal</span> <span class="op">=</span> <span class="key">False</span><span class="strut"> </span></p>
+<p id="t11" class="stm run hide_run"> <span class="key">while</span> <span class="key">not</span> <span class="nam">orthogonal</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t12" class="stm run hide_run"> <span class="nam">vector_0</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">random</span><span class="op">.</span><span class="nam">random</span><span class="op">(</span><span class="num">3</span><span class="op">)</span> <span class="op">-</span> <span class="num">0.5</span><span class="strut"> </span></p>
+<p id="t13" class="stm run hide_run"> <span class="nam">vector_1</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">random</span><span class="op">.</span><span class="nam">random</span><span class="op">(</span><span class="num">3</span><span class="op">)</span> <span class="op">-</span> <span class="num">0.5</span><span class="strut"> </span></p>
+<p id="t14" class="stm run hide_run"> <span class="nam">normal</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">cross</span><span class="op">(</span><span class="nam">vector_0</span><span class="op">,</span> <span class="nam">vector_1</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t15" class="stm run hide_run"> <span class="nam">vector_0_unit</span> <span class="op">=</span> <span class="nam">unit_vector</span><span class="op">(</span><span class="nam">vector_0</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t16" class="stm run hide_run"> <span class="nam">normal_unit</span> <span class="op">=</span> <span class="nam">unit_vector</span><span class="op">(</span><span class="nam">normal</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t17" class="stm run hide_run"> <span class="nam">orthogonal</span> <span class="op">=</span> <span class="nam">abs</span><span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">dot</span><span class="op">(</span><span class="nam">normal_unit</span><span class="op">,</span> <span class="nam">vector_0_unit</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t18" class="pln"> <span class="op">)</span> <span class="op"><=</span> <span class="nam">constants</span><span class="op">.</span><span class="nam">_EPS</span><span class="strut"> </span></p>
+<p id="t19" class="stm run hide_run"> <span class="key">return</span> <span class="nam">vector_0</span><span class="op">,</span> <span class="nam">normal</span><span class="strut"> </span></p>
+<p id="t20" class="pln"><span class="strut"> </span></p>
+<p id="t21" class="pln"><span class="strut"> </span></p>
+<p id="t22" class="stm run hide_run"><span class="key">def</span> <span class="nam">rotation_matrix</span><span class="op">(</span><span class="nam">rand</span><span class="op">=</span><span class="key">None</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t23" class="pln"> <span class="str">"""Return uniform random rotation matrix.</span><span class="strut"> </span></p>
+<p id="t24" class="pln"><span class="strut"> </span></p>
+<p id="t25" class="pln"><span class="str"> rand: array like</span><span class="strut"> </span></p>
+<p id="t26" class="pln"><span class="str"> Three independent random variables that are uniformly distributed</span><span class="strut"> </span></p>
+<p id="t27" class="pln"><span class="str"> between 0 and 1 for each returned quaternion.</span><span class="strut"> </span></p>
+<p id="t28" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t29" class="stm run hide_run"> <span class="key">return</span> <span class="nam">quat</span><span class="op">.</span><span class="nam">matrix</span><span class="op">(</span><span class="nam">quaternion</span><span class="op">(</span><span class="nam">rand</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t30" class="pln"><span class="strut"> </span></p>
+<p id="t31" class="pln"><span class="strut"> </span></p>
+<p id="t32" class="stm run hide_run"><span class="key">def</span> <span class="nam">quaternion</span><span class="op">(</span><span class="nam">rand</span><span class="op">=</span><span class="key">None</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t33" class="pln"> <span class="str">"""Return uniform random unit quaternion.</span><span class="strut"> </span></p>
+<p id="t34" class="pln"><span class="strut"> </span></p>
+<p id="t35" class="pln"><span class="str"> rand: array like or None</span><span class="strut"> </span></p>
+<p id="t36" class="pln"><span class="str"> Three independent random variables that are uniformly distributed</span><span class="strut"> </span></p>
+<p id="t37" class="pln"><span class="str"> between 0 and 1.</span><span class="strut"> </span></p>
+<p id="t38" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t39" class="stm run hide_run"> <span class="key">if</span> <span class="nam">rand</span> <span class="key">is</span> <span class="key">None</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t40" class="stm run hide_run"> <span class="nam">rand</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">random</span><span class="op">.</span><span class="nam">rand</span><span class="op">(</span><span class="num">3</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t41" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t42" class="stm mis"> <span class="key">assert</span> <span class="nam">len</span><span class="op">(</span><span class="nam">rand</span><span class="op">)</span> <span class="op">==</span> <span class="num">3</span><span class="strut"> </span></p>
+<p id="t43" class="stm run hide_run"> <span class="nam">r1</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">sqrt</span><span class="op">(</span><span class="num">1.0</span> <span class="op">-</span> <span class="nam">rand</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t44" class="stm run hide_run"> <span class="nam">r2</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">sqrt</span><span class="op">(</span><span class="nam">rand</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t45" class="stm run hide_run"> <span class="nam">pi2</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">pi</span> <span class="op">*</span> <span class="num">2.0</span><span class="strut"> </span></p>
+<p id="t46" class="stm run hide_run"> <span class="nam">t1</span> <span class="op">=</span> <span class="nam">pi2</span> <span class="op">*</span> <span class="nam">rand</span><span class="op">[</span><span class="num">1</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t47" class="stm run hide_run"> <span class="nam">t2</span> <span class="op">=</span> <span class="nam">pi2</span> <span class="op">*</span> <span class="nam">rand</span><span class="op">[</span><span class="num">2</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t48" class="stm run hide_run"> <span class="key">return</span> <span class="nam">np</span><span class="op">.</span><span class="nam">array</span><span class="op">(</span><span class="op">[</span><span class="nam">np</span><span class="op">.</span><span class="nam">cos</span><span class="op">(</span><span class="nam">t2</span><span class="op">)</span> <span class="op">*</span> <span class="nam">r2</span><span class="op">,</span> <span class="nam">np</span><span class="op">.</span><span class="nam">sin</span><span class="op">(</span><span class="nam">t1</span><span class="op">)</span> <span class="op">*</span> <span class="nam">r1</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t49" class="pln"> <span class="nam">np</span><span class="op">.</span><span class="nam">cos</span><span class="op">(</span><span class="nam">t1</span><span class="op">)</span> <span class="op">*</span> <span class="nam">r1</span><span class="op">,</span> <span class="nam">np</span><span class="op">.</span><span class="nam">sin</span><span class="op">(</span><span class="nam">t2</span><span class="op">)</span> <span class="op">*</span> <span class="nam">r2</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+
+ </td>
+ </tr>
+ </table>
+</div>
+
+<div id="footer">
+ <div class="content">
+ <p>
+ <a class="nav" href="index.html">« index</a> <a class="nav" href="https://coverage.readthedocs.io">coverage.py v4.5.2</a>,
+ created at 2019-01-13 14:34
+ </p>
+ </div>
+</div>
+
+</body>
+</html>
diff --git a/coverage_html_report/navipy_maths_tools_py.html b/coverage_html_report/navipy_maths_tools_py.html
new file mode 100644
index 0000000000000000000000000000000000000000..47489b912b85530273d576d999d12107330af9f6
--- /dev/null
+++ b/coverage_html_report/navipy_maths_tools_py.html
@@ -0,0 +1,203 @@
+
+
+
+<!DOCTYPE html>
+<html>
+<head>
+ <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
+
+
+ <meta http-equiv="X-UA-Compatible" content="IE=emulateIE7" />
+ <title>Coverage for navipy/maths/tools.py: 59%</title>
+ <link rel="stylesheet" href="style.css" type="text/css">
+
+ <script type="text/javascript" src="jquery.min.js"></script>
+ <script type="text/javascript" src="jquery.hotkeys.js"></script>
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+ jQuery(document).ready(coverage.pyfile_ready);
+ </script>
+</head>
+<body class="pyfile">
+
+<div id="header">
+ <div class="content">
+ <h1>Coverage for <b>navipy/maths/tools.py</b> :
+ <span class="pc_cov">59%</span>
+ </h1>
+
+ <img id="keyboard_icon" src="keybd_closed.png" alt="Show keyboard shortcuts" />
+
+ <h2 class="stats">
+ 29 statements
+ <span class="run hide_run shortkey_r button_toggle_run">17 run</span>
+ <span class="mis shortkey_m button_toggle_mis">12 missing</span>
+ <span class="exc shortkey_x button_toggle_exc">0 excluded</span>
+
+
+ </h2>
+ </div>
+</div>
+
+<div class="help_panel">
+ <img id="panel_icon" src="keybd_open.png" alt="Hide keyboard shortcuts" />
+ <p class="legend">Hot-keys on this page</p>
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+ <table>
+ <tr>
+ <td class="linenos">
+<p id="n1" class="pln"><a href="#n1">1</a></p>
+<p id="n2" class="pln"><a href="#n2">2</a></p>
+<p id="n3" class="stm run hide_run"><a href="#n3">3</a></p>
+<p id="n4" class="pln"><a href="#n4">4</a></p>
+<p id="n5" class="pln"><a href="#n5">5</a></p>
+<p id="n6" class="stm run hide_run"><a href="#n6">6</a></p>
+<p id="n7" class="pln"><a href="#n7">7</a></p>
+<p id="n8" class="pln"><a href="#n8">8</a></p>
+<p id="n9" class="stm run hide_run"><a href="#n9">9</a></p>
+<p id="n10" class="stm mis"><a href="#n10">10</a></p>
+<p id="n11" class="stm run hide_run"><a href="#n11">11</a></p>
+<p id="n12" class="pln"><a href="#n12">12</a></p>
+<p id="n13" class="stm run hide_run"><a href="#n13">13</a></p>
+<p id="n14" class="pln"><a href="#n14">14</a></p>
+<p id="n15" class="pln"><a href="#n15">15</a></p>
+<p id="n16" class="stm run hide_run"><a href="#n16">16</a></p>
+<p id="n17" class="pln"><a href="#n17">17</a></p>
+<p id="n18" class="pln"><a href="#n18">18</a></p>
+<p id="n19" class="stm run hide_run"><a href="#n19">19</a></p>
+<p id="n20" class="stm run hide_run"><a href="#n20">20</a></p>
+<p id="n21" class="pln"><a href="#n21">21</a></p>
+<p id="n22" class="stm run hide_run"><a href="#n22">22</a></p>
+<p id="n23" class="stm run hide_run"><a href="#n23">23</a></p>
+<p id="n24" class="stm run hide_run"><a href="#n24">24</a></p>
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+<p id="n26" class="stm run hide_run"><a href="#n26">26</a></p>
+<p id="n27" class="stm run hide_run"><a href="#n27">27</a></p>
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+<p id="n29" class="pln"><a href="#n29">29</a></p>
+<p id="n30" class="stm run hide_run"><a href="#n30">30</a></p>
+<p id="n31" class="pln"><a href="#n31">31</a></p>
+<p id="n32" class="pln"><a href="#n32">32</a></p>
+<p id="n33" class="pln"><a href="#n33">33</a></p>
+<p id="n34" class="pln"><a href="#n34">34</a></p>
+<p id="n35" class="pln"><a href="#n35">35</a></p>
+<p id="n36" class="stm mis"><a href="#n36">36</a></p>
+<p id="n37" class="stm mis"><a href="#n37">37</a></p>
+<p id="n38" class="stm mis"><a href="#n38">38</a></p>
+<p id="n39" class="stm mis"><a href="#n39">39</a></p>
+<p id="n40" class="pln"><a href="#n40">40</a></p>
+<p id="n41" class="stm mis"><a href="#n41">41</a></p>
+<p id="n42" class="stm mis"><a href="#n42">42</a></p>
+<p id="n43" class="pln"><a href="#n43">43</a></p>
+<p id="n44" class="pln"><a href="#n44">44</a></p>
+<p id="n45" class="stm run hide_run"><a href="#n45">45</a></p>
+<p id="n46" class="pln"><a href="#n46">46</a></p>
+<p id="n47" class="pln"><a href="#n47">47</a></p>
+<p id="n48" class="stm mis"><a href="#n48">48</a></p>
+<p id="n49" class="pln"><a href="#n49">49</a></p>
+<p id="n50" class="pln"><a href="#n50">50</a></p>
+<p id="n51" class="stm run hide_run"><a href="#n51">51</a></p>
+<p id="n52" class="pln"><a href="#n52">52</a></p>
+<p id="n53" class="pln"><a href="#n53">53</a></p>
+<p id="n54" class="stm mis"><a href="#n54">54</a></p>
+<p id="n55" class="stm mis"><a href="#n55">55</a></p>
+<p id="n56" class="stm mis"><a href="#n56">56</a></p>
+<p id="n57" class="stm mis"><a href="#n57">57</a></p>
+
+ </td>
+ <td class="text">
+<p id="t1" class="pln"><span class="str">"""</span><span class="strut"> </span></p>
+<p id="t2" class="pln"><span class="str">"""</span><span class="strut"> </span></p>
+<p id="t3" class="stm run hide_run"><span class="key">import</span> <span class="nam">numpy</span> <span class="key">as</span> <span class="nam">np</span><span class="strut"> </span></p>
+<p id="t4" class="pln"><span class="strut"> </span></p>
+<p id="t5" class="pln"><span class="strut"> </span></p>
+<p id="t6" class="stm run hide_run"><span class="key">def</span> <span class="nam">vector_norm</span><span class="op">(</span><span class="nam">data</span><span class="op">,</span> <span class="nam">axis</span><span class="op">=</span><span class="num">0</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t7" class="pln"> <span class="str">"""Return Euclidean norm of ndarray along axis.</span><span class="strut"> </span></p>
+<p id="t8" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t9" class="stm run hide_run"> <span class="key">if</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">data</span><span class="op">,</span> <span class="nam">list</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t10" class="stm mis"> <span class="nam">data</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">array</span><span class="op">(</span><span class="nam">data</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t11" class="stm run hide_run"> <span class="key">assert</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">data</span><span class="op">,</span> <span class="nam">np</span><span class="op">.</span><span class="nam">ndarray</span><span class="op">)</span><span class="op">,</span> <span class="str">'data should be a numpy array'</span><span class="strut"> </span></p>
+<p id="t12" class="pln"><span class="strut"> </span></p>
+<p id="t13" class="stm run hide_run"> <span class="key">return</span> <span class="nam">np</span><span class="op">.</span><span class="nam">sqrt</span><span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">sum</span><span class="op">(</span><span class="nam">data</span> <span class="op">*</span> <span class="nam">data</span><span class="op">,</span> <span class="nam">axis</span><span class="op">=</span><span class="nam">axis</span><span class="op">,</span> <span class="nam">keepdims</span><span class="op">=</span><span class="key">True</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t14" class="pln"><span class="strut"> </span></p>
+<p id="t15" class="pln"><span class="strut"> </span></p>
+<p id="t16" class="stm run hide_run"><span class="key">def</span> <span class="nam">unit_vector</span><span class="op">(</span><span class="nam">data</span><span class="op">,</span> <span class="nam">axis</span><span class="op">=</span><span class="num">0</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t17" class="pln"> <span class="str">"""Return ndarray normalized by length, i.e. Euclidean norm, along axis.</span><span class="strut"> </span></p>
+<p id="t18" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t19" class="stm run hide_run"> <span class="key">if</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">data</span><span class="op">,</span> <span class="nam">list</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t20" class="stm run hide_run"> <span class="nam">data</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">array</span><span class="op">(</span><span class="nam">data</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t21" class="pln"><span class="strut"> </span></p>
+<p id="t22" class="stm run hide_run"> <span class="key">assert</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">data</span><span class="op">,</span> <span class="nam">np</span><span class="op">.</span><span class="nam">ndarray</span><span class="op">)</span><span class="op">,</span> <span class="str">'data should be a numpy array'</span><span class="strut"> </span></p>
+<p id="t23" class="stm run hide_run"> <span class="nam">repetitions</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">array</span><span class="op">(</span><span class="nam">data</span><span class="op">.</span><span class="nam">shape</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t24" class="stm run hide_run"> <span class="nam">repetitions</span><span class="op">[</span><span class="op">:</span><span class="op">]</span> <span class="op">=</span> <span class="num">1</span><span class="strut"> </span></p>
+<p id="t25" class="stm run hide_run"> <span class="nam">repetitions</span><span class="op">[</span><span class="nam">axis</span><span class="op">]</span> <span class="op">=</span> <span class="nam">data</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="nam">axis</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t26" class="stm run hide_run"> <span class="nam">norm</span> <span class="op">=</span> <span class="nam">vector_norm</span><span class="op">(</span><span class="nam">data</span><span class="op">,</span> <span class="nam">axis</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t27" class="stm run hide_run"> <span class="key">return</span> <span class="nam">data</span> <span class="op">/</span> <span class="nam">np</span><span class="op">.</span><span class="nam">tile</span><span class="op">(</span><span class="nam">norm</span><span class="op">,</span> <span class="nam">repetitions</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t28" class="pln"><span class="strut"> </span></p>
+<p id="t29" class="pln"><span class="strut"> </span></p>
+<p id="t30" class="stm run hide_run"><span class="key">def</span> <span class="nam">angle_between_vectors</span><span class="op">(</span><span class="nam">vector_0</span><span class="op">,</span> <span class="nam">vector_1</span><span class="op">,</span> <span class="nam">directed</span><span class="op">=</span><span class="key">True</span><span class="op">,</span> <span class="nam">axis</span><span class="op">=</span><span class="num">0</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t31" class="pln"> <span class="str">"""Return angle between vectors.</span><span class="strut"> </span></p>
+<p id="t32" class="pln"><span class="strut"> </span></p>
+<p id="t33" class="pln"><span class="str"> If directed is False, the input vectors are interpreted as undirected axes,</span><span class="strut"> </span></p>
+<p id="t34" class="pln"><span class="str"> i.e. the maximum angle is pi/2.</span><span class="strut"> </span></p>
+<p id="t35" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t36" class="stm mis"> <span class="nam">vector_0</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">array</span><span class="op">(</span><span class="nam">vector_0</span><span class="op">,</span> <span class="nam">dtype</span><span class="op">=</span><span class="nam">np</span><span class="op">.</span><span class="nam">float64</span><span class="op">,</span> <span class="nam">copy</span><span class="op">=</span><span class="key">False</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t37" class="stm mis"> <span class="nam">vector_1</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">array</span><span class="op">(</span><span class="nam">vector_1</span><span class="op">,</span> <span class="nam">dtype</span><span class="op">=</span><span class="nam">np</span><span class="op">.</span><span class="nam">float64</span><span class="op">,</span> <span class="nam">copy</span><span class="op">=</span><span class="key">False</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t38" class="stm mis"> <span class="nam">dot</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">sum</span><span class="op">(</span><span class="nam">vector_0</span> <span class="op">*</span> <span class="nam">vector_1</span><span class="op">,</span> <span class="nam">axis</span><span class="op">=</span><span class="nam">axis</span><span class="op">,</span> <span class="nam">keepdims</span><span class="op">=</span><span class="key">True</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t39" class="stm mis"> <span class="nam">dot</span> <span class="op">/=</span> <span class="nam">vector_norm</span><span class="op">(</span><span class="nam">vector_0</span><span class="op">,</span> <span class="nam">axis</span><span class="op">=</span><span class="nam">axis</span><span class="op">)</span> <span class="xx">\</span><span class="strut"> </span></p>
+<p id="t40" class="pln"> <span class="op">*</span> <span class="nam">vector_norm</span><span class="op">(</span><span class="nam">vector_1</span><span class="op">,</span> <span class="nam">axis</span><span class="op">=</span><span class="nam">axis</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t41" class="stm mis"> <span class="nam">dot</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">squeeze</span><span class="op">(</span><span class="nam">dot</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t42" class="stm mis"> <span class="key">return</span> <span class="nam">np</span><span class="op">.</span><span class="nam">arccos</span><span class="op">(</span><span class="nam">dot</span> <span class="key">if</span> <span class="nam">directed</span> <span class="key">else</span> <span class="nam">np</span><span class="op">.</span><span class="nam">fabs</span><span class="op">(</span><span class="nam">dot</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t43" class="pln"><span class="strut"> </span></p>
+<p id="t44" class="pln"><span class="strut"> </span></p>
+<p id="t45" class="stm run hide_run"><span class="key">def</span> <span class="nam">inverse_matrix</span><span class="op">(</span><span class="nam">matrix</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t46" class="pln"> <span class="str">"""Return inverse of square transformation matrix.</span><span class="strut"> </span></p>
+<p id="t47" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t48" class="stm mis"> <span class="key">return</span> <span class="nam">np</span><span class="op">.</span><span class="nam">linalg</span><span class="op">.</span><span class="nam">inv</span><span class="op">(</span><span class="nam">matrix</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t49" class="pln"><span class="strut"> </span></p>
+<p id="t50" class="pln"><span class="strut"> </span></p>
+<p id="t51" class="stm run hide_run"><span class="key">def</span> <span class="nam">concatenate_matrices</span><span class="op">(</span><span class="op">*</span><span class="nam">matrices</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t52" class="pln"> <span class="str">"""Return concatenation of series of transformation matrices.</span><span class="strut"> </span></p>
+<p id="t53" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t54" class="stm mis"> <span class="nam">M</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">identity</span><span class="op">(</span><span class="num">4</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t55" class="stm mis"> <span class="key">for</span> <span class="nam">i</span> <span class="key">in</span> <span class="nam">matrices</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t56" class="stm mis"> <span class="nam">M</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">dot</span><span class="op">(</span><span class="nam">M</span><span class="op">,</span> <span class="nam">i</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t57" class="stm mis"> <span class="key">return</span> <span class="nam">M</span><span class="strut"> </span></p>
+
+ </td>
+ </tr>
+ </table>
+</div>
+
+<div id="footer">
+ <div class="content">
+ <p>
+ <a class="nav" href="index.html">« index</a> <a class="nav" href="https://coverage.readthedocs.io">coverage.py v4.5.2</a>,
+ created at 2019-01-13 14:34
+ </p>
+ </div>
+</div>
+
+</body>
+</html>
diff --git a/coverage_html_report/navipy_models___init___py.html b/coverage_html_report/navipy_models___init___py.html
new file mode 100644
index 0000000000000000000000000000000000000000..d56be6cd548b54920e9235c0badc75b4ff6b8799
--- /dev/null
+++ b/coverage_html_report/navipy_models___init___py.html
@@ -0,0 +1,89 @@
+
+
+
+<!DOCTYPE html>
+<html>
+<head>
+ <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
+
+
+ <meta http-equiv="X-UA-Compatible" content="IE=emulateIE7" />
+ <title>Coverage for navipy/models/__init__.py: 100%</title>
+ <link rel="stylesheet" href="style.css" type="text/css">
+
+ <script type="text/javascript" src="jquery.min.js"></script>
+ <script type="text/javascript" src="jquery.hotkeys.js"></script>
+ <script type="text/javascript" src="jquery.isonscreen.js"></script>
+ <script type="text/javascript" src="coverage_html.js"></script>
+ <script type="text/javascript">
+ jQuery(document).ready(coverage.pyfile_ready);
+ </script>
+</head>
+<body class="pyfile">
+
+<div id="header">
+ <div class="content">
+ <h1>Coverage for <b>navipy/models/__init__.py</b> :
+ <span class="pc_cov">100%</span>
+ </h1>
+
+ <img id="keyboard_icon" src="keybd_closed.png" alt="Show keyboard shortcuts" />
+
+ <h2 class="stats">
+ 0 statements
+ <span class="run hide_run shortkey_r button_toggle_run">0 run</span>
+ <span class="mis shortkey_m button_toggle_mis">0 missing</span>
+ <span class="exc shortkey_x button_toggle_exc">0 excluded</span>
+
+
+ </h2>
+ </div>
+</div>
+
+<div class="help_panel">
+ <img id="panel_icon" src="keybd_open.png" alt="Hide keyboard shortcuts" />
+ <p class="legend">Hot-keys on this page</p>
+ <div>
+ <p class="keyhelp">
+ <span class="key">r</span>
+ <span class="key">m</span>
+ <span class="key">x</span>
+ <span class="key">p</span> toggle line displays
+ </p>
+ <p class="keyhelp">
+ <span class="key">j</span>
+ <span class="key">k</span> next/prev highlighted chunk
+ </p>
+ <p class="keyhelp">
+ <span class="key">0</span> (zero) top of page
+ </p>
+ <p class="keyhelp">
+ <span class="key">1</span> (one) first highlighted chunk
+ </p>
+ </div>
+</div>
+
+<div id="source">
+ <table>
+ <tr>
+ <td class="linenos">
+
+ </td>
+ <td class="text">
+
+ </td>
+ </tr>
+ </table>
+</div>
+
+<div id="footer">
+ <div class="content">
+ <p>
+ <a class="nav" href="index.html">« index</a> <a class="nav" href="https://coverage.readthedocs.io">coverage.py v4.5.2</a>,
+ created at 2019-01-13 14:34
+ </p>
+ </div>
+</div>
+
+</body>
+</html>
diff --git a/coverage_html_report/navipy_models_dewar_2014_py.html b/coverage_html_report/navipy_models_dewar_2014_py.html
new file mode 100644
index 0000000000000000000000000000000000000000..7759cd129cf132cccbc0ae8571695e9817c44bdf
--- /dev/null
+++ b/coverage_html_report/navipy_models_dewar_2014_py.html
@@ -0,0 +1,227 @@
+
+
+
+<!DOCTYPE html>
+<html>
+<head>
+ <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
+
+
+ <meta http-equiv="X-UA-Compatible" content="IE=emulateIE7" />
+ <title>Coverage for navipy/models/dewar_2014.py: 0%</title>
+ <link rel="stylesheet" href="style.css" type="text/css">
+
+ <script type="text/javascript" src="jquery.min.js"></script>
+ <script type="text/javascript" src="jquery.hotkeys.js"></script>
+ <script type="text/javascript" src="jquery.isonscreen.js"></script>
+ <script type="text/javascript" src="coverage_html.js"></script>
+ <script type="text/javascript">
+ jQuery(document).ready(coverage.pyfile_ready);
+ </script>
+</head>
+<body class="pyfile">
+
+<div id="header">
+ <div class="content">
+ <h1>Coverage for <b>navipy/models/dewar_2014.py</b> :
+ <span class="pc_cov">0%</span>
+ </h1>
+
+ <img id="keyboard_icon" src="keybd_closed.png" alt="Show keyboard shortcuts" />
+
+ <h2 class="stats">
+ 34 statements
+ <span class="run hide_run shortkey_r button_toggle_run">0 run</span>
+ <span class="mis shortkey_m button_toggle_mis">34 missing</span>
+ <span class="exc shortkey_x button_toggle_exc">0 excluded</span>
+
+
+ </h2>
+ </div>
+</div>
+
+<div class="help_panel">
+ <img id="panel_icon" src="keybd_open.png" alt="Hide keyboard shortcuts" />
+ <p class="legend">Hot-keys on this page</p>
+ <div>
+ <p class="keyhelp">
+ <span class="key">r</span>
+ <span class="key">m</span>
+ <span class="key">x</span>
+ <span class="key">p</span> toggle line displays
+ </p>
+ <p class="keyhelp">
+ <span class="key">j</span>
+ <span class="key">k</span> next/prev highlighted chunk
+ </p>
+ <p class="keyhelp">
+ <span class="key">0</span> (zero) top of page
+ </p>
+ <p class="keyhelp">
+ <span class="key">1</span> (one) first highlighted chunk
+ </p>
+ </div>
+</div>
+
+<div id="source">
+ <table>
+ <tr>
+ <td class="linenos">
+<p id="n1" class="stm mis"><a href="#n1">1</a></p>
+<p id="n2" class="stm mis"><a href="#n2">2</a></p>
+<p id="n3" class="stm mis"><a href="#n3">3</a></p>
+<p id="n4" class="stm mis"><a href="#n4">4</a></p>
+<p id="n5" class="stm mis"><a href="#n5">5</a></p>
+<p id="n6" class="pln"><a href="#n6">6</a></p>
+<p id="n7" class="pln"><a href="#n7">7</a></p>
+<p id="n8" class="pln"><a href="#n8">8</a></p>
+<p id="n9" class="stm mis"><a href="#n9">9</a></p>
+<p id="n10" class="pln"><a href="#n10">10</a></p>
+<p id="n11" class="pln"><a href="#n11">11</a></p>
+<p id="n12" class="pln"><a href="#n12">12</a></p>
+<p id="n13" class="pln"><a href="#n13">13</a></p>
+<p id="n14" class="pln"><a href="#n14">14</a></p>
+<p id="n15" class="stm mis"><a href="#n15">15</a></p>
+<p id="n16" class="stm mis"><a href="#n16">16</a></p>
+<p id="n17" class="pln"><a href="#n17">17</a></p>
+<p id="n18" class="pln"><a href="#n18">18</a></p>
+<p id="n19" class="stm mis"><a href="#n19">19</a></p>
+<p id="n20" class="pln"><a href="#n20">20</a></p>
+<p id="n21" class="pln"><a href="#n21">21</a></p>
+<p id="n22" class="pln"><a href="#n22">22</a></p>
+<p id="n23" class="pln"><a href="#n23">23</a></p>
+<p id="n24" class="pln"><a href="#n24">24</a></p>
+<p id="n25" class="pln"><a href="#n25">25</a></p>
+<p id="n26" class="pln"><a href="#n26">26</a></p>
+<p id="n27" class="pln"><a href="#n27">27</a></p>
+<p id="n28" class="stm mis"><a href="#n28">28</a></p>
+<p id="n29" class="stm mis"><a href="#n29">29</a></p>
+<p id="n30" class="stm mis"><a href="#n30">30</a></p>
+<p id="n31" class="stm mis"><a href="#n31">31</a></p>
+<p id="n32" class="stm mis"><a href="#n32">32</a></p>
+<p id="n33" class="pln"><a href="#n33">33</a></p>
+<p id="n34" class="stm mis"><a href="#n34">34</a></p>
+<p id="n35" class="pln"><a href="#n35">35</a></p>
+<p id="n36" class="stm mis"><a href="#n36">36</a></p>
+<p id="n37" class="stm mis"><a href="#n37">37</a></p>
+<p id="n38" class="stm mis"><a href="#n38">38</a></p>
+<p id="n39" class="pln"><a href="#n39">39</a></p>
+<p id="n40" class="pln"><a href="#n40">40</a></p>
+<p id="n41" class="stm mis"><a href="#n41">41</a></p>
+<p id="n42" class="pln"><a href="#n42">42</a></p>
+<p id="n43" class="pln"><a href="#n43">43</a></p>
+<p id="n44" class="stm mis"><a href="#n44">44</a></p>
+<p id="n45" class="stm mis"><a href="#n45">45</a></p>
+<p id="n46" class="pln"><a href="#n46">46</a></p>
+<p id="n47" class="pln"><a href="#n47">47</a></p>
+<p id="n48" class="pln"><a href="#n48">48</a></p>
+<p id="n49" class="stm mis"><a href="#n49">49</a></p>
+<p id="n50" class="pln"><a href="#n50">50</a></p>
+<p id="n51" class="stm mis"><a href="#n51">51</a></p>
+<p id="n52" class="stm mis"><a href="#n52">52</a></p>
+<p id="n53" class="pln"><a href="#n53">53</a></p>
+<p id="n54" class="stm mis"><a href="#n54">54</a></p>
+<p id="n55" class="stm mis"><a href="#n55">55</a></p>
+<p id="n56" class="stm mis"><a href="#n56">56</a></p>
+<p id="n57" class="stm mis"><a href="#n57">57</a></p>
+<p id="n58" class="pln"><a href="#n58">58</a></p>
+<p id="n59" class="stm mis"><a href="#n59">59</a></p>
+<p id="n60" class="pln"><a href="#n60">60</a></p>
+<p id="n61" class="pln"><a href="#n61">61</a></p>
+<p id="n62" class="pln"><a href="#n62">62</a></p>
+<p id="n63" class="stm mis"><a href="#n63">63</a></p>
+<p id="n64" class="stm mis"><a href="#n64">64</a></p>
+<p id="n65" class="pln"><a href="#n65">65</a></p>
+<p id="n66" class="pln"><a href="#n66">66</a></p>
+<p id="n67" class="stm mis"><a href="#n67">67</a></p>
+<p id="n68" class="stm mis"><a href="#n68">68</a></p>
+<p id="n69" class="stm mis"><a href="#n69">69</a></p>
+
+ </td>
+ <td class="text">
+<p id="t1" class="stm mis"><span class="key">from</span> <span class="nam">navipy</span> <span class="key">import</span> <span class="nam">Brain</span><span class="strut"> </span></p>
+<p id="t2" class="stm mis"><span class="key">from</span> <span class="nam">navipy</span><span class="op">.</span><span class="nam">comparing</span> <span class="key">import</span> <span class="nam">weighted_irdf</span><span class="strut"> </span></p>
+<p id="t3" class="stm mis"><span class="key">import</span> <span class="nam">pandas</span> <span class="key">as</span> <span class="nam">pd</span><span class="strut"> </span></p>
+<p id="t4" class="stm mis"><span class="key">import</span> <span class="nam">numpy</span> <span class="key">as</span> <span class="nam">np</span><span class="strut"> </span></p>
+<p id="t5" class="stm mis"><span class="key">from</span> <span class="nam">navipy</span><span class="op">.</span><span class="nam">maths</span><span class="op">.</span><span class="nam">coordinates</span> <span class="key">import</span> <span class="nam">spherical_to_cartesian</span><span class="strut"> </span></p>
+<p id="t6" class="pln"><span class="com"># 0) Define a class heriting from Brain</span><span class="strut"> </span></p>
+<p id="t7" class="pln"><span class="strut"> </span></p>
+<p id="t8" class="pln"><span class="strut"> </span></p>
+<p id="t9" class="stm mis"><span class="key">def</span> <span class="nam">processing</span><span class="op">(</span><span class="nam">scene</span><span class="op">,</span> <span class="nam">channel</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t10" class="pln"> <span class="str">""" Return the image difference</span><span class="strut"> </span></p>
+<p id="t11" class="pln"><span class="strut"> </span></p>
+<p id="t12" class="pln"><span class="str"> * inverse of distance (i.e. distance -> nearness)</span><span class="strut"> </span></p>
+<p id="t13" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t14" class="pln"> <span class="com"># Invert distance to nearness</span><span class="strut"> </span></p>
+<p id="t15" class="stm mis"> <span class="nam">scene</span><span class="op">[</span><span class="op">...</span><span class="op">,</span> <span class="num">3</span><span class="op">,</span> <span class="op">:</span><span class="op">]</span> <span class="op">=</span> <span class="num">1</span> <span class="op">/</span> <span class="nam">scene</span><span class="op">[</span><span class="op">...</span><span class="op">,</span> <span class="num">3</span><span class="op">,</span> <span class="op">:</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t16" class="stm mis"> <span class="key">return</span> <span class="nam">scene</span><span class="op">[</span><span class="op">...</span><span class="op">,</span> <span class="nam">channel</span><span class="op">,</span> <span class="op">:</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t17" class="pln"><span class="strut"> </span></p>
+<p id="t18" class="pln"><span class="strut"> </span></p>
+<p id="t19" class="stm mis"><span class="key">def</span> <span class="nam">comparing</span><span class="op">(</span><span class="nam">current</span><span class="op">,</span> <span class="nam">memories</span><span class="op">,</span> <span class="nam">viewing_directions</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t20" class="pln"> <span class="str">""" Calculate homing vector with multi-snaphot irdf</span><span class="strut"> </span></p>
+<p id="t21" class="pln"><span class="strut"> </span></p>
+<p id="t22" class="pln"><span class="str"> Used in:</span><span class="strut"> </span></p>
+<p id="t23" class="pln"><span class="str"> * Dewar, A. D., Philippides, A., & Graham, P. (2014). \</span><span class="strut"> </span></p>
+<p id="t24" class="pln"><span class="str"> What is the relationship between visual environment and \</span><span class="strut"> </span></p>
+<p id="t25" class="pln"><span class="str"> the form of ant learning-walks? An in silico investigation \</span><span class="strut"> </span></p>
+<p id="t26" class="pln"><span class="str"> of insect navigation.</span><span class="strut"> </span></p>
+<p id="t27" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t28" class="stm mis"> <span class="key">if</span> <span class="op">(</span><span class="nam">current</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">2</span><span class="op">]</span> <span class="op">!=</span> <span class="num">1</span><span class="op">)</span> <span class="key">or</span> <span class="op">(</span><span class="nam">memories</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">2</span><span class="op">]</span> <span class="op">!=</span> <span class="num">1</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t29" class="stm mis"> <span class="nam">msg</span> <span class="op">=</span> <span class="str">'Current view {} and the memory {} \n'</span><span class="strut"> </span></p>
+<p id="t30" class="stm mis"> <span class="nam">msg</span> <span class="op">+=</span> <span class="str">'should be a NxMx1x1 matrix'</span><span class="strut"> </span></p>
+<p id="t31" class="stm mis"> <span class="nam">msg</span> <span class="op">=</span> <span class="nam">msg</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">current</span><span class="op">.</span><span class="nam">shape</span><span class="op">,</span> <span class="nam">memories</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">.</span><span class="nam">shape</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t32" class="stm mis"> <span class="key">raise</span> <span class="nam">NameError</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t33" class="pln"> <span class="com"># homing_vect_cp is a complex number</span><span class="strut"> </span></p>
+<p id="t34" class="stm mis"> <span class="nam">homing_vect_cp</span> <span class="op">=</span> <span class="xx">\</span><span class="strut"> </span></p>
+<p id="t35" class="pln"> <span class="nam">weighted_irdf</span><span class="op">(</span><span class="nam">current</span><span class="op">,</span> <span class="nam">memories</span><span class="op">,</span> <span class="nam">viewing_directions</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t36" class="stm mis"> <span class="nam">direction</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">angle</span><span class="op">(</span><span class="nam">homing_vect_cp</span><span class="op">,</span> <span class="nam">deg</span><span class="op">=</span><span class="key">False</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t37" class="stm mis"> <span class="nam">minval</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">norm</span><span class="op">(</span><span class="nam">homing_vect_cp</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t38" class="stm mis"> <span class="nam">homing_vect</span> <span class="op">=</span> <span class="nam">spherical_to_cartesian</span><span class="op">(</span><span class="nam">elevation</span><span class="op">=</span><span class="num">0</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t39" class="pln"> <span class="nam">azimuth</span><span class="op">=</span><span class="nam">direction</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t40" class="pln"> <span class="nam">radius</span><span class="op">=</span><span class="nam">minval</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t41" class="stm mis"> <span class="key">return</span> <span class="nam">homing_vect</span><span class="strut"> </span></p>
+<p id="t42" class="pln"><span class="strut"> </span></p>
+<p id="t43" class="pln"><span class="strut"> </span></p>
+<p id="t44" class="stm mis"><span class="key">class</span> <span class="nam">DewarBrain</span><span class="op">(</span><span class="nam">Brain</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t45" class="stm mis"> <span class="key">def</span> <span class="nam">__init__</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t46" class="pln"> <span class="nam">memories</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t47" class="pln"> <span class="nam">renderer</span><span class="op">=</span><span class="key">None</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t48" class="pln"> <span class="nam">channel</span><span class="op">=</span><span class="num">0</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t49" class="stm mis"> <span class="nam">Brain</span><span class="op">.</span><span class="nam">__init__</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span> <span class="nam">renderer</span><span class="op">=</span><span class="nam">renderer</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t50" class="pln"> <span class="com"># Init memory</span><span class="strut"> </span></p>
+<p id="t51" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">channel</span> <span class="op">=</span> <span class="nam">channel</span><span class="strut"> </span></p>
+<p id="t52" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">memories</span> <span class="op">=</span> <span class="nam">memories</span><span class="strut"> </span></p>
+<p id="t53" class="pln"><span class="strut"> </span></p>
+<p id="t54" class="stm mis"> <span class="key">def</span> <span class="nam">velocity</span><span class="op">(</span><span class="nam">self</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t55" class="stm mis"> <span class="nam">index</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">posorient</span><span class="op">.</span><span class="nam">index</span><span class="strut"> </span></p>
+<p id="t56" class="stm mis"> <span class="nam">convention</span> <span class="op">=</span> <span class="nam">index</span><span class="op">.</span><span class="nam">levels</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">[</span><span class="op">-</span><span class="num">1</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t57" class="stm mis"> <span class="nam">current</span> <span class="op">=</span> <span class="nam">processing</span><span class="op">(</span><span class="nam">self</span><span class="op">.</span><span class="nam">vision</span><span class="op">.</span><span class="nam">scene</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t58" class="pln"> <span class="nam">self</span><span class="op">.</span><span class="nam">channel</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t59" class="stm mis"> <span class="nam">homing_vector</span> <span class="op">=</span> <span class="nam">comparing</span><span class="op">(</span><span class="nam">current</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t60" class="pln"> <span class="nam">self</span><span class="op">.</span><span class="nam">memory</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t61" class="pln"> <span class="nam">self</span><span class="op">.</span><span class="nam">vision</span><span class="op">.</span><span class="nam">viewing_directions</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t62" class="pln"> <span class="op">)</span><span class="strut"> </span></p>
+<p id="t63" class="stm mis"> <span class="nam">homing_vector</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">squeeze</span><span class="op">(</span><span class="nam">homing_vector</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t64" class="stm mis"> <span class="nam">indeces</span> <span class="op">=</span> <span class="op">[</span><span class="op">(</span><span class="str">'location'</span><span class="op">,</span> <span class="str">'dx'</span><span class="op">)</span><span class="op">,</span> <span class="op">(</span><span class="str">'location'</span><span class="op">,</span> <span class="str">'dy'</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t65" class="pln"> <span class="op">(</span><span class="str">'location'</span><span class="op">,</span> <span class="str">'dz'</span><span class="op">)</span><span class="op">,</span> <span class="op">(</span><span class="nam">convention</span><span class="op">,</span> <span class="str">'dalpha_0'</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t66" class="pln"> <span class="op">(</span><span class="nam">convention</span><span class="op">,</span> <span class="str">'dalpha_1'</span><span class="op">)</span><span class="op">,</span> <span class="op">(</span><span class="nam">convention</span><span class="op">,</span> <span class="str">'dalpha_2'</span><span class="op">)</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t67" class="stm mis"> <span class="nam">velocity</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">Series</span><span class="op">(</span><span class="nam">data</span><span class="op">=</span><span class="num">0</span><span class="op">,</span> <span class="nam">index</span><span class="op">=</span><span class="nam">pd</span><span class="op">.</span><span class="nam">MultiIndex</span><span class="op">.</span><span class="nam">from_tuples</span><span class="op">(</span><span class="nam">indeces</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t68" class="stm mis"> <span class="nam">velocity</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="str">'location'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">homing_vector</span><span class="strut"> </span></p>
+<p id="t69" class="stm mis"> <span class="key">return</span> <span class="nam">velocity</span><span class="strut"> </span></p>
+
+ </td>
+ </tr>
+ </table>
+</div>
+
+<div id="footer">
+ <div class="content">
+ <p>
+ <a class="nav" href="index.html">« index</a> <a class="nav" href="https://coverage.readthedocs.io">coverage.py v4.5.2</a>,
+ created at 2019-01-13 14:34
+ </p>
+ </div>
+</div>
+
+</body>
+</html>
diff --git a/coverage_html_report/navipy_models_hafner_2000_py.html b/coverage_html_report/navipy_models_hafner_2000_py.html
new file mode 100644
index 0000000000000000000000000000000000000000..2452035c76d04585aba1d7ebd40aafb3ee93116c
--- /dev/null
+++ b/coverage_html_report/navipy_models_hafner_2000_py.html
@@ -0,0 +1,223 @@
+
+
+
+<!DOCTYPE html>
+<html>
+<head>
+ <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
+
+
+ <meta http-equiv="X-UA-Compatible" content="IE=emulateIE7" />
+ <title>Coverage for navipy/models/hafner_2000.py: 0%</title>
+ <link rel="stylesheet" href="style.css" type="text/css">
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+ <script type="text/javascript" src="jquery.min.js"></script>
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+<body class="pyfile">
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+<div id="header">
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+ <h1>Coverage for <b>navipy/models/hafner_2000.py</b> :
+ <span class="pc_cov">0%</span>
+ </h1>
+
+ <img id="keyboard_icon" src="keybd_closed.png" alt="Show keyboard shortcuts" />
+
+ <h2 class="stats">
+ 29 statements
+ <span class="run hide_run shortkey_r button_toggle_run">0 run</span>
+ <span class="mis shortkey_m button_toggle_mis">29 missing</span>
+ <span class="exc shortkey_x button_toggle_exc">0 excluded</span>
+
+
+ </h2>
+ </div>
+</div>
+
+<div class="help_panel">
+ <img id="panel_icon" src="keybd_open.png" alt="Hide keyboard shortcuts" />
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+</div>
+
+<div id="source">
+ <table>
+ <tr>
+ <td class="linenos">
+<p id="n1" class="stm mis"><a href="#n1">1</a></p>
+<p id="n2" class="stm mis"><a href="#n2">2</a></p>
+<p id="n3" class="stm mis"><a href="#n3">3</a></p>
+<p id="n4" class="stm mis"><a href="#n4">4</a></p>
+<p id="n5" class="stm mis"><a href="#n5">5</a></p>
+<p id="n6" class="pln"><a href="#n6">6</a></p>
+<p id="n7" class="pln"><a href="#n7">7</a></p>
+<p id="n8" class="pln"><a href="#n8">8</a></p>
+<p id="n9" class="stm mis"><a href="#n9">9</a></p>
+<p id="n10" class="pln"><a href="#n10">10</a></p>
+<p id="n11" class="pln"><a href="#n11">11</a></p>
+<p id="n12" class="pln"><a href="#n12">12</a></p>
+<p id="n13" class="pln"><a href="#n13">13</a></p>
+<p id="n14" class="pln"><a href="#n14">14</a></p>
+<p id="n15" class="pln"><a href="#n15">15</a></p>
+<p id="n16" class="pln"><a href="#n16">16</a></p>
+<p id="n17" class="pln"><a href="#n17">17</a></p>
+<p id="n18" class="pln"><a href="#n18">18</a></p>
+<p id="n19" class="pln"><a href="#n19">19</a></p>
+<p id="n20" class="pln"><a href="#n20">20</a></p>
+<p id="n21" class="pln"><a href="#n21">21</a></p>
+<p id="n22" class="pln"><a href="#n22">22</a></p>
+<p id="n23" class="pln"><a href="#n23">23</a></p>
+<p id="n24" class="pln"><a href="#n24">24</a></p>
+<p id="n25" class="pln"><a href="#n25">25</a></p>
+<p id="n26" class="stm mis"><a href="#n26">26</a></p>
+<p id="n27" class="pln"><a href="#n27">27</a></p>
+<p id="n28" class="stm mis"><a href="#n28">28</a></p>
+<p id="n29" class="pln"><a href="#n29">29</a></p>
+<p id="n30" class="stm mis"><a href="#n30">30</a></p>
+<p id="n31" class="stm mis"><a href="#n31">31</a></p>
+<p id="n32" class="stm mis"><a href="#n32">32</a></p>
+<p id="n33" class="stm mis"><a href="#n33">33</a></p>
+<p id="n34" class="pln"><a href="#n34">34</a></p>
+<p id="n35" class="pln"><a href="#n35">35</a></p>
+<p id="n36" class="stm mis"><a href="#n36">36</a></p>
+<p id="n37" class="pln"><a href="#n37">37</a></p>
+<p id="n38" class="pln"><a href="#n38">38</a></p>
+<p id="n39" class="pln"><a href="#n39">39</a></p>
+<p id="n40" class="pln"><a href="#n40">40</a></p>
+<p id="n41" class="stm mis"><a href="#n41">41</a></p>
+<p id="n42" class="pln"><a href="#n42">42</a></p>
+<p id="n43" class="pln"><a href="#n43">43</a></p>
+<p id="n44" class="stm mis"><a href="#n44">44</a></p>
+<p id="n45" class="stm mis"><a href="#n45">45</a></p>
+<p id="n46" class="pln"><a href="#n46">46</a></p>
+<p id="n47" class="pln"><a href="#n47">47</a></p>
+<p id="n48" class="pln"><a href="#n48">48</a></p>
+<p id="n49" class="stm mis"><a href="#n49">49</a></p>
+<p id="n50" class="pln"><a href="#n50">50</a></p>
+<p id="n51" class="stm mis"><a href="#n51">51</a></p>
+<p id="n52" class="stm mis"><a href="#n52">52</a></p>
+<p id="n53" class="pln"><a href="#n53">53</a></p>
+<p id="n54" class="stm mis"><a href="#n54">54</a></p>
+<p id="n55" class="stm mis"><a href="#n55">55</a></p>
+<p id="n56" class="stm mis"><a href="#n56">56</a></p>
+<p id="n57" class="stm mis"><a href="#n57">57</a></p>
+<p id="n58" class="pln"><a href="#n58">58</a></p>
+<p id="n59" class="pln"><a href="#n59">59</a></p>
+<p id="n60" class="stm mis"><a href="#n60">60</a></p>
+<p id="n61" class="stm mis"><a href="#n61">61</a></p>
+<p id="n62" class="stm mis"><a href="#n62">62</a></p>
+<p id="n63" class="pln"><a href="#n63">63</a></p>
+<p id="n64" class="pln"><a href="#n64">64</a></p>
+<p id="n65" class="stm mis"><a href="#n65">65</a></p>
+<p id="n66" class="stm mis"><a href="#n66">66</a></p>
+<p id="n67" class="stm mis"><a href="#n67">67</a></p>
+
+ </td>
+ <td class="text">
+<p id="t1" class="stm mis"><span class="key">from</span> <span class="nam">navipy</span> <span class="key">import</span> <span class="nam">Brain</span><span class="strut"> </span></p>
+<p id="t2" class="stm mis"><span class="key">from</span> <span class="nam">navipy</span><span class="op">.</span><span class="nam">processing</span><span class="op">.</span><span class="nam">pcode</span> <span class="key">import</span> <span class="nam">apcv</span><span class="op">,</span> <span class="nam">skyline</span><span class="strut"> </span></p>
+<p id="t3" class="stm mis"><span class="key">import</span> <span class="nam">pandas</span> <span class="key">as</span> <span class="nam">pd</span><span class="strut"> </span></p>
+<p id="t4" class="stm mis"><span class="key">import</span> <span class="nam">numpy</span> <span class="key">as</span> <span class="nam">np</span><span class="strut"> </span></p>
+<p id="t5" class="stm mis"><span class="key">from</span> <span class="nam">navipy</span><span class="op">.</span><span class="nam">scene</span> <span class="key">import</span> <span class="nam">__spherical_indeces__</span><span class="strut"> </span></p>
+<p id="t6" class="pln"><span class="com"># 0) Define a class heriting from Brain</span><span class="strut"> </span></p>
+<p id="t7" class="pln"><span class="strut"> </span></p>
+<p id="t8" class="pln"><span class="strut"> </span></p>
+<p id="t9" class="stm mis"><span class="key">def</span> <span class="nam">processing</span><span class="op">(</span><span class="nam">scene</span><span class="op">,</span> <span class="nam">viewing_directions</span><span class="op">,</span> <span class="nam">channel</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t10" class="pln"> <span class="str">""" Return the average skyline vector by doing</span><span class="strut"> </span></p>
+<p id="t11" class="pln"><span class="strut"> </span></p>
+<p id="t12" class="pln"><span class="str"> * inverse of distance (i.e. distance -> nearness)</span><span class="strut"> </span></p>
+<p id="t13" class="pln"><span class="str"> * summing along elevation (i.e. estimate of skyline)</span><span class="strut"> </span></p>
+<p id="t14" class="pln"><span class="str"> * vector summing of skyline vector</span><span class="strut"> </span></p>
+<p id="t15" class="pln"><span class="strut"> </span></p>
+<p id="t16" class="pln"><span class="str"> Average place cell vector on the skyline</span><span class="strut"> </span></p>
+<p id="t17" class="pln"><span class="str"> refer as skyline vector:</span><span class="strut"> </span></p>
+<p id="t18" class="pln"><span class="str"> * Müller et al. 2018</span><span class="strut"> </span></p>
+<p id="t19" class="pln"><span class="str"> * Basten and Mallot 2010</span><span class="strut"> </span></p>
+<p id="t20" class="pln"><span class="str"> refer as COMANV in :</span><span class="strut"> </span></p>
+<p id="t21" class="pln"><span class="str"> * Hafner 2000,</span><span class="strut"> </span></p>
+<p id="t22" class="pln"><span class="str"> * Bertrand 2015</span><span class="strut"> </span></p>
+<p id="t23" class="pln"><span class="str"> center of mass of average nearness vector</span><span class="strut"> </span></p>
+<p id="t24" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t25" class="pln"> <span class="com"># Invert distance to nearness</span><span class="strut"> </span></p>
+<p id="t26" class="stm mis"> <span class="nam">scene</span><span class="op">[</span><span class="op">...</span><span class="op">,</span> <span class="num">3</span><span class="op">,</span> <span class="op">:</span><span class="op">]</span> <span class="op">=</span> <span class="num">1</span> <span class="op">/</span> <span class="nam">scene</span><span class="op">[</span><span class="op">...</span><span class="op">,</span> <span class="num">3</span><span class="op">,</span> <span class="op">:</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t27" class="pln"> <span class="com"># Calculate the skyline</span><span class="strut"> </span></p>
+<p id="t28" class="stm mis"> <span class="nam">scene</span> <span class="op">=</span> <span class="nam">skyline</span><span class="op">(</span><span class="nam">scene</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t29" class="pln"> <span class="com"># skyline viewing direction</span><span class="strut"> </span></p>
+<p id="t30" class="stm mis"> <span class="nam">viewdir</span> <span class="op">=</span> <span class="nam">viewing_directions</span><span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="op">...</span><span class="op">]</span><span class="op">[</span><span class="nam">np</span><span class="op">.</span><span class="nam">newaxis</span><span class="op">,</span> <span class="op">...</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t31" class="stm mis"> <span class="nam">viewdir</span><span class="op">[</span><span class="op">...</span><span class="op">,</span> <span class="nam">__spherical_indeces__</span><span class="op">[</span><span class="str">'elevation'</span><span class="op">]</span><span class="op">]</span> <span class="op">=</span> <span class="num">0</span><span class="strut"> </span></p>
+<p id="t32" class="stm mis"> <span class="nam">comanv</span> <span class="op">=</span> <span class="nam">apcv</span><span class="op">(</span><span class="nam">scene</span><span class="op">,</span> <span class="nam">viewdir</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t33" class="stm mis"> <span class="key">return</span> <span class="nam">comanv</span><span class="op">[</span><span class="op">...</span><span class="op">,</span> <span class="nam">channel</span><span class="op">,</span> <span class="op">:</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t34" class="pln"><span class="strut"> </span></p>
+<p id="t35" class="pln"><span class="strut"> </span></p>
+<p id="t36" class="stm mis"><span class="key">def</span> <span class="nam">comparing</span><span class="op">(</span><span class="nam">current</span><span class="op">,</span> <span class="nam">memory</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t37" class="pln"> <span class="str">""" Calculate homing vector</span><span class="strut"> </span></p>
+<p id="t38" class="pln"><span class="strut"> </span></p>
+<p id="t39" class="pln"><span class="str"> homing vector = current vector - memory vector</span><span class="strut"> </span></p>
+<p id="t40" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t41" class="stm mis"> <span class="key">return</span> <span class="nam">current</span> <span class="op">-</span> <span class="nam">memory</span><span class="strut"> </span></p>
+<p id="t42" class="pln"><span class="strut"> </span></p>
+<p id="t43" class="pln"><span class="strut"> </span></p>
+<p id="t44" class="stm mis"><span class="key">class</span> <span class="nam">ASVBrain</span><span class="op">(</span><span class="nam">Brain</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t45" class="stm mis"> <span class="key">def</span> <span class="nam">__init__</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t46" class="pln"> <span class="nam">memory</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t47" class="pln"> <span class="nam">renderer</span><span class="op">=</span><span class="key">None</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t48" class="pln"> <span class="nam">channel</span><span class="op">=</span><span class="num">0</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t49" class="stm mis"> <span class="nam">Brain</span><span class="op">.</span><span class="nam">__init__</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span> <span class="nam">renderer</span><span class="op">=</span><span class="nam">renderer</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t50" class="pln"> <span class="com"># Init memory</span><span class="strut"> </span></p>
+<p id="t51" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">channel</span> <span class="op">=</span> <span class="nam">channel</span><span class="strut"> </span></p>
+<p id="t52" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">memory</span> <span class="op">=</span> <span class="nam">memory</span><span class="strut"> </span></p>
+<p id="t53" class="pln"><span class="strut"> </span></p>
+<p id="t54" class="stm mis"> <span class="key">def</span> <span class="nam">velocity</span><span class="op">(</span><span class="nam">self</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t55" class="stm mis"> <span class="nam">index</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">posorient</span><span class="op">.</span><span class="nam">index</span><span class="strut"> </span></p>
+<p id="t56" class="stm mis"> <span class="nam">convention</span> <span class="op">=</span> <span class="nam">index</span><span class="op">.</span><span class="nam">levels</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">[</span><span class="op">-</span><span class="num">1</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t57" class="stm mis"> <span class="nam">current</span> <span class="op">=</span> <span class="nam">processing</span><span class="op">(</span><span class="nam">self</span><span class="op">.</span><span class="nam">vision</span><span class="op">.</span><span class="nam">scene</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t58" class="pln"> <span class="nam">self</span><span class="op">.</span><span class="nam">vision</span><span class="op">.</span><span class="nam">viewing_directions</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t59" class="pln"> <span class="nam">self</span><span class="op">.</span><span class="nam">channel</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t60" class="stm mis"> <span class="nam">homing_vector</span> <span class="op">=</span> <span class="nam">comparing</span><span class="op">(</span><span class="nam">current</span><span class="op">,</span> <span class="nam">self</span><span class="op">.</span><span class="nam">memory</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t61" class="stm mis"> <span class="nam">homing_vector</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">squeeze</span><span class="op">(</span><span class="nam">homing_vector</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t62" class="stm mis"> <span class="nam">indeces</span> <span class="op">=</span> <span class="op">[</span><span class="op">(</span><span class="str">'location'</span><span class="op">,</span> <span class="str">'dx'</span><span class="op">)</span><span class="op">,</span> <span class="op">(</span><span class="str">'location'</span><span class="op">,</span> <span class="str">'dy'</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t63" class="pln"> <span class="op">(</span><span class="str">'location'</span><span class="op">,</span> <span class="str">'dz'</span><span class="op">)</span><span class="op">,</span> <span class="op">(</span><span class="nam">convention</span><span class="op">,</span> <span class="str">'dalpha_0'</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t64" class="pln"> <span class="op">(</span><span class="nam">convention</span><span class="op">,</span> <span class="str">'dalpha_1'</span><span class="op">)</span><span class="op">,</span> <span class="op">(</span><span class="nam">convention</span><span class="op">,</span> <span class="str">'dalpha_2'</span><span class="op">)</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t65" class="stm mis"> <span class="nam">velocity</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">Series</span><span class="op">(</span><span class="nam">data</span><span class="op">=</span><span class="num">0</span><span class="op">,</span> <span class="nam">index</span><span class="op">=</span><span class="nam">pd</span><span class="op">.</span><span class="nam">MultiIndex</span><span class="op">.</span><span class="nam">from_tuples</span><span class="op">(</span><span class="nam">indeces</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t66" class="stm mis"> <span class="nam">velocity</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="str">'location'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">homing_vector</span><span class="strut"> </span></p>
+<p id="t67" class="stm mis"> <span class="key">return</span> <span class="nam">velocity</span><span class="strut"> </span></p>
+
+ </td>
+ </tr>
+ </table>
+</div>
+
+<div id="footer">
+ <div class="content">
+ <p>
+ <a class="nav" href="index.html">« index</a> <a class="nav" href="https://coverage.readthedocs.io">coverage.py v4.5.2</a>,
+ created at 2019-01-13 14:34
+ </p>
+ </div>
+</div>
+
+</body>
+</html>
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new file mode 100644
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@@ -0,0 +1,247 @@
+
+
+
+<!DOCTYPE html>
+<html>
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+ <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
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+ <meta http-equiv="X-UA-Compatible" content="IE=emulateIE7" />
+ <title>Coverage for navipy/models/irdf_2003.py: 0%</title>
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+ <h1>Coverage for <b>navipy/models/irdf_2003.py</b> :
+ <span class="pc_cov">0%</span>
+ </h1>
+
+ <img id="keyboard_icon" src="keybd_closed.png" alt="Show keyboard shortcuts" />
+
+ <h2 class="stats">
+ 36 statements
+ <span class="run hide_run shortkey_r button_toggle_run">0 run</span>
+ <span class="mis shortkey_m button_toggle_mis">36 missing</span>
+ <span class="exc shortkey_x button_toggle_exc">0 excluded</span>
+
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+ </h2>
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+</div>
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+ <table>
+ <tr>
+ <td class="linenos">
+<p id="n1" class="stm mis"><a href="#n1">1</a></p>
+<p id="n2" class="stm mis"><a href="#n2">2</a></p>
+<p id="n3" class="stm mis"><a href="#n3">3</a></p>
+<p id="n4" class="stm mis"><a href="#n4">4</a></p>
+<p id="n5" class="stm mis"><a href="#n5">5</a></p>
+<p id="n6" class="stm mis"><a href="#n6">6</a></p>
+<p id="n7" class="pln"><a href="#n7">7</a></p>
+<p id="n8" class="pln"><a href="#n8">8</a></p>
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+<p id="n11" class="pln"><a href="#n11">11</a></p>
+<p id="n12" class="pln"><a href="#n12">12</a></p>
+<p id="n13" class="pln"><a href="#n13">13</a></p>
+<p id="n14" class="pln"><a href="#n14">14</a></p>
+<p id="n15" class="pln"><a href="#n15">15</a></p>
+<p id="n16" class="stm mis"><a href="#n16">16</a></p>
+<p id="n17" class="stm mis"><a href="#n17">17</a></p>
+<p id="n18" class="pln"><a href="#n18">18</a></p>
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+<p id="n35" class="stm mis"><a href="#n35">35</a></p>
+<p id="n36" class="stm mis"><a href="#n36">36</a></p>
+<p id="n37" class="stm mis"><a href="#n37">37</a></p>
+<p id="n38" class="stm mis"><a href="#n38">38</a></p>
+<p id="n39" class="stm mis"><a href="#n39">39</a></p>
+<p id="n40" class="stm mis"><a href="#n40">40</a></p>
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+<p id="n42" class="pln"><a href="#n42">42</a></p>
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+<p id="n44" class="stm mis"><a href="#n44">44</a></p>
+<p id="n45" class="stm mis"><a href="#n45">45</a></p>
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+<p id="n47" class="pln"><a href="#n47">47</a></p>
+<p id="n48" class="stm mis"><a href="#n48">48</a></p>
+<p id="n49" class="pln"><a href="#n49">49</a></p>
+<p id="n50" class="pln"><a href="#n50">50</a></p>
+<p id="n51" class="stm mis"><a href="#n51">51</a></p>
+<p id="n52" class="pln"><a href="#n52">52</a></p>
+<p id="n53" class="pln"><a href="#n53">53</a></p>
+<p id="n54" class="stm mis"><a href="#n54">54</a></p>
+<p id="n55" class="stm mis"><a href="#n55">55</a></p>
+<p id="n56" class="pln"><a href="#n56">56</a></p>
+<p id="n57" class="pln"><a href="#n57">57</a></p>
+<p id="n58" class="pln"><a href="#n58">58</a></p>
+<p id="n59" class="stm mis"><a href="#n59">59</a></p>
+<p id="n60" class="pln"><a href="#n60">60</a></p>
+<p id="n61" class="stm mis"><a href="#n61">61</a></p>
+<p id="n62" class="stm mis"><a href="#n62">62</a></p>
+<p id="n63" class="pln"><a href="#n63">63</a></p>
+<p id="n64" class="stm mis"><a href="#n64">64</a></p>
+<p id="n65" class="stm mis"><a href="#n65">65</a></p>
+<p id="n66" class="stm mis"><a href="#n66">66</a></p>
+<p id="n67" class="stm mis"><a href="#n67">67</a></p>
+<p id="n68" class="pln"><a href="#n68">68</a></p>
+<p id="n69" class="stm mis"><a href="#n69">69</a></p>
+<p id="n70" class="pln"><a href="#n70">70</a></p>
+<p id="n71" class="pln"><a href="#n71">71</a></p>
+<p id="n72" class="pln"><a href="#n72">72</a></p>
+<p id="n73" class="stm mis"><a href="#n73">73</a></p>
+<p id="n74" class="stm mis"><a href="#n74">74</a></p>
+<p id="n75" class="pln"><a href="#n75">75</a></p>
+<p id="n76" class="pln"><a href="#n76">76</a></p>
+<p id="n77" class="stm mis"><a href="#n77">77</a></p>
+<p id="n78" class="stm mis"><a href="#n78">78</a></p>
+<p id="n79" class="stm mis"><a href="#n79">79</a></p>
+
+ </td>
+ <td class="text">
+<p id="t1" class="stm mis"><span class="key">from</span> <span class="nam">navipy</span> <span class="key">import</span> <span class="nam">Brain</span><span class="strut"> </span></p>
+<p id="t2" class="stm mis"><span class="key">from</span> <span class="nam">navipy</span><span class="op">.</span><span class="nam">comparing</span> <span class="key">import</span> <span class="nam">rot_imagediff</span><span class="strut"> </span></p>
+<p id="t3" class="stm mis"><span class="key">import</span> <span class="nam">pandas</span> <span class="key">as</span> <span class="nam">pd</span><span class="strut"> </span></p>
+<p id="t4" class="stm mis"><span class="key">import</span> <span class="nam">numpy</span> <span class="key">as</span> <span class="nam">np</span><span class="strut"> </span></p>
+<p id="t5" class="stm mis"><span class="key">from</span> <span class="nam">navipy</span><span class="op">.</span><span class="nam">scene</span> <span class="key">import</span> <span class="nam">__spherical_indeces__</span><span class="strut"> </span></p>
+<p id="t6" class="stm mis"><span class="key">from</span> <span class="nam">navipy</span><span class="op">.</span><span class="nam">maths</span><span class="op">.</span><span class="nam">coordinates</span> <span class="key">import</span> <span class="nam">spherical_to_cartesian</span><span class="strut"> </span></p>
+<p id="t7" class="pln"><span class="com"># 0) Define a class heriting from Brain</span><span class="strut"> </span></p>
+<p id="t8" class="pln"><span class="strut"> </span></p>
+<p id="t9" class="pln"><span class="strut"> </span></p>
+<p id="t10" class="stm mis"><span class="key">def</span> <span class="nam">processing</span><span class="op">(</span><span class="nam">scene</span><span class="op">,</span> <span class="nam">channel</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t11" class="pln"> <span class="str">""" Return the image difference</span><span class="strut"> </span></p>
+<p id="t12" class="pln"><span class="strut"> </span></p>
+<p id="t13" class="pln"><span class="str"> * inverse of distance (i.e. distance -> nearness)</span><span class="strut"> </span></p>
+<p id="t14" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t15" class="pln"> <span class="com"># Invert distance to nearness</span><span class="strut"> </span></p>
+<p id="t16" class="stm mis"> <span class="nam">scene</span><span class="op">[</span><span class="op">...</span><span class="op">,</span> <span class="num">3</span><span class="op">,</span> <span class="op">:</span><span class="op">]</span> <span class="op">=</span> <span class="num">1</span> <span class="op">/</span> <span class="nam">scene</span><span class="op">[</span><span class="op">...</span><span class="op">,</span> <span class="num">3</span><span class="op">,</span> <span class="op">:</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t17" class="stm mis"> <span class="key">return</span> <span class="nam">scene</span><span class="op">[</span><span class="op">...</span><span class="op">,</span> <span class="nam">channel</span><span class="op">,</span> <span class="op">:</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t18" class="pln"><span class="strut"> </span></p>
+<p id="t19" class="pln"><span class="strut"> </span></p>
+<p id="t20" class="stm mis"><span class="key">def</span> <span class="nam">comparing</span><span class="op">(</span><span class="nam">current</span><span class="op">,</span> <span class="nam">memory</span><span class="op">,</span> <span class="nam">viewing_directions</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t21" class="pln"> <span class="str">""" Calculate homing vector with irdf</span><span class="strut"> </span></p>
+<p id="t22" class="pln"><span class="strut"> </span></p>
+<p id="t23" class="pln"><span class="str"> irdf: Image rotation difference function</span><span class="strut"> </span></p>
+<p id="t24" class="pln"><span class="str"> The image difference is root mean square</span><span class="strut"> </span></p>
+<p id="t25" class="pln"><span class="strut"> </span></p>
+<p id="t26" class="pln"><span class="str"> Used in:</span><span class="strut"> </span></p>
+<p id="t27" class="pln"><span class="str"> * Zeil, J., Hofmann, M., & Chahl, J. (2003). \</span><span class="strut"> </span></p>
+<p id="t28" class="pln"><span class="str"> Catchment Areas of Panoramic Snapshots in Outdoor Scenes.</span><span class="strut"> </span></p>
+<p id="t29" class="pln"><span class="str"> * Baddeley, B., Graham, P., Husbands, P., & Philippides, A. (2012).\</span><span class="strut"> </span></p>
+<p id="t30" class="pln"><span class="str"> A Model of Ant Route Navigation Driven by Scene Familiarity.</span><span class="strut"> </span></p>
+<p id="t31" class="pln"><span class="str"> * Ardin, P., Peng, F., Mangan, M., Lagogiannis, K., & Webb, B. (2016).\</span><span class="strut"> </span></p>
+<p id="t32" class="pln"><span class="str"> Using an Insect Mushroom Body Circuit to Encode Route \</span><span class="strut"> </span></p>
+<p id="t33" class="pln"><span class="str"> Memory in Complex Natural Environments.</span><span class="strut"> </span></p>
+<p id="t34" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t35" class="stm mis"> <span class="key">if</span> <span class="op">(</span><span class="nam">current</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">2</span><span class="op">]</span> <span class="op">!=</span> <span class="num">1</span><span class="op">)</span> <span class="key">or</span> <span class="op">(</span><span class="nam">memory</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">2</span><span class="op">]</span> <span class="op">!=</span> <span class="num">1</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t36" class="stm mis"> <span class="nam">msg</span> <span class="op">=</span> <span class="str">'Current view {} and the memory {} \n'</span><span class="strut"> </span></p>
+<p id="t37" class="stm mis"> <span class="nam">msg</span> <span class="op">+=</span> <span class="str">'should be a NxMx1x1 matrix'</span><span class="strut"> </span></p>
+<p id="t38" class="stm mis"> <span class="nam">msg</span> <span class="op">=</span> <span class="nam">msg</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">current</span><span class="op">.</span><span class="nam">shape</span><span class="op">,</span> <span class="nam">memory</span><span class="op">.</span><span class="nam">shape</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t39" class="stm mis"> <span class="key">raise</span> <span class="nam">NameError</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t40" class="stm mis"> <span class="nam">irdf</span> <span class="op">=</span> <span class="nam">rot_imagediff</span><span class="op">(</span><span class="nam">current</span><span class="op">,</span> <span class="nam">memory</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t41" class="pln"> <span class="com"># [..., 0] because processing</span><span class="strut"> </span></p>
+<p id="t42" class="pln"> <span class="com"># select one channel, and therefore</span><span class="strut"> </span></p>
+<p id="t43" class="pln"> <span class="com"># irdf should is only a Nx1 matrix</span><span class="strut"> </span></p>
+<p id="t44" class="stm mis"> <span class="nam">idx</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">argmin</span><span class="op">(</span><span class="nam">irdf</span><span class="op">[</span><span class="op">...</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t45" class="stm mis"> <span class="nam">minval</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">min</span><span class="op">(</span><span class="nam">irdf</span><span class="op">[</span><span class="op">...</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t46" class="stm mis"> <span class="nam">direction</span> <span class="op">=</span> <span class="nam">viewing_directions</span><span class="op">[</span><span class="nam">idx</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t47" class="pln"> <span class="nam">__spherical_indeces__</span><span class="op">[</span><span class="str">'azimuth'</span><span class="op">]</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t48" class="stm mis"> <span class="nam">homing_vect</span> <span class="op">=</span> <span class="nam">spherical_to_cartesian</span><span class="op">(</span><span class="nam">elevation</span><span class="op">=</span><span class="num">0</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t49" class="pln"> <span class="nam">azimuth</span><span class="op">=</span><span class="nam">direction</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t50" class="pln"> <span class="nam">radius</span><span class="op">=</span><span class="nam">minval</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t51" class="stm mis"> <span class="key">return</span> <span class="nam">homing_vect</span><span class="strut"> </span></p>
+<p id="t52" class="pln"><span class="strut"> </span></p>
+<p id="t53" class="pln"><span class="strut"> </span></p>
+<p id="t54" class="stm mis"><span class="key">class</span> <span class="nam">IRDFBrain</span><span class="op">(</span><span class="nam">Brain</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t55" class="stm mis"> <span class="key">def</span> <span class="nam">__init__</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t56" class="pln"> <span class="nam">memory</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t57" class="pln"> <span class="nam">renderer</span><span class="op">=</span><span class="key">None</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t58" class="pln"> <span class="nam">channel</span><span class="op">=</span><span class="num">0</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t59" class="stm mis"> <span class="nam">Brain</span><span class="op">.</span><span class="nam">__init__</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span> <span class="nam">renderer</span><span class="op">=</span><span class="nam">renderer</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t60" class="pln"> <span class="com"># Init memory</span><span class="strut"> </span></p>
+<p id="t61" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">channel</span> <span class="op">=</span> <span class="nam">channel</span><span class="strut"> </span></p>
+<p id="t62" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">memory</span> <span class="op">=</span> <span class="nam">memory</span><span class="strut"> </span></p>
+<p id="t63" class="pln"><span class="strut"> </span></p>
+<p id="t64" class="stm mis"> <span class="key">def</span> <span class="nam">velocity</span><span class="op">(</span><span class="nam">self</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t65" class="stm mis"> <span class="nam">index</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">posorient</span><span class="op">.</span><span class="nam">index</span><span class="strut"> </span></p>
+<p id="t66" class="stm mis"> <span class="nam">convention</span> <span class="op">=</span> <span class="nam">index</span><span class="op">.</span><span class="nam">levels</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">[</span><span class="op">-</span><span class="num">1</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t67" class="stm mis"> <span class="nam">current</span> <span class="op">=</span> <span class="nam">processing</span><span class="op">(</span><span class="nam">self</span><span class="op">.</span><span class="nam">vision</span><span class="op">.</span><span class="nam">scene</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t68" class="pln"> <span class="nam">self</span><span class="op">.</span><span class="nam">channel</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t69" class="stm mis"> <span class="nam">homing_vector</span> <span class="op">=</span> <span class="nam">comparing</span><span class="op">(</span><span class="nam">current</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t70" class="pln"> <span class="nam">self</span><span class="op">.</span><span class="nam">memory</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t71" class="pln"> <span class="nam">self</span><span class="op">.</span><span class="nam">vision</span><span class="op">.</span><span class="nam">viewing_directions</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t72" class="pln"> <span class="op">)</span><span class="strut"> </span></p>
+<p id="t73" class="stm mis"> <span class="nam">homing_vector</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">squeeze</span><span class="op">(</span><span class="nam">homing_vector</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t74" class="stm mis"> <span class="nam">indeces</span> <span class="op">=</span> <span class="op">[</span><span class="op">(</span><span class="str">'location'</span><span class="op">,</span> <span class="str">'dx'</span><span class="op">)</span><span class="op">,</span> <span class="op">(</span><span class="str">'location'</span><span class="op">,</span> <span class="str">'dy'</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t75" class="pln"> <span class="op">(</span><span class="str">'location'</span><span class="op">,</span> <span class="str">'dz'</span><span class="op">)</span><span class="op">,</span> <span class="op">(</span><span class="nam">convention</span><span class="op">,</span> <span class="str">'dalpha_0'</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t76" class="pln"> <span class="op">(</span><span class="nam">convention</span><span class="op">,</span> <span class="str">'dalpha_1'</span><span class="op">)</span><span class="op">,</span> <span class="op">(</span><span class="nam">convention</span><span class="op">,</span> <span class="str">'dalpha_2'</span><span class="op">)</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t77" class="stm mis"> <span class="nam">velocity</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">Series</span><span class="op">(</span><span class="nam">data</span><span class="op">=</span><span class="num">0</span><span class="op">,</span> <span class="nam">index</span><span class="op">=</span><span class="nam">pd</span><span class="op">.</span><span class="nam">MultiIndex</span><span class="op">.</span><span class="nam">from_tuples</span><span class="op">(</span><span class="nam">indeces</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t78" class="stm mis"> <span class="nam">velocity</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="str">'location'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">homing_vector</span><span class="strut"> </span></p>
+<p id="t79" class="stm mis"> <span class="key">return</span> <span class="nam">velocity</span><span class="strut"> </span></p>
+
+ </td>
+ </tr>
+ </table>
+</div>
+
+<div id="footer">
+ <div class="content">
+ <p>
+ <a class="nav" href="index.html">« index</a> <a class="nav" href="https://coverage.readthedocs.io">coverage.py v4.5.2</a>,
+ created at 2019-01-13 14:34
+ </p>
+ </div>
+</div>
+
+</body>
+</html>
diff --git a/coverage_html_report/navipy_moving___init___py.html b/coverage_html_report/navipy_moving___init___py.html
new file mode 100644
index 0000000000000000000000000000000000000000..02b34fa7f36e5b3f5b912af1d19b85454c42940c
--- /dev/null
+++ b/coverage_html_report/navipy_moving___init___py.html
@@ -0,0 +1,241 @@
+
+
+
+<!DOCTYPE html>
+<html>
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+ <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
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+ <h1>Coverage for <b>navipy/moving/__init__.py</b> :
+ <span class="pc_cov">100%</span>
+ </h1>
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+ <img id="keyboard_icon" src="keybd_closed.png" alt="Show keyboard shortcuts" />
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+<p id="n48" class="pln"><a href="#n48">48</a></p>
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+<p id="n50" class="pln"><a href="#n50">50</a></p>
+<p id="n51" class="pln"><a href="#n51">51</a></p>
+<p id="n52" class="pln"><a href="#n52">52</a></p>
+<p id="n53" class="pln"><a href="#n53">53</a></p>
+<p id="n54" class="pln"><a href="#n54">54</a></p>
+<p id="n55" class="pln"><a href="#n55">55</a></p>
+<p id="n56" class="pln"><a href="#n56">56</a></p>
+<p id="n57" class="pln"><a href="#n57">57</a></p>
+<p id="n58" class="pln"><a href="#n58">58</a></p>
+<p id="n59" class="pln"><a href="#n59">59</a></p>
+<p id="n60" class="pln"><a href="#n60">60</a></p>
+<p id="n61" class="pln"><a href="#n61">61</a></p>
+<p id="n62" class="pln"><a href="#n62">62</a></p>
+<p id="n63" class="pln"><a href="#n63">63</a></p>
+<p id="n64" class="pln"><a href="#n64">64</a></p>
+<p id="n65" class="pln"><a href="#n65">65</a></p>
+<p id="n66" class="pln"><a href="#n66">66</a></p>
+<p id="n67" class="pln"><a href="#n67">67</a></p>
+<p id="n68" class="pln"><a href="#n68">68</a></p>
+<p id="n69" class="pln"><a href="#n69">69</a></p>
+<p id="n70" class="pln"><a href="#n70">70</a></p>
+<p id="n71" class="pln"><a href="#n71">71</a></p>
+<p id="n72" class="pln"><a href="#n72">72</a></p>
+<p id="n73" class="pln"><a href="#n73">73</a></p>
+<p id="n74" class="pln"><a href="#n74">74</a></p>
+<p id="n75" class="pln"><a href="#n75">75</a></p>
+<p id="n76" class="pln"><a href="#n76">76</a></p>
+
+ </td>
+ <td class="text">
+<p id="t1" class="pln"><span class="str">"""</span><span class="strut"> </span></p>
+<p id="t2" class="pln"><span class="str">Close-loop agent</span><span class="strut"> </span></p>
+<p id="t3" class="pln"><span class="str">~~~~~~~~~~~~~~~~</span><span class="strut"> </span></p>
+<p id="t4" class="pln"><span class="str">A standard method to move an agent is to update:</span><span class="strut"> </span></p>
+<p id="t5" class="pln"><span class="strut"> </span></p>
+<p id="t6" class="pln"><span class="str">1. update the sensory information at the current agent location :math:`x`</span><span class="strut"> </span></p>
+<p id="t7" class="pln"><span class="str">2. deduce the agent motion :math:`vdt` from this information</span><span class="strut"> </span></p>
+<p id="t8" class="pln"><span class="str">3. displace the agent by motion ( :math:`x\\rightarrow x + vdt`)</span><span class="strut"> </span></p>
+<p id="t9" class="pln"><span class="strut"> </span></p>
+<p id="t10" class="pln"><span class="strut"> </span></p>
+<p id="t11" class="pln"><span class="str">The use of a close loop model including visual rendering is \</span><span class="strut"> </span></p>
+<p id="t12" class="pln"><span class="str">sometimes too slow to efficiently test several models or tune the \</span><span class="strut"> </span></p>
+<p id="t13" class="pln"><span class="str">parameters of a given models. The GridAgent solves this problem by \</span><span class="strut"> </span></p>
+<p id="t14" class="pln"><span class="str">restricting the agent motion on locations with rendered scene. The \</span><span class="strut"> </span></p>
+<p id="t15" class="pln"><span class="str">agent moves thus on a grid, and its next position is always \</span><span class="strut"> </span></p>
+<p id="t16" class="pln"><span class="str">snapped to the closest grid location. The finer the grid is, the \</span><span class="strut"> </span></p>
+<p id="t17" class="pln"><span class="str">larger the database storing all sceneries and grid location is; \</span><span class="strut"> </span></p>
+<p id="t18" class="pln"><span class="str">but also the more accurate the agent motion is. The grid size \</span><span class="strut"> </span></p>
+<p id="t19" class="pln"><span class="str">depend on the storage space, the time you can wait for the \</span><span class="strut"> </span></p>
+<p id="t20" class="pln"><span class="str">database creation, and how sensitive to exact location your model is.</span><span class="strut"> </span></p>
+<p id="t21" class="pln"><span class="strut"> </span></p>
+<p id="t22" class="pln"><span class="str">This iterative method can be used with a wide range of models. \</span><span class="strut"> </span></p>
+<p id="t23" class="pln"><span class="str">In :navipy: differents classes of agents exist. \</span><span class="strut"> </span></p>
+<p id="t24" class="pln"><span class="str">They differ by the method use to update the sensory information:</span><span class="strut"> </span></p>
+<p id="t25" class="pln"><span class="strut"> </span></p>
+<p id="t26" class="pln"><span class="str">+----------------+----------------------------------------------------+</span><span class="strut"> </span></p>
+<p id="t27" class="pln"><span class="str">|Agent class |Sensory update |</span><span class="strut"> </span></p>
+<p id="t28" class="pln"><span class="str">+================+====================================================+</span><span class="strut"> </span></p>
+<p id="t29" class="pln"><span class="str">|:CyberBeeAgent: |:Cyberbee: update within blender. |</span><span class="strut"> </span></p>
+<p id="t30" class="pln"><span class="str">+----------------+----------------------------------------------------+</span><span class="strut"> </span></p>
+<p id="t31" class="pln"><span class="str">|:GridAgent: |:DataBase: update from a pre-rendered database. |</span><span class="strut"> </span></p>
+<p id="t32" class="pln"><span class="str">+----------------+----------------------------------------------------+</span><span class="strut"> </span></p>
+<p id="t33" class="pln"><span class="strut"> </span></p>
+<p id="t34" class="pln"><span class="str">To deduce the agent motion from the current state of the agent \</span><span class="strut"> </span></p>
+<p id="t35" class="pln"><span class="str">(e.g. position, orientation, sensory information, memories, ...) all \</span><span class="strut"> </span></p>
+<p id="t36" class="pln"><span class="str">classes of agents use callback function, which is a custom function \</span><span class="strut"> </span></p>
+<p id="t37" class="pln"><span class="str">defined by the user. This function takes as input argument, the \</span><span class="strut"> </span></p>
+<p id="t38" class="pln"><span class="str">agent position-orientation and its velocities, and the currently \</span><span class="strut"> </span></p>
+<p id="t39" class="pln"><span class="str">seen scene. The function should return a the agent motion. \</span><span class="strut"> </span></p>
+<p id="t40" class="pln"><span class="strut"> </span></p>
+<p id="t41" class="pln"><span class="str">Once the agent sensory method and motion method have been configured, \</span><span class="strut"> </span></p>
+<p id="t42" class="pln"><span class="str">the agent can:</span><span class="strut"> </span></p>
+<p id="t43" class="pln"><span class="strut"> </span></p>
+<p id="t44" class="pln"><span class="str">1. move (perform a one step motion), or</span><span class="strut"> </span></p>
+<p id="t45" class="pln"><span class="str">2. fly (move until its velocity is null, or until n-steps).</span><span class="strut"> </span></p>
+<p id="t46" class="pln"><span class="strut"> </span></p>
+<p id="t47" class="pln"><span class="str">Agent on a graph</span><span class="strut"> </span></p>
+<p id="t48" class="pln"><span class="str">~~~~~~~~~~~~~~~~</span><span class="strut"> </span></p>
+<p id="t49" class="pln"><span class="str">As mentioned above, in every model of navigation the agent motion \</span><span class="strut"> </span></p>
+<p id="t50" class="pln"><span class="str">is derived from its current external state, its position \</span><span class="strut"> </span></p>
+<p id="t51" class="pln"><span class="str">orientation as well as the derivatives, and its internal state. \</span><span class="strut"> </span></p>
+<p id="t52" class="pln"><span class="str">However, when the agent motion is only derived from its current \</span><span class="strut"> </span></p>
+<p id="t53" class="pln"><span class="str">position orientation, and what is seen from this location, the \</span><span class="strut"> </span></p>
+<p id="t54" class="pln"><span class="str">simulation of an agent can be drastically simplified. Indeed, \</span><span class="strut"> </span></p>
+<p id="t55" class="pln"><span class="str">not only the scene at relevant location can be pre-rendered, but \</span><span class="strut"> </span></p>
+<p id="t56" class="pln"><span class="str">the motion of the agent from those locations as well.</span><span class="strut"> </span></p>
+<p id="t57" class="pln"><span class="strut"> </span></p>
+<p id="t58" class="pln"><span class="str">The agent being restricted to move from relevant locations to \</span><span class="strut"> </span></p>
+<p id="t59" class="pln"><span class="str">relevant locations, a graph of interconnected locations can be built.\</span><span class="strut"> </span></p>
+<p id="t60" class="pln"><span class="str">The nodes of the graph are the relevant locations, and the directed \</span><span class="strut"> </span></p>
+<p id="t61" class="pln"><span class="str">edges the motion of the agent from one location to the next. \</span><span class="strut"> </span></p>
+<p id="t62" class="pln"><span class="str">:GraphAgent: can build such graph by simply using a database of \</span><span class="strut"> </span></p>
+<p id="t63" class="pln"><span class="str">pre-rendered scenery at relevant locations, and a function \</span><span class="strut"> </span></p>
+<p id="t64" class="pln"><span class="str">giving the motion of the agent from a scene and the agent \</span><span class="strut"> </span></p>
+<p id="t65" class="pln"><span class="str">position orientation. Once the graph has been generated, \</span><span class="strut"> </span></p>
+<p id="t66" class="pln"><span class="str">attractors can be found, the number of locations converging to \</span><span class="strut"> </span></p>
+<p id="t67" class="pln"><span class="str">those (i.e. the catchment area or volume), if two locations are \</span><span class="strut"> </span></p>
+<p id="t68" class="pln"><span class="str">connected, etc.</span><span class="strut"> </span></p>
+<p id="t69" class="pln"><span class="strut"> </span></p>
+<p id="t70" class="pln"><span class="str">To speed up certain calculations, additional values can stored \</span><span class="strut"> </span></p>
+<p id="t71" class="pln"><span class="str">at each graph node and access from the callback function. It is \</span><span class="strut"> </span></p>
+<p id="t72" class="pln"><span class="str">worth mentioning a warning here. The size of the graph can be \</span><span class="strut"> </span></p>
+<p id="t73" class="pln"><span class="str">incredibly large. Thus, not too much information can be stored \</span><span class="strut"> </span></p>
+<p id="t74" class="pln"><span class="str">at each node. To assess the memory size of the graph before \</span><span class="strut"> </span></p>
+<p id="t75" class="pln"><span class="str">creating it, one can use the tool agent.tools.assess_graphmemsize.</span><span class="strut"> </span></p>
+<p id="t76" class="pln"><span class="str">"""</span><span class="strut"> </span></p>
+
+ </td>
+ </tr>
+ </table>
+</div>
+
+<div id="footer">
+ <div class="content">
+ <p>
+ <a class="nav" href="index.html">« index</a> <a class="nav" href="https://coverage.readthedocs.io">coverage.py v4.5.2</a>,
+ created at 2019-01-13 14:34
+ </p>
+ </div>
+</div>
+
+</body>
+</html>
diff --git a/coverage_html_report/navipy_moving_agent_py.html b/coverage_html_report/navipy_moving_agent_py.html
new file mode 100644
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+++ b/coverage_html_report/navipy_moving_agent_py.html
@@ -0,0 +1,1223 @@
+
+
+
+<!DOCTYPE html>
+<html>
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+ <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
+
+
+ <meta http-equiv="X-UA-Compatible" content="IE=emulateIE7" />
+ <title>Coverage for navipy/moving/agent.py: 49%</title>
+ <link rel="stylesheet" href="style.css" type="text/css">
+
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+ <h1>Coverage for <b>navipy/moving/agent.py</b> :
+ <span class="pc_cov">49%</span>
+ </h1>
+
+ <img id="keyboard_icon" src="keybd_closed.png" alt="Show keyboard shortcuts" />
+
+ <h2 class="stats">
+ 312 statements
+ <span class="run hide_run shortkey_r button_toggle_run">154 run</span>
+ <span class="mis shortkey_m button_toggle_mis">158 missing</span>
+ <span class="exc shortkey_x button_toggle_exc">0 excluded</span>
+
+
+ </h2>
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+ <td class="linenos">
+<p id="n1" class="pln"><a href="#n1">1</a></p>
+<p id="n2" class="pln"><a href="#n2">2</a></p>
+<p id="n3" class="pln"><a href="#n3">3</a></p>
+<p id="n4" class="pln"><a href="#n4">4</a></p>
+<p id="n5" class="pln"><a href="#n5">5</a></p>
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+<p id="n105" class="stm run hide_run"><a href="#n105">105</a></p>
+<p id="n106" class="stm run hide_run"><a href="#n106">106</a></p>
+<p id="n107" class="stm mis"><a href="#n107">107</a></p>
+<p id="n108" class="pln"><a href="#n108">108</a></p>
+<p id="n109" class="stm run hide_run"><a href="#n109">109</a></p>
+<p id="n110" class="pln"><a href="#n110">110</a></p>
+<p id="n111" class="pln"><a href="#n111">111</a></p>
+<p id="n112" class="stm run hide_run"><a href="#n112">112</a></p>
+<p id="n113" class="pln"><a href="#n113">113</a></p>
+<p id="n114" class="stm mis"><a href="#n114">114</a></p>
+<p id="n115" class="pln"><a href="#n115">115</a></p>
+<p id="n116" class="stm run hide_run"><a href="#n116">116</a></p>
+<p id="n117" class="pln"><a href="#n117">117</a></p>
+<p id="n118" class="stm mis"><a href="#n118">118</a></p>
+<p id="n119" class="stm mis"><a href="#n119">119</a></p>
+<p id="n120" class="stm mis"><a href="#n120">120</a></p>
+<p id="n121" class="stm mis"><a href="#n121">121</a></p>
+<p id="n122" class="stm mis"><a href="#n122">122</a></p>
+<p id="n123" class="pln"><a href="#n123">123</a></p>
+<p id="n124" class="stm mis"><a href="#n124">124</a></p>
+<p id="n125" class="pln"><a href="#n125">125</a></p>
+<p id="n126" class="pln"><a href="#n126">126</a></p>
+<p id="n127" class="stm run hide_run"><a href="#n127">127</a></p>
+<p id="n128" class="pln"><a href="#n128">128</a></p>
+<p id="n129" class="stm mis"><a href="#n129">129</a></p>
+<p id="n130" class="pln"><a href="#n130">130</a></p>
+<p id="n131" class="stm run hide_run"><a href="#n131">131</a></p>
+<p id="n132" class="pln"><a href="#n132">132</a></p>
+<p id="n133" class="stm mis"><a href="#n133">133</a></p>
+<p id="n134" class="stm mis"><a href="#n134">134</a></p>
+<p id="n135" class="pln"><a href="#n135">135</a></p>
+<p id="n136" class="stm run hide_run"><a href="#n136">136</a></p>
+<p id="n137" class="pln"><a href="#n137">137</a></p>
+<p id="n138" class="stm mis"><a href="#n138">138</a></p>
+<p id="n139" class="pln"><a href="#n139">139</a></p>
+<p id="n140" class="stm run hide_run"><a href="#n140">140</a></p>
+<p id="n141" class="pln"><a href="#n141">141</a></p>
+<p id="n142" class="stm run hide_run"><a href="#n142">142</a></p>
+<p id="n143" class="pln"><a href="#n143">143</a></p>
+<p id="n144" class="stm run hide_run"><a href="#n144">144</a></p>
+<p id="n145" class="pln"><a href="#n145">145</a></p>
+<p id="n146" class="stm mis"><a href="#n146">146</a></p>
+<p id="n147" class="pln"><a href="#n147">147</a></p>
+<p id="n148" class="stm run hide_run"><a href="#n148">148</a></p>
+<p id="n149" class="stm run hide_run"><a href="#n149">149</a></p>
+<p id="n150" class="stm mis"><a href="#n150">150</a></p>
+<p id="n151" class="stm mis"><a href="#n151">151</a></p>
+<p id="n152" class="stm mis"><a href="#n152">152</a></p>
+<p id="n153" class="stm mis"><a href="#n153">153</a></p>
+<p id="n154" class="pln"><a href="#n154">154</a></p>
+<p id="n155" class="stm run hide_run"><a href="#n155">155</a></p>
+<p id="n156" class="pln"><a href="#n156">156</a></p>
+<p id="n157" class="pln"><a href="#n157">157</a></p>
+<p id="n158" class="stm run hide_run"><a href="#n158">158</a></p>
+<p id="n159" class="stm mis"><a href="#n159">159</a></p>
+<p id="n160" class="pln"><a href="#n160">160</a></p>
+<p id="n161" class="stm mis"><a href="#n161">161</a></p>
+<p id="n162" class="stm run hide_run"><a href="#n162">162</a></p>
+<p id="n163" class="stm run hide_run"><a href="#n163">163</a></p>
+<p id="n164" class="stm mis"><a href="#n164">164</a></p>
+<p id="n165" class="stm mis"><a href="#n165">165</a></p>
+<p id="n166" class="stm mis"><a href="#n166">166</a></p>
+<p id="n167" class="stm mis"><a href="#n167">167</a></p>
+<p id="n168" class="pln"><a href="#n168">168</a></p>
+<p id="n169" class="stm mis"><a href="#n169">169</a></p>
+<p id="n170" class="pln"><a href="#n170">170</a></p>
+<p id="n171" class="pln"><a href="#n171">171</a></p>
+<p id="n172" class="stm run hide_run"><a href="#n172">172</a></p>
+<p id="n173" class="pln"><a href="#n173">173</a></p>
+<p id="n174" class="pln"><a href="#n174">174</a></p>
+<p id="n175" class="pln"><a href="#n175">175</a></p>
+<p id="n176" class="pln"><a href="#n176">176</a></p>
+<p id="n177" class="pln"><a href="#n177">177</a></p>
+<p id="n178" class="pln"><a href="#n178">178</a></p>
+<p id="n179" class="pln"><a href="#n179">179</a></p>
+<p id="n180" class="pln"><a href="#n180">180</a></p>
+<p id="n181" class="pln"><a href="#n181">181</a></p>
+<p id="n182" class="pln"><a href="#n182">182</a></p>
+<p id="n183" class="pln"><a href="#n183">183</a></p>
+<p id="n184" class="pln"><a href="#n184">184</a></p>
+<p id="n185" class="pln"><a href="#n185">185</a></p>
+<p id="n186" class="pln"><a href="#n186">186</a></p>
+<p id="n187" class="pln"><a href="#n187">187</a></p>
+<p id="n188" class="stm run hide_run"><a href="#n188">188</a></p>
+<p id="n189" class="pln"><a href="#n189">189</a></p>
+<p id="n190" class="pln"><a href="#n190">190</a></p>
+<p id="n191" class="stm mis"><a href="#n191">191</a></p>
+<p id="n192" class="stm mis"><a href="#n192">192</a></p>
+<p id="n193" class="stm mis"><a href="#n193">193</a></p>
+<p id="n194" class="stm mis"><a href="#n194">194</a></p>
+<p id="n195" class="stm mis"><a href="#n195">195</a></p>
+<p id="n196" class="stm mis"><a href="#n196">196</a></p>
+<p id="n197" class="pln"><a href="#n197">197</a></p>
+<p id="n198" class="pln"><a href="#n198">198</a></p>
+<p id="n199" class="stm mis"><a href="#n199">199</a></p>
+<p id="n200" class="pln"><a href="#n200">200</a></p>
+<p id="n201" class="pln"><a href="#n201">201</a></p>
+<p id="n202" class="stm mis"><a href="#n202">202</a></p>
+<p id="n203" class="stm mis"><a href="#n203">203</a></p>
+<p id="n204" class="stm mis"><a href="#n204">204</a></p>
+<p id="n205" class="pln"><a href="#n205">205</a></p>
+<p id="n206" class="stm run hide_run"><a href="#n206">206</a></p>
+<p id="n207" class="pln"><a href="#n207">207</a></p>
+<p id="n208" class="stm mis"><a href="#n208">208</a></p>
+<p id="n209" class="stm mis"><a href="#n209">209</a></p>
+<p id="n210" class="pln"><a href="#n210">210</a></p>
+<p id="n211" class="stm mis"><a href="#n211">211</a></p>
+<p id="n212" class="stm mis"><a href="#n212">212</a></p>
+<p id="n213" class="stm mis"><a href="#n213">213</a></p>
+<p id="n214" class="stm mis"><a href="#n214">214</a></p>
+<p id="n215" class="stm mis"><a href="#n215">215</a></p>
+<p id="n216" class="pln"><a href="#n216">216</a></p>
+<p id="n217" class="stm mis"><a href="#n217">217</a></p>
+<p id="n218" class="stm mis"><a href="#n218">218</a></p>
+<p id="n219" class="pln"><a href="#n219">219</a></p>
+<p id="n220" class="stm mis"><a href="#n220">220</a></p>
+<p id="n221" class="stm mis"><a href="#n221">221</a></p>
+<p id="n222" class="stm mis"><a href="#n222">222</a></p>
+<p id="n223" class="stm mis"><a href="#n223">223</a></p>
+<p id="n224" class="stm mis"><a href="#n224">224</a></p>
+<p id="n225" class="stm mis"><a href="#n225">225</a></p>
+<p id="n226" class="stm mis"><a href="#n226">226</a></p>
+<p id="n227" class="stm mis"><a href="#n227">227</a></p>
+<p id="n228" class="pln"><a href="#n228">228</a></p>
+<p id="n229" class="pln"><a href="#n229">229</a></p>
+<p id="n230" class="stm run hide_run"><a href="#n230">230</a></p>
+<p id="n231" class="pln"><a href="#n231">231</a></p>
+<p id="n232" class="pln"><a href="#n232">232</a></p>
+<p id="n233" class="pln"><a href="#n233">233</a></p>
+<p id="n234" class="pln"><a href="#n234">234</a></p>
+<p id="n235" class="pln"><a href="#n235">235</a></p>
+<p id="n236" class="pln"><a href="#n236">236</a></p>
+<p id="n237" class="pln"><a href="#n237">237</a></p>
+<p id="n238" class="pln"><a href="#n238">238</a></p>
+<p id="n239" class="pln"><a href="#n239">239</a></p>
+<p id="n240" class="pln"><a href="#n240">240</a></p>
+<p id="n241" class="pln"><a href="#n241">241</a></p>
+<p id="n242" class="pln"><a href="#n242">242</a></p>
+<p id="n243" class="pln"><a href="#n243">243</a></p>
+<p id="n244" class="pln"><a href="#n244">244</a></p>
+<p id="n245" class="pln"><a href="#n245">245</a></p>
+<p id="n246" class="pln"><a href="#n246">246</a></p>
+<p id="n247" class="stm run hide_run"><a href="#n247">247</a></p>
+<p id="n248" class="pln"><a href="#n248">248</a></p>
+<p id="n249" class="pln"><a href="#n249">249</a></p>
+<p id="n250" class="stm run hide_run"><a href="#n250">250</a></p>
+<p id="n251" class="stm mis"><a href="#n251">251</a></p>
+<p id="n252" class="stm mis"><a href="#n252">252</a></p>
+<p id="n253" class="stm mis"><a href="#n253">253</a></p>
+<p id="n254" class="stm run hide_run"><a href="#n254">254</a></p>
+<p id="n255" class="stm run hide_run"><a href="#n255">255</a></p>
+<p id="n256" class="stm mis"><a href="#n256">256</a></p>
+<p id="n257" class="stm run hide_run"><a href="#n257">257</a></p>
+<p id="n258" class="stm run hide_run"><a href="#n258">258</a></p>
+<p id="n259" class="stm run hide_run"><a href="#n259">259</a></p>
+<p id="n260" class="stm run hide_run"><a href="#n260">260</a></p>
+<p id="n261" class="stm run hide_run"><a href="#n261">261</a></p>
+<p id="n262" class="pln"><a href="#n262">262</a></p>
+<p id="n263" class="stm run hide_run"><a href="#n263">263</a></p>
+<p id="n264" class="pln"><a href="#n264">264</a></p>
+<p id="n265" class="pln"><a href="#n265">265</a></p>
+<p id="n266" class="pln"><a href="#n266">266</a></p>
+<p id="n267" class="stm mis"><a href="#n267">267</a></p>
+<p id="n268" class="stm mis"><a href="#n268">268</a></p>
+<p id="n269" class="pln"><a href="#n269">269</a></p>
+<p id="n270" class="pln"><a href="#n270">270</a></p>
+<p id="n271" class="stm mis"><a href="#n271">271</a></p>
+<p id="n272" class="pln"><a href="#n272">272</a></p>
+<p id="n273" class="stm run hide_run"><a href="#n273">273</a></p>
+<p id="n274" class="pln"><a href="#n274">274</a></p>
+<p id="n275" class="pln"><a href="#n275">275</a></p>
+<p id="n276" class="pln"><a href="#n276">276</a></p>
+<p id="n277" class="pln"><a href="#n277">277</a></p>
+<p id="n278" class="stm run hide_run"><a href="#n278">278</a></p>
+<p id="n279" class="stm mis"><a href="#n279">279</a></p>
+<p id="n280" class="stm run hide_run"><a href="#n280">280</a></p>
+<p id="n281" class="stm mis"><a href="#n281">281</a></p>
+<p id="n282" class="stm run hide_run"><a href="#n282">282</a></p>
+<p id="n283" class="stm mis"><a href="#n283">283</a></p>
+<p id="n284" class="stm run hide_run"><a href="#n284">284</a></p>
+<p id="n285" class="stm run hide_run"><a href="#n285">285</a></p>
+<p id="n286" class="pln"><a href="#n286">286</a></p>
+<p id="n287" class="stm run hide_run"><a href="#n287">287</a></p>
+<p id="n288" class="stm mis"><a href="#n288">288</a></p>
+<p id="n289" class="pln"><a href="#n289">289</a></p>
+<p id="n290" class="stm run hide_run"><a href="#n290">290</a></p>
+<p id="n291" class="pln"><a href="#n291">291</a></p>
+<p id="n292" class="stm mis"><a href="#n292">292</a></p>
+<p id="n293" class="pln"><a href="#n293">293</a></p>
+<p id="n294" class="stm run hide_run"><a href="#n294">294</a></p>
+<p id="n295" class="stm mis"><a href="#n295">295</a></p>
+<p id="n296" class="pln"><a href="#n296">296</a></p>
+<p id="n297" class="pln"><a href="#n297">297</a></p>
+<p id="n298" class="pln"><a href="#n298">298</a></p>
+<p id="n299" class="stm mis"><a href="#n299">299</a></p>
+<p id="n300" class="stm mis"><a href="#n300">300</a></p>
+<p id="n301" class="pln"><a href="#n301">301</a></p>
+<p id="n302" class="stm mis"><a href="#n302">302</a></p>
+<p id="n303" class="pln"><a href="#n303">303</a></p>
+<p id="n304" class="stm mis"><a href="#n304">304</a></p>
+<p id="n305" class="stm mis"><a href="#n305">305</a></p>
+<p id="n306" class="pln"><a href="#n306">306</a></p>
+<p id="n307" class="stm run hide_run"><a href="#n307">307</a></p>
+<p id="n308" class="stm run hide_run"><a href="#n308">308</a></p>
+<p id="n309" class="stm run hide_run"><a href="#n309">309</a></p>
+<p id="n310" class="pln"><a href="#n310">310</a></p>
+<p id="n311" class="stm run hide_run"><a href="#n311">311</a></p>
+<p id="n312" class="pln"><a href="#n312">312</a></p>
+<p id="n313" class="pln"><a href="#n313">313</a></p>
+<p id="n314" class="pln"><a href="#n314">314</a></p>
+<p id="n315" class="stm run hide_run"><a href="#n315">315</a></p>
+<p id="n316" class="stm run hide_run"><a href="#n316">316</a></p>
+<p id="n317" class="stm run hide_run"><a href="#n317">317</a></p>
+<p id="n318" class="pln"><a href="#n318">318</a></p>
+<p id="n319" class="stm run hide_run"><a href="#n319">319</a></p>
+<p id="n320" class="pln"><a href="#n320">320</a></p>
+<p id="n321" class="pln"><a href="#n321">321</a></p>
+<p id="n322" class="pln"><a href="#n322">322</a></p>
+<p id="n323" class="stm run hide_run"><a href="#n323">323</a></p>
+<p id="n324" class="pln"><a href="#n324">324</a></p>
+<p id="n325" class="stm mis"><a href="#n325">325</a></p>
+<p id="n326" class="stm mis"><a href="#n326">326</a></p>
+<p id="n327" class="pln"><a href="#n327">327</a></p>
+<p id="n328" class="stm mis"><a href="#n328">328</a></p>
+<p id="n329" class="stm mis"><a href="#n329">329</a></p>
+<p id="n330" class="stm mis"><a href="#n330">330</a></p>
+<p id="n331" class="stm mis"><a href="#n331">331</a></p>
+<p id="n332" class="stm mis"><a href="#n332">332</a></p>
+<p id="n333" class="pln"><a href="#n333">333</a></p>
+<p id="n334" class="stm mis"><a href="#n334">334</a></p>
+<p id="n335" class="stm mis"><a href="#n335">335</a></p>
+<p id="n336" class="pln"><a href="#n336">336</a></p>
+<p id="n337" class="stm mis"><a href="#n337">337</a></p>
+<p id="n338" class="stm mis"><a href="#n338">338</a></p>
+<p id="n339" class="stm mis"><a href="#n339">339</a></p>
+<p id="n340" class="stm mis"><a href="#n340">340</a></p>
+<p id="n341" class="stm mis"><a href="#n341">341</a></p>
+<p id="n342" class="stm mis"><a href="#n342">342</a></p>
+<p id="n343" class="stm mis"><a href="#n343">343</a></p>
+<p id="n344" class="pln"><a href="#n344">344</a></p>
+<p id="n345" class="pln"><a href="#n345">345</a></p>
+<p id="n346" class="stm run hide_run"><a href="#n346">346</a></p>
+<p id="n347" class="pln"><a href="#n347">347</a></p>
+<p id="n348" class="pln"><a href="#n348">348</a></p>
+<p id="n349" class="pln"><a href="#n349">349</a></p>
+<p id="n350" class="pln"><a href="#n350">350</a></p>
+<p id="n351" class="pln"><a href="#n351">351</a></p>
+<p id="n352" class="pln"><a href="#n352">352</a></p>
+<p id="n353" class="pln"><a href="#n353">353</a></p>
+<p id="n354" class="pln"><a href="#n354">354</a></p>
+<p id="n355" class="pln"><a href="#n355">355</a></p>
+<p id="n356" class="pln"><a href="#n356">356</a></p>
+<p id="n357" class="stm run hide_run"><a href="#n357">357</a></p>
+<p id="n358" class="stm run hide_run"><a href="#n358">358</a></p>
+<p id="n359" class="pln"><a href="#n359">359</a></p>
+<p id="n360" class="stm run hide_run"><a href="#n360">360</a></p>
+<p id="n361" class="stm run hide_run"><a href="#n361">361</a></p>
+<p id="n362" class="stm mis"><a href="#n362">362</a></p>
+<p id="n363" class="stm mis"><a href="#n363">363</a></p>
+<p id="n364" class="stm mis"><a href="#n364">364</a></p>
+<p id="n365" class="stm run hide_run"><a href="#n365">365</a></p>
+<p id="n366" class="stm run hide_run"><a href="#n366">366</a></p>
+<p id="n367" class="stm run hide_run"><a href="#n367">367</a></p>
+<p id="n368" class="pln"><a href="#n368">368</a></p>
+<p id="n369" class="stm run hide_run"><a href="#n369">369</a></p>
+<p id="n370" class="pln"><a href="#n370">370</a></p>
+<p id="n371" class="stm run hide_run"><a href="#n371">371</a></p>
+<p id="n372" class="stm run hide_run"><a href="#n372">372</a></p>
+<p id="n373" class="stm run hide_run"><a href="#n373">373</a></p>
+<p id="n374" class="stm run hide_run"><a href="#n374">374</a></p>
+<p id="n375" class="pln"><a href="#n375">375</a></p>
+<p id="n376" class="pln"><a href="#n376">376</a></p>
+<p id="n377" class="stm run hide_run"><a href="#n377">377</a></p>
+<p id="n378" class="pln"><a href="#n378">378</a></p>
+<p id="n379" class="pln"><a href="#n379">379</a></p>
+<p id="n380" class="stm run hide_run"><a href="#n380">380</a></p>
+<p id="n381" class="pln"><a href="#n381">381</a></p>
+<p id="n382" class="stm run hide_run"><a href="#n382">382</a></p>
+<p id="n383" class="pln"><a href="#n383">383</a></p>
+<p id="n384" class="stm run hide_run"><a href="#n384">384</a></p>
+<p id="n385" class="pln"><a href="#n385">385</a></p>
+<p id="n386" class="stm run hide_run"><a href="#n386">386</a></p>
+<p id="n387" class="stm mis"><a href="#n387">387</a></p>
+<p id="n388" class="stm run hide_run"><a href="#n388">388</a></p>
+<p id="n389" class="stm run hide_run"><a href="#n389">389</a></p>
+<p id="n390" class="pln"><a href="#n390">390</a></p>
+<p id="n391" class="stm run hide_run"><a href="#n391">391</a></p>
+<p id="n392" class="pln"><a href="#n392">392</a></p>
+<p id="n393" class="pln"><a href="#n393">393</a></p>
+<p id="n394" class="pln"><a href="#n394">394</a></p>
+<p id="n395" class="pln"><a href="#n395">395</a></p>
+<p id="n396" class="stm mis"><a href="#n396">396</a></p>
+<p id="n397" class="stm mis"><a href="#n397">397</a></p>
+<p id="n398" class="stm mis"><a href="#n398">398</a></p>
+<p id="n399" class="stm mis"><a href="#n399">399</a></p>
+<p id="n400" class="pln"><a href="#n400">400</a></p>
+<p id="n401" class="stm mis"><a href="#n401">401</a></p>
+<p id="n402" class="stm mis"><a href="#n402">402</a></p>
+<p id="n403" class="stm mis"><a href="#n403">403</a></p>
+<p id="n404" class="stm mis"><a href="#n404">404</a></p>
+<p id="n405" class="pln"><a href="#n405">405</a></p>
+<p id="n406" class="pln"><a href="#n406">406</a></p>
+<p id="n407" class="stm mis"><a href="#n407">407</a></p>
+<p id="n408" class="stm mis"><a href="#n408">408</a></p>
+<p id="n409" class="stm mis"><a href="#n409">409</a></p>
+<p id="n410" class="pln"><a href="#n410">410</a></p>
+<p id="n411" class="pln"><a href="#n411">411</a></p>
+<p id="n412" class="pln"><a href="#n412">412</a></p>
+<p id="n413" class="pln"><a href="#n413">413</a></p>
+<p id="n414" class="stm mis"><a href="#n414">414</a></p>
+<p id="n415" class="stm mis"><a href="#n415">415</a></p>
+<p id="n416" class="pln"><a href="#n416">416</a></p>
+<p id="n417" class="pln"><a href="#n417">417</a></p>
+<p id="n418" class="stm mis"><a href="#n418">418</a></p>
+<p id="n419" class="stm mis"><a href="#n419">419</a></p>
+<p id="n420" class="pln"><a href="#n420">420</a></p>
+<p id="n421" class="pln"><a href="#n421">421</a></p>
+<p id="n422" class="pln"><a href="#n422">422</a></p>
+<p id="n423" class="stm mis"><a href="#n423">423</a></p>
+<p id="n424" class="stm mis"><a href="#n424">424</a></p>
+<p id="n425" class="stm mis"><a href="#n425">425</a></p>
+<p id="n426" class="stm mis"><a href="#n426">426</a></p>
+<p id="n427" class="stm mis"><a href="#n427">427</a></p>
+<p id="n428" class="stm mis"><a href="#n428">428</a></p>
+<p id="n429" class="stm mis"><a href="#n429">429</a></p>
+<p id="n430" class="stm mis"><a href="#n430">430</a></p>
+<p id="n431" class="stm mis"><a href="#n431">431</a></p>
+<p id="n432" class="stm mis"><a href="#n432">432</a></p>
+<p id="n433" class="stm mis"><a href="#n433">433</a></p>
+<p id="n434" class="stm mis"><a href="#n434">434</a></p>
+<p id="n435" class="stm mis"><a href="#n435">435</a></p>
+<p id="n436" class="pln"><a href="#n436">436</a></p>
+<p id="n437" class="stm mis"><a href="#n437">437</a></p>
+<p id="n438" class="stm mis"><a href="#n438">438</a></p>
+<p id="n439" class="stm mis"><a href="#n439">439</a></p>
+<p id="n440" class="stm mis"><a href="#n440">440</a></p>
+<p id="n441" class="stm mis"><a href="#n441">441</a></p>
+<p id="n442" class="pln"><a href="#n442">442</a></p>
+<p id="n443" class="stm run hide_run"><a href="#n443">443</a></p>
+<p id="n444" class="pln"><a href="#n444">444</a></p>
+<p id="n445" class="pln"><a href="#n445">445</a></p>
+<p id="n446" class="pln"><a href="#n446">446</a></p>
+<p id="n447" class="stm mis"><a href="#n447">447</a></p>
+<p id="n448" class="stm mis"><a href="#n448">448</a></p>
+<p id="n449" class="stm mis"><a href="#n449">449</a></p>
+<p id="n450" class="pln"><a href="#n450">450</a></p>
+<p id="n451" class="stm mis"><a href="#n451">451</a></p>
+<p id="n452" class="stm mis"><a href="#n452">452</a></p>
+<p id="n453" class="stm mis"><a href="#n453">453</a></p>
+<p id="n454" class="stm mis"><a href="#n454">454</a></p>
+<p id="n455" class="stm mis"><a href="#n455">455</a></p>
+<p id="n456" class="stm mis"><a href="#n456">456</a></p>
+<p id="n457" class="stm mis"><a href="#n457">457</a></p>
+<p id="n458" class="stm mis"><a href="#n458">458</a></p>
+<p id="n459" class="stm mis"><a href="#n459">459</a></p>
+<p id="n460" class="stm mis"><a href="#n460">460</a></p>
+<p id="n461" class="stm mis"><a href="#n461">461</a></p>
+<p id="n462" class="stm mis"><a href="#n462">462</a></p>
+<p id="n463" class="stm mis"><a href="#n463">463</a></p>
+<p id="n464" class="pln"><a href="#n464">464</a></p>
+<p id="n465" class="stm mis"><a href="#n465">465</a></p>
+<p id="n466" class="pln"><a href="#n466">466</a></p>
+<p id="n467" class="stm mis"><a href="#n467">467</a></p>
+<p id="n468" class="pln"><a href="#n468">468</a></p>
+<p id="n469" class="stm mis"><a href="#n469">469</a></p>
+<p id="n470" class="pln"><a href="#n470">470</a></p>
+<p id="n471" class="stm mis"><a href="#n471">471</a></p>
+<p id="n472" class="stm mis"><a href="#n472">472</a></p>
+<p id="n473" class="pln"><a href="#n473">473</a></p>
+<p id="n474" class="pln"><a href="#n474">474</a></p>
+<p id="n475" class="pln"><a href="#n475">475</a></p>
+<p id="n476" class="stm mis"><a href="#n476">476</a></p>
+<p id="n477" class="stm mis"><a href="#n477">477</a></p>
+<p id="n478" class="pln"><a href="#n478">478</a></p>
+<p id="n479" class="stm run hide_run"><a href="#n479">479</a></p>
+<p id="n480" class="stm run hide_run"><a href="#n480">480</a></p>
+<p id="n481" class="pln"><a href="#n481">481</a></p>
+<p id="n482" class="stm run hide_run"><a href="#n482">482</a></p>
+<p id="n483" class="stm run hide_run"><a href="#n483">483</a></p>
+<p id="n484" class="stm mis"><a href="#n484">484</a></p>
+<p id="n485" class="pln"><a href="#n485">485</a></p>
+<p id="n486" class="stm run hide_run"><a href="#n486">486</a></p>
+<p id="n487" class="stm run hide_run"><a href="#n487">487</a></p>
+<p id="n488" class="pln"><a href="#n488">488</a></p>
+<p id="n489" class="stm run hide_run"><a href="#n489">489</a></p>
+<p id="n490" class="pln"><a href="#n490">490</a></p>
+<p id="n491" class="pln"><a href="#n491">491</a></p>
+<p id="n492" class="stm run hide_run"><a href="#n492">492</a></p>
+<p id="n493" class="stm run hide_run"><a href="#n493">493</a></p>
+<p id="n494" class="pln"><a href="#n494">494</a></p>
+<p id="n495" class="pln"><a href="#n495">495</a></p>
+<p id="n496" class="stm run hide_run"><a href="#n496">496</a></p>
+<p id="n497" class="pln"><a href="#n497">497</a></p>
+<p id="n498" class="pln"><a href="#n498">498</a></p>
+<p id="n499" class="stm run hide_run"><a href="#n499">499</a></p>
+<p id="n500" class="stm run hide_run"><a href="#n500">500</a></p>
+<p id="n501" class="stm run hide_run"><a href="#n501">501</a></p>
+<p id="n502" class="stm run hide_run"><a href="#n502">502</a></p>
+<p id="n503" class="stm run hide_run"><a href="#n503">503</a></p>
+<p id="n504" class="stm run hide_run"><a href="#n504">504</a></p>
+<p id="n505" class="pln"><a href="#n505">505</a></p>
+<p id="n506" class="stm run hide_run"><a href="#n506">506</a></p>
+<p id="n507" class="pln"><a href="#n507">507</a></p>
+<p id="n508" class="pln"><a href="#n508">508</a></p>
+<p id="n509" class="stm run hide_run"><a href="#n509">509</a></p>
+<p id="n510" class="stm mis"><a href="#n510">510</a></p>
+<p id="n511" class="pln"><a href="#n511">511</a></p>
+<p id="n512" class="stm run hide_run"><a href="#n512">512</a></p>
+<p id="n513" class="stm mis"><a href="#n513">513</a></p>
+<p id="n514" class="stm run hide_run"><a href="#n514">514</a></p>
+<p id="n515" class="stm mis"><a href="#n515">515</a></p>
+<p id="n516" class="pln"><a href="#n516">516</a></p>
+<p id="n517" class="pln"><a href="#n517">517</a></p>
+<p id="n518" class="stm run hide_run"><a href="#n518">518</a></p>
+<p id="n519" class="stm run hide_run"><a href="#n519">519</a></p>
+<p id="n520" class="stm run hide_run"><a href="#n520">520</a></p>
+<p id="n521" class="stm mis"><a href="#n521">521</a></p>
+<p id="n522" class="pln"><a href="#n522">522</a></p>
+<p id="n523" class="pln"><a href="#n523">523</a></p>
+<p id="n524" class="pln"><a href="#n524">524</a></p>
+<p id="n525" class="stm run hide_run"><a href="#n525">525</a></p>
+<p id="n526" class="pln"><a href="#n526">526</a></p>
+<p id="n527" class="pln"><a href="#n527">527</a></p>
+<p id="n528" class="pln"><a href="#n528">528</a></p>
+<p id="n529" class="stm run hide_run"><a href="#n529">529</a></p>
+<p id="n530" class="stm run hide_run"><a href="#n530">530</a></p>
+<p id="n531" class="pln"><a href="#n531">531</a></p>
+<p id="n532" class="stm run hide_run"><a href="#n532">532</a></p>
+<p id="n533" class="pln"><a href="#n533">533</a></p>
+<p id="n534" class="stm run hide_run"><a href="#n534">534</a></p>
+<p id="n535" class="pln"><a href="#n535">535</a></p>
+<p id="n536" class="stm run hide_run"><a href="#n536">536</a></p>
+<p id="n537" class="pln"><a href="#n537">537</a></p>
+<p id="n538" class="pln"><a href="#n538">538</a></p>
+<p id="n539" class="stm run hide_run"><a href="#n539">539</a></p>
+<p id="n540" class="stm mis"><a href="#n540">540</a></p>
+<p id="n541" class="pln"><a href="#n541">541</a></p>
+<p id="n542" class="stm run hide_run"><a href="#n542">542</a></p>
+<p id="n543" class="stm mis"><a href="#n543">543</a></p>
+<p id="n544" class="stm run hide_run"><a href="#n544">544</a></p>
+<p id="n545" class="stm mis"><a href="#n545">545</a></p>
+<p id="n546" class="pln"><a href="#n546">546</a></p>
+<p id="n547" class="pln"><a href="#n547">547</a></p>
+<p id="n548" class="stm run hide_run"><a href="#n548">548</a></p>
+<p id="n549" class="stm run hide_run"><a href="#n549">549</a></p>
+<p id="n550" class="stm run hide_run"><a href="#n550">550</a></p>
+<p id="n551" class="stm mis"><a href="#n551">551</a></p>
+<p id="n552" class="pln"><a href="#n552">552</a></p>
+<p id="n553" class="pln"><a href="#n553">553</a></p>
+<p id="n554" class="stm run hide_run"><a href="#n554">554</a></p>
+<p id="n555" class="pln"><a href="#n555">555</a></p>
+<p id="n556" class="stm run hide_run"><a href="#n556">556</a></p>
+<p id="n557" class="pln"><a href="#n557">557</a></p>
+<p id="n558" class="stm mis"><a href="#n558">558</a></p>
+<p id="n559" class="pln"><a href="#n559">559</a></p>
+<p id="n560" class="stm run hide_run"><a href="#n560">560</a></p>
+<p id="n561" class="pln"><a href="#n561">561</a></p>
+<p id="n562" class="pln"><a href="#n562">562</a></p>
+<p id="n563" class="pln"><a href="#n563">563</a></p>
+<p id="n564" class="pln"><a href="#n564">564</a></p>
+<p id="n565" class="stm run hide_run"><a href="#n565">565</a></p>
+<p id="n566" class="stm run hide_run"><a href="#n566">566</a></p>
+<p id="n567" class="stm run hide_run"><a href="#n567">567</a></p>
+
+ </td>
+ <td class="text">
+<p id="t1" class="pln"><span class="str">"""</span><span class="strut"> </span></p>
+<p id="t2" class="pln"><span class="str">+-------------------------------------------+\</span><span class="strut"> </span></p>
+<p id="t3" class="pln"><span class="str">--------------+-------------+</span><span class="strut"> </span></p>
+<p id="t4" class="pln"><span class="str">|Agent class |\</span><span class="strut"> </span></p>
+<p id="t5" class="pln"><span class="str">Type of agent | Rendering |</span><span class="strut"> </span></p>
+<p id="t6" class="pln"><span class="str">+===========================================+\</span><span class="strut"> </span></p>
+<p id="t7" class="pln"><span class="str">==============+=============+</span><span class="strut"> </span></p>
+<p id="t8" class="pln"><span class="str">|:class:`navipy.moving.agent.CyberBeeAgent` |\</span><span class="strut"> </span></p>
+<p id="t9" class="pln"><span class="str">Close loop |Online |</span><span class="strut"> </span></p>
+<p id="t10" class="pln"><span class="str">+-------------------------------------------+\</span><span class="strut"> </span></p>
+<p id="t11" class="pln"><span class="str"> +-------------+</span><span class="strut"> </span></p>
+<p id="t12" class="pln"><span class="str">|:class:`navipy.moving.agent.GraphAgent` |\</span><span class="strut"> </span></p>
+<p id="t13" class="pln"><span class="str"> |Pre-rendered |</span><span class="strut"> </span></p>
+<p id="t14" class="pln"><span class="str">+-------------------------------------------+\</span><span class="strut"> </span></p>
+<p id="t15" class="pln"><span class="str">--------------+ +</span><span class="strut"> </span></p>
+<p id="t16" class="pln"><span class="str">|:class:`navipy.moving.agent.GridAgent` |\</span><span class="strut"> </span></p>
+<p id="t17" class="pln"><span class="str">Open loop | |</span><span class="strut"> </span></p>
+<p id="t18" class="pln"><span class="str">+-------------------------------------------+\</span><span class="strut"> </span></p>
+<p id="t19" class="pln"><span class="str">--------------+-------------+</span><span class="strut"> </span></p>
+<p id="t20" class="pln"><span class="strut"> </span></p>
+<p id="t21" class="pln"><span class="strut"> </span></p>
+<p id="t22" class="pln"><span class="str">"""</span><span class="strut"> </span></p>
+<p id="t23" class="stm run hide_run"><span class="key">import</span> <span class="nam">numpy</span> <span class="key">as</span> <span class="nam">np</span><span class="strut"> </span></p>
+<p id="t24" class="stm run hide_run"><span class="key">import</span> <span class="nam">pandas</span> <span class="key">as</span> <span class="nam">pd</span><span class="strut"> </span></p>
+<p id="t25" class="stm run hide_run"><span class="key">import</span> <span class="nam">copy</span><span class="strut"> </span></p>
+<p id="t26" class="stm run hide_run"><span class="key">import</span> <span class="nam">networkx</span> <span class="key">as</span> <span class="nam">nx</span><span class="strut"> </span></p>
+<p id="t27" class="stm run hide_run"><span class="key">import</span> <span class="nam">multiprocessing</span><span class="strut"> </span></p>
+<p id="t28" class="stm run hide_run"><span class="key">from</span> <span class="nam">multiprocessing</span> <span class="key">import</span> <span class="nam">Queue</span><span class="op">,</span> <span class="nam">JoinableQueue</span><span class="op">,</span> <span class="nam">Process</span><span class="strut"> </span></p>
+<p id="t29" class="stm run hide_run"><span class="key">import</span> <span class="nam">inspect</span><span class="strut"> </span></p>
+<p id="t30" class="stm run hide_run"><span class="key">from</span> <span class="nam">navipy</span><span class="op">.</span><span class="nam">moving</span> <span class="key">import</span> <span class="nam">maths</span> <span class="key">as</span> <span class="nam">navimomath</span><span class="strut"> </span></p>
+<p id="t31" class="stm run hide_run"><span class="key">from</span> <span class="nam">navipy</span><span class="op">.</span><span class="nam">database</span> <span class="key">import</span> <span class="nam">DataBase</span><span class="strut"> </span></p>
+<p id="t32" class="stm run hide_run"><span class="key">import</span> <span class="nam">time</span><span class="strut"> </span></p>
+<p id="t33" class="stm run hide_run"><span class="key">import</span> <span class="nam">os</span><span class="strut"> </span></p>
+<p id="t34" class="pln"><span class="strut"> </span></p>
+<p id="t35" class="stm run hide_run"><span class="nam">version</span> <span class="op">=</span> <span class="nam">float</span><span class="op">(</span><span class="nam">nx</span><span class="op">.</span><span class="nam">__version__</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t36" class="pln"><span class="strut"> </span></p>
+<p id="t37" class="pln"><span class="strut"> </span></p>
+<p id="t38" class="stm run hide_run"><span class="key">def</span> <span class="nam">defaultcallback</span><span class="op">(</span><span class="op">*</span><span class="nam">args</span><span class="op">,</span> <span class="op">**</span><span class="nam">kwargs</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t39" class="pln"> <span class="str">"""default call back"""</span><span class="strut"> </span></p>
+<p id="t40" class="stm mis"> <span class="key">raise</span> <span class="nam">NameError</span><span class="op">(</span><span class="str">'No Callback'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t41" class="pln"><span class="strut"> </span></p>
+<p id="t42" class="pln"><span class="strut"> </span></p>
+<p id="t43" class="stm run hide_run"><span class="key">class</span> <span class="nam">DefaultBrain</span><span class="op">(</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t44" class="stm run hide_run"> <span class="key">def</span> <span class="nam">__init__</span><span class="op">(</span><span class="nam">self</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t45" class="stm run hide_run"> <span class="key">pass</span><span class="strut"> </span></p>
+<p id="t46" class="pln"><span class="strut"> </span></p>
+<p id="t47" class="stm run hide_run"> <span class="key">def</span> <span class="nam">update</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span> <span class="nam">posorient</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t48" class="stm run hide_run"> <span class="key">raise</span> <span class="nam">NameError</span><span class="op">(</span><span class="str">'No Callback'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t49" class="pln"><span class="strut"> </span></p>
+<p id="t50" class="stm run hide_run"> <span class="key">def</span> <span class="nam">velocity</span><span class="op">(</span><span class="nam">self</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t51" class="stm mis"> <span class="key">raise</span> <span class="nam">NameError</span><span class="op">(</span><span class="str">'No Callback'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t52" class="pln"><span class="strut"> </span></p>
+<p id="t53" class="pln"><span class="strut"> </span></p>
+<p id="t54" class="stm run hide_run"><span class="key">def</span> <span class="nam">posorient_columns</span><span class="op">(</span><span class="nam">convention</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t55" class="stm run hide_run"> <span class="key">return</span> <span class="op">[</span><span class="op">(</span><span class="str">'location'</span><span class="op">,</span> <span class="str">'x'</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t56" class="pln"> <span class="op">(</span><span class="str">'location'</span><span class="op">,</span> <span class="str">'y'</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t57" class="pln"> <span class="op">(</span><span class="str">'location'</span><span class="op">,</span> <span class="str">'z'</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t58" class="pln"> <span class="op">(</span><span class="nam">convention</span><span class="op">,</span> <span class="str">'alpha_0'</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t59" class="pln"> <span class="op">(</span><span class="nam">convention</span><span class="op">,</span> <span class="str">'alpha_1'</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t60" class="pln"> <span class="op">(</span><span class="nam">convention</span><span class="op">,</span> <span class="str">'alpha_2'</span><span class="op">)</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t61" class="pln"><span class="strut"> </span></p>
+<p id="t62" class="pln"><span class="strut"> </span></p>
+<p id="t63" class="stm run hide_run"><span class="key">def</span> <span class="nam">velocities_columns</span><span class="op">(</span><span class="nam">convention</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t64" class="stm run hide_run"> <span class="key">return</span> <span class="op">[</span><span class="op">(</span><span class="str">'location'</span><span class="op">,</span> <span class="str">'dx'</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t65" class="pln"> <span class="op">(</span><span class="str">'location'</span><span class="op">,</span> <span class="str">'dy'</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t66" class="pln"> <span class="op">(</span><span class="str">'location'</span><span class="op">,</span> <span class="str">'dz'</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t67" class="pln"> <span class="op">(</span><span class="nam">convention</span><span class="op">,</span> <span class="str">'dalpha_0'</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t68" class="pln"> <span class="op">(</span><span class="nam">convention</span><span class="op">,</span> <span class="str">'dalpha_1'</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t69" class="pln"> <span class="op">(</span><span class="nam">convention</span><span class="op">,</span> <span class="str">'dalpha_2'</span><span class="op">)</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t70" class="pln"><span class="strut"> </span></p>
+<p id="t71" class="pln"><span class="strut"> </span></p>
+<p id="t72" class="stm run hide_run"><span class="key">class</span> <span class="nam">AbstractAgent</span><span class="op">(</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t73" class="stm run hide_run"> <span class="key">def</span> <span class="nam">__init__</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span> <span class="nam">convention</span><span class="op">=</span><span class="str">'zyx'</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t74" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">_brain</span> <span class="op">=</span> <span class="nam">DefaultBrain</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t75" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">_alter_posorientvel</span> <span class="op">=</span> <span class="nam">defaultcallback</span><span class="strut"> </span></p>
+<p id="t76" class="stm run hide_run"> <span class="nam">tuples</span> <span class="op">=</span> <span class="nam">posorient_columns</span><span class="op">(</span><span class="nam">convention</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t77" class="stm run hide_run"> <span class="nam">index</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">MultiIndex</span><span class="op">.</span><span class="nam">from_tuples</span><span class="op">(</span><span class="nam">tuples</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t78" class="pln"> <span class="nam">names</span><span class="op">=</span><span class="op">[</span><span class="str">'position'</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t79" class="pln"> <span class="str">'orientation'</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t80" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">_posorient_col</span> <span class="op">=</span> <span class="nam">index</span><span class="strut"> </span></p>
+<p id="t81" class="pln"><span class="strut"> </span></p>
+<p id="t82" class="stm run hide_run"> <span class="nam">tuples_vel</span> <span class="op">=</span> <span class="nam">velocities_columns</span><span class="op">(</span><span class="nam">convention</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t83" class="stm run hide_run"> <span class="nam">index_vel</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">MultiIndex</span><span class="op">.</span><span class="nam">from_tuples</span><span class="op">(</span><span class="nam">tuples_vel</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t84" class="pln"> <span class="nam">names</span><span class="op">=</span><span class="op">[</span><span class="str">'position'</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t85" class="pln"> <span class="str">'orientation'</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t86" class="stm run hide_run"> <span class="nam">tuples_posvel</span> <span class="op">=</span> <span class="nam">tuples</span><span class="strut"> </span></p>
+<p id="t87" class="stm run hide_run"> <span class="nam">tuples_posvel</span><span class="op">.</span><span class="nam">extend</span><span class="op">(</span><span class="nam">tuples_vel</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t88" class="stm run hide_run"> <span class="nam">index_posvel</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">MultiIndex</span><span class="op">.</span><span class="nam">from_tuples</span><span class="op">(</span><span class="nam">tuples_posvel</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t89" class="pln"> <span class="nam">names</span><span class="op">=</span><span class="op">[</span><span class="str">'position'</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t90" class="pln"> <span class="str">'orientation'</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t91" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">_velocity_col</span> <span class="op">=</span> <span class="nam">index_vel</span><span class="strut"> </span></p>
+<p id="t92" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">_posorient_vel_col</span> <span class="op">=</span> <span class="nam">index_posvel</span><span class="strut"> </span></p>
+<p id="t93" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">_posorient_vel</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">Series</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t94" class="pln"> <span class="nam">index</span><span class="op">=</span><span class="nam">self</span><span class="op">.</span><span class="nam">_posorient_vel_col</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t95" class="pln"> <span class="nam">data</span><span class="op">=</span><span class="nam">np</span><span class="op">.</span><span class="nam">nan</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t96" class="pln"><span class="strut"> </span></p>
+<p id="t97" class="stm run hide_run"> <span class="op">@</span><span class="nam">property</span><span class="strut"> </span></p>
+<p id="t98" class="pln"> <span class="key">def</span> <span class="nam">posorient</span><span class="op">(</span><span class="nam">self</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t99" class="stm run hide_run"> <span class="key">return</span> <span class="nam">self</span><span class="op">.</span><span class="nam">_posorient_vel</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="nam">self</span><span class="op">.</span><span class="nam">_posorient_col</span><span class="op">]</span><span class="op">.</span><span class="nam">copy</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t100" class="pln"><span class="strut"> </span></p>
+<p id="t101" class="stm run hide_run"> <span class="op">@</span><span class="nam">posorient</span><span class="op">.</span><span class="nam">setter</span><span class="strut"> </span></p>
+<p id="t102" class="pln"> <span class="key">def</span> <span class="nam">posorient</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span> <span class="nam">posorient</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t103" class="stm run hide_run"> <span class="key">if</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">posorient</span><span class="op">,</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">Series</span><span class="op">)</span> <span class="key">is</span> <span class="key">False</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t104" class="stm mis"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="str">'posorient should be a pandas Series'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t105" class="stm run hide_run"> <span class="key">for</span> <span class="nam">col</span> <span class="key">in</span> <span class="nam">self</span><span class="op">.</span><span class="nam">_posorient_col</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t106" class="stm run hide_run"> <span class="key">if</span> <span class="nam">col</span> <span class="key">not</span> <span class="key">in</span> <span class="nam">posorient</span><span class="op">.</span><span class="nam">index</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t107" class="stm mis"> <span class="key">raise</span> <span class="nam">KeyError</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t108" class="pln"> <span class="str">'posorient should have {} as index'</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">col</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t109" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">_posorient_vel</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="nam">self</span><span class="op">.</span><span class="nam">_posorient_col</span><span class="op">]</span> <span class="op">=</span> <span class="xx">\</span><span class="strut"> </span></p>
+<p id="t110" class="pln"> <span class="nam">posorient</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="nam">self</span><span class="op">.</span><span class="nam">_posorient_col</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t111" class="pln"><span class="strut"> </span></p>
+<p id="t112" class="stm run hide_run"> <span class="op">@</span><span class="nam">property</span><span class="strut"> </span></p>
+<p id="t113" class="pln"> <span class="key">def</span> <span class="nam">velocity</span><span class="op">(</span><span class="nam">self</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t114" class="stm mis"> <span class="key">return</span> <span class="nam">self</span><span class="op">.</span><span class="nam">_posorient_vel</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="nam">self</span><span class="op">.</span><span class="nam">_velocity_col</span><span class="op">]</span><span class="op">.</span><span class="nam">copy</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t115" class="pln"><span class="strut"> </span></p>
+<p id="t116" class="stm run hide_run"> <span class="op">@</span><span class="nam">velocity</span><span class="op">.</span><span class="nam">setter</span><span class="strut"> </span></p>
+<p id="t117" class="pln"> <span class="key">def</span> <span class="nam">velocity</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span> <span class="nam">velocity</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t118" class="stm mis"> <span class="key">if</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">velocity</span><span class="op">,</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">Series</span><span class="op">)</span> <span class="key">is</span> <span class="key">False</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t119" class="stm mis"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="str">'velocity should be a pandas Series'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t120" class="stm mis"> <span class="key">for</span> <span class="nam">col</span> <span class="key">in</span> <span class="nam">self</span><span class="op">.</span><span class="nam">_velocity_col</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t121" class="stm mis"> <span class="key">if</span> <span class="nam">col</span> <span class="key">not</span> <span class="key">in</span> <span class="nam">velocity</span><span class="op">.</span><span class="nam">index</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t122" class="stm mis"> <span class="key">raise</span> <span class="nam">KeyError</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t123" class="pln"> <span class="str">'velocity should have {} as index'</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">col</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t124" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">_posorient_vel</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="nam">self</span><span class="op">.</span><span class="nam">_velocity_col</span><span class="op">]</span> <span class="op">=</span> <span class="xx">\</span><span class="strut"> </span></p>
+<p id="t125" class="pln"> <span class="nam">velocity</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="nam">self</span><span class="op">.</span><span class="nam">_velocity_col</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t126" class="pln"><span class="strut"> </span></p>
+<p id="t127" class="stm run hide_run"> <span class="op">@</span><span class="nam">property</span><span class="strut"> </span></p>
+<p id="t128" class="pln"> <span class="key">def</span> <span class="nam">posorient_vel</span><span class="op">(</span><span class="nam">self</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t129" class="stm mis"> <span class="key">return</span> <span class="nam">self</span><span class="op">.</span><span class="nam">_posorient_vel</span><span class="op">.</span><span class="nam">copy</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t130" class="pln"><span class="strut"> </span></p>
+<p id="t131" class="stm run hide_run"> <span class="op">@</span><span class="nam">posorient_vel</span><span class="op">.</span><span class="nam">setter</span><span class="strut"> </span></p>
+<p id="t132" class="pln"> <span class="key">def</span> <span class="nam">posorient_vel</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span> <span class="nam">posorient_vel</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t133" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">posorient</span> <span class="op">=</span> <span class="nam">posorient_vel</span><span class="strut"> </span></p>
+<p id="t134" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">velocity</span> <span class="op">=</span> <span class="nam">posorient_vel</span><span class="strut"> </span></p>
+<p id="t135" class="pln"><span class="strut"> </span></p>
+<p id="t136" class="stm run hide_run"> <span class="op">@</span><span class="nam">property</span><span class="strut"> </span></p>
+<p id="t137" class="pln"> <span class="key">def</span> <span class="nam">brain</span><span class="op">(</span><span class="nam">self</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t138" class="stm mis"> <span class="key">return</span> <span class="nam">inspect</span><span class="op">.</span><span class="nam">getsourcelines</span><span class="op">(</span><span class="nam">self</span><span class="op">.</span><span class="nam">_brain</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t139" class="pln"><span class="strut"> </span></p>
+<p id="t140" class="stm run hide_run"> <span class="op">@</span><span class="nam">brain</span><span class="op">.</span><span class="nam">setter</span><span class="strut"> </span></p>
+<p id="t141" class="pln"> <span class="key">def</span> <span class="nam">brain</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span> <span class="nam">brain</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t142" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">_brain</span> <span class="op">=</span> <span class="nam">brain</span><span class="strut"> </span></p>
+<p id="t143" class="pln"><span class="strut"> </span></p>
+<p id="t144" class="stm run hide_run"> <span class="op">@</span><span class="nam">property</span><span class="strut"> </span></p>
+<p id="t145" class="pln"> <span class="key">def</span> <span class="nam">alter_posorientvel</span><span class="op">(</span><span class="nam">self</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t146" class="stm mis"> <span class="key">return</span> <span class="nam">inspect</span><span class="op">.</span><span class="nam">getsourcelines</span><span class="op">(</span><span class="nam">self</span><span class="op">.</span><span class="nam">_alter_posorientvel</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t147" class="pln"><span class="strut"> </span></p>
+<p id="t148" class="stm run hide_run"> <span class="key">def</span> <span class="nam">move</span><span class="op">(</span><span class="nam">self</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t149" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">_brain</span><span class="op">.</span><span class="nam">update</span><span class="op">(</span><span class="nam">self</span><span class="op">.</span><span class="nam">posorient</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t150" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">velocity</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">_brain</span><span class="op">.</span><span class="nam">velocity</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t151" class="stm mis"> <span class="nam">alteredpos</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">_alter_posorientvel</span><span class="op">(</span><span class="nam">self</span><span class="op">.</span><span class="nam">_posorient_vel</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t152" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">posorient</span> <span class="op">=</span> <span class="nam">alteredpos</span><span class="strut"> </span></p>
+<p id="t153" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">velocity</span> <span class="op">=</span> <span class="nam">alteredpos</span><span class="strut"> </span></p>
+<p id="t154" class="pln"><span class="strut"> </span></p>
+<p id="t155" class="stm run hide_run"> <span class="key">def</span> <span class="nam">fly</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span> <span class="nam">max_nstep</span><span class="op">,</span> <span class="nam">return_tra</span><span class="op">=</span><span class="key">False</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t156" class="pln"> <span class="str">"""move cyberbee until max step has been performed</span><span class="strut"> </span></p>
+<p id="t157" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t158" class="stm run hide_run"> <span class="key">if</span> <span class="nam">return_tra</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t159" class="stm mis"> <span class="nam">trajectory</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">DataFrame</span><span class="op">(</span><span class="nam">index</span><span class="op">=</span><span class="nam">range</span><span class="op">(</span><span class="num">0</span><span class="op">,</span> <span class="nam">max_nstep</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t160" class="pln"> <span class="nam">columns</span><span class="op">=</span><span class="nam">self</span><span class="op">.</span><span class="nam">_posorient_vel_col</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t161" class="stm mis"> <span class="nam">trajectory</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="op">:</span><span class="op">]</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">_posorient_vel</span><span class="op">.</span><span class="nam">copy</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t162" class="stm run hide_run"> <span class="key">for</span> <span class="nam">stepi</span> <span class="key">in</span> <span class="nam">range</span><span class="op">(</span><span class="num">1</span><span class="op">,</span> <span class="nam">max_nstep</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t163" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">move</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t164" class="stm mis"> <span class="key">if</span> <span class="nam">return_tra</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t165" class="stm mis"> <span class="nam">trajectory</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="nam">stepi</span><span class="op">,</span> <span class="op">:</span><span class="op">]</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">_posorient_vel</span><span class="op">.</span><span class="nam">copy</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t166" class="stm mis"> <span class="key">if</span> <span class="nam">return_tra</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t167" class="stm mis"> <span class="key">return</span> <span class="nam">trajectory</span><span class="strut"> </span></p>
+<p id="t168" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t169" class="stm mis"> <span class="key">return</span> <span class="key">None</span><span class="strut"> </span></p>
+<p id="t170" class="pln"><span class="strut"> </span></p>
+<p id="t171" class="pln"><span class="strut"> </span></p>
+<p id="t172" class="stm run hide_run"><span class="key">class</span> <span class="nam">CyberBeeAgent</span><span class="op">(</span><span class="nam">AbstractAgent</span><span class="op">,</span> <span class="nam">Process</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t173" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t174" class="pln"><span class="str"> A CyberBeeAgent uses the rendering method of cyberbee. \</span><span class="strut"> </span></p>
+<p id="t175" class="pln"><span class="str">CyberBeeAgent is a close loop agent and need to be run within blender \</span><span class="strut"> </span></p>
+<p id="t176" class="pln"><span class="str">(see :doc:`rendering`).</span><span class="strut"> </span></p>
+<p id="t177" class="pln"><span class="strut"> </span></p>
+<p id="t178" class="pln"><span class="str"> Single process</span><span class="strut"> </span></p>
+<p id="t179" class="pln"><span class="str"> Here come example of how to use it</span><span class="strut"> </span></p>
+<p id="t180" class="pln"><span class="strut"> </span></p>
+<p id="t181" class="pln"><span class="str"> Multi process</span><span class="strut"> </span></p>
+<p id="t182" class="pln"><span class="str"> CyberBeeAgent inherit from the Process \</span><span class="strut"> </span></p>
+<p id="t183" class="pln"><span class="str"> class of the multiprocessing module of the standard python \</span><span class="strut"> </span></p>
+<p id="t184" class="pln"><span class="str"> library. Thus, several GridAgents can safely be run in parallel.</span><span class="strut"> </span></p>
+<p id="t185" class="pln"><span class="strut"> </span></p>
+<p id="t186" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t187" class="pln"><span class="strut"> </span></p>
+<p id="t188" class="stm run hide_run"> <span class="key">def</span> <span class="nam">__init__</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span> <span class="nam">brain</span><span class="op">,</span> <span class="nam">convention</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t189" class="pln"> <span class="nam">posorients_queue</span><span class="op">=</span><span class="key">None</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t190" class="pln"> <span class="nam">results_queue</span><span class="op">=</span><span class="key">None</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t191" class="stm mis"> <span class="key">if</span> <span class="nam">convention</span> <span class="key">is</span> <span class="key">None</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t192" class="stm mis"> <span class="key">raise</span> <span class="nam">Exception</span><span class="op">(</span><span class="str">"a convention must be specified"</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t193" class="stm mis"> <span class="key">if</span> <span class="op">(</span><span class="nam">posorients_queue</span> <span class="key">is</span> <span class="key">not</span> <span class="key">None</span><span class="op">)</span> <span class="key">and</span> <span class="op">(</span><span class="nam">results_queue</span> <span class="key">is</span> <span class="key">not</span> <span class="key">None</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t194" class="stm mis"> <span class="nam">multiprocessing</span><span class="op">.</span><span class="nam">Process</span><span class="op">.</span><span class="nam">__init__</span><span class="op">(</span><span class="nam">self</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t195" class="stm mis"> <span class="nam">AbstractAgent</span><span class="op">.</span><span class="nam">__init__</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span> <span class="nam">convention</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t196" class="stm mis"> <span class="nam">AbstractAgent</span><span class="op">.</span><span class="nam">_alter_posorientvel</span> <span class="op">=</span> <span class="xx">\</span><span class="strut"> </span></p>
+<p id="t197" class="pln"> <span class="key">lambda</span> <span class="nam">motion_vec</span><span class="op">:</span> <span class="nam">navimomath</span><span class="op">.</span><span class="nam">next_pos</span><span class="op">(</span><span class="nam">motion_vec</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t198" class="pln"> <span class="nam">move_mode</span><span class="op">=</span><span class="str">'free_run'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t199" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">_alter_posorientvel</span> <span class="op">=</span> <span class="xx">\</span><span class="strut"> </span></p>
+<p id="t200" class="pln"> <span class="key">lambda</span> <span class="nam">motion_vec</span><span class="op">:</span> <span class="nam">navimomath</span><span class="op">.</span><span class="nam">next_pos</span><span class="op">(</span><span class="nam">motion_vec</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t201" class="pln"> <span class="nam">move_mode</span><span class="op">=</span><span class="str">'free_run'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t202" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">brain</span> <span class="op">=</span> <span class="nam">brain</span><span class="strut"> </span></p>
+<p id="t203" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">_posorients_queue</span> <span class="op">=</span> <span class="nam">posorients_queue</span><span class="strut"> </span></p>
+<p id="t204" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">_results_queue</span> <span class="op">=</span> <span class="nam">results_queue</span><span class="strut"> </span></p>
+<p id="t205" class="pln"><span class="strut"> </span></p>
+<p id="t206" class="stm run hide_run"> <span class="key">def</span> <span class="nam">run</span><span class="op">(</span><span class="nam">self</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t207" class="pln"> <span class="str">""" Only supported when multiprocess"""</span><span class="strut"> </span></p>
+<p id="t208" class="stm mis"> <span class="key">if</span> <span class="nam">self</span><span class="op">.</span><span class="nam">_posorients_queue</span> <span class="key">is</span> <span class="key">None</span> <span class="key">or</span> <span class="nam">self</span><span class="op">.</span><span class="nam">_results_queue</span> <span class="key">is</span> <span class="key">None</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t209" class="stm mis"> <span class="key">raise</span> <span class="nam">NameError</span><span class="op">(</span><span class="str">'Single agent class has not be inititialised '</span><span class="strut"> </span></p>
+<p id="t210" class="pln"> <span class="op">+</span> <span class="str">'with multiprocessing suppport'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t211" class="stm mis"> <span class="nam">proc_name</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">name</span><span class="strut"> </span></p>
+<p id="t212" class="stm mis"> <span class="nam">print</span><span class="op">(</span><span class="str">'Process {} started'</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">proc_name</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t213" class="stm mis"> <span class="key">while</span> <span class="key">True</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t214" class="stm mis"> <span class="nam">start_posorient</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">_posorients_queue</span><span class="op">.</span><span class="nam">get</span><span class="op">(</span><span class="nam">timeout</span><span class="op">=</span><span class="num">1</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t215" class="stm mis"> <span class="key">if</span> <span class="nam">start_posorient</span> <span class="key">is</span> <span class="key">None</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t216" class="pln"> <span class="com"># Poison pill means shutdown)</span><span class="strut"> </span></p>
+<p id="t217" class="stm mis"> <span class="key">break</span><span class="strut"> </span></p>
+<p id="t218" class="stm mis"> <span class="nam">common_id</span> <span class="op">=</span> <span class="nam">list</span><span class="op">(</span><span class="nam">set</span><span class="op">(</span><span class="nam">start_posorient</span><span class="op">.</span><span class="nam">index</span><span class="op">)</span><span class="op">.</span><span class="nam">intersection</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t219" class="pln"> <span class="nam">self</span><span class="op">.</span><span class="nam">_posorient_vel</span><span class="op">.</span><span class="nam">index</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t220" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">_posorient_vel</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="nam">common_id</span><span class="op">]</span> <span class="op">=</span> <span class="nam">start_posorient</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="nam">common_id</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t221" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">_posorient_vel</span><span class="op">.</span><span class="nam">name</span> <span class="op">=</span> <span class="nam">start_posorient</span><span class="op">.</span><span class="nam">name</span><span class="strut"> </span></p>
+<p id="t222" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">move</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t223" class="stm mis"> <span class="nam">posorient_vel</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">_posorient_vel</span><span class="strut"> </span></p>
+<p id="t224" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">_posorients_queue</span><span class="op">.</span><span class="nam">task_done</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t225" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">_results_queue</span><span class="op">.</span><span class="nam">put</span><span class="op">(</span><span class="nam">posorient_vel</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t226" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">_posorients_queue</span><span class="op">.</span><span class="nam">task_done</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t227" class="stm mis"> <span class="nam">print</span><span class="op">(</span><span class="str">'Process {} done'</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">proc_name</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t228" class="pln"><span class="strut"> </span></p>
+<p id="t229" class="pln"><span class="strut"> </span></p>
+<p id="t230" class="stm run hide_run"><span class="key">class</span> <span class="nam">GridAgent</span><span class="op">(</span><span class="nam">AbstractAgent</span><span class="op">,</span> <span class="nam">Process</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t231" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t232" class="pln"><span class="str"> A GridAgent fetches the scene from a pre-rendered database. \</span><span class="strut"> </span></p>
+<p id="t233" class="pln"><span class="str">(see :doc:`database`)</span><span class="strut"> </span></p>
+<p id="t234" class="pln"><span class="str">GridAgent is a close loop agent here its position is snap to a grid.</span><span class="strut"> </span></p>
+<p id="t235" class="pln"><span class="strut"> </span></p>
+<p id="t236" class="pln"><span class="str"> Single process</span><span class="strut"> </span></p>
+<p id="t237" class="pln"><span class="str"> Here come example of how to use it</span><span class="strut"> </span></p>
+<p id="t238" class="pln"><span class="strut"> </span></p>
+<p id="t239" class="pln"><span class="str"> Multi process</span><span class="strut"> </span></p>
+<p id="t240" class="pln"><span class="str"> GridAgent inherit from the Process \</span><span class="strut"> </span></p>
+<p id="t241" class="pln"><span class="str"> class of the multiprocessing module of the standard python \</span><span class="strut"> </span></p>
+<p id="t242" class="pln"><span class="str"> library. Thus, several GridAgents can safely be run in parallel.</span><span class="strut"> </span></p>
+<p id="t243" class="pln"><span class="strut"> </span></p>
+<p id="t244" class="pln"><span class="strut"> </span></p>
+<p id="t245" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t246" class="pln"><span class="strut"> </span></p>
+<p id="t247" class="stm run hide_run"> <span class="key">def</span> <span class="nam">__init__</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span> <span class="nam">brain</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t248" class="pln"> <span class="nam">posorients_queue</span><span class="op">=</span><span class="key">None</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t249" class="pln"> <span class="nam">results_queue</span><span class="op">=</span><span class="key">None</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t250" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">brain</span><span class="op">.</span><span class="nam">renderer</span><span class="op">,</span> <span class="nam">DataBase</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t251" class="stm mis"> <span class="nam">msg</span> <span class="op">=</span> <span class="str">'GridAgent only works with a brain having '</span><span class="strut"> </span></p>
+<p id="t252" class="stm mis"> <span class="nam">msg</span> <span class="op">+=</span> <span class="str">'a renderer of type DataBase'</span><span class="strut"> </span></p>
+<p id="t253" class="stm mis"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t254" class="stm run hide_run"> <span class="nam">convention</span> <span class="op">=</span> <span class="nam">brain</span><span class="op">.</span><span class="nam">renderer</span><span class="op">.</span><span class="nam">rotation_convention</span><span class="strut"> </span></p>
+<p id="t255" class="stm run hide_run"> <span class="key">if</span> <span class="op">(</span><span class="nam">posorients_queue</span> <span class="key">is</span> <span class="key">not</span> <span class="key">None</span><span class="op">)</span> <span class="key">and</span> <span class="op">(</span><span class="nam">results_queue</span> <span class="key">is</span> <span class="key">not</span> <span class="key">None</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t256" class="stm mis"> <span class="nam">multiprocessing</span><span class="op">.</span><span class="nam">Process</span><span class="op">.</span><span class="nam">__init__</span><span class="op">(</span><span class="nam">self</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t257" class="stm run hide_run"> <span class="nam">AbstractAgent</span><span class="op">.</span><span class="nam">__init__</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span> <span class="nam">convention</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t258" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">_alter_posorientvel</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">snap_to_grid</span><span class="strut"> </span></p>
+<p id="t259" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">brain</span> <span class="op">=</span> <span class="nam">brain</span><span class="strut"> </span></p>
+<p id="t260" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">_posorients_queue</span> <span class="op">=</span> <span class="nam">posorients_queue</span><span class="strut"> </span></p>
+<p id="t261" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">_results_queue</span> <span class="op">=</span> <span class="nam">results_queue</span><span class="strut"> </span></p>
+<p id="t262" class="pln"><span class="strut"> </span></p>
+<p id="t263" class="stm run hide_run"> <span class="op">@</span><span class="nam">property</span><span class="strut"> </span></p>
+<p id="t264" class="pln"> <span class="key">def</span> <span class="nam">mode_of_motion</span><span class="op">(</span><span class="nam">self</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t265" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t266" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t267" class="stm mis"> <span class="nam">toreturn</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">_mode_move</span><span class="strut"> </span></p>
+<p id="t268" class="stm mis"> <span class="nam">toreturn</span><span class="op">[</span><span class="str">'describe'</span><span class="op">]</span> <span class="op">=</span> <span class="xx">\</span><span class="strut"> </span></p>
+<p id="t269" class="pln"> <span class="nam">navimomath</span><span class="op">.</span><span class="nam">mode_moves_supported</span><span class="op">(</span><span class="op">)</span><span class="op">[</span><span class="strut"> </span></p>
+<p id="t270" class="pln"> <span class="nam">self</span><span class="op">.</span><span class="nam">_mode_move</span><span class="op">[</span><span class="str">'mode'</span><span class="op">]</span><span class="op">]</span><span class="op">[</span><span class="str">'describe'</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t271" class="stm mis"> <span class="key">return</span> <span class="nam">toreturn</span><span class="strut"> </span></p>
+<p id="t272" class="pln"><span class="strut"> </span></p>
+<p id="t273" class="stm run hide_run"> <span class="op">@</span><span class="nam">mode_of_motion</span><span class="op">.</span><span class="nam">setter</span><span class="strut"> </span></p>
+<p id="t274" class="pln"> <span class="key">def</span> <span class="nam">mode_of_motion</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span> <span class="nam">mode</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t275" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t276" class="pln"><span class="strut"> </span></p>
+<p id="t277" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t278" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">mode</span><span class="op">,</span> <span class="nam">dict</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t279" class="stm mis"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="str">'Mode is not a dictionary'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t280" class="stm run hide_run"> <span class="key">if</span> <span class="str">'mode'</span> <span class="key">not</span> <span class="key">in</span> <span class="nam">mode</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t281" class="stm mis"> <span class="key">raise</span> <span class="nam">KeyError</span><span class="op">(</span><span class="str">"'mode' is not a key of mode"</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t282" class="stm run hide_run"> <span class="key">if</span> <span class="str">'param'</span> <span class="key">not</span> <span class="key">in</span> <span class="nam">mode</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t283" class="stm mis"> <span class="key">raise</span> <span class="nam">KeyError</span><span class="op">(</span><span class="str">"'param' is not a key of mode"</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t284" class="stm run hide_run"> <span class="key">if</span> <span class="nam">mode</span><span class="op">[</span><span class="str">'mode'</span><span class="op">]</span> <span class="key">in</span> <span class="nam">navimomath</span><span class="op">.</span><span class="nam">mode_moves_supported</span><span class="op">(</span><span class="op">)</span><span class="op">.</span><span class="nam">keys</span><span class="op">(</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t285" class="stm run hide_run"> <span class="key">for</span> <span class="nam">param</span> <span class="key">in</span> <span class="nam">navimomath</span><span class="op">.</span><span class="nam">mode_moves_supported</span><span class="op">(</span><span class="op">)</span><span class="op">[</span><span class="strut"> </span></p>
+<p id="t286" class="pln"> <span class="nam">mode</span><span class="op">[</span><span class="str">'mode'</span><span class="op">]</span><span class="op">]</span><span class="op">[</span><span class="str">'param'</span><span class="op">]</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t287" class="stm run hide_run"> <span class="key">if</span> <span class="nam">param</span> <span class="key">not</span> <span class="key">in</span> <span class="nam">mode</span><span class="op">[</span><span class="str">'param'</span><span class="op">]</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t288" class="stm mis"> <span class="key">raise</span> <span class="nam">KeyError</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t289" class="pln"> <span class="str">"'{}' is not in mode['param']"</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">param</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t290" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">_mode_move</span> <span class="op">=</span> <span class="nam">mode</span><span class="strut"> </span></p>
+<p id="t291" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t292" class="stm mis"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="str">'mode is not supported'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t293" class="pln"><span class="strut"> </span></p>
+<p id="t294" class="stm run hide_run"> <span class="key">def</span> <span class="nam">snap_to_grid</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span> <span class="nam">posorient_vel</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t295" class="stm mis"> <span class="nam">posorient_vel</span> <span class="op">=</span> <span class="nam">navimomath</span><span class="op">.</span><span class="nam">next_pos</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t296" class="pln"> <span class="nam">posorient_vel</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t297" class="pln"> <span class="nam">move_mode</span><span class="op">=</span><span class="nam">self</span><span class="op">.</span><span class="nam">_mode_move</span><span class="op">[</span><span class="str">'mode'</span><span class="op">]</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t298" class="pln"> <span class="nam">move_param</span><span class="op">=</span><span class="nam">self</span><span class="op">.</span><span class="nam">_mode_move</span><span class="op">[</span><span class="str">'param'</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t299" class="stm mis"> <span class="nam">tmppos</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">_brain</span><span class="op">.</span><span class="nam">posorients</span><span class="strut"> </span></p>
+<p id="t300" class="stm mis"> <span class="nam">tmp</span> <span class="op">=</span> <span class="nam">navimomath</span><span class="op">.</span><span class="nam">closest_pos</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t301" class="pln"> <span class="nam">posorient_vel</span><span class="op">,</span> <span class="nam">tmppos</span><span class="op">)</span> <span class="com"># self._brain.posorients)</span><span class="strut"> </span></p>
+<p id="t302" class="stm mis"> <span class="nam">posorient_vel</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="nam">self</span><span class="op">.</span><span class="nam">_posorient_col</span><span class="op">]</span> <span class="op">=</span> <span class="xx">\</span><span class="strut"> </span></p>
+<p id="t303" class="pln"> <span class="nam">tmp</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="nam">self</span><span class="op">.</span><span class="nam">_posorient_col</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t304" class="stm mis"> <span class="nam">posorient_vel</span><span class="op">.</span><span class="nam">name</span> <span class="op">=</span> <span class="nam">tmp</span><span class="op">.</span><span class="nam">name</span><span class="strut"> </span></p>
+<p id="t305" class="stm mis"> <span class="key">return</span> <span class="nam">posorient_vel</span><span class="strut"> </span></p>
+<p id="t306" class="pln"><span class="strut"> </span></p>
+<p id="t307" class="stm run hide_run"> <span class="key">def</span> <span class="nam">move</span><span class="op">(</span><span class="nam">self</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t308" class="stm run hide_run"> <span class="key">if</span> <span class="nam">hasattr</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span> <span class="str">'_mode_move'</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t309" class="stm run hide_run"> <span class="nam">AbstractAgent</span><span class="op">.</span><span class="nam">move</span><span class="op">(</span><span class="nam">self</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t310" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t311" class="stm run hide_run"> <span class="key">raise</span> <span class="nam">AttributeError</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t312" class="pln"> <span class="str">'GridAgent object has no attribute _mode_move\n'</span> <span class="op">+</span><span class="strut"> </span></p>
+<p id="t313" class="pln"> <span class="str">'Please set the mode of motion'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t314" class="pln"><span class="strut"> </span></p>
+<p id="t315" class="stm run hide_run"> <span class="key">def</span> <span class="nam">fly</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span> <span class="nam">max_nstep</span><span class="op">,</span> <span class="nam">return_tra</span><span class="op">=</span><span class="key">False</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t316" class="stm run hide_run"> <span class="key">if</span> <span class="nam">hasattr</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span> <span class="str">'_mode_move'</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t317" class="stm run hide_run"> <span class="key">return</span> <span class="nam">AbstractAgent</span><span class="op">.</span><span class="nam">fly</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span> <span class="nam">max_nstep</span><span class="op">,</span> <span class="nam">return_tra</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t318" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t319" class="stm run hide_run"> <span class="key">raise</span> <span class="nam">AttributeError</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t320" class="pln"> <span class="str">'GridAgent object has no attribute _mode_move\n'</span> <span class="op">+</span><span class="strut"> </span></p>
+<p id="t321" class="pln"> <span class="str">'Please set the mode of motion'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t322" class="pln"><span class="strut"> </span></p>
+<p id="t323" class="stm run hide_run"> <span class="key">def</span> <span class="nam">run</span><span class="op">(</span><span class="nam">self</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t324" class="pln"> <span class="str">""" Only supported when multiprocess"""</span><span class="strut"> </span></p>
+<p id="t325" class="stm mis"> <span class="key">if</span> <span class="nam">self</span><span class="op">.</span><span class="nam">_posorients_queue</span> <span class="key">is</span> <span class="key">None</span> <span class="key">or</span> <span class="nam">self</span><span class="op">.</span><span class="nam">_results_queue</span> <span class="key">is</span> <span class="key">None</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t326" class="stm mis"> <span class="key">raise</span> <span class="nam">NameError</span><span class="op">(</span><span class="str">'Single agent class has not be inititialised '</span><span class="strut"> </span></p>
+<p id="t327" class="pln"> <span class="op">+</span> <span class="str">'with multiprocessing suppport'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t328" class="stm mis"> <span class="nam">proc_name</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">name</span><span class="strut"> </span></p>
+<p id="t329" class="stm mis"> <span class="nam">print</span><span class="op">(</span><span class="str">'Process {} started'</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">proc_name</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t330" class="stm mis"> <span class="key">while</span> <span class="key">True</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t331" class="stm mis"> <span class="nam">start_posorient</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">_posorients_queue</span><span class="op">.</span><span class="nam">get</span><span class="op">(</span><span class="nam">timeout</span><span class="op">=</span><span class="num">1</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t332" class="stm mis"> <span class="key">if</span> <span class="nam">start_posorient</span> <span class="key">is</span> <span class="key">None</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t333" class="pln"> <span class="com"># Poison pill means shutdown)</span><span class="strut"> </span></p>
+<p id="t334" class="stm mis"> <span class="key">break</span><span class="strut"> </span></p>
+<p id="t335" class="stm mis"> <span class="nam">common_id</span> <span class="op">=</span> <span class="nam">list</span><span class="op">(</span><span class="nam">set</span><span class="op">(</span><span class="nam">start_posorient</span><span class="op">.</span><span class="nam">index</span><span class="op">)</span><span class="op">.</span><span class="nam">intersection</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t336" class="pln"> <span class="nam">self</span><span class="op">.</span><span class="nam">_posorient_vel</span><span class="op">.</span><span class="nam">index</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t337" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">_posorient_vel</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="nam">common_id</span><span class="op">]</span> <span class="op">=</span> <span class="nam">start_posorient</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="nam">common_id</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t338" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">move</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t339" class="stm mis"> <span class="nam">next_posorient</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">_posorient_vel</span><span class="strut"> </span></p>
+<p id="t340" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">_posorients_queue</span><span class="op">.</span><span class="nam">task_done</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t341" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">_results_queue</span><span class="op">.</span><span class="nam">put</span><span class="op">(</span><span class="op">(</span><span class="nam">start_posorient</span><span class="op">,</span> <span class="nam">next_posorient</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t342" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">_posorients_queue</span><span class="op">.</span><span class="nam">task_done</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t343" class="stm mis"> <span class="nam">print</span><span class="op">(</span><span class="str">'Process {} done'</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">proc_name</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t344" class="pln"><span class="strut"> </span></p>
+<p id="t345" class="pln"><span class="strut"> </span></p>
+<p id="t346" class="stm run hide_run"><span class="key">class</span> <span class="nam">GraphAgent</span><span class="op">(</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t347" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t348" class="pln"><span class="str"> A GraphAgent uses, to build a graph,</span><span class="strut"> </span></p>
+<p id="t349" class="pln"><span class="strut"> </span></p>
+<p id="t350" class="pln"><span class="str">1. pre-rendered scene from a database to derive \</span><span class="strut"> </span></p>
+<p id="t351" class="pln"><span class="str">the agent motion, or</span><span class="strut"> </span></p>
+<p id="t352" class="pln"><span class="str">2. pre-computed agent-motion</span><span class="strut"> </span></p>
+<p id="t353" class="pln"><span class="strut"> </span></p>
+<p id="t354" class="pln"><span class="strut"> </span></p>
+<p id="t355" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t356" class="pln"><span class="strut"> </span></p>
+<p id="t357" class="stm run hide_run"> <span class="key">def</span> <span class="nam">__init__</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span> <span class="nam">brain</span><span class="op">,</span> <span class="nam">mode_of_motion</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t358" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">_brain</span> <span class="op">=</span> <span class="nam">copy</span><span class="op">.</span><span class="nam">copy</span><span class="op">(</span><span class="nam">brain</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t359" class="pln"> <span class="com"># Init the graph</span><span class="strut"> </span></p>
+<p id="t360" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">_graph</span> <span class="op">=</span> <span class="nam">nx</span><span class="op">.</span><span class="nam">DiGraph</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t361" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">self</span><span class="op">.</span><span class="nam">_brain</span><span class="op">.</span><span class="nam">renderer</span><span class="op">,</span> <span class="nam">DataBase</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t362" class="stm mis"> <span class="nam">msg</span> <span class="op">=</span> <span class="str">'GraphAgent only works with a brain having '</span><span class="strut"> </span></p>
+<p id="t363" class="stm mis"> <span class="nam">msg</span> <span class="op">+=</span> <span class="str">'a renderer of type DataBase'</span><span class="strut"> </span></p>
+<p id="t364" class="stm mis"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t365" class="stm run hide_run"> <span class="key">for</span> <span class="nam">row_id</span><span class="op">,</span> <span class="nam">posor</span> <span class="key">in</span> <span class="nam">self</span><span class="op">.</span><span class="nam">_brain</span><span class="op">.</span><span class="nam">posorients</span><span class="op">.</span><span class="nam">iterrows</span><span class="op">(</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t366" class="stm run hide_run"> <span class="nam">posor</span><span class="op">.</span><span class="nam">name</span> <span class="op">=</span> <span class="nam">row_id</span><span class="strut"> </span></p>
+<p id="t367" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">_graph</span><span class="op">.</span><span class="nam">add_node</span><span class="op">(</span><span class="nam">row_id</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t368" class="pln"> <span class="nam">posorient</span><span class="op">=</span><span class="nam">posor</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t369" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">mode_of_motion</span> <span class="op">=</span> <span class="nam">mode_of_motion</span><span class="strut"> </span></p>
+<p id="t370" class="pln"> <span class="com"># Create a dataframe to store the velocities</span><span class="strut"> </span></p>
+<p id="t371" class="stm run hide_run"> <span class="nam">convention</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">_brain</span><span class="op">.</span><span class="nam">renderer</span><span class="op">.</span><span class="nam">rotation_convention</span><span class="strut"> </span></p>
+<p id="t372" class="stm run hide_run"> <span class="nam">tuples_posvel</span> <span class="op">=</span> <span class="nam">posorient_columns</span><span class="op">(</span><span class="nam">convention</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t373" class="stm run hide_run"> <span class="nam">tuples_posvel</span><span class="op">.</span><span class="nam">extend</span><span class="op">(</span><span class="nam">velocities_columns</span><span class="op">(</span><span class="nam">convention</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t374" class="stm run hide_run"> <span class="nam">index_posvel</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">MultiIndex</span><span class="op">.</span><span class="nam">from_tuples</span><span class="op">(</span><span class="nam">tuples_posvel</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t375" class="pln"> <span class="nam">names</span><span class="op">=</span><span class="op">[</span><span class="str">'position'</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t376" class="pln"> <span class="str">'orientation'</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t377" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">velocities</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">DataFrame</span><span class="op">(</span><span class="nam">columns</span><span class="op">=</span><span class="nam">index_posvel</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t378" class="pln"> <span class="nam">index</span><span class="op">=</span><span class="nam">list</span><span class="op">(</span><span class="nam">self</span><span class="op">.</span><span class="nam">_graph</span><span class="op">.</span><span class="nam">nodes</span><span class="op">(</span><span class="op">)</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t379" class="pln"><span class="strut"> </span></p>
+<p id="t380" class="stm run hide_run"> <span class="op">@</span><span class="nam">property</span><span class="strut"> </span></p>
+<p id="t381" class="pln"> <span class="key">def</span> <span class="nam">graph</span><span class="op">(</span><span class="nam">self</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t382" class="stm run hide_run"> <span class="key">return</span> <span class="nam">self</span><span class="op">.</span><span class="nam">_graph</span><span class="strut"> </span></p>
+<p id="t383" class="pln"><span class="strut"> </span></p>
+<p id="t384" class="stm run hide_run"> <span class="op">@</span><span class="nam">graph</span><span class="op">.</span><span class="nam">setter</span><span class="strut"> </span></p>
+<p id="t385" class="pln"> <span class="key">def</span> <span class="nam">graph</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span> <span class="nam">graph</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t386" class="stm run hide_run"> <span class="key">if</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">graph</span><span class="op">,</span> <span class="nam">nx</span><span class="op">.</span><span class="nam">DiGraph</span><span class="op">)</span> <span class="key">is</span> <span class="key">False</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t387" class="stm mis"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="str">'graph is not a nx.DiGraph'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t388" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">_graph</span> <span class="op">=</span> <span class="nam">graph</span><span class="op">.</span><span class="nam">copy</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t389" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">check_graph</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t390" class="pln"><span class="strut"> </span></p>
+<p id="t391" class="stm run hide_run"> <span class="key">def</span> <span class="nam">compute_velocities</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t392" class="pln"> <span class="nam">ncpu</span><span class="op">=</span><span class="num">5</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t393" class="pln"> <span class="nam">timeout</span><span class="op">=</span><span class="num">1</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t394" class="pln"> <span class="nam">filename</span><span class="op">=</span><span class="key">None</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t395" class="pln"> <span class="nam">blocksize</span><span class="op">=</span><span class="num">100</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t396" class="stm mis"> <span class="key">if</span> <span class="nam">os</span><span class="op">.</span><span class="nam">path</span><span class="op">.</span><span class="nam">exists</span><span class="op">(</span><span class="nam">filename</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t397" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">velocities</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">read_hdf</span><span class="op">(</span><span class="nam">filename</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t398" class="stm mis"> <span class="nam">nodes_tocompute</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">velocities</span><span class="op">.</span><span class="nam">isna</span><span class="op">(</span><span class="op">)</span><span class="op">.</span><span class="nam">any</span><span class="op">(</span><span class="nam">axis</span><span class="op">=</span><span class="num">1</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t399" class="stm mis"> <span class="nam">nodes_tocompute</span> <span class="op">=</span> <span class="nam">nodes_tocompute</span><span class="op">[</span><span class="nam">nodes_tocompute</span><span class="op">]</span><span class="op">.</span><span class="nam">index</span><span class="strut"> </span></p>
+<p id="t400" class="pln"> <span class="com"># Build a list of nodes</span><span class="strut"> </span></p>
+<p id="t401" class="stm mis"> <span class="nam">posorients_queue</span> <span class="op">=</span> <span class="nam">JoinableQueue</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t402" class="stm mis"> <span class="nam">results_queue</span> <span class="op">=</span> <span class="nam">Queue</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t403" class="stm mis"> <span class="key">for</span> <span class="nam">node</span> <span class="key">in</span> <span class="nam">nodes_tocompute</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t404" class="stm mis"> <span class="nam">posorients_queue</span><span class="op">.</span><span class="nam">put</span><span class="op">(</span><span class="nam">self</span><span class="op">.</span><span class="nam">_graph</span><span class="op">.</span><span class="nam">nodes</span><span class="op">[</span><span class="nam">node</span><span class="op">]</span><span class="op">[</span><span class="str">'posorient'</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t405" class="pln"><span class="strut"> </span></p>
+<p id="t406" class="pln"> <span class="com"># Start ndatabase loader</span><span class="strut"> </span></p>
+<p id="t407" class="stm mis"> <span class="nam">convention</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">_brain</span><span class="op">.</span><span class="nam">renderer</span><span class="op">.</span><span class="nam">rotation_convention</span><span class="strut"> </span></p>
+<p id="t408" class="stm mis"> <span class="nam">num_agents</span> <span class="op">=</span> <span class="nam">ncpu</span><span class="strut"> </span></p>
+<p id="t409" class="stm mis"> <span class="nam">agents</span> <span class="op">=</span> <span class="op">[</span><span class="nam">CyberBeeAgent</span><span class="op">(</span><span class="nam">copy</span><span class="op">.</span><span class="nam">copy</span><span class="op">(</span><span class="nam">self</span><span class="op">.</span><span class="nam">_brain</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t410" class="pln"> <span class="nam">convention</span><span class="op">=</span><span class="nam">convention</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t411" class="pln"> <span class="nam">posorients_queue</span><span class="op">=</span><span class="nam">posorients_queue</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t412" class="pln"> <span class="nam">results_queue</span><span class="op">=</span><span class="nam">results_queue</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t413" class="pln"> <span class="key">for</span> <span class="nam">_</span> <span class="key">in</span> <span class="nam">range</span><span class="op">(</span><span class="nam">num_agents</span><span class="op">)</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t414" class="stm mis"> <span class="key">for</span> <span class="nam">w</span> <span class="key">in</span> <span class="nam">agents</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t415" class="stm mis"> <span class="nam">w</span><span class="op">.</span><span class="nam">start</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t416" class="pln"><span class="strut"> </span></p>
+<p id="t417" class="pln"> <span class="com"># Add a poison pill for each agent</span><span class="strut"> </span></p>
+<p id="t418" class="stm mis"> <span class="key">for</span> <span class="nam">_</span> <span class="key">in</span> <span class="nam">range</span><span class="op">(</span><span class="nam">num_agents</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t419" class="stm mis"> <span class="nam">posorients_queue</span><span class="op">.</span><span class="nam">put</span><span class="op">(</span><span class="key">None</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t420" class="pln"><span class="strut"> </span></p>
+<p id="t421" class="pln"> <span class="com"># Wait for all of the tasks to finish</span><span class="strut"> </span></p>
+<p id="t422" class="pln"> <span class="com"># posorients_queue.join()</span><span class="strut"> </span></p>
+<p id="t423" class="stm mis"> <span class="nam">nline</span> <span class="op">=</span> <span class="num">0</span><span class="strut"> </span></p>
+<p id="t424" class="stm mis"> <span class="nam">prev_nline</span> <span class="op">=</span> <span class="nam">nline</span><span class="strut"> </span></p>
+<p id="t425" class="stm mis"> <span class="nam">t_start</span> <span class="op">=</span> <span class="nam">time</span><span class="op">.</span><span class="nam">time</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t426" class="stm mis"> <span class="nam">nbnodes</span> <span class="op">=</span> <span class="nam">nodes_tocompute</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t427" class="stm mis"> <span class="key">for</span> <span class="nam">_</span> <span class="key">in</span> <span class="nam">range</span><span class="op">(</span><span class="nam">nbnodes</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t428" class="stm mis"> <span class="nam">res</span> <span class="op">=</span> <span class="nam">results_queue</span><span class="op">.</span><span class="nam">get</span><span class="op">(</span><span class="nam">timeout</span><span class="op">=</span><span class="nam">timeout</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t429" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">velocities</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="nam">res</span><span class="op">.</span><span class="nam">name</span><span class="op">,</span> <span class="nam">res</span><span class="op">.</span><span class="nam">index</span><span class="op">]</span> <span class="op">=</span> <span class="nam">res</span><span class="strut"> </span></p>
+<p id="t430" class="stm mis"> <span class="key">if</span> <span class="op">(</span><span class="nam">nline</span> <span class="op">-</span> <span class="nam">prev_nline</span><span class="op">)</span> <span class="op">></span> <span class="nam">blocksize</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t431" class="stm mis"> <span class="nam">t_elapse</span> <span class="op">=</span> <span class="nam">time</span><span class="op">.</span><span class="nam">time</span><span class="op">(</span><span class="op">)</span> <span class="op">-</span> <span class="nam">t_start</span><span class="strut"> </span></p>
+<p id="t432" class="stm mis"> <span class="nam">t_peritem</span> <span class="op">=</span> <span class="nam">t_elapse</span> <span class="op">/</span> <span class="nam">nline</span><span class="strut"> </span></p>
+<p id="t433" class="stm mis"> <span class="nam">remain</span> <span class="op">=</span> <span class="nam">nbnodes</span> <span class="op">-</span> <span class="nam">nline</span><span class="strut"> </span></p>
+<p id="t434" class="stm mis"> <span class="nam">print</span><span class="op">(</span><span class="str">'Computed {} in {}'</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">nline</span><span class="op">,</span> <span class="nam">t_elapse</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t435" class="stm mis"> <span class="nam">print</span><span class="op">(</span><span class="str">'Remain {}, done in {}'</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t436" class="pln"> <span class="nam">remain</span><span class="op">,</span> <span class="nam">remain</span> <span class="op">*</span> <span class="nam">t_peritem</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t437" class="stm mis"> <span class="key">if</span> <span class="nam">filename</span> <span class="key">is</span> <span class="key">not</span> <span class="key">None</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t438" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">velocities</span><span class="op">.</span><span class="nam">to_hdf</span><span class="op">(</span><span class="nam">filename</span><span class="op">,</span> <span class="nam">key</span><span class="op">=</span><span class="str">'velocities'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t439" class="stm mis"> <span class="nam">prev_nline</span> <span class="op">=</span> <span class="nam">nline</span><span class="strut"> </span></p>
+<p id="t440" class="stm mis"> <span class="nam">nline</span> <span class="op">+=</span> <span class="num">1</span><span class="strut"> </span></p>
+<p id="t441" class="stm mis"> <span class="key">return</span> <span class="nam">self</span><span class="op">.</span><span class="nam">velocities</span><span class="op">.</span><span class="nam">copy</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t442" class="pln"><span class="strut"> </span></p>
+<p id="t443" class="stm run hide_run"> <span class="key">def</span> <span class="nam">build_graph</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span> <span class="nam">movemode</span><span class="op">,</span> <span class="nam">moveparam</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t444" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t445" class="pln"><span class="str"> Connect edges with a given velocity</span><span class="strut"> </span></p>
+<p id="t446" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t447" class="stm mis"> <span class="key">if</span> <span class="nam">self</span><span class="op">.</span><span class="nam">velocities</span><span class="op">.</span><span class="nam">dropna</span><span class="op">(</span><span class="op">)</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">0</span><span class="op">]</span> <span class="op">==</span> <span class="num">0</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t448" class="stm mis"> <span class="key">raise</span> <span class="nam">NameError</span><span class="op">(</span><span class="str">'compute_velocities should be called first'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t449" class="stm mis"> <span class="nam">edges</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">Series</span><span class="op">(</span><span class="nam">data</span><span class="op">=</span><span class="nam">np</span><span class="op">.</span><span class="nam">nan</span><span class="op">,</span> <span class="nam">index</span><span class="op">=</span><span class="nam">self</span><span class="op">.</span><span class="nam">velocities</span><span class="op">.</span><span class="nam">index</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t450" class="pln"> <span class="com"># Make sure that the velocity start at the correct location</span><span class="strut"> </span></p>
+<p id="t451" class="stm mis"> <span class="nam">posorients</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">_brain</span><span class="op">.</span><span class="nam">posorients</span><span class="strut"> </span></p>
+<p id="t452" class="stm mis"> <span class="nam">myvelocities</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">velocities</span><span class="op">.</span><span class="nam">copy</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t453" class="stm mis"> <span class="nam">myvelocities</span> <span class="op">=</span> <span class="nam">myvelocities</span><span class="op">.</span><span class="nam">swaplevel</span><span class="op">(</span><span class="nam">axis</span><span class="op">=</span><span class="num">1</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t454" class="stm mis"> <span class="nam">myvelocities</span><span class="op">.</span><span class="nam">x</span> <span class="op">=</span> <span class="nam">posorients</span><span class="op">.</span><span class="nam">x</span><span class="strut"> </span></p>
+<p id="t455" class="stm mis"> <span class="nam">myvelocities</span><span class="op">.</span><span class="nam">y</span> <span class="op">=</span> <span class="nam">posorients</span><span class="op">.</span><span class="nam">y</span><span class="strut"> </span></p>
+<p id="t456" class="stm mis"> <span class="nam">myvelocities</span><span class="op">.</span><span class="nam">z</span> <span class="op">=</span> <span class="nam">posorients</span><span class="op">.</span><span class="nam">z</span><span class="strut"> </span></p>
+<p id="t457" class="stm mis"> <span class="nam">myvelocities</span><span class="op">.</span><span class="nam">alpha_0</span> <span class="op">=</span> <span class="nam">posorients</span><span class="op">.</span><span class="nam">alpha_0</span><span class="strut"> </span></p>
+<p id="t458" class="stm mis"> <span class="nam">myvelocities</span><span class="op">.</span><span class="nam">alpha_1</span> <span class="op">=</span> <span class="nam">posorients</span><span class="op">.</span><span class="nam">alpha_1</span><span class="strut"> </span></p>
+<p id="t459" class="stm mis"> <span class="nam">myvelocities</span><span class="op">.</span><span class="nam">alpha_2</span> <span class="op">=</span> <span class="nam">posorients</span><span class="op">.</span><span class="nam">alpha_2</span><span class="strut"> </span></p>
+<p id="t460" class="stm mis"> <span class="nam">myvelocities</span> <span class="op">=</span> <span class="nam">myvelocities</span><span class="op">.</span><span class="nam">swaplevel</span><span class="op">(</span><span class="nam">axis</span><span class="op">=</span><span class="num">1</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t461" class="stm mis"> <span class="key">for</span> <span class="nam">ii</span><span class="op">,</span> <span class="nam">row</span> <span class="key">in</span> <span class="nam">myvelocities</span><span class="op">.</span><span class="nam">iterrows</span><span class="op">(</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t462" class="stm mis"> <span class="key">if</span> <span class="nam">np</span><span class="op">.</span><span class="nam">any</span><span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">isnan</span><span class="op">(</span><span class="nam">row</span><span class="op">)</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t463" class="stm mis"> <span class="key">continue</span><span class="strut"> </span></p>
+<p id="t464" class="pln"> <span class="com"># Move according to user mode of motion</span><span class="strut"> </span></p>
+<p id="t465" class="stm mis"> <span class="nam">nposorient</span> <span class="op">=</span> <span class="nam">navimomath</span><span class="op">.</span><span class="nam">next_pos</span><span class="op">(</span><span class="nam">row</span><span class="op">,</span> <span class="nam">movemode</span><span class="op">,</span> <span class="nam">moveparam</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t466" class="pln"> <span class="com"># Snap to the closest point</span><span class="strut"> </span></p>
+<p id="t467" class="stm mis"> <span class="nam">nextpos_index</span> <span class="op">=</span> <span class="nam">navimomath</span><span class="op">.</span><span class="nam">closest_pos</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t468" class="pln"> <span class="nam">nposorient</span><span class="op">,</span> <span class="nam">myvelocities</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t469" class="stm mis"> <span class="nam">edges</span><span class="op">[</span><span class="nam">ii</span><span class="op">]</span> <span class="op">=</span> <span class="nam">nextpos_index</span><span class="op">.</span><span class="nam">name</span><span class="strut"> </span></p>
+<p id="t470" class="pln"> <span class="com"># Format for graph</span><span class="strut"> </span></p>
+<p id="t471" class="stm mis"> <span class="nam">validedges</span> <span class="op">=</span> <span class="nam">edges</span><span class="op">.</span><span class="nam">dropna</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t472" class="stm mis"> <span class="nam">results_edges</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">vstack</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t473" class="pln"> <span class="op">[</span><span class="nam">validedges</span><span class="op">.</span><span class="nam">index</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t474" class="pln"> <span class="nam">validedges</span><span class="op">.</span><span class="nam">values</span><span class="op">]</span><span class="op">)</span><span class="op">.</span><span class="nam">transpose</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t475" class="pln"> <span class="com"># Add to graph</span><span class="strut"> </span></p>
+<p id="t476" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">_graph</span><span class="op">.</span><span class="nam">add_edges_from</span><span class="op">(</span><span class="nam">results_edges</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t477" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">check_graph</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t478" class="pln"><span class="strut"> </span></p>
+<p id="t479" class="stm run hide_run"> <span class="key">def</span> <span class="nam">check_graph</span><span class="op">(</span><span class="nam">self</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t480" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">check_single_target</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t481" class="pln"><span class="strut"> </span></p>
+<p id="t482" class="stm run hide_run"> <span class="key">def</span> <span class="nam">check_single_target</span><span class="op">(</span><span class="nam">self</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t483" class="stm run hide_run"> <span class="key">if</span> <span class="nam">version</span> <span class="op"><</span> <span class="num">2</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t484" class="stm mis"> <span class="nam">graph_nodes</span> <span class="op">=</span> <span class="nam">list</span><span class="op">(</span><span class="nam">self</span><span class="op">.</span><span class="nam">_graph</span><span class="op">.</span><span class="nam">nodes</span><span class="op">(</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t485" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t486" class="stm run hide_run"> <span class="nam">graph_nodes</span> <span class="op">=</span> <span class="nam">list</span><span class="op">(</span><span class="nam">self</span><span class="op">.</span><span class="nam">_graph</span><span class="op">.</span><span class="nam">nodes</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t487" class="stm run hide_run"> <span class="key">for</span> <span class="nam">node</span> <span class="key">in</span> <span class="nam">graph_nodes</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t488" class="pln"> <span class="com"># not connected -> loop not ran</span><span class="strut"> </span></p>
+<p id="t489" class="stm run hide_run"> <span class="key">for</span> <span class="nam">count</span><span class="op">,</span> <span class="nam">_</span> <span class="key">in</span> <span class="nam">enumerate</span><span class="op">(</span><span class="nam">self</span><span class="op">.</span><span class="nam">_graph</span><span class="op">.</span><span class="nam">neighbors</span><span class="op">(</span><span class="nam">node</span><span class="op">)</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t490" class="pln"> <span class="com"># count == 0 -> connected to one node</span><span class="strut"> </span></p>
+<p id="t491" class="pln"> <span class="com"># count == 1 -> connected to two nodes</span><span class="strut"> </span></p>
+<p id="t492" class="stm run hide_run"> <span class="key">if</span> <span class="nam">count</span> <span class="op">></span> <span class="num">0</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t493" class="stm run hide_run"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t494" class="pln"> <span class="str">'Node {} leads to several locations'</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">node</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t495" class="pln"><span class="strut"> </span></p>
+<p id="t496" class="stm run hide_run"> <span class="key">def</span> <span class="nam">find_attractors</span><span class="op">(</span><span class="nam">self</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t497" class="pln"> <span class="str">"""Return a list of node going to each attractor in a graph</span><span class="strut"> </span></p>
+<p id="t498" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t499" class="stm run hide_run"> <span class="nam">attractors</span> <span class="op">=</span> <span class="nam">list</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t500" class="stm run hide_run"> <span class="key">for</span> <span class="nam">attractor</span> <span class="key">in</span> <span class="nam">nx</span><span class="op">.</span><span class="nam">attracting_components</span><span class="op">(</span><span class="nam">self</span><span class="op">.</span><span class="nam">_graph</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t501" class="stm run hide_run"> <span class="nam">att</span> <span class="op">=</span> <span class="nam">dict</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t502" class="stm run hide_run"> <span class="nam">att</span><span class="op">[</span><span class="str">'attractor'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">attractor</span><span class="strut"> </span></p>
+<p id="t503" class="stm run hide_run"> <span class="nam">attractors</span><span class="op">.</span><span class="nam">append</span><span class="op">(</span><span class="nam">att</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t504" class="stm run hide_run"> <span class="key">return</span> <span class="nam">attractors</span><span class="strut"> </span></p>
+<p id="t505" class="pln"><span class="strut"> </span></p>
+<p id="t506" class="stm run hide_run"> <span class="key">def</span> <span class="nam">find_attractors_sources</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span> <span class="nam">attractors</span><span class="op">=</span><span class="key">None</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t507" class="pln"> <span class="str">"""Find all sources going to each attractors</span><span class="strut"> </span></p>
+<p id="t508" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t509" class="stm run hide_run"> <span class="key">if</span> <span class="nam">attractors</span> <span class="key">is</span> <span class="key">None</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t510" class="stm mis"> <span class="nam">attractors</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">find_attractors</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t511" class="pln"><span class="strut"> </span></p>
+<p id="t512" class="stm run hide_run"> <span class="key">if</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">attractors</span><span class="op">,</span> <span class="nam">list</span><span class="op">)</span> <span class="key">is</span> <span class="key">False</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t513" class="stm mis"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="str">'Attractors should be a list of dict'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t514" class="stm run hide_run"> <span class="key">elif</span> <span class="nam">len</span><span class="op">(</span><span class="nam">attractors</span><span class="op">)</span> <span class="op">==</span> <span class="num">0</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t515" class="stm mis"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="str">'No attractors found'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t516" class="pln"><span class="strut"> </span></p>
+<p id="t517" class="pln"> <span class="com"># Check attractor</span><span class="strut"> </span></p>
+<p id="t518" class="stm run hide_run"> <span class="key">for</span> <span class="nam">att</span> <span class="key">in</span> <span class="nam">attractors</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t519" class="stm run hide_run"> <span class="nam">keyatt</span> <span class="op">=</span> <span class="nam">att</span><span class="op">.</span><span class="nam">keys</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t520" class="stm run hide_run"> <span class="key">if</span> <span class="str">'attractor'</span> <span class="key">not</span> <span class="key">in</span> <span class="nam">keyatt</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t521" class="stm mis"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t522" class="pln"> <span class="str">'Each attractors should contain the key attractor'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t523" class="pln"><span class="strut"> </span></p>
+<p id="t524" class="pln"> <span class="com"># Calculate connection</span><span class="strut"> </span></p>
+<p id="t525" class="stm run hide_run"> <span class="key">for</span> <span class="nam">att_i</span><span class="op">,</span> <span class="nam">att</span> <span class="key">in</span> <span class="nam">enumerate</span><span class="op">(</span><span class="nam">attractors</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t526" class="pln"><span class="strut"> </span></p>
+<p id="t527" class="pln"> <span class="com"># [0] because one node of the attractor is enough</span><span class="strut"> </span></p>
+<p id="t528" class="pln"> <span class="com"># all other node of the attractor are connected to this one</span><span class="strut"> </span></p>
+<p id="t529" class="stm run hide_run"> <span class="nam">target</span> <span class="op">=</span> <span class="nam">list</span><span class="op">(</span><span class="nam">att</span><span class="op">[</span><span class="str">'attractor'</span><span class="op">]</span><span class="op">)</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t530" class="stm run hide_run"> <span class="nam">attractors</span><span class="op">[</span><span class="nam">att_i</span><span class="op">]</span><span class="op">[</span><span class="str">'paths'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">nx</span><span class="op">.</span><span class="nam">shortest_path</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t531" class="pln"> <span class="nam">self</span><span class="op">.</span><span class="nam">graph</span><span class="op">,</span> <span class="nam">target</span><span class="op">=</span><span class="nam">target</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t532" class="stm run hide_run"> <span class="nam">attractors</span><span class="op">[</span><span class="nam">att_i</span><span class="op">]</span><span class="op">[</span><span class="str">'sources'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">list</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t533" class="pln"> <span class="nam">attractors</span><span class="op">[</span><span class="nam">att_i</span><span class="op">]</span><span class="op">[</span><span class="str">'paths'</span><span class="op">]</span><span class="op">.</span><span class="nam">keys</span><span class="op">(</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t534" class="stm run hide_run"> <span class="key">return</span> <span class="nam">attractors</span><span class="strut"> </span></p>
+<p id="t535" class="pln"><span class="strut"> </span></p>
+<p id="t536" class="stm run hide_run"> <span class="key">def</span> <span class="nam">catchment_area</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span> <span class="nam">attractors</span><span class="op">=</span><span class="key">None</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t537" class="pln"> <span class="str">"""Return the catchment area for attractors</span><span class="strut"> </span></p>
+<p id="t538" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t539" class="stm run hide_run"> <span class="key">if</span> <span class="nam">attractors</span> <span class="key">is</span> <span class="key">None</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t540" class="stm mis"> <span class="nam">attractors</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">find_attractors_sources</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t541" class="pln"><span class="strut"> </span></p>
+<p id="t542" class="stm run hide_run"> <span class="key">if</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">attractors</span><span class="op">,</span> <span class="nam">list</span><span class="op">)</span> <span class="key">is</span> <span class="key">False</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t543" class="stm mis"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="str">'Attractors should be a list of dict'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t544" class="stm run hide_run"> <span class="key">elif</span> <span class="nam">len</span><span class="op">(</span><span class="nam">attractors</span><span class="op">)</span> <span class="op">==</span> <span class="num">0</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t545" class="stm mis"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="str">'No attractors found'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t546" class="pln"><span class="strut"> </span></p>
+<p id="t547" class="pln"> <span class="com"># Check attractor</span><span class="strut"> </span></p>
+<p id="t548" class="stm run hide_run"> <span class="key">for</span> <span class="nam">att</span> <span class="key">in</span> <span class="nam">attractors</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t549" class="stm run hide_run"> <span class="nam">keyatt</span> <span class="op">=</span> <span class="nam">att</span><span class="op">.</span><span class="nam">keys</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t550" class="stm run hide_run"> <span class="key">if</span> <span class="str">'sources'</span> <span class="key">not</span> <span class="key">in</span> <span class="nam">keyatt</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t551" class="stm mis"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t552" class="pln"> <span class="str">'Each attractors should contains a list of sources'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t553" class="pln"><span class="strut"> </span></p>
+<p id="t554" class="stm run hide_run"> <span class="key">return</span> <span class="op">[</span><span class="nam">len</span><span class="op">(</span><span class="nam">att</span><span class="op">[</span><span class="str">'sources'</span><span class="op">]</span><span class="op">)</span> <span class="key">for</span> <span class="nam">att</span> <span class="key">in</span> <span class="nam">attractors</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t555" class="pln"><span class="strut"> </span></p>
+<p id="t556" class="stm run hide_run"> <span class="key">def</span> <span class="nam">reach_goals</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span> <span class="nam">goals</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t557" class="pln"> <span class="str">""" Return all paths to the goals """</span><span class="strut"> </span></p>
+<p id="t558" class="stm mis"> <span class="key">return</span> <span class="nam">nx</span><span class="op">.</span><span class="nam">shortest_path</span><span class="op">(</span><span class="nam">self</span><span class="op">.</span><span class="nam">_graph</span><span class="op">,</span> <span class="nam">target</span><span class="op">=</span><span class="nam">goals</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t559" class="pln"><span class="strut"> </span></p>
+<p id="t560" class="stm run hide_run"> <span class="key">def</span> <span class="nam">neighboring_nodes</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span> <span class="nam">target</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t561" class="pln"> <span class="str">""" Return the nodes going to the target """</span><span class="strut"> </span></p>
+<p id="t562" class="pln"> <span class="com"># Reverse graph because nx.neighbors give the end node</span><span class="strut"> </span></p>
+<p id="t563" class="pln"> <span class="com"># and we want to find the start node going to target</span><span class="strut"> </span></p>
+<p id="t564" class="pln"> <span class="com"># not where target goes.</span><span class="strut"> </span></p>
+<p id="t565" class="stm run hide_run"> <span class="nam">tmpgraph</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">_graph</span><span class="op">.</span><span class="nam">reverse</span><span class="op">(</span><span class="nam">copy</span><span class="op">=</span><span class="key">True</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t566" class="stm run hide_run"> <span class="nam">neighbors</span> <span class="op">=</span> <span class="nam">tmpgraph</span><span class="op">.</span><span class="nam">neighbors</span><span class="op">(</span><span class="nam">target</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t567" class="stm run hide_run"> <span class="key">return</span> <span class="nam">neighbors</span><span class="strut"> </span></p>
+
+ </td>
+ </tr>
+ </table>
+</div>
+
+<div id="footer">
+ <div class="content">
+ <p>
+ <a class="nav" href="index.html">« index</a> <a class="nav" href="https://coverage.readthedocs.io">coverage.py v4.5.2</a>,
+ created at 2019-01-13 14:34
+ </p>
+ </div>
+</div>
+
+</body>
+</html>
diff --git a/coverage_html_report/navipy_moving_maths_py.html b/coverage_html_report/navipy_moving_maths_py.html
new file mode 100644
index 0000000000000000000000000000000000000000..28e10a373868ecda601ae0601ff20fe535f73701
--- /dev/null
+++ b/coverage_html_report/navipy_moving_maths_py.html
@@ -0,0 +1,329 @@
+
+
+
+<!DOCTYPE html>
+<html>
+<head>
+ <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
+
+
+ <meta http-equiv="X-UA-Compatible" content="IE=emulateIE7" />
+ <title>Coverage for navipy/moving/maths.py: 92%</title>
+ <link rel="stylesheet" href="style.css" type="text/css">
+
+ <script type="text/javascript" src="jquery.min.js"></script>
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+</head>
+<body class="pyfile">
+
+<div id="header">
+ <div class="content">
+ <h1>Coverage for <b>navipy/moving/maths.py</b> :
+ <span class="pc_cov">92%</span>
+ </h1>
+
+ <img id="keyboard_icon" src="keybd_closed.png" alt="Show keyboard shortcuts" />
+
+ <h2 class="stats">
+ 51 statements
+ <span class="run hide_run shortkey_r button_toggle_run">47 run</span>
+ <span class="mis shortkey_m button_toggle_mis">4 missing</span>
+ <span class="exc shortkey_x button_toggle_exc">0 excluded</span>
+
+
+ </h2>
+ </div>
+</div>
+
+<div class="help_panel">
+ <img id="panel_icon" src="keybd_open.png" alt="Hide keyboard shortcuts" />
+ <p class="legend">Hot-keys on this page</p>
+ <div>
+ <p class="keyhelp">
+ <span class="key">r</span>
+ <span class="key">m</span>
+ <span class="key">x</span>
+ <span class="key">p</span> toggle line displays
+ </p>
+ <p class="keyhelp">
+ <span class="key">j</span>
+ <span class="key">k</span> next/prev highlighted chunk
+ </p>
+ <p class="keyhelp">
+ <span class="key">0</span> (zero) top of page
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+ <p class="keyhelp">
+ <span class="key">1</span> (one) first highlighted chunk
+ </p>
+ </div>
+</div>
+
+<div id="source">
+ <table>
+ <tr>
+ <td class="linenos">
+<p id="n1" class="pln"><a href="#n1">1</a></p>
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+
+ </td>
+ <td class="text">
+<p id="t1" class="pln"><span class="str">"""</span><span class="strut"> </span></p>
+<p id="t2" class="pln"><span class="str">Mathematical computation are done in this module. Those involve mostly</span><span class="strut"> </span></p>
+<p id="t3" class="pln"><span class="str">geometry, and predefined grids shapes</span><span class="strut"> </span></p>
+<p id="t4" class="pln"><span class="str">"""</span><span class="strut"> </span></p>
+<p id="t5" class="stm run hide_run"><span class="key">import</span> <span class="nam">numpy</span> <span class="key">as</span> <span class="nam">np</span><span class="strut"> </span></p>
+<p id="t6" class="stm run hide_run"><span class="key">import</span> <span class="nam">pandas</span> <span class="key">as</span> <span class="nam">pd</span><span class="strut"> </span></p>
+<p id="t7" class="pln"><span class="strut"> </span></p>
+<p id="t8" class="pln"><span class="strut"> </span></p>
+<p id="t9" class="stm run hide_run"><span class="key">def</span> <span class="nam">mode_moves_supported</span><span class="op">(</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t10" class="stm run hide_run"> <span class="key">return</span> <span class="op">{</span><span class="strut"> </span></p>
+<p id="t11" class="pln"> <span class="str">'on_cubic_grid'</span><span class="op">:</span> <span class="op">{</span><span class="strut"> </span></p>
+<p id="t12" class="pln"> <span class="str">'param'</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t13" class="pln"> <span class="op">[</span><span class="str">'grid_spacing'</span><span class="op">]</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t14" class="pln"> <span class="str">'describe'</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t15" class="pln"> <span class="str">"Agent restricted to move on a grid"</span><span class="op">}</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t16" class="pln"> <span class="str">'free_run'</span><span class="op">:</span> <span class="op">{</span><span class="strut"> </span></p>
+<p id="t17" class="pln"> <span class="str">'param'</span><span class="op">:</span> <span class="op">[</span><span class="op">]</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t18" class="pln"> <span class="str">'describe'</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t19" class="pln"> <span class="str">"Freely moving agent, pos(t+dt)=pos+speed (dt=1)"</span><span class="op">}</span><span class="op">}</span><span class="strut"> </span></p>
+<p id="t20" class="pln"><span class="strut"> </span></p>
+<p id="t21" class="pln"><span class="strut"> </span></p>
+<p id="t22" class="stm run hide_run"><span class="key">def</span> <span class="nam">next_pos</span><span class="op">(</span><span class="nam">motion_vec</span><span class="op">,</span> <span class="nam">move_mode</span><span class="op">,</span> <span class="nam">move_param</span><span class="op">=</span><span class="key">None</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t23" class="pln"> <span class="str">"""return the future position knowing speed and current position</span><span class="strut"> </span></p>
+<p id="t24" class="pln"><span class="strut"> </span></p>
+<p id="t25" class="pln"><span class="str"> :param motion_vec: the position and speed of the agent</span><span class="strut"> </span></p>
+<p id="t26" class="pln"><span class="str">(pandas Series with columns ['x','y','z','dx','dy','dz'])</span><span class="strut"> </span></p>
+<p id="t27" class="pln"><span class="str"> :param grid_spacing: the spacing between two grid points</span><span class="strut"> </span></p>
+<p id="t28" class="pln"><span class="str">(only relevant for regular grids)</span><span class="strut"> </span></p>
+<p id="t29" class="pln"><span class="str"> :param grid_mode: the type of grid.</span><span class="strut"> </span></p>
+<p id="t30" class="pln"><span class="strut"> </span></p>
+<p id="t31" class="pln"><span class="str"> ..todo: add literal include for supported_grid_mode</span><span class="strut"> </span></p>
+<p id="t32" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t33" class="stm run hide_run"> <span class="key">if</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">motion_vec</span><span class="op">,</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">Series</span><span class="op">)</span> <span class="key">is</span> <span class="key">False</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t34" class="stm run hide_run"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="str">'motion vector must be a pandas Series'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t35" class="stm run hide_run"> <span class="key">if</span> <span class="nam">move_mode</span> <span class="key">not</span> <span class="key">in</span> <span class="nam">mode_moves_supported</span><span class="op">(</span><span class="op">)</span><span class="op">.</span><span class="nam">keys</span><span class="op">(</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t36" class="stm run hide_run"> <span class="key">raise</span> <span class="nam">KeyError</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t37" class="pln"> <span class="str">'move mode must is not supported {}'</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">move_mode</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t38" class="stm run hide_run"> <span class="nam">tuples</span> <span class="op">=</span> <span class="op">[</span><span class="op">(</span><span class="str">'location'</span><span class="op">,</span> <span class="str">'dx'</span><span class="op">)</span><span class="op">,</span> <span class="op">(</span><span class="str">'location'</span><span class="op">,</span> <span class="str">'dy'</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t39" class="pln"> <span class="op">(</span><span class="str">'location'</span><span class="op">,</span> <span class="str">'dz'</span><span class="op">)</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t40" class="stm run hide_run"> <span class="nam">index</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">MultiIndex</span><span class="op">.</span><span class="nam">from_tuples</span><span class="op">(</span><span class="nam">tuples</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t41" class="pln"> <span class="nam">names</span><span class="op">=</span><span class="op">[</span><span class="str">'position'</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t42" class="pln"> <span class="str">'orientation'</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t43" class="stm run hide_run"> <span class="nam">speed</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">Series</span><span class="op">(</span><span class="nam">index</span><span class="op">=</span><span class="nam">index</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t44" class="stm run hide_run"> <span class="nam">speed</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="op">(</span><span class="str">'location'</span><span class="op">,</span> <span class="str">'dx'</span><span class="op">)</span><span class="op">]</span> <span class="op">=</span> <span class="nam">motion_vec</span><span class="op">[</span><span class="op">(</span><span class="str">'location'</span><span class="op">,</span> <span class="str">'dx'</span><span class="op">)</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t45" class="stm run hide_run"> <span class="nam">speed</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="op">(</span><span class="str">'location'</span><span class="op">,</span> <span class="str">'dy'</span><span class="op">)</span><span class="op">]</span> <span class="op">=</span> <span class="nam">motion_vec</span><span class="op">[</span><span class="op">(</span><span class="str">'location'</span><span class="op">,</span> <span class="str">'dy'</span><span class="op">)</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t46" class="stm run hide_run"> <span class="nam">speed</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="op">(</span><span class="str">'location'</span><span class="op">,</span> <span class="str">'dz'</span><span class="op">)</span><span class="op">]</span> <span class="op">=</span> <span class="nam">motion_vec</span><span class="op">[</span><span class="op">(</span><span class="str">'location'</span><span class="op">,</span> <span class="str">'dz'</span><span class="op">)</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t47" class="pln"> <span class="com"># speed = motion_vec.loc[['dx', 'dy', 'dz']]</span><span class="strut"> </span></p>
+<p id="t48" class="stm run hide_run"> <span class="key">if</span> <span class="nam">move_mode</span> <span class="op">==</span> <span class="str">'on_cubic_grid'</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t49" class="pln"> <span class="com"># speed in spherical coord</span><span class="strut"> </span></p>
+<p id="t50" class="stm run hide_run"> <span class="nam">epsilon</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">arctan2</span><span class="op">(</span><span class="nam">speed</span><span class="op">[</span><span class="str">'location'</span><span class="op">]</span><span class="op">[</span><span class="str">'dz'</span><span class="op">]</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t51" class="pln"> <span class="nam">np</span><span class="op">.</span><span class="nam">sqrt</span><span class="op">(</span><span class="nam">speed</span><span class="op">[</span><span class="str">'location'</span><span class="op">]</span><span class="op">[</span><span class="str">'dx'</span><span class="op">]</span><span class="op">**</span><span class="num">2</span> <span class="op">+</span><span class="strut"> </span></p>
+<p id="t52" class="pln"> <span class="nam">speed</span><span class="op">[</span><span class="str">'location'</span><span class="op">]</span><span class="op">[</span><span class="str">'dy'</span><span class="op">]</span><span class="op">**</span><span class="num">2</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t53" class="stm run hide_run"> <span class="nam">phi</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">arctan2</span><span class="op">(</span><span class="nam">speed</span><span class="op">[</span><span class="str">'location'</span><span class="op">]</span><span class="op">[</span><span class="str">'dy'</span><span class="op">]</span><span class="op">,</span> <span class="nam">speed</span><span class="op">[</span><span class="str">'location'</span><span class="op">]</span><span class="op">[</span><span class="str">'dx'</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t54" class="stm run hide_run"> <span class="nam">radius</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">sqrt</span><span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">sum</span><span class="op">(</span><span class="nam">speed</span><span class="op">**</span><span class="num">2</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t55" class="stm run hide_run"> <span class="key">if</span> <span class="nam">np</span><span class="op">.</span><span class="nam">isclose</span><span class="op">(</span><span class="nam">radius</span><span class="op">,</span> <span class="num">0</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t56" class="pln"> <span class="com"># scaling = 0</span><span class="strut"> </span></p>
+<p id="t57" class="stm run hide_run"> <span class="nam">speed</span> <span class="op">=</span> <span class="num">0</span> <span class="op">*</span> <span class="nam">speed</span><span class="strut"> </span></p>
+<p id="t58" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t59" class="stm run hide_run"> <span class="nam">tuples</span> <span class="op">=</span> <span class="op">[</span><span class="op">(</span><span class="str">'location'</span><span class="op">,</span> <span class="str">'dx'</span><span class="op">)</span><span class="op">,</span> <span class="op">(</span><span class="str">'location'</span><span class="op">,</span> <span class="str">'dy'</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t60" class="pln"> <span class="op">(</span><span class="str">'location'</span><span class="op">,</span> <span class="str">'dz'</span><span class="op">)</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t61" class="stm run hide_run"> <span class="nam">index</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">MultiIndex</span><span class="op">.</span><span class="nam">from_tuples</span><span class="op">(</span><span class="nam">tuples</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t62" class="pln"> <span class="nam">names</span><span class="op">=</span><span class="op">[</span><span class="str">'position'</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t63" class="pln"> <span class="str">'orientation'</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t64" class="stm run hide_run"> <span class="nam">deltas</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">Series</span><span class="op">(</span><span class="nam">index</span><span class="op">=</span><span class="nam">index</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t65" class="stm run hide_run"> <span class="nam">deltas</span><span class="op">[</span><span class="str">'location'</span><span class="op">]</span><span class="op">[</span><span class="str">'dz'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">float</span><span class="op">(</span><span class="nam">epsilon</span> <span class="op">></span> <span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">pi</span> <span class="op">/</span> <span class="num">8</span><span class="op">)</span> <span class="op">-</span><span class="strut"> </span></p>
+<p id="t66" class="pln"> <span class="nam">epsilon</span> <span class="op"><</span> <span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">pi</span> <span class="op">/</span> <span class="num">8</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t67" class="stm run hide_run"> <span class="nam">edgecases</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">linspace</span><span class="op">(</span><span class="op">-</span><span class="nam">np</span><span class="op">.</span><span class="nam">pi</span><span class="op">,</span> <span class="nam">np</span><span class="op">.</span><span class="nam">pi</span><span class="op">,</span> <span class="num">9</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t68" class="stm run hide_run"> <span class="nam">case_i</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">argmin</span><span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">abs</span><span class="op">(</span><span class="nam">phi</span> <span class="op">-</span> <span class="nam">edgecases</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t69" class="stm run hide_run"> <span class="key">if</span> <span class="nam">case_i</span> <span class="op">==</span> <span class="num">8</span> <span class="key">or</span> <span class="nam">case_i</span> <span class="op">==</span> <span class="num">0</span> <span class="key">or</span> <span class="nam">case_i</span> <span class="op">==</span> <span class="num">1</span> <span class="key">or</span> <span class="nam">case_i</span> <span class="op">==</span> <span class="num">7</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t70" class="stm run hide_run"> <span class="nam">deltas</span><span class="op">[</span><span class="str">'location'</span><span class="op">]</span><span class="op">[</span><span class="str">'dx'</span><span class="op">]</span> <span class="op">=</span> <span class="op">-</span><span class="num">1</span><span class="strut"> </span></p>
+<p id="t71" class="stm run hide_run"> <span class="key">elif</span> <span class="nam">case_i</span> <span class="op">==</span> <span class="num">3</span> <span class="key">or</span> <span class="nam">case_i</span> <span class="op">==</span> <span class="num">4</span> <span class="key">or</span> <span class="nam">case_i</span> <span class="op">==</span> <span class="num">5</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t72" class="stm run hide_run"> <span class="nam">deltas</span><span class="op">[</span><span class="str">'location'</span><span class="op">]</span><span class="op">[</span><span class="str">'dx'</span><span class="op">]</span> <span class="op">=</span> <span class="num">1</span><span class="strut"> </span></p>
+<p id="t73" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t74" class="stm run hide_run"> <span class="nam">deltas</span><span class="op">[</span><span class="str">'location'</span><span class="op">]</span><span class="op">[</span><span class="str">'dx'</span><span class="op">]</span> <span class="op">=</span> <span class="num">0</span><span class="strut"> </span></p>
+<p id="t75" class="pln"><span class="strut"> </span></p>
+<p id="t76" class="stm run hide_run"> <span class="key">if</span> <span class="nam">case_i</span> <span class="op">==</span> <span class="num">1</span> <span class="key">or</span> <span class="nam">case_i</span> <span class="op">==</span> <span class="num">2</span> <span class="key">or</span> <span class="nam">case_i</span> <span class="op">==</span> <span class="num">3</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t77" class="stm run hide_run"> <span class="nam">deltas</span><span class="op">[</span><span class="str">'location'</span><span class="op">]</span><span class="op">[</span><span class="str">'dy'</span><span class="op">]</span> <span class="op">=</span> <span class="op">-</span><span class="num">1</span><span class="strut"> </span></p>
+<p id="t78" class="stm run hide_run"> <span class="key">elif</span> <span class="nam">case_i</span> <span class="op">==</span> <span class="num">5</span> <span class="key">or</span> <span class="nam">case_i</span> <span class="op">==</span> <span class="num">6</span> <span class="key">or</span> <span class="nam">case_i</span> <span class="op">==</span> <span class="num">7</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t79" class="stm run hide_run"> <span class="nam">deltas</span><span class="op">[</span><span class="str">'location'</span><span class="op">]</span><span class="op">[</span><span class="str">'dy'</span><span class="op">]</span> <span class="op">=</span> <span class="num">1</span><span class="strut"> </span></p>
+<p id="t80" class="pln"><span class="strut"> </span></p>
+<p id="t81" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t82" class="stm run hide_run"> <span class="nam">deltas</span><span class="op">[</span><span class="str">'location'</span><span class="op">]</span><span class="op">[</span><span class="str">'dy'</span><span class="op">]</span> <span class="op">=</span> <span class="num">0</span><span class="strut"> </span></p>
+<p id="t83" class="pln"> <span class="com"># scaling = 1</span><span class="strut"> </span></p>
+<p id="t84" class="stm run hide_run"> <span class="nam">speed</span> <span class="op">=</span> <span class="nam">move_param</span><span class="op">[</span><span class="str">'grid_spacing'</span><span class="op">]</span> <span class="op">*</span> <span class="nam">deltas</span><span class="strut"> </span></p>
+<p id="t85" class="stm mis"> <span class="key">elif</span> <span class="nam">move_mode</span> <span class="key">is</span> <span class="str">'free_run'</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t86" class="stm mis"> <span class="key">pass</span><span class="strut"> </span></p>
+<p id="t87" class="pln"> <span class="com"># scaling = 1 # <=> dt = 1, user need to scale speed in dt units</span><span class="strut"> </span></p>
+<p id="t88" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t89" class="stm mis"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="str">'grid_mode is not supported'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t90" class="stm run hide_run"> <span class="nam">toreturn</span> <span class="op">=</span> <span class="nam">motion_vec</span><span class="op">.</span><span class="nam">copy</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t91" class="stm run hide_run"> <span class="nam">toreturn</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="op">(</span><span class="str">'location'</span><span class="op">,</span> <span class="str">'x'</span><span class="op">)</span><span class="op">]</span> <span class="op">+=</span> <span class="nam">speed</span><span class="op">[</span><span class="str">'location'</span><span class="op">]</span><span class="op">[</span><span class="str">'dx'</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t92" class="stm run hide_run"> <span class="nam">toreturn</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="op">(</span><span class="str">'location'</span><span class="op">,</span> <span class="str">'y'</span><span class="op">)</span><span class="op">]</span> <span class="op">+=</span> <span class="nam">speed</span><span class="op">[</span><span class="str">'location'</span><span class="op">]</span><span class="op">[</span><span class="str">'dy'</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t93" class="stm run hide_run"> <span class="nam">toreturn</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="op">(</span><span class="str">'location'</span><span class="op">,</span> <span class="str">'z'</span><span class="op">)</span><span class="op">]</span> <span class="op">+=</span> <span class="nam">speed</span><span class="op">[</span><span class="str">'location'</span><span class="op">]</span><span class="op">[</span><span class="str">'dz'</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t94" class="stm run hide_run"> <span class="key">return</span> <span class="nam">toreturn</span><span class="strut"> </span></p>
+<p id="t95" class="pln"><span class="strut"> </span></p>
+<p id="t96" class="pln"><span class="strut"> </span></p>
+<p id="t97" class="stm run hide_run"><span class="key">def</span> <span class="nam">closest_pos</span><span class="op">(</span><span class="nam">pos</span><span class="op">,</span> <span class="nam">positions</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t98" class="pln"> <span class="str">"""Return the closest position from a list of positions</span><span class="strut"> </span></p>
+<p id="t99" class="pln"><span class="strut"> </span></p>
+<p id="t100" class="pln"><span class="str"> :param pos: the position to find (a pandas Series with ['x','y','z']</span><span class="strut"> </span></p>
+<p id="t101" class="pln"><span class="str"> :param positions: the possible closest positions</span><span class="strut"> </span></p>
+<p id="t102" class="pln"><span class="str"> (a pandas dataframe with</span><span class="strut"> </span></p>
+<p id="t103" class="pln"><span class="str"> [['location','x'],['location','y'],['location','z']])</span><span class="strut"> </span></p>
+<p id="t104" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t105" class="pln"><span class="strut"> </span></p>
+<p id="t106" class="stm run hide_run"> <span class="nam">euclidian_dist</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">sqrt</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t107" class="pln"> <span class="op">(</span><span class="nam">pos</span><span class="op">[</span><span class="str">'location'</span><span class="op">]</span><span class="op">[</span><span class="str">'x'</span><span class="op">]</span> <span class="op">-</span> <span class="nam">positions</span><span class="op">[</span><span class="str">'location'</span><span class="op">]</span><span class="op">[</span><span class="str">'x'</span><span class="op">]</span><span class="op">)</span><span class="op">**</span><span class="num">2</span><span class="strut"> </span></p>
+<p id="t108" class="pln"> <span class="op">+</span> <span class="op">(</span><span class="nam">pos</span><span class="op">[</span><span class="str">'location'</span><span class="op">]</span><span class="op">[</span><span class="str">'y'</span><span class="op">]</span> <span class="op">-</span> <span class="nam">positions</span><span class="op">[</span><span class="str">'location'</span><span class="op">]</span><span class="op">[</span><span class="str">'y'</span><span class="op">]</span><span class="op">)</span><span class="op">**</span><span class="num">2</span><span class="strut"> </span></p>
+<p id="t109" class="pln"> <span class="op">+</span> <span class="op">(</span><span class="nam">pos</span><span class="op">[</span><span class="str">'location'</span><span class="op">]</span><span class="op">[</span><span class="str">'z'</span><span class="op">]</span> <span class="op">-</span> <span class="nam">positions</span><span class="op">[</span><span class="str">'location'</span><span class="op">]</span><span class="op">[</span><span class="str">'z'</span><span class="op">]</span><span class="op">)</span><span class="op">**</span><span class="num">2</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t110" class="stm run hide_run"> <span class="key">return</span> <span class="nam">positions</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="nam">euclidian_dist</span><span class="op">.</span><span class="nam">idxmin</span><span class="op">(</span><span class="op">)</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t111" class="pln"><span class="strut"> </span></p>
+<p id="t112" class="pln"><span class="strut"> </span></p>
+<p id="t113" class="stm run hide_run"><span class="key">def</span> <span class="nam">closest_pos_memory_friendly</span><span class="op">(</span><span class="nam">pos</span><span class="op">,</span> <span class="nam">database</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t114" class="pln"> <span class="str">"""Return the closest position from a list of positions</span><span class="strut"> </span></p>
+<p id="t115" class="pln"><span class="strut"> </span></p>
+<p id="t116" class="pln"><span class="str"> :param pos: the position to find (a pandas Series with ['x','y','z']</span><span class="strut"> </span></p>
+<p id="t117" class="pln"><span class="str"> :param database: the possible closest positions</span><span class="strut"> </span></p>
+<p id="t118" class="pln"><span class="str"> (a pandas dataframe with ['x','y','z'])</span><span class="strut"> </span></p>
+<p id="t119" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t120" class="stm mis"> <span class="key">raise</span> <span class="nam">NameError</span><span class="op">(</span><span class="str">'Not implemated'</span><span class="op">)</span><span class="strut"> </span></p>
+
+ </td>
+ </tr>
+ </table>
+</div>
+
+<div id="footer">
+ <div class="content">
+ <p>
+ <a class="nav" href="index.html">« index</a> <a class="nav" href="https://coverage.readthedocs.io">coverage.py v4.5.2</a>,
+ created at 2019-01-13 14:34
+ </p>
+ </div>
+</div>
+
+</body>
+</html>
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+++ b/coverage_html_report/navipy_processing___init___py.html
@@ -0,0 +1,133 @@
+
+
+
+<!DOCTYPE html>
+<html>
+<head>
+ <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
+
+
+ <meta http-equiv="X-UA-Compatible" content="IE=emulateIE7" />
+ <title>Coverage for navipy/processing/__init__.py: 100%</title>
+ <link rel="stylesheet" href="style.css" type="text/css">
+
+ <script type="text/javascript" src="jquery.min.js"></script>
+ <script type="text/javascript" src="jquery.hotkeys.js"></script>
+ <script type="text/javascript" src="jquery.isonscreen.js"></script>
+ <script type="text/javascript" src="coverage_html.js"></script>
+ <script type="text/javascript">
+ jQuery(document).ready(coverage.pyfile_ready);
+ </script>
+</head>
+<body class="pyfile">
+
+<div id="header">
+ <div class="content">
+ <h1>Coverage for <b>navipy/processing/__init__.py</b> :
+ <span class="pc_cov">100%</span>
+ </h1>
+
+ <img id="keyboard_icon" src="keybd_closed.png" alt="Show keyboard shortcuts" />
+
+ <h2 class="stats">
+ 0 statements
+ <span class="run hide_run shortkey_r button_toggle_run">0 run</span>
+ <span class="mis shortkey_m button_toggle_mis">0 missing</span>
+ <span class="exc shortkey_x button_toggle_exc">0 excluded</span>
+
+
+ </h2>
+ </div>
+</div>
+
+<div class="help_panel">
+ <img id="panel_icon" src="keybd_open.png" alt="Hide keyboard shortcuts" />
+ <p class="legend">Hot-keys on this page</p>
+ <div>
+ <p class="keyhelp">
+ <span class="key">r</span>
+ <span class="key">m</span>
+ <span class="key">x</span>
+ <span class="key">p</span> toggle line displays
+ </p>
+ <p class="keyhelp">
+ <span class="key">j</span>
+ <span class="key">k</span> next/prev highlighted chunk
+ </p>
+ <p class="keyhelp">
+ <span class="key">0</span> (zero) top of page
+ </p>
+ <p class="keyhelp">
+ <span class="key">1</span> (one) first highlighted chunk
+ </p>
+ </div>
+</div>
+
+<div id="source">
+ <table>
+ <tr>
+ <td class="linenos">
+<p id="n1" class="pln"><a href="#n1">1</a></p>
+<p id="n2" class="pln"><a href="#n2">2</a></p>
+<p id="n3" class="pln"><a href="#n3">3</a></p>
+<p id="n4" class="pln"><a href="#n4">4</a></p>
+<p id="n5" class="pln"><a href="#n5">5</a></p>
+<p id="n6" class="pln"><a href="#n6">6</a></p>
+<p id="n7" class="pln"><a href="#n7">7</a></p>
+<p id="n8" class="pln"><a href="#n8">8</a></p>
+<p id="n9" class="pln"><a href="#n9">9</a></p>
+<p id="n10" class="pln"><a href="#n10">10</a></p>
+<p id="n11" class="pln"><a href="#n11">11</a></p>
+<p id="n12" class="pln"><a href="#n12">12</a></p>
+<p id="n13" class="pln"><a href="#n13">13</a></p>
+<p id="n14" class="pln"><a href="#n14">14</a></p>
+<p id="n15" class="pln"><a href="#n15">15</a></p>
+<p id="n16" class="pln"><a href="#n16">16</a></p>
+<p id="n17" class="pln"><a href="#n17">17</a></p>
+<p id="n18" class="pln"><a href="#n18">18</a></p>
+<p id="n19" class="pln"><a href="#n19">19</a></p>
+<p id="n20" class="pln"><a href="#n20">20</a></p>
+<p id="n21" class="pln"><a href="#n21">21</a></p>
+<p id="n22" class="pln"><a href="#n22">22</a></p>
+
+ </td>
+ <td class="text">
+<p id="t1" class="pln"><span class="str">"""</span><span class="strut"> </span></p>
+<p id="t2" class="pln"><span class="str">Skyline</span><span class="strut"> </span></p>
+<p id="t3" class="pln"><span class="str">~~~~~~~</span><span class="strut"> </span></p>
+<p id="t4" class="pln"><span class="str">.. autofunction:: navipy.processing.pcode.skyline</span><span class="strut"> </span></p>
+<p id="t5" class="pln"><span class="strut"> </span></p>
+<p id="t6" class="pln"><span class="str">Michelson-contrast</span><span class="strut"> </span></p>
+<p id="t7" class="pln"><span class="str">~~~~~~~~~~~~~~~~~~</span><span class="strut"> </span></p>
+<p id="t8" class="pln"><span class="str">.. autofunction:: navipy.processing.pcode.michelson_contrast</span><span class="strut"> </span></p>
+<p id="t9" class="pln"><span class="strut"> </span></p>
+<p id="t10" class="pln"><span class="str">Contrast-weighted-nearness</span><span class="strut"> </span></p>
+<p id="t11" class="pln"><span class="str">~~~~~~~~~~~~~~~~~~~~~~~~~~</span><span class="strut"> </span></p>
+<p id="t12" class="pln"><span class="str">.. autofunction:: navipy.processing.pcode.contrast_weighted_nearness</span><span class="strut"> </span></p>
+<p id="t13" class="pln"><span class="strut"> </span></p>
+<p id="t14" class="pln"><span class="str">Place-code vectors</span><span class="strut"> </span></p>
+<p id="t15" class="pln"><span class="str">~~~~~~~~~~~~~~~~~~</span><span class="strut"> </span></p>
+<p id="t16" class="pln"><span class="str">.. autofunction:: navipy.processing.pcode.pcv</span><span class="strut"> </span></p>
+<p id="t17" class="pln"><span class="strut"> </span></p>
+<p id="t18" class="pln"><span class="str">Average place-code vector</span><span class="strut"> </span></p>
+<p id="t19" class="pln"><span class="str">~~~~~~~~~~~~~~~~~~~~~~~~~</span><span class="strut"> </span></p>
+<p id="t20" class="pln"><span class="str">.. autofunction:: navipy.processing.pcode.apcv</span><span class="strut"> </span></p>
+<p id="t21" class="pln"><span class="strut"> </span></p>
+<p id="t22" class="pln"><span class="str">"""</span><span class="strut"> </span></p>
+
+ </td>
+ </tr>
+ </table>
+</div>
+
+<div id="footer">
+ <div class="content">
+ <p>
+ <a class="nav" href="index.html">« index</a> <a class="nav" href="https://coverage.readthedocs.io">coverage.py v4.5.2</a>,
+ created at 2019-01-13 14:34
+ </p>
+ </div>
+</div>
+
+</body>
+</html>
diff --git a/coverage_html_report/navipy_processing_mcode_py.html b/coverage_html_report/navipy_processing_mcode_py.html
new file mode 100644
index 0000000000000000000000000000000000000000..a21be11428276bb08b1cb5d89984596226da2362
--- /dev/null
+++ b/coverage_html_report/navipy_processing_mcode_py.html
@@ -0,0 +1,1255 @@
+
+
+
+<!DOCTYPE html>
+<html>
+<head>
+ <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
+
+
+ <meta http-equiv="X-UA-Compatible" content="IE=emulateIE7" />
+ <title>Coverage for navipy/processing/mcode.py: 63%</title>
+ <link rel="stylesheet" href="style.css" type="text/css">
+
+ <script type="text/javascript" src="jquery.min.js"></script>
+ <script type="text/javascript" src="jquery.hotkeys.js"></script>
+ <script type="text/javascript" src="jquery.isonscreen.js"></script>
+ <script type="text/javascript" src="coverage_html.js"></script>
+ <script type="text/javascript">
+ jQuery(document).ready(coverage.pyfile_ready);
+ </script>
+</head>
+<body class="pyfile">
+
+<div id="header">
+ <div class="content">
+ <h1>Coverage for <b>navipy/processing/mcode.py</b> :
+ <span class="pc_cov">63%</span>
+ </h1>
+
+ <img id="keyboard_icon" src="keybd_closed.png" alt="Show keyboard shortcuts" />
+
+ <h2 class="stats">
+ 299 statements
+ <span class="run hide_run shortkey_r button_toggle_run">187 run</span>
+ <span class="mis shortkey_m button_toggle_mis">112 missing</span>
+ <span class="exc shortkey_x button_toggle_exc">0 excluded</span>
+
+
+ </h2>
+ </div>
+</div>
+
+<div class="help_panel">
+ <img id="panel_icon" src="keybd_open.png" alt="Hide keyboard shortcuts" />
+ <p class="legend">Hot-keys on this page</p>
+ <div>
+ <p class="keyhelp">
+ <span class="key">r</span>
+ <span class="key">m</span>
+ <span class="key">x</span>
+ <span class="key">p</span> toggle line displays
+ </p>
+ <p class="keyhelp">
+ <span class="key">j</span>
+ <span class="key">k</span> next/prev highlighted chunk
+ </p>
+ <p class="keyhelp">
+ <span class="key">0</span> (zero) top of page
+ </p>
+ <p class="keyhelp">
+ <span class="key">1</span> (one) first highlighted chunk
+ </p>
+ </div>
+</div>
+
+<div id="source">
+ <table>
+ <tr>
+ <td class="linenos">
+<p id="n1" class="pln"><a href="#n1">1</a></p>
+<p id="n2" class="pln"><a href="#n2">2</a></p>
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+<p id="n165" class="stm run hide_run"><a href="#n165">165</a></p>
+<p id="n166" class="pln"><a href="#n166">166</a></p>
+<p id="n167" class="stm run hide_run"><a href="#n167">167</a></p>
+<p id="n168" class="pln"><a href="#n168">168</a></p>
+<p id="n169" class="pln"><a href="#n169">169</a></p>
+<p id="n170" class="stm run hide_run"><a href="#n170">170</a></p>
+<p id="n171" class="stm run hide_run"><a href="#n171">171</a></p>
+<p id="n172" class="stm run hide_run"><a href="#n172">172</a></p>
+<p id="n173" class="stm run hide_run"><a href="#n173">173</a></p>
+<p id="n174" class="stm run hide_run"><a href="#n174">174</a></p>
+<p id="n175" class="stm run hide_run"><a href="#n175">175</a></p>
+<p id="n176" class="stm run hide_run"><a href="#n176">176</a></p>
+<p id="n177" class="stm run hide_run"><a href="#n177">177</a></p>
+<p id="n178" class="stm run hide_run"><a href="#n178">178</a></p>
+<p id="n179" class="stm run hide_run"><a href="#n179">179</a></p>
+<p id="n180" class="pln"><a href="#n180">180</a></p>
+<p id="n181" class="pln"><a href="#n181">181</a></p>
+<p id="n182" class="stm run hide_run"><a href="#n182">182</a></p>
+<p id="n183" class="pln"><a href="#n183">183</a></p>
+<p id="n184" class="pln"><a href="#n184">184</a></p>
+<p id="n185" class="pln"><a href="#n185">185</a></p>
+<p id="n186" class="pln"><a href="#n186">186</a></p>
+<p id="n187" class="pln"><a href="#n187">187</a></p>
+<p id="n188" class="pln"><a href="#n188">188</a></p>
+<p id="n189" class="pln"><a href="#n189">189</a></p>
+<p id="n190" class="pln"><a href="#n190">190</a></p>
+<p id="n191" class="stm run hide_run"><a href="#n191">191</a></p>
+<p id="n192" class="stm run hide_run"><a href="#n192">192</a></p>
+<p id="n193" class="pln"><a href="#n193">193</a></p>
+<p id="n194" class="stm run hide_run"><a href="#n194">194</a></p>
+<p id="n195" class="pln"><a href="#n195">195</a></p>
+<p id="n196" class="pln"><a href="#n196">196</a></p>
+<p id="n197" class="stm run hide_run"><a href="#n197">197</a></p>
+<p id="n198" class="pln"><a href="#n198">198</a></p>
+<p id="n199" class="pln"><a href="#n199">199</a></p>
+<p id="n200" class="pln"><a href="#n200">200</a></p>
+<p id="n201" class="pln"><a href="#n201">201</a></p>
+<p id="n202" class="stm run hide_run"><a href="#n202">202</a></p>
+<p id="n203" class="pln"><a href="#n203">203</a></p>
+<p id="n204" class="pln"><a href="#n204">204</a></p>
+<p id="n205" class="pln"><a href="#n205">205</a></p>
+<p id="n206" class="pln"><a href="#n206">206</a></p>
+<p id="n207" class="pln"><a href="#n207">207</a></p>
+<p id="n208" class="pln"><a href="#n208">208</a></p>
+<p id="n209" class="stm run hide_run"><a href="#n209">209</a></p>
+<p id="n210" class="stm mis"><a href="#n210">210</a></p>
+<p id="n211" class="stm run hide_run"><a href="#n211">211</a></p>
+<p id="n212" class="stm mis"><a href="#n212">212</a></p>
+<p id="n213" class="stm run hide_run"><a href="#n213">213</a></p>
+<p id="n214" class="stm mis"><a href="#n214">214</a></p>
+<p id="n215" class="stm run hide_run"><a href="#n215">215</a></p>
+<p id="n216" class="stm run hide_run"><a href="#n216">216</a></p>
+<p id="n217" class="pln"><a href="#n217">217</a></p>
+<p id="n218" class="stm run hide_run"><a href="#n218">218</a></p>
+<p id="n219" class="pln"><a href="#n219">219</a></p>
+<p id="n220" class="pln"><a href="#n220">220</a></p>
+<p id="n221" class="pln"><a href="#n221">221</a></p>
+<p id="n222" class="pln"><a href="#n222">222</a></p>
+<p id="n223" class="pln"><a href="#n223">223</a></p>
+<p id="n224" class="pln"><a href="#n224">224</a></p>
+<p id="n225" class="stm run hide_run"><a href="#n225">225</a></p>
+<p id="n226" class="pln"><a href="#n226">226</a></p>
+<p id="n227" class="stm run hide_run"><a href="#n227">227</a></p>
+<p id="n228" class="pln"><a href="#n228">228</a></p>
+<p id="n229" class="pln"><a href="#n229">229</a></p>
+<p id="n230" class="pln"><a href="#n230">230</a></p>
+<p id="n231" class="pln"><a href="#n231">231</a></p>
+<p id="n232" class="pln"><a href="#n232">232</a></p>
+<p id="n233" class="stm run hide_run"><a href="#n233">233</a></p>
+<p id="n234" class="stm mis"><a href="#n234">234</a></p>
+<p id="n235" class="stm run hide_run"><a href="#n235">235</a></p>
+<p id="n236" class="stm mis"><a href="#n236">236</a></p>
+<p id="n237" class="stm run hide_run"><a href="#n237">237</a></p>
+<p id="n238" class="stm mis"><a href="#n238">238</a></p>
+<p id="n239" class="stm run hide_run"><a href="#n239">239</a></p>
+<p id="n240" class="pln"><a href="#n240">240</a></p>
+<p id="n241" class="stm run hide_run"><a href="#n241">241</a></p>
+<p id="n242" class="pln"><a href="#n242">242</a></p>
+<p id="n243" class="pln"><a href="#n243">243</a></p>
+<p id="n244" class="pln"><a href="#n244">244</a></p>
+<p id="n245" class="pln"><a href="#n245">245</a></p>
+<p id="n246" class="pln"><a href="#n246">246</a></p>
+<p id="n247" class="pln"><a href="#n247">247</a></p>
+<p id="n248" class="stm run hide_run"><a href="#n248">248</a></p>
+<p id="n249" class="pln"><a href="#n249">249</a></p>
+<p id="n250" class="stm run hide_run"><a href="#n250">250</a></p>
+<p id="n251" class="pln"><a href="#n251">251</a></p>
+<p id="n252" class="pln"><a href="#n252">252</a></p>
+<p id="n253" class="pln"><a href="#n253">253</a></p>
+<p id="n254" class="pln"><a href="#n254">254</a></p>
+<p id="n255" class="pln"><a href="#n255">255</a></p>
+<p id="n256" class="pln"><a href="#n256">256</a></p>
+<p id="n257" class="stm run hide_run"><a href="#n257">257</a></p>
+<p id="n258" class="stm mis"><a href="#n258">258</a></p>
+<p id="n259" class="stm run hide_run"><a href="#n259">259</a></p>
+<p id="n260" class="stm mis"><a href="#n260">260</a></p>
+<p id="n261" class="stm run hide_run"><a href="#n261">261</a></p>
+<p id="n262" class="stm mis"><a href="#n262">262</a></p>
+<p id="n263" class="stm run hide_run"><a href="#n263">263</a></p>
+<p id="n264" class="stm mis"><a href="#n264">264</a></p>
+<p id="n265" class="pln"><a href="#n265">265</a></p>
+<p id="n266" class="stm run hide_run"><a href="#n266">266</a></p>
+<p id="n267" class="stm run hide_run"><a href="#n267">267</a></p>
+<p id="n268" class="pln"><a href="#n268">268</a></p>
+<p id="n269" class="stm run hide_run"><a href="#n269">269</a></p>
+<p id="n270" class="pln"><a href="#n270">270</a></p>
+<p id="n271" class="pln"><a href="#n271">271</a></p>
+<p id="n272" class="pln"><a href="#n272">272</a></p>
+<p id="n273" class="pln"><a href="#n273">273</a></p>
+<p id="n274" class="stm run hide_run"><a href="#n274">274</a></p>
+<p id="n275" class="pln"><a href="#n275">275</a></p>
+<p id="n276" class="pln"><a href="#n276">276</a></p>
+<p id="n277" class="stm run hide_run"><a href="#n277">277</a></p>
+<p id="n278" class="pln"><a href="#n278">278</a></p>
+<p id="n279" class="pln"><a href="#n279">279</a></p>
+<p id="n280" class="pln"><a href="#n280">280</a></p>
+<p id="n281" class="pln"><a href="#n281">281</a></p>
+<p id="n282" class="stm run hide_run"><a href="#n282">282</a></p>
+<p id="n283" class="pln"><a href="#n283">283</a></p>
+<p id="n284" class="pln"><a href="#n284">284</a></p>
+<p id="n285" class="pln"><a href="#n285">285</a></p>
+<p id="n286" class="pln"><a href="#n286">286</a></p>
+<p id="n287" class="pln"><a href="#n287">287</a></p>
+<p id="n288" class="pln"><a href="#n288">288</a></p>
+<p id="n289" class="pln"><a href="#n289">289</a></p>
+<p id="n290" class="stm run hide_run"><a href="#n290">290</a></p>
+<p id="n291" class="stm mis"><a href="#n291">291</a></p>
+<p id="n292" class="stm run hide_run"><a href="#n292">292</a></p>
+<p id="n293" class="stm mis"><a href="#n293">293</a></p>
+<p id="n294" class="stm run hide_run"><a href="#n294">294</a></p>
+<p id="n295" class="stm mis"><a href="#n295">295</a></p>
+<p id="n296" class="stm run hide_run"><a href="#n296">296</a></p>
+<p id="n297" class="stm run hide_run"><a href="#n297">297</a></p>
+<p id="n298" class="stm run hide_run"><a href="#n298">298</a></p>
+<p id="n299" class="stm run hide_run"><a href="#n299">299</a></p>
+<p id="n300" class="pln"><a href="#n300">300</a></p>
+<p id="n301" class="stm run hide_run"><a href="#n301">301</a></p>
+<p id="n302" class="pln"><a href="#n302">302</a></p>
+<p id="n303" class="pln"><a href="#n303">303</a></p>
+<p id="n304" class="pln"><a href="#n304">304</a></p>
+<p id="n305" class="pln"><a href="#n305">305</a></p>
+<p id="n306" class="pln"><a href="#n306">306</a></p>
+<p id="n307" class="stm run hide_run"><a href="#n307">307</a></p>
+<p id="n308" class="pln"><a href="#n308">308</a></p>
+<p id="n309" class="stm run hide_run"><a href="#n309">309</a></p>
+<p id="n310" class="pln"><a href="#n310">310</a></p>
+<p id="n311" class="pln"><a href="#n311">311</a></p>
+<p id="n312" class="pln"><a href="#n312">312</a></p>
+<p id="n313" class="pln"><a href="#n313">313</a></p>
+<p id="n314" class="pln"><a href="#n314">314</a></p>
+<p id="n315" class="stm run hide_run"><a href="#n315">315</a></p>
+<p id="n316" class="stm mis"><a href="#n316">316</a></p>
+<p id="n317" class="stm run hide_run"><a href="#n317">317</a></p>
+<p id="n318" class="pln"><a href="#n318">318</a></p>
+<p id="n319" class="stm run hide_run"><a href="#n319">319</a></p>
+<p id="n320" class="pln"><a href="#n320">320</a></p>
+<p id="n321" class="pln"><a href="#n321">321</a></p>
+<p id="n322" class="pln"><a href="#n322">322</a></p>
+<p id="n323" class="pln"><a href="#n323">323</a></p>
+<p id="n324" class="pln"><a href="#n324">324</a></p>
+<p id="n325" class="pln"><a href="#n325">325</a></p>
+<p id="n326" class="stm run hide_run"><a href="#n326">326</a></p>
+<p id="n327" class="pln"><a href="#n327">327</a></p>
+<p id="n328" class="stm run hide_run"><a href="#n328">328</a></p>
+<p id="n329" class="pln"><a href="#n329">329</a></p>
+<p id="n330" class="pln"><a href="#n330">330</a></p>
+<p id="n331" class="pln"><a href="#n331">331</a></p>
+<p id="n332" class="pln"><a href="#n332">332</a></p>
+<p id="n333" class="pln"><a href="#n333">333</a></p>
+<p id="n334" class="stm run hide_run"><a href="#n334">334</a></p>
+<p id="n335" class="stm mis"><a href="#n335">335</a></p>
+<p id="n336" class="stm run hide_run"><a href="#n336">336</a></p>
+<p id="n337" class="stm mis"><a href="#n337">337</a></p>
+<p id="n338" class="stm run hide_run"><a href="#n338">338</a></p>
+<p id="n339" class="pln"><a href="#n339">339</a></p>
+<p id="n340" class="stm run hide_run"><a href="#n340">340</a></p>
+<p id="n341" class="pln"><a href="#n341">341</a></p>
+<p id="n342" class="pln"><a href="#n342">342</a></p>
+<p id="n343" class="pln"><a href="#n343">343</a></p>
+<p id="n344" class="pln"><a href="#n344">344</a></p>
+<p id="n345" class="stm run hide_run"><a href="#n345">345</a></p>
+<p id="n346" class="stm run hide_run"><a href="#n346">346</a></p>
+<p id="n347" class="stm run hide_run"><a href="#n347">347</a></p>
+<p id="n348" class="stm run hide_run"><a href="#n348">348</a></p>
+<p id="n349" class="pln"><a href="#n349">349</a></p>
+<p id="n350" class="pln"><a href="#n350">350</a></p>
+<p id="n351" class="stm run hide_run"><a href="#n351">351</a></p>
+<p id="n352" class="pln"><a href="#n352">352</a></p>
+<p id="n353" class="pln"><a href="#n353">353</a></p>
+<p id="n354" class="pln"><a href="#n354">354</a></p>
+<p id="n355" class="pln"><a href="#n355">355</a></p>
+<p id="n356" class="stm run hide_run"><a href="#n356">356</a></p>
+<p id="n357" class="pln"><a href="#n357">357</a></p>
+<p id="n358" class="pln"><a href="#n358">358</a></p>
+<p id="n359" class="pln"><a href="#n359">359</a></p>
+<p id="n360" class="pln"><a href="#n360">360</a></p>
+<p id="n361" class="pln"><a href="#n361">361</a></p>
+<p id="n362" class="pln"><a href="#n362">362</a></p>
+<p id="n363" class="stm run hide_run"><a href="#n363">363</a></p>
+<p id="n364" class="stm mis"><a href="#n364">364</a></p>
+<p id="n365" class="stm run hide_run"><a href="#n365">365</a></p>
+<p id="n366" class="stm mis"><a href="#n366">366</a></p>
+<p id="n367" class="stm run hide_run"><a href="#n367">367</a></p>
+<p id="n368" class="stm mis"><a href="#n368">368</a></p>
+<p id="n369" class="stm run hide_run"><a href="#n369">369</a></p>
+<p id="n370" class="stm run hide_run"><a href="#n370">370</a></p>
+<p id="n371" class="stm run hide_run"><a href="#n371">371</a></p>
+<p id="n372" class="stm run hide_run"><a href="#n372">372</a></p>
+<p id="n373" class="pln"><a href="#n373">373</a></p>
+<p id="n374" class="stm run hide_run"><a href="#n374">374</a></p>
+<p id="n375" class="pln"><a href="#n375">375</a></p>
+<p id="n376" class="pln"><a href="#n376">376</a></p>
+<p id="n377" class="pln"><a href="#n377">377</a></p>
+<p id="n378" class="pln"><a href="#n378">378</a></p>
+<p id="n379" class="pln"><a href="#n379">379</a></p>
+<p id="n380" class="pln"><a href="#n380">380</a></p>
+<p id="n381" class="stm run hide_run"><a href="#n381">381</a></p>
+<p id="n382" class="pln"><a href="#n382">382</a></p>
+<p id="n383" class="stm run hide_run"><a href="#n383">383</a></p>
+<p id="n384" class="pln"><a href="#n384">384</a></p>
+<p id="n385" class="pln"><a href="#n385">385</a></p>
+<p id="n386" class="pln"><a href="#n386">386</a></p>
+<p id="n387" class="pln"><a href="#n387">387</a></p>
+<p id="n388" class="pln"><a href="#n388">388</a></p>
+<p id="n389" class="stm run hide_run"><a href="#n389">389</a></p>
+<p id="n390" class="stm mis"><a href="#n390">390</a></p>
+<p id="n391" class="stm run hide_run"><a href="#n391">391</a></p>
+<p id="n392" class="stm mis"><a href="#n392">392</a></p>
+<p id="n393" class="stm run hide_run"><a href="#n393">393</a></p>
+<p id="n394" class="pln"><a href="#n394">394</a></p>
+<p id="n395" class="stm run hide_run"><a href="#n395">395</a></p>
+<p id="n396" class="pln"><a href="#n396">396</a></p>
+<p id="n397" class="pln"><a href="#n397">397</a></p>
+<p id="n398" class="pln"><a href="#n398">398</a></p>
+<p id="n399" class="pln"><a href="#n399">399</a></p>
+<p id="n400" class="stm run hide_run"><a href="#n400">400</a></p>
+<p id="n401" class="stm run hide_run"><a href="#n401">401</a></p>
+<p id="n402" class="stm run hide_run"><a href="#n402">402</a></p>
+<p id="n403" class="stm run hide_run"><a href="#n403">403</a></p>
+<p id="n404" class="stm run hide_run"><a href="#n404">404</a></p>
+<p id="n405" class="stm run hide_run"><a href="#n405">405</a></p>
+<p id="n406" class="stm run hide_run"><a href="#n406">406</a></p>
+<p id="n407" class="pln"><a href="#n407">407</a></p>
+<p id="n408" class="pln"><a href="#n408">408</a></p>
+<p id="n409" class="stm run hide_run"><a href="#n409">409</a></p>
+<p id="n410" class="pln"><a href="#n410">410</a></p>
+<p id="n411" class="pln"><a href="#n411">411</a></p>
+<p id="n412" class="pln"><a href="#n412">412</a></p>
+<p id="n413" class="pln"><a href="#n413">413</a></p>
+<p id="n414" class="stm run hide_run"><a href="#n414">414</a></p>
+<p id="n415" class="pln"><a href="#n415">415</a></p>
+<p id="n416" class="pln"><a href="#n416">416</a></p>
+<p id="n417" class="pln"><a href="#n417">417</a></p>
+<p id="n418" class="pln"><a href="#n418">418</a></p>
+<p id="n419" class="pln"><a href="#n419">419</a></p>
+<p id="n420" class="stm mis"><a href="#n420">420</a></p>
+<p id="n421" class="stm mis"><a href="#n421">421</a></p>
+<p id="n422" class="stm mis"><a href="#n422">422</a></p>
+<p id="n423" class="stm mis"><a href="#n423">423</a></p>
+<p id="n424" class="stm mis"><a href="#n424">424</a></p>
+<p id="n425" class="stm mis"><a href="#n425">425</a></p>
+<p id="n426" class="stm mis"><a href="#n426">426</a></p>
+<p id="n427" class="stm mis"><a href="#n427">427</a></p>
+<p id="n428" class="stm mis"><a href="#n428">428</a></p>
+<p id="n429" class="stm mis"><a href="#n429">429</a></p>
+<p id="n430" class="stm mis"><a href="#n430">430</a></p>
+<p id="n431" class="pln"><a href="#n431">431</a></p>
+<p id="n432" class="stm run hide_run"><a href="#n432">432</a></p>
+<p id="n433" class="pln"><a href="#n433">433</a></p>
+<p id="n434" class="pln"><a href="#n434">434</a></p>
+<p id="n435" class="pln"><a href="#n435">435</a></p>
+<p id="n436" class="pln"><a href="#n436">436</a></p>
+<p id="n437" class="pln"><a href="#n437">437</a></p>
+<p id="n438" class="pln"><a href="#n438">438</a></p>
+<p id="n439" class="stm mis"><a href="#n439">439</a></p>
+<p id="n440" class="pln"><a href="#n440">440</a></p>
+<p id="n441" class="stm run hide_run"><a href="#n441">441</a></p>
+<p id="n442" class="pln"><a href="#n442">442</a></p>
+<p id="n443" class="pln"><a href="#n443">443</a></p>
+<p id="n444" class="pln"><a href="#n444">444</a></p>
+<p id="n445" class="pln"><a href="#n445">445</a></p>
+<p id="n446" class="pln"><a href="#n446">446</a></p>
+<p id="n447" class="stm mis"><a href="#n447">447</a></p>
+<p id="n448" class="stm mis"><a href="#n448">448</a></p>
+<p id="n449" class="stm mis"><a href="#n449">449</a></p>
+<p id="n450" class="stm mis"><a href="#n450">450</a></p>
+<p id="n451" class="stm mis"><a href="#n451">451</a></p>
+<p id="n452" class="pln"><a href="#n452">452</a></p>
+<p id="n453" class="stm run hide_run"><a href="#n453">453</a></p>
+<p id="n454" class="pln"><a href="#n454">454</a></p>
+<p id="n455" class="pln"><a href="#n455">455</a></p>
+<p id="n456" class="pln"><a href="#n456">456</a></p>
+<p id="n457" class="pln"><a href="#n457">457</a></p>
+<p id="n458" class="pln"><a href="#n458">458</a></p>
+<p id="n459" class="pln"><a href="#n459">459</a></p>
+<p id="n460" class="stm mis"><a href="#n460">460</a></p>
+<p id="n461" class="pln"><a href="#n461">461</a></p>
+<p id="n462" class="stm run hide_run"><a href="#n462">462</a></p>
+<p id="n463" class="pln"><a href="#n463">463</a></p>
+<p id="n464" class="pln"><a href="#n464">464</a></p>
+<p id="n465" class="pln"><a href="#n465">465</a></p>
+<p id="n466" class="pln"><a href="#n466">466</a></p>
+<p id="n467" class="pln"><a href="#n467">467</a></p>
+<p id="n468" class="stm mis"><a href="#n468">468</a></p>
+<p id="n469" class="stm mis"><a href="#n469">469</a></p>
+<p id="n470" class="stm mis"><a href="#n470">470</a></p>
+<p id="n471" class="stm mis"><a href="#n471">471</a></p>
+<p id="n472" class="stm mis"><a href="#n472">472</a></p>
+<p id="n473" class="pln"><a href="#n473">473</a></p>
+<p id="n474" class="stm run hide_run"><a href="#n474">474</a></p>
+<p id="n475" class="pln"><a href="#n475">475</a></p>
+<p id="n476" class="pln"><a href="#n476">476</a></p>
+<p id="n477" class="pln"><a href="#n477">477</a></p>
+<p id="n478" class="pln"><a href="#n478">478</a></p>
+<p id="n479" class="pln"><a href="#n479">479</a></p>
+<p id="n480" class="pln"><a href="#n480">480</a></p>
+<p id="n481" class="pln"><a href="#n481">481</a></p>
+<p id="n482" class="pln"><a href="#n482">482</a></p>
+<p id="n483" class="stm mis"><a href="#n483">483</a></p>
+<p id="n484" class="stm mis"><a href="#n484">484</a></p>
+<p id="n485" class="stm mis"><a href="#n485">485</a></p>
+<p id="n486" class="stm mis"><a href="#n486">486</a></p>
+<p id="n487" class="stm mis"><a href="#n487">487</a></p>
+<p id="n488" class="stm mis"><a href="#n488">488</a></p>
+<p id="n489" class="stm mis"><a href="#n489">489</a></p>
+<p id="n490" class="stm mis"><a href="#n490">490</a></p>
+<p id="n491" class="stm mis"><a href="#n491">491</a></p>
+<p id="n492" class="stm mis"><a href="#n492">492</a></p>
+<p id="n493" class="stm mis"><a href="#n493">493</a></p>
+<p id="n494" class="pln"><a href="#n494">494</a></p>
+<p id="n495" class="pln"><a href="#n495">495</a></p>
+<p id="n496" class="stm run hide_run"><a href="#n496">496</a></p>
+<p id="n497" class="pln"><a href="#n497">497</a></p>
+<p id="n498" class="pln"><a href="#n498">498</a></p>
+<p id="n499" class="pln"><a href="#n499">499</a></p>
+<p id="n500" class="pln"><a href="#n500">500</a></p>
+<p id="n501" class="stm run hide_run"><a href="#n501">501</a></p>
+<p id="n502" class="pln"><a href="#n502">502</a></p>
+<p id="n503" class="pln"><a href="#n503">503</a></p>
+<p id="n504" class="pln"><a href="#n504">504</a></p>
+<p id="n505" class="pln"><a href="#n505">505</a></p>
+<p id="n506" class="pln"><a href="#n506">506</a></p>
+<p id="n507" class="stm mis"><a href="#n507">507</a></p>
+<p id="n508" class="stm mis"><a href="#n508">508</a></p>
+<p id="n509" class="stm mis"><a href="#n509">509</a></p>
+<p id="n510" class="stm mis"><a href="#n510">510</a></p>
+<p id="n511" class="stm mis"><a href="#n511">511</a></p>
+<p id="n512" class="stm mis"><a href="#n512">512</a></p>
+<p id="n513" class="stm mis"><a href="#n513">513</a></p>
+<p id="n514" class="stm mis"><a href="#n514">514</a></p>
+<p id="n515" class="stm mis"><a href="#n515">515</a></p>
+<p id="n516" class="stm mis"><a href="#n516">516</a></p>
+<p id="n517" class="stm mis"><a href="#n517">517</a></p>
+<p id="n518" class="pln"><a href="#n518">518</a></p>
+<p id="n519" class="stm run hide_run"><a href="#n519">519</a></p>
+<p id="n520" class="pln"><a href="#n520">520</a></p>
+<p id="n521" class="pln"><a href="#n521">521</a></p>
+<p id="n522" class="pln"><a href="#n522">522</a></p>
+<p id="n523" class="pln"><a href="#n523">523</a></p>
+<p id="n524" class="pln"><a href="#n524">524</a></p>
+<p id="n525" class="pln"><a href="#n525">525</a></p>
+<p id="n526" class="stm mis"><a href="#n526">526</a></p>
+<p id="n527" class="pln"><a href="#n527">527</a></p>
+<p id="n528" class="stm run hide_run"><a href="#n528">528</a></p>
+<p id="n529" class="pln"><a href="#n529">529</a></p>
+<p id="n530" class="pln"><a href="#n530">530</a></p>
+<p id="n531" class="pln"><a href="#n531">531</a></p>
+<p id="n532" class="pln"><a href="#n532">532</a></p>
+<p id="n533" class="pln"><a href="#n533">533</a></p>
+<p id="n534" class="stm mis"><a href="#n534">534</a></p>
+<p id="n535" class="stm mis"><a href="#n535">535</a></p>
+<p id="n536" class="stm mis"><a href="#n536">536</a></p>
+<p id="n537" class="stm mis"><a href="#n537">537</a></p>
+<p id="n538" class="stm mis"><a href="#n538">538</a></p>
+<p id="n539" class="pln"><a href="#n539">539</a></p>
+<p id="n540" class="stm run hide_run"><a href="#n540">540</a></p>
+<p id="n541" class="pln"><a href="#n541">541</a></p>
+<p id="n542" class="pln"><a href="#n542">542</a></p>
+<p id="n543" class="pln"><a href="#n543">543</a></p>
+<p id="n544" class="pln"><a href="#n544">544</a></p>
+<p id="n545" class="pln"><a href="#n545">545</a></p>
+<p id="n546" class="pln"><a href="#n546">546</a></p>
+<p id="n547" class="stm mis"><a href="#n547">547</a></p>
+<p id="n548" class="pln"><a href="#n548">548</a></p>
+<p id="n549" class="stm run hide_run"><a href="#n549">549</a></p>
+<p id="n550" class="pln"><a href="#n550">550</a></p>
+<p id="n551" class="pln"><a href="#n551">551</a></p>
+<p id="n552" class="pln"><a href="#n552">552</a></p>
+<p id="n553" class="pln"><a href="#n553">553</a></p>
+<p id="n554" class="pln"><a href="#n554">554</a></p>
+<p id="n555" class="stm mis"><a href="#n555">555</a></p>
+<p id="n556" class="stm mis"><a href="#n556">556</a></p>
+<p id="n557" class="stm mis"><a href="#n557">557</a></p>
+<p id="n558" class="stm mis"><a href="#n558">558</a></p>
+<p id="n559" class="stm mis"><a href="#n559">559</a></p>
+<p id="n560" class="pln"><a href="#n560">560</a></p>
+<p id="n561" class="stm run hide_run"><a href="#n561">561</a></p>
+<p id="n562" class="pln"><a href="#n562">562</a></p>
+<p id="n563" class="pln"><a href="#n563">563</a></p>
+<p id="n564" class="pln"><a href="#n564">564</a></p>
+<p id="n565" class="pln"><a href="#n565">565</a></p>
+<p id="n566" class="pln"><a href="#n566">566</a></p>
+<p id="n567" class="pln"><a href="#n567">567</a></p>
+<p id="n568" class="pln"><a href="#n568">568</a></p>
+<p id="n569" class="pln"><a href="#n569">569</a></p>
+<p id="n570" class="stm mis"><a href="#n570">570</a></p>
+<p id="n571" class="stm mis"><a href="#n571">571</a></p>
+<p id="n572" class="stm mis"><a href="#n572">572</a></p>
+<p id="n573" class="stm mis"><a href="#n573">573</a></p>
+<p id="n574" class="stm mis"><a href="#n574">574</a></p>
+<p id="n575" class="stm mis"><a href="#n575">575</a></p>
+<p id="n576" class="stm mis"><a href="#n576">576</a></p>
+<p id="n577" class="stm mis"><a href="#n577">577</a></p>
+<p id="n578" class="stm mis"><a href="#n578">578</a></p>
+<p id="n579" class="stm mis"><a href="#n579">579</a></p>
+<p id="n580" class="stm mis"><a href="#n580">580</a></p>
+<p id="n581" class="stm mis"><a href="#n581">581</a></p>
+<p id="n582" class="pln"><a href="#n582">582</a></p>
+<p id="n583" class="stm mis"><a href="#n583">583</a></p>
+
+ </td>
+ <td class="text">
+<p id="t1" class="pln"><span class="str">"""</span><span class="strut"> </span></p>
+<p id="t2" class="pln"><span class="str">Motion code</span><span class="strut"> </span></p>
+<p id="t3" class="pln"><span class="str">"""</span><span class="strut"> </span></p>
+<p id="t4" class="stm run hide_run"><span class="key">from</span> <span class="nam">navipy</span><span class="op">.</span><span class="nam">scene</span> <span class="key">import</span> <span class="nam">__spherical_indeces__</span><span class="strut"> </span></p>
+<p id="t5" class="stm run hide_run"><span class="key">from</span> <span class="nam">navipy</span><span class="op">.</span><span class="nam">scene</span> <span class="key">import</span> <span class="nam">is_numeric_array</span><span class="strut"> </span></p>
+<p id="t6" class="stm run hide_run"><span class="key">from</span> <span class="nam">navipy</span><span class="op">.</span><span class="nam">maths</span><span class="op">.</span><span class="nam">homogeneous_transformations</span><span class="xx">\</span><span class="strut"> </span></p>
+<p id="t7" class="pln"> <span class="key">import</span> <span class="nam">compose_matrix</span><span class="strut"> </span></p>
+<p id="t8" class="stm run hide_run"><span class="key">from</span> <span class="nam">navipy</span><span class="op">.</span><span class="nam">maths</span><span class="op">.</span><span class="nam">coordinates</span><span class="xx">\</span><span class="strut"> </span></p>
+<p id="t9" class="pln"> <span class="key">import</span> <span class="nam">spherical_to_cartesian</span><span class="op">,</span> <span class="nam">cartesian_to_spherical_vectors</span><span class="strut"> </span></p>
+<p id="t10" class="stm run hide_run"><span class="key">import</span> <span class="nam">numpy</span> <span class="key">as</span> <span class="nam">np</span><span class="strut"> </span></p>
+<p id="t11" class="stm run hide_run"><span class="key">import</span> <span class="nam">pandas</span> <span class="key">as</span> <span class="nam">pd</span><span class="strut"> </span></p>
+<p id="t12" class="stm run hide_run"><span class="key">from</span> <span class="nam">navipy</span><span class="op">.</span><span class="nam">maths</span><span class="op">.</span><span class="nam">euler</span> <span class="key">import</span> <span class="nam">angular_velocity</span><span class="strut"> </span></p>
+<p id="t13" class="stm run hide_run"><span class="key">from</span> <span class="nam">navipy</span><span class="op">.</span><span class="nam">maths</span><span class="op">.</span><span class="nam">constants</span> <span class="key">import</span> <span class="nam">_AXES2TUPLE</span><span class="strut"> </span></p>
+<p id="t14" class="pln"><span class="strut"> </span></p>
+<p id="t15" class="pln"><span class="strut"> </span></p>
+<p id="t16" class="stm run hide_run"><span class="key">def</span> <span class="nam">_check_optic_flow_param</span><span class="op">(</span><span class="nam">viewing_directions</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t17" class="pln"> <span class="nam">velocity</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t18" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">velocity</span><span class="op">,</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">Series</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t19" class="stm mis"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="str">'velocity should be a pandas Series'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t20" class="stm run hide_run"> <span class="key">if</span> <span class="nam">velocity</span> <span class="key">is</span> <span class="key">None</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t21" class="stm mis"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="str">"velocity must not be None"</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t22" class="stm run hide_run"> <span class="key">if</span> <span class="nam">velocity</span><span class="op">.</span><span class="nam">empty</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t23" class="stm mis"> <span class="key">raise</span> <span class="nam">Exception</span><span class="op">(</span><span class="str">'velocity must not be empty'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t24" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">velocity</span><span class="op">.</span><span class="nam">index</span><span class="op">,</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">core</span><span class="op">.</span><span class="nam">index</span><span class="op">.</span><span class="nam">MultiIndex</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t25" class="stm mis"> <span class="key">raise</span> <span class="nam">Exception</span><span class="op">(</span><span class="str">'velocity must have a multiindex containing \</span><span class="strut"> </span></p>
+<p id="t26" class="pln"><span class="str"> the convention used'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t27" class="pln"><span class="strut"> </span></p>
+<p id="t28" class="stm run hide_run"> <span class="nam">index</span> <span class="op">=</span> <span class="nam">velocity</span><span class="op">.</span><span class="nam">index</span><span class="strut"> </span></p>
+<p id="t29" class="stm run hide_run"> <span class="nam">convention</span> <span class="op">=</span> <span class="nam">sorted</span><span class="op">(</span><span class="nam">index</span><span class="op">.</span><span class="nam">get_level_values</span><span class="op">(</span><span class="num">0</span><span class="op">)</span><span class="op">)</span><span class="op">[</span><span class="op">-</span><span class="num">1</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t30" class="stm run hide_run"> <span class="key">if</span> <span class="nam">convention</span> <span class="key">not</span> <span class="key">in</span> <span class="nam">_AXES2TUPLE</span><span class="op">.</span><span class="nam">keys</span><span class="op">(</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t31" class="stm mis"> <span class="nam">msg</span> <span class="op">=</span> <span class="str">"the chosen convention {} is not supported"</span><span class="strut"> </span></p>
+<p id="t32" class="stm mis"> <span class="nam">msg</span> <span class="op">=</span> <span class="nam">msg</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">convention</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t33" class="stm mis"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t34" class="stm run hide_run"> <span class="key">if</span> <span class="str">'x'</span> <span class="key">not</span> <span class="key">in</span> <span class="nam">velocity</span><span class="op">.</span><span class="nam">index</span><span class="op">.</span><span class="nam">get_level_values</span><span class="op">(</span><span class="num">1</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t35" class="stm mis"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="str">'missing index x'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t36" class="stm run hide_run"> <span class="key">if</span> <span class="str">'y'</span> <span class="key">not</span> <span class="key">in</span> <span class="nam">velocity</span><span class="op">.</span><span class="nam">index</span><span class="op">.</span><span class="nam">get_level_values</span><span class="op">(</span><span class="num">1</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t37" class="stm mis"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="str">'missing index y'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t38" class="stm run hide_run"> <span class="key">if</span> <span class="str">'z'</span> <span class="key">not</span> <span class="key">in</span> <span class="nam">velocity</span><span class="op">.</span><span class="nam">index</span><span class="op">.</span><span class="nam">get_level_values</span><span class="op">(</span><span class="num">1</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t39" class="stm mis"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="str">'missing index z'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t40" class="stm run hide_run"> <span class="key">if</span> <span class="str">'alpha_0'</span> <span class="key">not</span> <span class="key">in</span> <span class="nam">velocity</span><span class="op">.</span><span class="nam">index</span><span class="op">.</span><span class="nam">get_level_values</span><span class="op">(</span><span class="num">1</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t41" class="stm mis"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="str">'missing index alpha_0'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t42" class="stm run hide_run"> <span class="key">if</span> <span class="str">'alpha_1'</span> <span class="key">not</span> <span class="key">in</span> <span class="nam">velocity</span><span class="op">.</span><span class="nam">index</span><span class="op">.</span><span class="nam">get_level_values</span><span class="op">(</span><span class="num">1</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t43" class="stm mis"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="str">'missing index alpha_1'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t44" class="stm run hide_run"> <span class="key">if</span> <span class="str">'alpha_2'</span> <span class="key">not</span> <span class="key">in</span> <span class="nam">velocity</span><span class="op">.</span><span class="nam">index</span><span class="op">.</span><span class="nam">get_level_values</span><span class="op">(</span><span class="num">1</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t45" class="stm mis"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="str">'missing index alpha_2'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t46" class="stm run hide_run"> <span class="key">if</span> <span class="nam">np</span><span class="op">.</span><span class="nam">any</span><span class="op">(</span><span class="nam">pd</span><span class="op">.</span><span class="nam">isnull</span><span class="op">(</span><span class="nam">velocity</span><span class="op">)</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t47" class="stm mis"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="str">'velocity must not contain nan'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t48" class="stm run hide_run"> <span class="key">if</span> <span class="nam">viewing_directions</span> <span class="key">is</span> <span class="key">None</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t49" class="stm mis"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="str">"viewing direction must not be None"</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t50" class="stm run hide_run"> <span class="key">if</span> <span class="op">(</span><span class="key">not</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">viewing_directions</span><span class="op">,</span> <span class="nam">list</span><span class="op">)</span><span class="op">)</span> <span class="key">and</span><span class="xx">\</span><span class="strut"> </span></p>
+<p id="t51" class="pln"> <span class="op">(</span><span class="key">not</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">viewing_directions</span><span class="op">,</span> <span class="nam">np</span><span class="op">.</span><span class="nam">ndarray</span><span class="op">)</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t52" class="stm mis"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="str">"angels must be list or np.ndarray"</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t53" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="nam">is_numeric_array</span><span class="op">(</span><span class="nam">viewing_directions</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t54" class="stm mis"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="str">"viewing_direction must be of numerical type"</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t55" class="pln"><span class="strut"> </span></p>
+<p id="t56" class="stm run hide_run"> <span class="key">return</span> <span class="nam">index</span><span class="op">,</span> <span class="nam">convention</span><span class="strut"> </span></p>
+<p id="t57" class="pln"><span class="strut"> </span></p>
+<p id="t58" class="pln"><span class="strut"> </span></p>
+<p id="t59" class="stm run hide_run"><span class="key">def</span> <span class="nam">optic_flow_rotationonal</span><span class="op">(</span><span class="nam">viewing_directions</span><span class="op">,</span> <span class="nam">velocity</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t60" class="pln"> <span class="str">""" rotational optic flow</span><span class="strut"> </span></p>
+<p id="t61" class="pln"><span class="str"> :param viewing_directions: viewing direction of each pixel</span><span class="strut"> </span></p>
+<p id="t62" class="pln"><span class="str"> (azimuth,elevation)</span><span class="strut"> </span></p>
+<p id="t63" class="pln"><span class="str"> :param velocity: pandas series</span><span class="strut"> </span></p>
+<p id="t64" class="pln"><span class="str"> (x,y,z,alpha,beta,gamma,dx,dy,dz,dalpha,dbeta,dgamma)</span><span class="strut"> </span></p>
+<p id="t65" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t66" class="stm run hide_run"> <span class="nam">passindex</span><span class="op">,</span> <span class="nam">convention</span> <span class="op">=</span> <span class="nam">_check_optic_flow_param</span><span class="op">(</span><span class="nam">viewing_directions</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t67" class="pln"> <span class="nam">velocity</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t68" class="stm run hide_run"> <span class="nam">elevation</span> <span class="op">=</span> <span class="nam">viewing_directions</span><span class="op">[</span><span class="op">...</span><span class="op">,</span> <span class="nam">__spherical_indeces__</span><span class="op">[</span><span class="str">'elevation'</span><span class="op">]</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t69" class="stm run hide_run"> <span class="nam">azimuth</span> <span class="op">=</span> <span class="nam">viewing_directions</span><span class="op">[</span><span class="op">...</span><span class="op">,</span> <span class="nam">__spherical_indeces__</span><span class="op">[</span><span class="str">'azimuth'</span><span class="op">]</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t70" class="stm run hide_run"> <span class="nam">final_shape</span> <span class="op">=</span> <span class="nam">elevation</span><span class="op">.</span><span class="nam">shape</span><span class="strut"> </span></p>
+<p id="t71" class="stm run hide_run"> <span class="nam">elevation</span> <span class="op">=</span> <span class="nam">elevation</span><span class="op">.</span><span class="nam">flatten</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t72" class="stm run hide_run"> <span class="nam">azimuth</span> <span class="op">=</span> <span class="nam">azimuth</span><span class="op">.</span><span class="nam">flatten</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t73" class="pln"><span class="strut"> </span></p>
+<p id="t74" class="stm run hide_run"> <span class="nam">yaw</span> <span class="op">=</span> <span class="nam">velocity</span><span class="op">[</span><span class="nam">convention</span><span class="op">]</span><span class="op">[</span><span class="str">'alpha_0'</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t75" class="stm run hide_run"> <span class="nam">pitch</span> <span class="op">=</span> <span class="nam">velocity</span><span class="op">[</span><span class="nam">convention</span><span class="op">]</span><span class="op">[</span><span class="str">'alpha_1'</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t76" class="stm run hide_run"> <span class="nam">roll</span> <span class="op">=</span> <span class="nam">velocity</span><span class="op">[</span><span class="nam">convention</span><span class="op">]</span><span class="op">[</span><span class="str">'alpha_2'</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t77" class="stm run hide_run"> <span class="nam">dyaw</span> <span class="op">=</span> <span class="nam">velocity</span><span class="op">[</span><span class="nam">convention</span><span class="op">]</span><span class="op">[</span><span class="str">'dalpha_0'</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t78" class="stm run hide_run"> <span class="nam">dpitch</span> <span class="op">=</span> <span class="nam">velocity</span><span class="op">[</span><span class="nam">convention</span><span class="op">]</span><span class="op">[</span><span class="str">'dalpha_1'</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t79" class="stm run hide_run"> <span class="nam">droll</span> <span class="op">=</span> <span class="nam">velocity</span><span class="op">[</span><span class="nam">convention</span><span class="op">]</span><span class="op">[</span><span class="str">'dalpha_2'</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t80" class="pln"> <span class="com"># Check if rotation are not too large</span><span class="strut"> </span></p>
+<p id="t81" class="pln"> <span class="com"># because we assume small rotation</span><span class="strut"> </span></p>
+<p id="t82" class="pln"> <span class="com"># according to Koenderink van Dorn</span><span class="strut"> </span></p>
+<p id="t83" class="stm run hide_run"> <span class="key">if</span> <span class="op">(</span><span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">abs</span><span class="op">(</span><span class="nam">dyaw</span><span class="op">)</span> <span class="op">></span> <span class="nam">np</span><span class="op">.</span><span class="nam">pi</span><span class="op">/</span><span class="num">2</span> <span class="key">and</span> <span class="num">2</span><span class="op">*</span><span class="nam">np</span><span class="op">.</span><span class="nam">pi</span> <span class="op">-</span> <span class="nam">np</span><span class="op">.</span><span class="nam">abs</span><span class="op">(</span><span class="nam">dyaw</span><span class="op">)</span> <span class="op">></span> <span class="nam">np</span><span class="op">.</span><span class="nam">pi</span><span class="op">/</span><span class="num">2</span><span class="op">)</span> <span class="key">or</span><span class="strut"> </span></p>
+<p id="t84" class="pln"> <span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">abs</span><span class="op">(</span><span class="nam">dpitch</span><span class="op">)</span> <span class="op">></span> <span class="nam">np</span><span class="op">.</span><span class="nam">pi</span><span class="op">/</span><span class="num">2</span> <span class="key">and</span> <span class="num">2</span><span class="op">*</span><span class="nam">np</span><span class="op">.</span><span class="nam">pi</span> <span class="op">-</span> <span class="nam">np</span><span class="op">.</span><span class="nam">abs</span><span class="op">(</span><span class="nam">dpitch</span><span class="op">)</span> <span class="op">></span> <span class="nam">np</span><span class="op">.</span><span class="nam">pi</span><span class="op">/</span><span class="num">2</span><span class="op">)</span> <span class="key">or</span><span class="strut"> </span></p>
+<p id="t85" class="pln"> <span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">abs</span><span class="op">(</span><span class="nam">droll</span><span class="op">)</span> <span class="op">></span> <span class="nam">np</span><span class="op">.</span><span class="nam">pi</span><span class="op">/</span><span class="num">2</span> <span class="key">and</span> <span class="num">2</span><span class="op">*</span><span class="nam">np</span><span class="op">.</span><span class="nam">pi</span> <span class="op">-</span> <span class="nam">np</span><span class="op">.</span><span class="nam">abs</span><span class="op">(</span><span class="nam">droll</span><span class="op">)</span> <span class="op">></span> <span class="nam">np</span><span class="op">.</span><span class="nam">pi</span><span class="op">/</span><span class="num">2</span><span class="op">)</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t86" class="stm mis"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="str">'rotation exceeds 90°, computation aborted'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t87" class="pln"> <span class="com"># we init a matrix for rot</span><span class="strut"> </span></p>
+<p id="t88" class="stm run hide_run"> <span class="nam">rof</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">zeros_like</span><span class="op">(</span><span class="nam">elevation</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t89" class="stm run hide_run"> <span class="nam">hof</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">zeros_like</span><span class="op">(</span><span class="nam">rof</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t90" class="stm run hide_run"> <span class="nam">vof</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">zeros_like</span><span class="op">(</span><span class="nam">rof</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t91" class="pln"> <span class="com"># Calculate the angular velocities</span><span class="strut"> </span></p>
+<p id="t92" class="stm run hide_run"> <span class="nam">angvel</span> <span class="op">=</span> <span class="nam">angular_velocity</span><span class="op">(</span><span class="nam">yaw</span><span class="op">,</span> <span class="nam">pitch</span><span class="op">,</span> <span class="nam">roll</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t93" class="pln"> <span class="nam">dyaw</span><span class="op">,</span> <span class="nam">dpitch</span><span class="op">,</span> <span class="nam">droll</span><span class="op">,</span> <span class="nam">convention</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t94" class="stm run hide_run"> <span class="nam">M</span> <span class="op">=</span> <span class="nam">compose_matrix</span><span class="op">(</span><span class="nam">angles</span><span class="op">=</span><span class="op">[</span><span class="nam">yaw</span><span class="op">,</span> <span class="nam">pitch</span><span class="op">,</span> <span class="nam">roll</span><span class="op">]</span><span class="op">,</span> <span class="nam">translate</span><span class="op">=</span><span class="key">None</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t95" class="pln"> <span class="nam">perspective</span><span class="op">=</span><span class="key">None</span><span class="op">,</span> <span class="nam">axes</span><span class="op">=</span><span class="nam">convention</span><span class="op">)</span><span class="op">[</span><span class="op">:</span><span class="num">3</span><span class="op">,</span> <span class="op">:</span><span class="num">3</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t96" class="stm run hide_run"> <span class="nam">angvel_bee</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">dot</span><span class="op">(</span><span class="nam">M</span><span class="op">,</span> <span class="nam">angvel</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t97" class="pln"> <span class="com"># project it on the eye</span><span class="strut"> </span></p>
+<p id="t98" class="stm run hide_run"> <span class="key">for</span> <span class="nam">i</span><span class="op">,</span> <span class="op">(</span><span class="nam">a</span><span class="op">,</span> <span class="nam">e</span><span class="op">)</span> <span class="key">in</span> <span class="nam">enumerate</span><span class="op">(</span><span class="nam">zip</span><span class="op">(</span><span class="nam">azimuth</span><span class="op">,</span> <span class="nam">elevation</span><span class="op">)</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t99" class="pln"> <span class="com"># in the bee coordinate system</span><span class="strut"> </span></p>
+<p id="t100" class="stm run hide_run"> <span class="nam">spline</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">array</span><span class="op">(</span><span class="nam">spherical_to_cartesian</span><span class="op">(</span><span class="nam">e</span><span class="op">,</span> <span class="nam">a</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t101" class="stm run hide_run"> <span class="nam">opticFlowR</span> <span class="op">=</span> <span class="op">-</span><span class="nam">np</span><span class="op">.</span><span class="nam">cross</span><span class="op">(</span><span class="nam">angvel_bee</span><span class="op">,</span> <span class="nam">spline</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t102" class="pln"> <span class="com"># Decompose into el, az</span><span class="strut"> </span></p>
+<p id="t103" class="stm run hide_run"> <span class="op">(</span><span class="nam">OF_rho</span><span class="op">,</span> <span class="nam">OF_phi</span><span class="op">,</span> <span class="nam">OF_epsilon</span><span class="op">)</span> <span class="op">=</span> <span class="xx">\</span><span class="strut"> </span></p>
+<p id="t104" class="pln"> <span class="nam">cartesian_to_spherical_vectors</span><span class="op">(</span><span class="nam">opticFlowR</span><span class="op">,</span> <span class="op">[</span><span class="nam">a</span><span class="op">,</span> <span class="nam">e</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t105" class="stm run hide_run"> <span class="nam">rof</span><span class="op">[</span><span class="nam">i</span><span class="op">]</span> <span class="op">=</span> <span class="nam">OF_rho</span><span class="strut"> </span></p>
+<p id="t106" class="stm run hide_run"> <span class="nam">hof</span><span class="op">[</span><span class="nam">i</span><span class="op">]</span> <span class="op">=</span> <span class="nam">OF_phi</span><span class="strut"> </span></p>
+<p id="t107" class="stm run hide_run"> <span class="nam">vof</span><span class="op">[</span><span class="nam">i</span><span class="op">]</span> <span class="op">=</span> <span class="nam">OF_epsilon</span><span class="strut"> </span></p>
+<p id="t108" class="stm run hide_run"> <span class="nam">rof</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">reshape</span><span class="op">(</span><span class="nam">rof</span><span class="op">,</span> <span class="nam">final_shape</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t109" class="stm run hide_run"> <span class="nam">hof</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">reshape</span><span class="op">(</span><span class="nam">hof</span><span class="op">,</span> <span class="nam">final_shape</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t110" class="stm run hide_run"> <span class="nam">vof</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">reshape</span><span class="op">(</span><span class="nam">vof</span><span class="op">,</span> <span class="nam">final_shape</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t111" class="stm run hide_run"> <span class="key">return</span> <span class="nam">rof</span><span class="op">,</span> <span class="nam">hof</span><span class="op">,</span> <span class="nam">vof</span><span class="strut"> </span></p>
+<p id="t112" class="pln"><span class="strut"> </span></p>
+<p id="t113" class="pln"><span class="strut"> </span></p>
+<p id="t114" class="stm run hide_run"><span class="key">def</span> <span class="nam">optic_flow_translational</span><span class="op">(</span><span class="nam">distance</span><span class="op">,</span> <span class="nam">viewing_directions</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t115" class="pln"> <span class="nam">velocity</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t116" class="pln"> <span class="str">""" translational optic flow</span><span class="strut"> </span></p>
+<p id="t117" class="pln"><span class="str"> : param distance: distance to objects</span><span class="strut"> </span></p>
+<p id="t118" class="pln"><span class="str"> : param viewing_directions: viewing direction of each pixel</span><span class="strut"> </span></p>
+<p id="t119" class="pln"><span class="str"> (azimuth, elevation)</span><span class="strut"> </span></p>
+<p id="t120" class="pln"><span class="str"> : param velocity: pandas series</span><span class="strut"> </span></p>
+<p id="t121" class="pln"><span class="str"> (x, y, z, alpha, beta, gamma, dx,</span><span class="strut"> </span></p>
+<p id="t122" class="pln"><span class="str"> dy, dz, dalpha, dbeta, dgamma)</span><span class="strut"> </span></p>
+<p id="t123" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t124" class="stm run hide_run"> <span class="key">if</span> <span class="nam">np</span><span class="op">.</span><span class="nam">any</span><span class="op">(</span><span class="nam">distance</span><span class="op">.</span><span class="nam">shape</span> <span class="op">!=</span> <span class="nam">viewing_directions</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="op">:</span><span class="op">-</span><span class="num">1</span><span class="op">]</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t125" class="stm mis"> <span class="nam">msg</span> <span class="op">=</span> <span class="str">'distance and viewing_directions should have the same size'</span><span class="strut"> </span></p>
+<p id="t126" class="stm mis"> <span class="nam">msg</span> <span class="op">+=</span> <span class="str">'{} != {}'</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">distance</span><span class="op">.</span><span class="nam">shape</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t127" class="pln"> <span class="nam">viewing_directions</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="op">:</span><span class="op">-</span><span class="num">1</span><span class="op">]</span><span class="op">.</span><span class="nam">shape</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t128" class="stm mis"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t129" class="stm run hide_run"> <span class="nam">passindex</span><span class="op">,</span> <span class="nam">convention</span> <span class="op">=</span> <span class="nam">_check_optic_flow_param</span><span class="op">(</span><span class="nam">viewing_directions</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t130" class="pln"> <span class="nam">velocity</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t131" class="stm run hide_run"> <span class="nam">elevation</span> <span class="op">=</span> <span class="nam">viewing_directions</span><span class="op">[</span><span class="op">...</span><span class="op">,</span> <span class="nam">__spherical_indeces__</span><span class="op">[</span><span class="str">'elevation'</span><span class="op">]</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t132" class="stm run hide_run"> <span class="nam">azimuth</span> <span class="op">=</span> <span class="nam">viewing_directions</span><span class="op">[</span><span class="op">...</span><span class="op">,</span> <span class="nam">__spherical_indeces__</span><span class="op">[</span><span class="str">'azimuth'</span><span class="op">]</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t133" class="stm run hide_run"> <span class="nam">final_shape</span> <span class="op">=</span> <span class="nam">elevation</span><span class="op">.</span><span class="nam">shape</span><span class="strut"> </span></p>
+<p id="t134" class="stm run hide_run"> <span class="nam">elevation</span> <span class="op">=</span> <span class="nam">elevation</span><span class="op">.</span><span class="nam">flatten</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t135" class="stm run hide_run"> <span class="nam">azimuth</span> <span class="op">=</span> <span class="nam">azimuth</span><span class="op">.</span><span class="nam">flatten</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t136" class="stm run hide_run"> <span class="nam">yaw</span> <span class="op">=</span> <span class="nam">velocity</span><span class="op">[</span><span class="nam">convention</span><span class="op">]</span><span class="op">[</span><span class="str">'alpha_0'</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t137" class="stm run hide_run"> <span class="nam">pitch</span> <span class="op">=</span> <span class="nam">velocity</span><span class="op">[</span><span class="nam">convention</span><span class="op">]</span><span class="op">[</span><span class="str">'alpha_1'</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t138" class="stm run hide_run"> <span class="nam">roll</span> <span class="op">=</span> <span class="nam">velocity</span><span class="op">[</span><span class="nam">convention</span><span class="op">]</span><span class="op">[</span><span class="str">'alpha_2'</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t139" class="pln"> <span class="com"># optic flow depnd of distance</span><span class="strut"> </span></p>
+<p id="t140" class="stm run hide_run"> <span class="nam">distance</span> <span class="op">=</span> <span class="nam">distance</span><span class="op">.</span><span class="nam">copy</span><span class="op">(</span><span class="op">)</span><span class="op">.</span><span class="nam">flatten</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t141" class="stm run hide_run"> <span class="nam">distance</span><span class="op">[</span><span class="nam">distance</span> <span class="op">==</span> <span class="num">0</span><span class="op">]</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">nan</span> <span class="com"># Contact with object</span><span class="strut"> </span></p>
+<p id="t142" class="pln"> <span class="com"># and translational velocity</span><span class="strut"> </span></p>
+<p id="t143" class="pln"> <span class="com"># Express in the global coordinate system</span><span class="strut"> </span></p>
+<p id="t144" class="stm run hide_run"> <span class="nam">u</span> <span class="op">=</span> <span class="op">[</span><span class="nam">velocity</span><span class="op">[</span><span class="str">'location'</span><span class="op">]</span><span class="op">[</span><span class="str">'dx'</span><span class="op">]</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t145" class="pln"> <span class="nam">velocity</span><span class="op">[</span><span class="str">'location'</span><span class="op">]</span><span class="op">[</span><span class="str">'dy'</span><span class="op">]</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t146" class="pln"> <span class="nam">velocity</span><span class="op">[</span><span class="str">'location'</span><span class="op">]</span><span class="op">[</span><span class="str">'dz'</span><span class="op">]</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t147" class="stm run hide_run"> <span class="nam">v</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">linalg</span><span class="op">.</span><span class="nam">norm</span><span class="op">(</span><span class="nam">u</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t148" class="stm run hide_run"> <span class="key">if</span><span class="op">(</span><span class="nam">v</span> <span class="op">==</span> <span class="num">0</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t149" class="stm run hide_run"> <span class="nam">u</span> <span class="op">=</span> <span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="num">0</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t150" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t151" class="stm run hide_run"> <span class="nam">u</span> <span class="op">=</span> <span class="nam">u</span><span class="op">/</span><span class="nam">np</span><span class="op">.</span><span class="nam">linalg</span><span class="op">.</span><span class="nam">norm</span><span class="op">(</span><span class="nam">u</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t152" class="pln"> <span class="com"># we init a matrix for rot</span><span class="strut"> </span></p>
+<p id="t153" class="stm run hide_run"> <span class="nam">rof</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">zeros_like</span><span class="op">(</span><span class="nam">elevation</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t154" class="stm run hide_run"> <span class="nam">hof</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">zeros_like</span><span class="op">(</span><span class="nam">rof</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t155" class="stm run hide_run"> <span class="nam">vof</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">zeros_like</span><span class="op">(</span><span class="nam">rof</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t156" class="pln"> <span class="com"># transformation</span><span class="strut"> </span></p>
+<p id="t157" class="stm run hide_run"> <span class="nam">M</span> <span class="op">=</span> <span class="nam">compose_matrix</span><span class="op">(</span><span class="nam">angles</span><span class="op">=</span><span class="op">[</span><span class="nam">yaw</span><span class="op">,</span> <span class="nam">pitch</span><span class="op">,</span> <span class="nam">roll</span><span class="op">]</span><span class="op">,</span> <span class="nam">translate</span><span class="op">=</span><span class="key">None</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t158" class="pln"> <span class="nam">perspective</span><span class="op">=</span><span class="key">None</span><span class="op">,</span> <span class="nam">axes</span><span class="op">=</span><span class="nam">convention</span><span class="op">)</span><span class="op">[</span><span class="op">:</span><span class="num">3</span><span class="op">,</span> <span class="op">:</span><span class="num">3</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t159" class="stm run hide_run"> <span class="nam">u_bee</span> <span class="op">=</span> <span class="nam">M</span><span class="op">.</span><span class="nam">dot</span><span class="op">(</span><span class="nam">u</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t160" class="stm run hide_run"> <span class="key">for</span> <span class="nam">i</span><span class="op">,</span> <span class="op">(</span><span class="nam">a</span><span class="op">,</span> <span class="nam">e</span><span class="op">)</span> <span class="key">in</span> <span class="nam">enumerate</span><span class="op">(</span><span class="nam">zip</span><span class="op">(</span><span class="nam">azimuth</span><span class="op">,</span> <span class="nam">elevation</span><span class="op">)</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t161" class="pln"> <span class="com"># The spline express in the bee coordinate system</span><span class="strut"> </span></p>
+<p id="t162" class="stm run hide_run"> <span class="nam">spline</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">array</span><span class="op">(</span><span class="nam">spherical_to_cartesian</span><span class="op">(</span><span class="nam">e</span><span class="op">,</span> <span class="nam">a</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t163" class="pln"> <span class="com"># the Translation-part of the Optic Flow:</span><span class="strut"> </span></p>
+<p id="t164" class="stm run hide_run"> <span class="nam">dotvu</span> <span class="op">=</span> <span class="nam">v</span><span class="op">*</span><span class="nam">u_bee</span><span class="strut"> </span></p>
+<p id="t165" class="stm run hide_run"> <span class="nam">opticFlowT</span> <span class="op">=</span> <span class="op">-</span><span class="nam">np</span><span class="op">.</span><span class="nam">cross</span><span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">cross</span><span class="op">(</span><span class="nam">spline</span><span class="op">,</span> <span class="nam">dotvu</span><span class="op">)</span><span class="op">,</span> <span class="nam">spline</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t166" class="pln"> <span class="com"># Decompose into el, az</span><span class="strut"> </span></p>
+<p id="t167" class="stm run hide_run"> <span class="op">(</span><span class="nam">OF_rho</span><span class="op">,</span> <span class="nam">OF_phi</span><span class="op">,</span> <span class="nam">OF_epsilon</span><span class="op">)</span> <span class="op">=</span> <span class="xx">\</span><span class="strut"> </span></p>
+<p id="t168" class="pln"> <span class="nam">cartesian_to_spherical_vectors</span><span class="op">(</span><span class="nam">opticFlowT</span><span class="op">,</span> <span class="op">[</span><span class="nam">a</span><span class="op">,</span> <span class="nam">e</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t169" class="pln"><span class="strut"> </span></p>
+<p id="t170" class="stm run hide_run"> <span class="nam">rof</span><span class="op">[</span><span class="nam">i</span><span class="op">]</span> <span class="op">=</span> <span class="nam">OF_rho</span><span class="strut"> </span></p>
+<p id="t171" class="stm run hide_run"> <span class="nam">hof</span><span class="op">[</span><span class="nam">i</span><span class="op">]</span> <span class="op">=</span> <span class="nam">OF_phi</span><span class="strut"> </span></p>
+<p id="t172" class="stm run hide_run"> <span class="nam">vof</span><span class="op">[</span><span class="nam">i</span><span class="op">]</span> <span class="op">=</span> <span class="nam">OF_epsilon</span><span class="strut"> </span></p>
+<p id="t173" class="stm run hide_run"> <span class="nam">rof</span> <span class="op">/=</span> <span class="nam">distance</span><span class="strut"> </span></p>
+<p id="t174" class="stm run hide_run"> <span class="nam">hof</span> <span class="op">/=</span> <span class="nam">distance</span><span class="strut"> </span></p>
+<p id="t175" class="stm run hide_run"> <span class="nam">vof</span> <span class="op">/=</span> <span class="nam">distance</span><span class="strut"> </span></p>
+<p id="t176" class="stm run hide_run"> <span class="nam">rof</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">reshape</span><span class="op">(</span><span class="nam">rof</span><span class="op">,</span> <span class="nam">final_shape</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t177" class="stm run hide_run"> <span class="nam">hof</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">reshape</span><span class="op">(</span><span class="nam">hof</span><span class="op">,</span> <span class="nam">final_shape</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t178" class="stm run hide_run"> <span class="nam">vof</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">reshape</span><span class="op">(</span><span class="nam">vof</span><span class="op">,</span> <span class="nam">final_shape</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t179" class="stm run hide_run"> <span class="key">return</span> <span class="nam">rof</span><span class="op">,</span> <span class="nam">hof</span><span class="op">,</span> <span class="nam">vof</span><span class="strut"> </span></p>
+<p id="t180" class="pln"><span class="strut"> </span></p>
+<p id="t181" class="pln"><span class="strut"> </span></p>
+<p id="t182" class="stm run hide_run"><span class="key">def</span> <span class="nam">optic_flow</span><span class="op">(</span><span class="nam">distance</span><span class="op">,</span> <span class="nam">viewing_directions</span><span class="op">,</span> <span class="nam">velocity</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t183" class="pln"> <span class="str">""" optic flow</span><span class="strut"> </span></p>
+<p id="t184" class="pln"><span class="str"> : param distance: distance to surrounding objects</span><span class="strut"> </span></p>
+<p id="t185" class="pln"><span class="str"> : param viewing_directions: viewing direction of each pixel</span><span class="strut"> </span></p>
+<p id="t186" class="pln"><span class="str"> (azimuth, elevation)</span><span class="strut"> </span></p>
+<p id="t187" class="pln"><span class="str"> : param velocity: pandas series</span><span class="strut"> </span></p>
+<p id="t188" class="pln"><span class="str"> (x, y, z, alpha, beta, gamma, dx,</span><span class="strut"> </span></p>
+<p id="t189" class="pln"><span class="str"> dy, dz, dalpha, dbeta, dgamma)</span><span class="strut"> </span></p>
+<p id="t190" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t191" class="stm run hide_run"> <span class="nam">rofr</span><span class="op">,</span> <span class="nam">hofr</span><span class="op">,</span> <span class="nam">vofr</span> <span class="op">=</span> <span class="nam">optic_flow_rotationonal</span><span class="op">(</span><span class="nam">viewing_directions</span><span class="op">,</span> <span class="nam">velocity</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t192" class="stm run hide_run"> <span class="nam">roft</span><span class="op">,</span> <span class="nam">hoft</span><span class="op">,</span> <span class="nam">voft</span> <span class="op">=</span> <span class="nam">optic_flow_translational</span><span class="op">(</span><span class="nam">distance</span><span class="op">,</span> <span class="nam">viewing_directions</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t193" class="pln"> <span class="nam">velocity</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t194" class="stm run hide_run"> <span class="key">return</span> <span class="nam">rofr</span><span class="op">+</span><span class="nam">roft</span><span class="op">,</span> <span class="nam">hofr</span><span class="op">+</span><span class="nam">hoft</span><span class="op">,</span> <span class="nam">vofr</span><span class="op">+</span><span class="nam">voft</span><span class="strut"> </span></p>
+<p id="t195" class="pln"><span class="strut"> </span></p>
+<p id="t196" class="pln"><span class="strut"> </span></p>
+<p id="t197" class="stm run hide_run"><span class="key">class</span> <span class="nam">Module</span><span class="op">(</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t198" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t199" class="pln"><span class="str"> This class represents a Module that functions as a storage</span><span class="strut"> </span></p>
+<p id="t200" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t201" class="pln"><span class="strut"> </span></p>
+<p id="t202" class="stm run hide_run"> <span class="key">def</span> <span class="nam">__init__</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span> <span class="nam">size</span><span class="op">=</span><span class="op">(</span><span class="num">180</span><span class="op">,</span> <span class="num">360</span><span class="op">)</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t203" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t204" class="pln"><span class="str"> initializes the storage as an np.ndarray containing zeros</span><span class="strut"> </span></p>
+<p id="t205" class="pln"><span class="str"> of size size</span><span class="strut"> </span></p>
+<p id="t206" class="pln"><span class="str"> : param size: the tupel containing the size of the</span><span class="strut"> </span></p>
+<p id="t207" class="pln"><span class="str"> storage(Input)</span><span class="strut"> </span></p>
+<p id="t208" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t209" class="stm run hide_run"> <span class="key">if</span> <span class="nam">size</span> <span class="key">is</span> <span class="key">None</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t210" class="stm mis"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="str">"size must not be None"</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t211" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">size</span><span class="op">,</span> <span class="nam">tuple</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t212" class="stm mis"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="str">"size must be a tuple"</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t213" class="stm run hide_run"> <span class="key">if</span> <span class="nam">len</span><span class="op">(</span><span class="nam">size</span><span class="op">)</span> <span class="op"><</span> <span class="num">2</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t214" class="stm mis"> <span class="key">raise</span> <span class="nam">Exception</span><span class="op">(</span><span class="str">"length of size must at least be two"</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t215" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">size</span> <span class="op">=</span> <span class="nam">size</span><span class="strut"> </span></p>
+<p id="t216" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">Input</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">zeros</span><span class="op">(</span><span class="nam">size</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t217" class="pln"><span class="strut"> </span></p>
+<p id="t218" class="stm run hide_run"> <span class="op">@</span><span class="nam">property</span><span class="strut"> </span></p>
+<p id="t219" class="pln"> <span class="key">def</span> <span class="nam">size</span><span class="op">(</span><span class="nam">self</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t220" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t221" class="pln"><span class="str"> getter for the the size field</span><span class="strut"> </span></p>
+<p id="t222" class="pln"><span class="str"> : returns size: size of the Input field</span><span class="strut"> </span></p>
+<p id="t223" class="pln"><span class="str"> : rtype tuple</span><span class="strut"> </span></p>
+<p id="t224" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t225" class="stm run hide_run"> <span class="key">return</span> <span class="nam">self</span><span class="op">.</span><span class="nam">__size</span><span class="strut"> </span></p>
+<p id="t226" class="pln"><span class="strut"> </span></p>
+<p id="t227" class="stm run hide_run"> <span class="op">@</span><span class="nam">size</span><span class="op">.</span><span class="nam">setter</span><span class="strut"> </span></p>
+<p id="t228" class="pln"> <span class="key">def</span> <span class="nam">size</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span> <span class="nam">size</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t229" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t230" class="pln"><span class="str"> setter for the size of the storage</span><span class="strut"> </span></p>
+<p id="t231" class="pln"><span class="str"> : param size: tuple that contains the size of the storage</span><span class="strut"> </span></p>
+<p id="t232" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t233" class="stm run hide_run"> <span class="key">if</span> <span class="nam">size</span> <span class="key">is</span> <span class="key">None</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t234" class="stm mis"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="str">"size must not be None"</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t235" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">size</span><span class="op">,</span> <span class="nam">tuple</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t236" class="stm mis"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="str">"size must be a tuple"</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t237" class="stm run hide_run"> <span class="key">if</span> <span class="nam">len</span><span class="op">(</span><span class="nam">size</span><span class="op">)</span> <span class="op"><</span> <span class="num">2</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t238" class="stm mis"> <span class="key">raise</span> <span class="nam">Exception</span><span class="op">(</span><span class="str">"length of size must at least be two"</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t239" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">__size</span> <span class="op">=</span> <span class="nam">size</span><span class="strut"> </span></p>
+<p id="t240" class="pln"><span class="strut"> </span></p>
+<p id="t241" class="stm run hide_run"> <span class="op">@</span><span class="nam">property</span><span class="strut"> </span></p>
+<p id="t242" class="pln"> <span class="key">def</span> <span class="nam">Input</span><span class="op">(</span><span class="nam">self</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t243" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t244" class="pln"><span class="str"> getter for the Input field</span><span class="strut"> </span></p>
+<p id="t245" class="pln"><span class="str"> : returns Input</span><span class="strut"> </span></p>
+<p id="t246" class="pln"><span class="str"> : rtype np.ndarray</span><span class="strut"> </span></p>
+<p id="t247" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t248" class="stm run hide_run"> <span class="key">return</span> <span class="nam">self</span><span class="op">.</span><span class="nam">__Input</span><span class="strut"> </span></p>
+<p id="t249" class="pln"><span class="strut"> </span></p>
+<p id="t250" class="stm run hide_run"> <span class="op">@</span><span class="nam">Input</span><span class="op">.</span><span class="nam">setter</span><span class="strut"> </span></p>
+<p id="t251" class="pln"> <span class="key">def</span> <span class="nam">Input</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span> <span class="nam">Input</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t252" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t253" class="pln"><span class="str"> setter for the Input field, automaticaly sets the</span><span class="strut"> </span></p>
+<p id="t254" class="pln"><span class="str"> the size field to the shape of the Input</span><span class="strut"> </span></p>
+<p id="t255" class="pln"><span class="str"> : param Input</span><span class="strut"> </span></p>
+<p id="t256" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t257" class="stm run hide_run"> <span class="key">if</span> <span class="nam">Input</span> <span class="key">is</span> <span class="key">None</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t258" class="stm mis"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="str">"Input must not be None"</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t259" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">Input</span><span class="op">,</span> <span class="nam">np</span><span class="op">.</span><span class="nam">ndarray</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t260" class="stm mis"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="str">"Input must be np array"</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t261" class="stm run hide_run"> <span class="key">if</span> <span class="nam">len</span><span class="op">(</span><span class="nam">Input</span><span class="op">.</span><span class="nam">shape</span><span class="op">)</span> <span class="op"><</span> <span class="num">2</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t262" class="stm mis"> <span class="key">raise</span> <span class="nam">Exception</span><span class="op">(</span><span class="str">"Input must have at least 2 dimensions"</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t263" class="stm run hide_run"> <span class="key">if</span> <span class="op">(</span><span class="nam">Input</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">0</span><span class="op">]</span> <span class="op"><</span> <span class="num">1</span><span class="op">)</span> <span class="key">and</span> <span class="op">(</span><span class="nam">Input</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">1</span><span class="op">]</span> <span class="op"><</span> <span class="num">1</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t264" class="stm mis"> <span class="key">raise</span> <span class="nam">Exception</span><span class="op">(</span><span class="str">"Each dimension of the Input\</span><span class="strut"> </span></p>
+<p id="t265" class="pln"><span class="str"> must have at least be of size one"</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t266" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">__Input</span> <span class="op">=</span> <span class="nam">Input</span><span class="strut"> </span></p>
+<p id="t267" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">size</span> <span class="op">=</span> <span class="nam">Input</span><span class="op">.</span><span class="nam">shape</span><span class="strut"> </span></p>
+<p id="t268" class="pln"><span class="strut"> </span></p>
+<p id="t269" class="stm run hide_run"> <span class="key">def</span> <span class="nam">update</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t270" class="pln"> <span class="str">""""</span><span class="strut"> </span></p>
+<p id="t271" class="pln"><span class="str"> update function can be implemented for</span><span class="strut"> </span></p>
+<p id="t272" class="pln"><span class="str"> inheriting classes</span><span class="strut"> </span></p>
+<p id="t273" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t274" class="stm run hide_run"> <span class="key">pass</span><span class="strut"> </span></p>
+<p id="t275" class="pln"><span class="strut"> </span></p>
+<p id="t276" class="pln"><span class="strut"> </span></p>
+<p id="t277" class="stm run hide_run"><span class="key">class</span> <span class="nam">lp</span><span class="op">(</span><span class="nam">Module</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t278" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t279" class="pln"><span class="str"> Implementation of a low pass filter</span><span class="strut"> </span></p>
+<p id="t280" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t281" class="pln"><span class="strut"> </span></p>
+<p id="t282" class="stm run hide_run"> <span class="key">def</span> <span class="nam">__init__</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span> <span class="nam">tau</span><span class="op">,</span> <span class="nam">inM</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t283" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t284" class="pln"><span class="str"> Initializes the lowpass filter, the size of the output is</span><span class="strut"> </span></p>
+<p id="t285" class="pln"><span class="str"> set to the size of the input signal(inM)</span><span class="strut"> </span></p>
+<p id="t286" class="pln"><span class="str"> : param tau: time constant of the filter</span><span class="strut"> </span></p>
+<p id="t287" class="pln"><span class="str"> : param freq: cut off frequence of the filter</span><span class="strut"> </span></p>
+<p id="t288" class="pln"><span class="str"> : param inM: Module that stores and represents the input signal</span><span class="strut"> </span></p>
+<p id="t289" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t290" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">tau</span><span class="op">,</span> <span class="nam">float</span><span class="op">)</span> <span class="key">and</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">tau</span><span class="op">,</span> <span class="nam">int</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t291" class="stm mis"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="str">"tau must be of type float or integer"</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t292" class="stm run hide_run"> <span class="key">if</span> <span class="nam">inM</span> <span class="key">is</span> <span class="key">None</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t293" class="stm mis"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="str">"input Module must not be None"</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t294" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">inM</span><span class="op">,</span> <span class="nam">Module</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t295" class="stm mis"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="str">"input Module must be of type Module"</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t296" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">size</span> <span class="op">=</span> <span class="nam">inM</span><span class="op">.</span><span class="nam">size</span><span class="strut"> </span></p>
+<p id="t297" class="stm run hide_run"> <span class="nam">Module</span><span class="op">.</span><span class="nam">__init__</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span> <span class="nam">self</span><span class="op">.</span><span class="nam">size</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t298" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">inM</span> <span class="op">=</span> <span class="nam">inM</span><span class="strut"> </span></p>
+<p id="t299" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">itau</span> <span class="op">=</span> <span class="nam">tau</span><span class="strut"> </span></p>
+<p id="t300" class="pln"><span class="strut"> </span></p>
+<p id="t301" class="stm run hide_run"> <span class="op">@</span><span class="nam">property</span><span class="strut"> </span></p>
+<p id="t302" class="pln"> <span class="key">def</span> <span class="nam">itau</span><span class="op">(</span><span class="nam">self</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t303" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t304" class="pln"><span class="str"> getter of the time constant which is</span><span class="strut"> </span></p>
+<p id="t305" class="pln"><span class="str"> calculated by 1000/(tau*freq)</span><span class="strut"> </span></p>
+<p id="t306" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t307" class="stm run hide_run"> <span class="key">return</span> <span class="nam">self</span><span class="op">.</span><span class="nam">__itau</span><span class="strut"> </span></p>
+<p id="t308" class="pln"><span class="strut"> </span></p>
+<p id="t309" class="stm run hide_run"> <span class="op">@</span><span class="nam">itau</span><span class="op">.</span><span class="nam">setter</span><span class="strut"> </span></p>
+<p id="t310" class="pln"> <span class="key">def</span> <span class="nam">itau</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span> <span class="nam">itau</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t311" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t312" class="pln"><span class="str"> setter of the time constant</span><span class="strut"> </span></p>
+<p id="t313" class="pln"><span class="str"> : param itau: time constant</span><span class="strut"> </span></p>
+<p id="t314" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t315" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">itau</span><span class="op">,</span> <span class="nam">float</span><span class="op">)</span> <span class="key">and</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">itau</span><span class="op">,</span> <span class="nam">int</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t316" class="stm mis"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="str">"itau must be of type float or integer"</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t317" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">__itau</span> <span class="op">=</span> <span class="nam">itau</span><span class="strut"> </span></p>
+<p id="t318" class="pln"><span class="strut"> </span></p>
+<p id="t319" class="stm run hide_run"> <span class="op">@</span><span class="nam">property</span><span class="strut"> </span></p>
+<p id="t320" class="pln"> <span class="key">def</span> <span class="nam">inM</span><span class="op">(</span><span class="nam">self</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t321" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t322" class="pln"><span class="str"> setter of the input Module</span><span class="strut"> </span></p>
+<p id="t323" class="pln"><span class="str"> : returns inM</span><span class="strut"> </span></p>
+<p id="t324" class="pln"><span class="str"> : rtype Module</span><span class="strut"> </span></p>
+<p id="t325" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t326" class="stm run hide_run"> <span class="key">return</span> <span class="nam">self</span><span class="op">.</span><span class="nam">__inM</span><span class="strut"> </span></p>
+<p id="t327" class="pln"><span class="strut"> </span></p>
+<p id="t328" class="stm run hide_run"> <span class="op">@</span><span class="nam">inM</span><span class="op">.</span><span class="nam">setter</span><span class="strut"> </span></p>
+<p id="t329" class="pln"> <span class="key">def</span> <span class="nam">inM</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span> <span class="nam">inM</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t330" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t331" class="pln"><span class="str"> setter of the input Module</span><span class="strut"> </span></p>
+<p id="t332" class="pln"><span class="str"> : param inM</span><span class="strut"> </span></p>
+<p id="t333" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t334" class="stm run hide_run"> <span class="key">if</span> <span class="nam">inM</span> <span class="key">is</span> <span class="key">None</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t335" class="stm mis"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="str">"input Module must not be None"</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t336" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">inM</span><span class="op">,</span> <span class="nam">Module</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t337" class="stm mis"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="str">"input Module must be of type Module"</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t338" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">__inM</span> <span class="op">=</span> <span class="nam">inM</span><span class="strut"> </span></p>
+<p id="t339" class="pln"><span class="strut"> </span></p>
+<p id="t340" class="stm run hide_run"> <span class="key">def</span> <span class="nam">update</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t341" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t342" class="pln"><span class="str"> update functions, updates the filtered signal for the</span><span class="strut"> </span></p>
+<p id="t343" class="pln"><span class="str"> the current input signal. out_t+1 += tau*(input-out_t)</span><span class="strut"> </span></p>
+<p id="t344" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t345" class="stm run hide_run"> <span class="nam">In</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">inM</span><span class="op">.</span><span class="nam">Input</span><span class="strut"> </span></p>
+<p id="t346" class="stm run hide_run"> <span class="key">for</span> <span class="nam">i</span> <span class="key">in</span> <span class="nam">range</span><span class="op">(</span><span class="nam">self</span><span class="op">.</span><span class="nam">size</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t347" class="stm run hide_run"> <span class="key">for</span> <span class="nam">j</span> <span class="key">in</span> <span class="nam">range</span><span class="op">(</span><span class="nam">self</span><span class="op">.</span><span class="nam">size</span><span class="op">[</span><span class="num">1</span><span class="op">]</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t348" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">Input</span><span class="op">[</span><span class="nam">i</span><span class="op">,</span> <span class="nam">j</span><span class="op">]</span> <span class="op">+=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">itau</span><span class="op">*</span><span class="op">(</span><span class="nam">In</span><span class="op">[</span><span class="nam">i</span><span class="op">,</span> <span class="nam">j</span><span class="op">]</span><span class="op">-</span><span class="nam">self</span><span class="op">.</span><span class="nam">Input</span><span class="op">[</span><span class="nam">i</span><span class="op">,</span> <span class="nam">j</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t349" class="pln"><span class="strut"> </span></p>
+<p id="t350" class="pln"><span class="strut"> </span></p>
+<p id="t351" class="stm run hide_run"><span class="key">class</span> <span class="nam">hp</span><span class="op">(</span><span class="nam">Module</span><span class="op">)</span><span class="op">:</span> <span class="com"># for second order just take hp for inM</span><span class="strut"> </span></p>
+<p id="t352" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t353" class="pln"><span class="str"> Implements a high pass filter</span><span class="strut"> </span></p>
+<p id="t354" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t355" class="pln"><span class="strut"> </span></p>
+<p id="t356" class="stm run hide_run"> <span class="key">def</span> <span class="nam">__init__</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span> <span class="nam">tau</span><span class="op">,</span> <span class="nam">inM</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t357" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t358" class="pln"><span class="str"> Initializes the high pass filter</span><span class="strut"> </span></p>
+<p id="t359" class="pln"><span class="str"> : param tau: time constant</span><span class="strut"> </span></p>
+<p id="t360" class="pln"><span class="str"> : param freq: cut off frequency</span><span class="strut"> </span></p>
+<p id="t361" class="pln"><span class="str"> : param inM: Module that stores the input signal</span><span class="strut"> </span></p>
+<p id="t362" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t363" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">tau</span><span class="op">,</span> <span class="nam">float</span><span class="op">)</span> <span class="key">and</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">tau</span><span class="op">,</span> <span class="nam">int</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t364" class="stm mis"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="str">"tau must be of type float or integer"</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t365" class="stm run hide_run"> <span class="key">if</span> <span class="nam">inM</span> <span class="key">is</span> <span class="key">None</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t366" class="stm mis"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="str">"input Module must not be None"</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t367" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">inM</span><span class="op">,</span> <span class="nam">Module</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t368" class="stm mis"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="str">"input Module must be of type Module"</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t369" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">size</span> <span class="op">=</span> <span class="nam">inM</span><span class="op">.</span><span class="nam">size</span><span class="strut"> </span></p>
+<p id="t370" class="stm run hide_run"> <span class="nam">Module</span><span class="op">.</span><span class="nam">__init__</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span> <span class="nam">self</span><span class="op">.</span><span class="nam">size</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t371" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">inM</span> <span class="op">=</span> <span class="nam">inM</span><span class="strut"> </span></p>
+<p id="t372" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">lowpass</span> <span class="op">=</span> <span class="nam">lp</span><span class="op">(</span><span class="nam">tau</span><span class="op">,</span> <span class="nam">inM</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t373" class="pln"><span class="strut"> </span></p>
+<p id="t374" class="stm run hide_run"> <span class="op">@</span><span class="nam">property</span><span class="strut"> </span></p>
+<p id="t375" class="pln"> <span class="key">def</span> <span class="nam">inM</span><span class="op">(</span><span class="nam">self</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t376" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t377" class="pln"><span class="str"> getter for the input Module</span><span class="strut"> </span></p>
+<p id="t378" class="pln"><span class="str"> : returns inM</span><span class="strut"> </span></p>
+<p id="t379" class="pln"><span class="str"> : rtype Module</span><span class="strut"> </span></p>
+<p id="t380" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t381" class="stm run hide_run"> <span class="key">return</span> <span class="nam">self</span><span class="op">.</span><span class="nam">__inM</span><span class="strut"> </span></p>
+<p id="t382" class="pln"><span class="strut"> </span></p>
+<p id="t383" class="stm run hide_run"> <span class="op">@</span><span class="nam">inM</span><span class="op">.</span><span class="nam">setter</span><span class="strut"> </span></p>
+<p id="t384" class="pln"> <span class="key">def</span> <span class="nam">inM</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span> <span class="nam">inM</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t385" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t386" class="pln"><span class="str"> setter for the input Module</span><span class="strut"> </span></p>
+<p id="t387" class="pln"><span class="str"> : param inM: input Module for the input signal</span><span class="strut"> </span></p>
+<p id="t388" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t389" class="stm run hide_run"> <span class="key">if</span> <span class="nam">inM</span> <span class="key">is</span> <span class="key">None</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t390" class="stm mis"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="str">"input Module must not be None"</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t391" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">inM</span><span class="op">,</span> <span class="nam">Module</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t392" class="stm mis"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="str">"input Module must be of type Module"</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t393" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">__inM</span> <span class="op">=</span> <span class="nam">inM</span><span class="strut"> </span></p>
+<p id="t394" class="pln"><span class="strut"> </span></p>
+<p id="t395" class="stm run hide_run"> <span class="key">def</span> <span class="nam">update</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t396" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t397" class="pln"><span class="str"> updates the output signal with the current input signal</span><span class="strut"> </span></p>
+<p id="t398" class="pln"><span class="str"> out_t+1 = Input-lowpass(Input)</span><span class="strut"> </span></p>
+<p id="t399" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t400" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">inM</span><span class="op">.</span><span class="nam">update</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t401" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">lowpass</span><span class="op">.</span><span class="nam">update</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t402" class="stm run hide_run"> <span class="nam">lpOut</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">lowpass</span><span class="op">.</span><span class="nam">Input</span><span class="strut"> </span></p>
+<p id="t403" class="stm run hide_run"> <span class="nam">In</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">inM</span><span class="op">.</span><span class="nam">Input</span><span class="strut"> </span></p>
+<p id="t404" class="stm run hide_run"> <span class="key">for</span> <span class="nam">i</span> <span class="key">in</span> <span class="nam">range</span><span class="op">(</span><span class="nam">self</span><span class="op">.</span><span class="nam">size</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t405" class="stm run hide_run"> <span class="key">for</span> <span class="nam">j</span> <span class="key">in</span> <span class="nam">range</span><span class="op">(</span><span class="nam">self</span><span class="op">.</span><span class="nam">size</span><span class="op">[</span><span class="num">1</span><span class="op">]</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t406" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">Input</span><span class="op">[</span><span class="nam">i</span><span class="op">,</span> <span class="nam">j</span><span class="op">]</span> <span class="op">=</span> <span class="op">(</span><span class="nam">In</span><span class="op">[</span><span class="nam">i</span><span class="op">,</span> <span class="nam">j</span><span class="op">]</span><span class="op">-</span><span class="nam">lpOut</span><span class="op">[</span><span class="nam">i</span><span class="op">,</span> <span class="nam">j</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t407" class="pln"><span class="strut"> </span></p>
+<p id="t408" class="pln"><span class="strut"> </span></p>
+<p id="t409" class="stm run hide_run"><span class="key">class</span> <span class="nam">mul</span><span class="op">(</span><span class="nam">Module</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t410" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t411" class="pln"><span class="str"> Implements the multiplication of two Modules</span><span class="strut"> </span></p>
+<p id="t412" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t413" class="pln"><span class="strut"> </span></p>
+<p id="t414" class="stm run hide_run"> <span class="key">def</span> <span class="nam">__init__</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span> <span class="nam">inM1</span><span class="op">,</span> <span class="nam">inM2</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t415" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t416" class="pln"><span class="str"> Initializes the multiplication module</span><span class="strut"> </span></p>
+<p id="t417" class="pln"><span class="str"> : param inM1: first input Module</span><span class="strut"> </span></p>
+<p id="t418" class="pln"><span class="str"> : param inM2: second input Module</span><span class="strut"> </span></p>
+<p id="t419" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t420" class="stm mis"> <span class="key">if</span> <span class="nam">inM1</span> <span class="key">is</span> <span class="key">None</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t421" class="stm mis"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="str">"input Module must not be None"</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t422" class="stm mis"> <span class="key">if</span> <span class="key">not</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">inM1</span><span class="op">,</span> <span class="nam">Module</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t423" class="stm mis"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="str">"input Module must be of type Module"</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t424" class="stm mis"> <span class="key">if</span> <span class="nam">inM2</span> <span class="key">is</span> <span class="key">None</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t425" class="stm mis"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="str">"input Module must not be None"</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t426" class="stm mis"> <span class="key">if</span> <span class="key">not</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">inM2</span><span class="op">,</span> <span class="nam">Module</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t427" class="stm mis"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="str">"input Module must be of type Module"</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t428" class="stm mis"> <span class="nam">Module</span><span class="op">.</span><span class="nam">__init__</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span> <span class="nam">inM1</span><span class="op">.</span><span class="nam">size</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t429" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">inM1</span> <span class="op">=</span> <span class="nam">inM1</span><span class="strut"> </span></p>
+<p id="t430" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">inM2</span> <span class="op">=</span> <span class="nam">inM2</span><span class="strut"> </span></p>
+<p id="t431" class="pln"><span class="strut"> </span></p>
+<p id="t432" class="stm run hide_run"> <span class="op">@</span><span class="nam">property</span><span class="strut"> </span></p>
+<p id="t433" class="pln"> <span class="key">def</span> <span class="nam">inM1</span><span class="op">(</span><span class="nam">self</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t434" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t435" class="pln"><span class="str"> getter for the first input Module</span><span class="strut"> </span></p>
+<p id="t436" class="pln"><span class="str"> : returns inM1</span><span class="strut"> </span></p>
+<p id="t437" class="pln"><span class="str"> : rtype Module</span><span class="strut"> </span></p>
+<p id="t438" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t439" class="stm mis"> <span class="key">return</span> <span class="nam">self</span><span class="op">.</span><span class="nam">__inM1</span><span class="strut"> </span></p>
+<p id="t440" class="pln"><span class="strut"> </span></p>
+<p id="t441" class="stm run hide_run"> <span class="op">@</span><span class="nam">inM1</span><span class="op">.</span><span class="nam">setter</span><span class="strut"> </span></p>
+<p id="t442" class="pln"> <span class="key">def</span> <span class="nam">inM</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span> <span class="nam">inM1</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t443" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t444" class="pln"><span class="str"> setter for the first input Module</span><span class="strut"> </span></p>
+<p id="t445" class="pln"><span class="str"> : param inM1</span><span class="strut"> </span></p>
+<p id="t446" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t447" class="stm mis"> <span class="key">if</span> <span class="nam">inM1</span> <span class="key">is</span> <span class="key">None</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t448" class="stm mis"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="str">"input Module must not be None"</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t449" class="stm mis"> <span class="key">if</span> <span class="key">not</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">inM1</span><span class="op">,</span> <span class="nam">Module</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t450" class="stm mis"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="str">"input Module must be of type Module"</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t451" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">__inM1</span> <span class="op">=</span> <span class="nam">inM1</span><span class="strut"> </span></p>
+<p id="t452" class="pln"><span class="strut"> </span></p>
+<p id="t453" class="stm run hide_run"> <span class="op">@</span><span class="nam">property</span><span class="strut"> </span></p>
+<p id="t454" class="pln"> <span class="key">def</span> <span class="nam">inM2</span><span class="op">(</span><span class="nam">self</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t455" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t456" class="pln"><span class="str"> getter for the second input Module</span><span class="strut"> </span></p>
+<p id="t457" class="pln"><span class="str"> : returns inM2</span><span class="strut"> </span></p>
+<p id="t458" class="pln"><span class="str"> : rtype Module</span><span class="strut"> </span></p>
+<p id="t459" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t460" class="stm mis"> <span class="key">return</span> <span class="nam">self</span><span class="op">.</span><span class="nam">__inM2</span><span class="strut"> </span></p>
+<p id="t461" class="pln"><span class="strut"> </span></p>
+<p id="t462" class="stm run hide_run"> <span class="op">@</span><span class="nam">inM2</span><span class="op">.</span><span class="nam">setter</span><span class="strut"> </span></p>
+<p id="t463" class="pln"> <span class="key">def</span> <span class="nam">inM2</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span> <span class="nam">inM2</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t464" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t465" class="pln"><span class="str"> setter for the first input Module</span><span class="strut"> </span></p>
+<p id="t466" class="pln"><span class="str"> : param inM1</span><span class="strut"> </span></p>
+<p id="t467" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t468" class="stm mis"> <span class="key">if</span> <span class="nam">inM2</span> <span class="key">is</span> <span class="key">None</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t469" class="stm mis"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="str">"input Module must not be None"</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t470" class="stm mis"> <span class="key">if</span> <span class="key">not</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">inM2</span><span class="op">,</span> <span class="nam">Module</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t471" class="stm mis"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="str">"input Module must be of type Module"</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t472" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">__inM2</span> <span class="op">=</span> <span class="nam">inM2</span><span class="strut"> </span></p>
+<p id="t473" class="pln"><span class="strut"> </span></p>
+<p id="t474" class="stm run hide_run"> <span class="key">def</span> <span class="nam">update</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span> <span class="nam">shift</span><span class="op">,</span> <span class="nam">axis</span><span class="op">=</span><span class="key">None</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t475" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t476" class="pln"><span class="str"> updates the output(multiplication of the two input Modules)</span><span class="strut"> </span></p>
+<p id="t477" class="pln"><span class="str"> for the current input(see numpy roll)</span><span class="strut"> </span></p>
+<p id="t478" class="pln"><span class="str"> : param shift: shifts the Input provided by the first module</span><span class="strut"> </span></p>
+<p id="t479" class="pln"><span class="str"> by the given amount</span><span class="strut"> </span></p>
+<p id="t480" class="pln"><span class="str"> : param axis: shifts the Input of the first module along the</span><span class="strut"> </span></p>
+<p id="t481" class="pln"><span class="str"> provided axis</span><span class="strut"> </span></p>
+<p id="t482" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t483" class="stm mis"> <span class="key">if</span> <span class="key">not</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">shift</span><span class="op">,</span> <span class="nam">int</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t484" class="stm mis"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="str">"shift must be an integer"</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t485" class="stm mis"> <span class="key">if</span> <span class="nam">axis</span> <span class="key">is</span> <span class="key">not</span> <span class="key">None</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t486" class="stm mis"> <span class="key">if</span> <span class="key">not</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">axis</span><span class="op">,</span> <span class="nam">int</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t487" class="stm mis"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="str">"axis must be of type integer"</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t488" class="stm mis"> <span class="nam">shiftedInput</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">roll</span><span class="op">(</span><span class="nam">self</span><span class="op">.</span><span class="nam">inM1</span><span class="op">.</span><span class="nam">Input</span><span class="op">,</span> <span class="nam">shift</span><span class="op">,</span> <span class="nam">axis</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t489" class="stm mis"> <span class="key">for</span> <span class="nam">i</span> <span class="key">in</span> <span class="nam">range</span><span class="op">(</span><span class="nam">self</span><span class="op">.</span><span class="nam">size</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t490" class="stm mis"> <span class="key">for</span> <span class="nam">j</span> <span class="key">in</span> <span class="nam">range</span><span class="op">(</span><span class="nam">self</span><span class="op">.</span><span class="nam">size</span><span class="op">[</span><span class="num">1</span><span class="op">]</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t491" class="stm mis"> <span class="nam">sig_left1</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">inM1</span><span class="op">.</span><span class="nam">Input</span><span class="op">[</span><span class="nam">i</span><span class="op">,</span> <span class="nam">j</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t492" class="stm mis"> <span class="nam">sig_left2</span> <span class="op">=</span> <span class="nam">shiftedInput</span><span class="op">[</span><span class="nam">i</span><span class="op">,</span> <span class="nam">j</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t493" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">Input</span><span class="op">[</span><span class="nam">i</span><span class="op">,</span> <span class="nam">j</span><span class="op">]</span> <span class="op">=</span> <span class="nam">sig_left1</span><span class="op">*</span><span class="nam">sig_left2</span><span class="strut"> </span></p>
+<p id="t494" class="pln"><span class="strut"> </span></p>
+<p id="t495" class="pln"><span class="strut"> </span></p>
+<p id="t496" class="stm run hide_run"><span class="key">class</span> <span class="nam">div</span><span class="op">(</span><span class="nam">Module</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t497" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t498" class="pln"><span class="str"> Implements the division of two Modules</span><span class="strut"> </span></p>
+<p id="t499" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t500" class="pln"><span class="strut"> </span></p>
+<p id="t501" class="stm run hide_run"> <span class="key">def</span> <span class="nam">__init__</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span> <span class="nam">inM1</span><span class="op">,</span> <span class="nam">inM2</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t502" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t503" class="pln"><span class="str"> Initializes the multiplication module</span><span class="strut"> </span></p>
+<p id="t504" class="pln"><span class="str"> : param inM1: first input Module</span><span class="strut"> </span></p>
+<p id="t505" class="pln"><span class="str"> : param inM2: second input Module</span><span class="strut"> </span></p>
+<p id="t506" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t507" class="stm mis"> <span class="key">if</span> <span class="nam">inM1</span> <span class="key">is</span> <span class="key">None</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t508" class="stm mis"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="str">"input Module must not be None"</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t509" class="stm mis"> <span class="key">if</span> <span class="key">not</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">inM1</span><span class="op">,</span> <span class="nam">Module</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t510" class="stm mis"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="str">"input Module must be of type Module"</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t511" class="stm mis"> <span class="key">if</span> <span class="nam">inM2</span> <span class="key">is</span> <span class="key">None</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t512" class="stm mis"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="str">"input Module must not be None"</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t513" class="stm mis"> <span class="key">if</span> <span class="key">not</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">inM2</span><span class="op">,</span> <span class="nam">Module</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t514" class="stm mis"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="str">"input Module must be of type Module"</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t515" class="stm mis"> <span class="nam">Module</span><span class="op">.</span><span class="nam">__init__</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span> <span class="nam">inM1</span><span class="op">.</span><span class="nam">size</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t516" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">inM1</span> <span class="op">=</span> <span class="nam">inM1</span><span class="strut"> </span></p>
+<p id="t517" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">inM2</span> <span class="op">=</span> <span class="nam">inM2</span><span class="strut"> </span></p>
+<p id="t518" class="pln"><span class="strut"> </span></p>
+<p id="t519" class="stm run hide_run"> <span class="op">@</span><span class="nam">property</span><span class="strut"> </span></p>
+<p id="t520" class="pln"> <span class="key">def</span> <span class="nam">inM1</span><span class="op">(</span><span class="nam">self</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t521" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t522" class="pln"><span class="str"> getter for the first input Module</span><span class="strut"> </span></p>
+<p id="t523" class="pln"><span class="str"> : returns inM1</span><span class="strut"> </span></p>
+<p id="t524" class="pln"><span class="str"> : rtype Module</span><span class="strut"> </span></p>
+<p id="t525" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t526" class="stm mis"> <span class="key">return</span> <span class="nam">self</span><span class="op">.</span><span class="nam">__inM1</span><span class="strut"> </span></p>
+<p id="t527" class="pln"><span class="strut"> </span></p>
+<p id="t528" class="stm run hide_run"> <span class="op">@</span><span class="nam">inM1</span><span class="op">.</span><span class="nam">setter</span><span class="strut"> </span></p>
+<p id="t529" class="pln"> <span class="key">def</span> <span class="nam">inM</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span> <span class="nam">inM1</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t530" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t531" class="pln"><span class="str"> setter for the first input Module</span><span class="strut"> </span></p>
+<p id="t532" class="pln"><span class="str"> : param inM1</span><span class="strut"> </span></p>
+<p id="t533" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t534" class="stm mis"> <span class="key">if</span> <span class="nam">inM1</span> <span class="key">is</span> <span class="key">None</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t535" class="stm mis"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="str">"input Module must not be None"</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t536" class="stm mis"> <span class="key">if</span> <span class="key">not</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">inM1</span><span class="op">,</span> <span class="nam">Module</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t537" class="stm mis"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="str">"input Module must be of type Module"</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t538" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">__inM1</span> <span class="op">=</span> <span class="nam">inM1</span><span class="strut"> </span></p>
+<p id="t539" class="pln"><span class="strut"> </span></p>
+<p id="t540" class="stm run hide_run"> <span class="op">@</span><span class="nam">property</span><span class="strut"> </span></p>
+<p id="t541" class="pln"> <span class="key">def</span> <span class="nam">inM2</span><span class="op">(</span><span class="nam">self</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t542" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t543" class="pln"><span class="str"> getter for the second input Module</span><span class="strut"> </span></p>
+<p id="t544" class="pln"><span class="str"> : returns inM2</span><span class="strut"> </span></p>
+<p id="t545" class="pln"><span class="str"> : rtype Module</span><span class="strut"> </span></p>
+<p id="t546" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t547" class="stm mis"> <span class="key">return</span> <span class="nam">self</span><span class="op">.</span><span class="nam">__inM2</span><span class="strut"> </span></p>
+<p id="t548" class="pln"><span class="strut"> </span></p>
+<p id="t549" class="stm run hide_run"> <span class="op">@</span><span class="nam">inM2</span><span class="op">.</span><span class="nam">setter</span><span class="strut"> </span></p>
+<p id="t550" class="pln"> <span class="key">def</span> <span class="nam">inM2</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span> <span class="nam">inM2</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t551" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t552" class="pln"><span class="str"> setter for the first input Module</span><span class="strut"> </span></p>
+<p id="t553" class="pln"><span class="str"> : param inM1</span><span class="strut"> </span></p>
+<p id="t554" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t555" class="stm mis"> <span class="key">if</span> <span class="nam">inM2</span> <span class="key">is</span> <span class="key">None</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t556" class="stm mis"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="str">"input Module must not be None"</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t557" class="stm mis"> <span class="key">if</span> <span class="key">not</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">inM2</span><span class="op">,</span> <span class="nam">Module</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t558" class="stm mis"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="str">"input Module must be of type Module"</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t559" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">__inM2</span> <span class="op">=</span> <span class="nam">inM2</span><span class="strut"> </span></p>
+<p id="t560" class="pln"><span class="strut"> </span></p>
+<p id="t561" class="stm run hide_run"> <span class="key">def</span> <span class="nam">update</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span> <span class="nam">shift</span><span class="op">,</span> <span class="nam">axis</span><span class="op">=</span><span class="key">None</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t562" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t563" class="pln"><span class="str"> updates the output(division of the two input Modules)</span><span class="strut"> </span></p>
+<p id="t564" class="pln"><span class="str"> for the current input(see numpy roll)</span><span class="strut"> </span></p>
+<p id="t565" class="pln"><span class="str"> : param shift: shifts the Input provided by the first module</span><span class="strut"> </span></p>
+<p id="t566" class="pln"><span class="str"> by the given amount</span><span class="strut"> </span></p>
+<p id="t567" class="pln"><span class="str"> : param axis: shifts the Input of the first module along the</span><span class="strut"> </span></p>
+<p id="t568" class="pln"><span class="str"> provided axis</span><span class="strut"> </span></p>
+<p id="t569" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t570" class="stm mis"> <span class="key">if</span> <span class="key">not</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">shift</span><span class="op">,</span> <span class="nam">int</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t571" class="stm mis"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="str">"shift must be an integer"</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t572" class="stm mis"> <span class="key">if</span> <span class="nam">axis</span> <span class="key">is</span> <span class="key">not</span> <span class="key">None</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t573" class="stm mis"> <span class="key">if</span> <span class="key">not</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">axis</span><span class="op">,</span> <span class="nam">int</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t574" class="stm mis"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="str">"axis must be of type integer"</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t575" class="stm mis"> <span class="nam">shiftedInput</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">roll</span><span class="op">(</span><span class="nam">self</span><span class="op">.</span><span class="nam">inM1</span><span class="op">.</span><span class="nam">Input</span><span class="op">,</span> <span class="nam">shift</span><span class="op">,</span> <span class="nam">axis</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t576" class="stm mis"> <span class="key">for</span> <span class="nam">i</span> <span class="key">in</span> <span class="nam">range</span><span class="op">(</span><span class="nam">self</span><span class="op">.</span><span class="nam">size</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t577" class="stm mis"> <span class="key">for</span> <span class="nam">j</span> <span class="key">in</span> <span class="nam">range</span><span class="op">(</span><span class="nam">self</span><span class="op">.</span><span class="nam">size</span><span class="op">[</span><span class="num">1</span><span class="op">]</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t578" class="stm mis"> <span class="nam">sig_left1</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">inM1</span><span class="op">.</span><span class="nam">Input</span><span class="op">[</span><span class="nam">i</span><span class="op">,</span> <span class="nam">j</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t579" class="stm mis"> <span class="nam">sig_left2</span> <span class="op">=</span> <span class="nam">shiftedInput</span><span class="op">[</span><span class="nam">i</span><span class="op">,</span> <span class="nam">j</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t580" class="stm mis"> <span class="key">if</span> <span class="nam">sig_left2</span> <span class="op">!=</span> <span class="num">0</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t581" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">Input</span><span class="op">[</span><span class="nam">i</span><span class="op">,</span> <span class="nam">j</span><span class="op">]</span> <span class="op">=</span> <span class="nam">sig_left1</span><span class="op">/</span><span class="nam">sig_left2</span><span class="strut"> </span></p>
+<p id="t582" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t583" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">Input</span><span class="op">[</span><span class="nam">i</span><span class="op">,</span> <span class="nam">j</span><span class="op">]</span> <span class="op">=</span> <span class="num">0</span><span class="strut"> </span></p>
+
+ </td>
+ </tr>
+ </table>
+</div>
+
+<div id="footer">
+ <div class="content">
+ <p>
+ <a class="nav" href="index.html">« index</a> <a class="nav" href="https://coverage.readthedocs.io">coverage.py v4.5.2</a>,
+ created at 2019-01-13 14:34
+ </p>
+ </div>
+</div>
+
+</body>
+</html>
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+ <title>Coverage for navipy/processing/pcode.py: 56%</title>
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+ <h1>Coverage for <b>navipy/processing/pcode.py</b> :
+ <span class="pc_cov">56%</span>
+ </h1>
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+ <img id="keyboard_icon" src="keybd_closed.png" alt="Show keyboard shortcuts" />
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+ <h2 class="stats">
+ 140 statements
+ <span class="run hide_run shortkey_r button_toggle_run">78 run</span>
+ <span class="mis shortkey_m button_toggle_mis">62 missing</span>
+ <span class="exc shortkey_x button_toggle_exc">0 excluded</span>
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+
+ </td>
+ <td class="text">
+<p id="t1" class="pln"><span class="str">"""</span><span class="strut"> </span></p>
+<p id="t2" class="pln"><span class="str">place code derived from scene</span><span class="strut"> </span></p>
+<p id="t3" class="pln"><span class="str">"""</span><span class="strut"> </span></p>
+<p id="t4" class="stm run hide_run"><span class="key">import</span> <span class="nam">numpy</span> <span class="key">as</span> <span class="nam">np</span><span class="strut"> </span></p>
+<p id="t5" class="stm run hide_run"><span class="key">import</span> <span class="nam">pandas</span> <span class="key">as</span> <span class="nam">pd</span><span class="strut"> </span></p>
+<p id="t6" class="stm run hide_run"><span class="key">from</span> <span class="nam">scipy</span><span class="op">.</span><span class="nam">ndimage</span> <span class="key">import</span> <span class="nam">maximum_filter</span><span class="op">,</span> <span class="nam">minimum_filter</span><span class="strut"> </span></p>
+<p id="t7" class="stm run hide_run"><span class="key">from</span> <span class="nam">navipy</span><span class="op">.</span><span class="nam">scene</span> <span class="key">import</span> <span class="nam">__spherical_indeces__</span><span class="strut"> </span></p>
+<p id="t8" class="stm run hide_run"><span class="key">from</span> <span class="nam">navipy</span><span class="op">.</span><span class="nam">scene</span> <span class="key">import</span> <span class="nam">__cartesian_indeces__</span><span class="strut"> </span></p>
+<p id="t9" class="stm run hide_run"><span class="key">from</span> <span class="nam">navipy</span><span class="op">.</span><span class="nam">scene</span> <span class="key">import</span> <span class="nam">__ibpc_indeces__</span><span class="strut"> </span></p>
+<p id="t10" class="stm run hide_run"><span class="key">from</span> <span class="nam">navipy</span><span class="op">.</span><span class="nam">scene</span> <span class="key">import</span> <span class="nam">__obpc_indeces__</span><span class="strut"> </span></p>
+<p id="t11" class="stm run hide_run"><span class="key">from</span> <span class="nam">navipy</span><span class="op">.</span><span class="nam">scene</span> <span class="key">import</span> <span class="nam">is_ibpc</span><span class="strut"> </span></p>
+<p id="t12" class="stm run hide_run"><span class="key">from</span> <span class="nam">navipy</span><span class="op">.</span><span class="nam">scene</span> <span class="key">import</span> <span class="nam">is_obpc</span><span class="strut"> </span></p>
+<p id="t13" class="stm run hide_run"><span class="key">from</span> <span class="nam">navipy</span><span class="op">.</span><span class="nam">maths</span><span class="op">.</span><span class="nam">coordinates</span> <span class="key">import</span> <span class="nam">spherical_to_cartesian</span><span class="strut"> </span></p>
+<p id="t14" class="stm run hide_run"><span class="key">from</span> <span class="nam">navipy</span><span class="op">.</span><span class="nam">scene</span> <span class="key">import</span> <span class="nam">check_scene</span><span class="strut"> </span></p>
+<p id="t15" class="stm run hide_run"><span class="key">from</span> <span class="nam">navipy</span><span class="op">.</span><span class="nam">scene</span> <span class="key">import</span> <span class="nam">check_viewing_direction</span><span class="strut"> </span></p>
+<p id="t16" class="pln"><span class="strut"> </span></p>
+<p id="t17" class="pln"><span class="strut"> </span></p>
+<p id="t18" class="stm run hide_run"><span class="key">def</span> <span class="nam">skyline</span><span class="op">(</span><span class="nam">scene</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t19" class="pln"> <span class="str">"""Return the average along the elevation of a scene</span><span class="strut"> </span></p>
+<p id="t20" class="pln"><span class="strut"> </span></p>
+<p id="t21" class="pln"><span class="str"> :param scene: the scenery at a given location (a 4d numpy array)</span><span class="strut"> </span></p>
+<p id="t22" class="pln"><span class="str"> :returns: the skyline [1,azimuth,channel,1]</span><span class="strut"> </span></p>
+<p id="t23" class="pln"><span class="str"> :rtype: np.ndarray</span><span class="strut"> </span></p>
+<p id="t24" class="pln"><span class="strut"> </span></p>
+<p id="t25" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t26" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="nam">is_ibpc</span><span class="op">(</span><span class="nam">scene</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t27" class="stm run hide_run"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="str">'scene should be image based to compute a skyline'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t28" class="stm run hide_run"> <span class="nam">check_scene</span><span class="op">(</span><span class="nam">scene</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t29" class="stm run hide_run"> <span class="nam">skyline</span> <span class="op">=</span> <span class="nam">scene</span><span class="op">.</span><span class="nam">mean</span><span class="op">(</span><span class="nam">axis</span><span class="op">=</span><span class="nam">__ibpc_indeces__</span><span class="op">[</span><span class="str">'elevation'</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t30" class="stm run hide_run"> <span class="key">return</span> <span class="nam">skyline</span><span class="op">[</span><span class="nam">np</span><span class="op">.</span><span class="nam">newaxis</span><span class="op">,</span> <span class="op">:</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t31" class="pln"><span class="strut"> </span></p>
+<p id="t32" class="pln"><span class="strut"> </span></p>
+<p id="t33" class="stm run hide_run"><span class="key">def</span> <span class="nam">michelson_contrast</span><span class="op">(</span><span class="nam">scene</span><span class="op">,</span> <span class="nam">size</span><span class="op">=</span><span class="num">3</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t34" class="pln"> <span class="str">"""Return the michelson constrast</span><span class="strut"> </span></p>
+<p id="t35" class="pln"><span class="strut"> </span></p>
+<p id="t36" class="pln"><span class="str"> .. math::</span><span class="strut"> </span></p>
+<p id="t37" class="pln"><span class="strut"> </span></p>
+<p id="t38" class="pln"><span class="str"> \\frac{I_\\text{max}-I_\\text{min}}{I_\\text{max}+I_\\text{min}}</span><span class="strut"> </span></p>
+<p id="t39" class="pln"><span class="strut"> </span></p>
+<p id="t40" class="pln"><span class="str"> with :math:`I_\\text{max}` and :math:`I_\\text{min}` representing the \</span><span class="strut"> </span></p>
+<p id="t41" class="pln"><span class="str">highest and lowest luminance in an image region around each pixel.</span><span class="strut"> </span></p>
+<p id="t42" class="pln"><span class="strut"> </span></p>
+<p id="t43" class="pln"><span class="str"> :param scene: an image based scene</span><span class="strut"> </span></p>
+<p id="t44" class="pln"><span class="str"> :param size: the size of the region to calculate the maximum \</span><span class="strut"> </span></p>
+<p id="t45" class="pln"><span class="str">and minimum of the local image intensity</span><span class="strut"> </span></p>
+<p id="t46" class="pln"><span class="str"> :returns: the michelson-contrast</span><span class="strut"> </span></p>
+<p id="t47" class="pln"><span class="str"> :rtype: np.ndarray</span><span class="strut"> </span></p>
+<p id="t48" class="pln"><span class="strut"> </span></p>
+<p id="t49" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t50" class="stm run hide_run"> <span class="nam">check_scene</span><span class="op">(</span><span class="nam">scene</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t51" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="nam">is_ibpc</span><span class="op">(</span><span class="nam">scene</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t52" class="stm mis"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="str">'scene should be image based\</span><span class="strut"> </span></p>
+<p id="t53" class="pln"><span class="str"> to compute the michelson constrast'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t54" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">size</span><span class="op">,</span> <span class="nam">int</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t55" class="stm run hide_run"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="str">'size must be integer'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t56" class="stm run hide_run"> <span class="key">if</span> <span class="op">(</span><span class="nam">size</span> <span class="op"><</span> <span class="num">2</span> <span class="key">or</span> <span class="nam">size</span> <span class="op">></span> <span class="num">5</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t57" class="stm run hide_run"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="str">'size must be between 2 and 5'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t58" class="stm run hide_run"> <span class="nam">contrast</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">zeros_like</span><span class="op">(</span><span class="nam">scene</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t59" class="stm run hide_run"> <span class="key">for</span> <span class="nam">channel</span> <span class="key">in</span> <span class="nam">range</span><span class="op">(</span><span class="nam">scene</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="nam">__ibpc_indeces__</span><span class="op">[</span><span class="str">'channel'</span><span class="op">]</span><span class="op">]</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t60" class="stm run hide_run"> <span class="nam">i_max</span> <span class="op">=</span> <span class="nam">maximum_filter</span><span class="op">(</span><span class="nam">scene</span><span class="op">[</span><span class="op">...</span><span class="op">,</span> <span class="nam">channel</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t61" class="pln"> <span class="nam">size</span><span class="op">=</span><span class="nam">size</span><span class="op">,</span> <span class="nam">mode</span><span class="op">=</span><span class="str">'wrap'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t62" class="stm run hide_run"> <span class="nam">i_min</span> <span class="op">=</span> <span class="nam">minimum_filter</span><span class="op">(</span><span class="nam">scene</span><span class="op">[</span><span class="op">...</span><span class="op">,</span> <span class="nam">channel</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t63" class="pln"> <span class="nam">size</span><span class="op">=</span><span class="nam">size</span><span class="op">,</span> <span class="nam">mode</span><span class="op">=</span><span class="str">'wrap'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t64" class="stm run hide_run"> <span class="nam">divider</span> <span class="op">=</span> <span class="nam">i_max</span> <span class="op">+</span> <span class="nam">i_min</span><span class="strut"> </span></p>
+<p id="t65" class="stm run hide_run"> <span class="nam">nonzero</span> <span class="op">=</span> <span class="nam">divider</span> <span class="op">!=</span> <span class="num">0</span><span class="strut"> </span></p>
+<p id="t66" class="stm run hide_run"> <span class="nam">eqzero</span> <span class="op">=</span> <span class="nam">divider</span> <span class="op">==</span> <span class="num">0</span><span class="strut"> </span></p>
+<p id="t67" class="stm run hide_run"> <span class="nam">i_min</span> <span class="op">=</span> <span class="nam">i_min</span><span class="op">[</span><span class="nam">nonzero</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t68" class="stm run hide_run"> <span class="nam">i_max</span> <span class="op">=</span> <span class="nam">i_max</span><span class="op">[</span><span class="nam">nonzero</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t69" class="stm run hide_run"> <span class="nam">divider</span> <span class="op">=</span> <span class="nam">divider</span><span class="op">[</span><span class="nam">nonzero</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t70" class="stm run hide_run"> <span class="nam">contrast</span><span class="op">[</span><span class="nam">nonzero</span><span class="op">,</span> <span class="nam">channel</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span> <span class="op">=</span> <span class="op">(</span><span class="nam">i_max</span> <span class="op">-</span> <span class="nam">i_min</span><span class="op">)</span> <span class="op">/</span> <span class="nam">divider</span><span class="strut"> </span></p>
+<p id="t71" class="stm run hide_run"> <span class="nam">contrast</span><span class="op">[</span><span class="nam">eqzero</span><span class="op">,</span> <span class="nam">channel</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span> <span class="op">=</span> <span class="num">0</span><span class="strut"> </span></p>
+<p id="t72" class="stm run hide_run"> <span class="key">return</span> <span class="nam">contrast</span><span class="strut"> </span></p>
+<p id="t73" class="pln"><span class="strut"> </span></p>
+<p id="t74" class="pln"><span class="strut"> </span></p>
+<p id="t75" class="stm run hide_run"><span class="key">def</span> <span class="nam">contrast_weighted_nearness</span><span class="op">(</span><span class="nam">scene</span><span class="op">,</span> <span class="nam">contrast_size</span><span class="op">=</span><span class="num">3</span><span class="op">,</span> <span class="nam">distance_channel</span><span class="op">=</span><span class="num">3</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t76" class="pln"> <span class="str">"""Return the michelson contrast wheighted nearness</span><span class="strut"> </span></p>
+<p id="t77" class="pln"><span class="strut"> </span></p>
+<p id="t78" class="pln"><span class="str"> :param scene: an image based scene</span><span class="strut"> </span></p>
+<p id="t79" class="pln"><span class="str"> :param contrast_size: the size of the region to calculate the maximum \</span><span class="strut"> </span></p>
+<p id="t80" class="pln"><span class="str">and minimum of the local image intensity in the michelson-contrast.</span><span class="strut"> </span></p>
+<p id="t81" class="pln"><span class="str"> :param distance_channel: the index of the distance-channel.</span><span class="strut"> </span></p>
+<p id="t82" class="pln"><span class="strut"> </span></p>
+<p id="t83" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t84" class="stm run hide_run"> <span class="nam">check_scene</span><span class="op">(</span><span class="nam">scene</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t85" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">contrast_size</span><span class="op">,</span> <span class="nam">int</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t86" class="stm run hide_run"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="str">'constrast size must be of type integer'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t87" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">distance_channel</span><span class="op">,</span> <span class="nam">int</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t88" class="stm run hide_run"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="str">'distance channel must be of type integer'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t89" class="stm run hide_run"> <span class="key">if</span> <span class="nam">contrast_size</span> <span class="key">not</span> <span class="key">in</span> <span class="nam">range</span><span class="op">(</span><span class="num">2</span><span class="op">,</span> <span class="num">6</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t90" class="stm run hide_run"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="str">'contrast size out of range'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t91" class="stm run hide_run"> <span class="key">if</span> <span class="nam">distance_channel</span> <span class="key">not</span> <span class="key">in</span> <span class="nam">range</span><span class="op">(</span><span class="num">4</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t92" class="stm run hide_run"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="str">'distance channel out of range'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t93" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="nam">is_ibpc</span><span class="op">(</span><span class="nam">scene</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t94" class="stm mis"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="str">'scene should be image based to\</span><span class="strut"> </span></p>
+<p id="t95" class="pln"><span class="str"> compute the contrast weighted nearness'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t96" class="stm run hide_run"> <span class="nam">contrast</span> <span class="op">=</span> <span class="nam">michelson_contrast</span><span class="op">(</span><span class="nam">scene</span><span class="op">,</span> <span class="nam">size</span><span class="op">=</span><span class="nam">contrast_size</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t97" class="stm run hide_run"> <span class="nam">distance</span> <span class="op">=</span> <span class="nam">scene</span><span class="op">[</span><span class="op">...</span><span class="op">,</span> <span class="nam">distance_channel</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t98" class="stm run hide_run"> <span class="nam">distance</span> <span class="op">=</span> <span class="nam">distance</span><span class="op">[</span><span class="op">...</span><span class="op">,</span> <span class="nam">np</span><span class="op">.</span><span class="nam">newaxis</span><span class="op">,</span> <span class="nam">np</span><span class="op">.</span><span class="nam">newaxis</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t99" class="stm run hide_run"> <span class="nam">distance</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">tile</span><span class="op">(</span><span class="nam">distance</span><span class="op">,</span> <span class="op">(</span><span class="num">1</span><span class="op">,</span> <span class="num">1</span><span class="op">,</span> <span class="nam">scene</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="op">-</span><span class="num">2</span><span class="op">]</span><span class="op">,</span> <span class="num">1</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t100" class="stm run hide_run"> <span class="key">return</span> <span class="nam">contrast</span> <span class="op">/</span> <span class="nam">distance</span><span class="strut"> </span></p>
+<p id="t101" class="pln"><span class="strut"> </span></p>
+<p id="t102" class="pln"><span class="strut"> </span></p>
+<p id="t103" class="stm run hide_run"><span class="key">def</span> <span class="nam">pcv</span><span class="op">(</span><span class="nam">place_code</span><span class="op">,</span> <span class="nam">viewing_directions</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t104" class="pln"> <span class="str">"""Place code vectors</span><span class="strut"> </span></p>
+<p id="t105" class="pln"><span class="strut"> </span></p>
+<p id="t106" class="pln"><span class="str"> :param place_code: the place code at a given location (e.g. an ibs scene)</span><span class="strut"> </span></p>
+<p id="t107" class="pln"><span class="str"> :param viewing_directions: viewing direction of each pixel</span><span class="strut"> </span></p>
+<p id="t108" class="pln"><span class="str"> :returns: the place code vectors in cartesian coordinates</span><span class="strut"> </span></p>
+<p id="t109" class="pln"><span class="str"> :rtype: (np.ndarray)</span><span class="strut"> </span></p>
+<p id="t110" class="pln"><span class="strut"> </span></p>
+<p id="t111" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t112" class="pln"> <span class="com"># print("place code shape",place_code.shape)</span><span class="strut"> </span></p>
+<p id="t113" class="stm run hide_run"> <span class="key">if</span> <span class="nam">is_ibpc</span><span class="op">(</span><span class="nam">place_code</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t114" class="stm run hide_run"> <span class="nam">component_dim</span> <span class="op">=</span> <span class="nam">__ibpc_indeces__</span><span class="op">[</span><span class="str">'component'</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t115" class="stm run hide_run"> <span class="nam">channel_dim</span> <span class="op">=</span> <span class="nam">__ibpc_indeces__</span><span class="op">[</span><span class="str">'channel'</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t116" class="stm mis"> <span class="key">elif</span> <span class="nam">is_obpc</span><span class="op">(</span><span class="nam">place_code</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t117" class="stm mis"> <span class="nam">component_dim</span> <span class="op">=</span> <span class="nam">__obpc_indeces__</span><span class="op">[</span><span class="str">'component'</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t118" class="stm mis"> <span class="nam">channel_dim</span> <span class="op">=</span> <span class="nam">__obpc_indeces__</span><span class="op">[</span><span class="str">'channel'</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t119" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t120" class="stm mis"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="str">'place code should be either an ibpc or obpc'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t121" class="pln"><span class="strut"> </span></p>
+<p id="t122" class="stm run hide_run"> <span class="nam">check_scene</span><span class="op">(</span><span class="nam">place_code</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t123" class="stm run hide_run"> <span class="nam">check_viewing_direction</span><span class="op">(</span><span class="nam">viewing_directions</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t124" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="nam">place_code</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">0</span><span class="op">]</span> <span class="op">==</span> <span class="nam">viewing_directions</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t125" class="stm mis"> <span class="key">raise</span> <span class="nam">Exception</span><span class="op">(</span><span class="str">'dimensions of place code and viewing\</span><span class="strut"> </span></p>
+<p id="t126" class="pln"><span class="str"> direction do not match'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t127" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="nam">place_code</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">1</span><span class="op">]</span> <span class="op">==</span> <span class="nam">viewing_directions</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">1</span><span class="op">]</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t128" class="stm mis"> <span class="key">raise</span> <span class="nam">Exception</span><span class="op">(</span><span class="str">'dimensions of place code and viewing\</span><span class="strut"> </span></p>
+<p id="t129" class="pln"><span class="str"> direction do not match'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t130" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">viewing_directions</span><span class="op">,</span> <span class="nam">np</span><span class="op">.</span><span class="nam">ndarray</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t131" class="stm mis"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="str">'viewing_directions should be a numpy array'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t132" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="nam">place_code</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="nam">component_dim</span><span class="op">]</span> <span class="op">==</span> <span class="num">1</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t133" class="stm mis"> <span class="key">raise</span> <span class="nam">Exception</span><span class="op">(</span><span class="str">'the last dimension ({}) of the place-code\</span><span class="strut"> </span></p>
+<p id="t134" class="pln"><span class="str"> should be 1'</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">place_code</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="nam">component_dim</span><span class="op">]</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t135" class="stm run hide_run"> <span class="nam">elevation</span> <span class="op">=</span> <span class="nam">viewing_directions</span><span class="op">[</span><span class="op">...</span><span class="op">,</span> <span class="nam">__spherical_indeces__</span><span class="op">[</span><span class="str">'elevation'</span><span class="op">]</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t136" class="stm run hide_run"> <span class="nam">azimuth</span> <span class="op">=</span> <span class="nam">viewing_directions</span><span class="op">[</span><span class="op">...</span><span class="op">,</span> <span class="nam">__spherical_indeces__</span><span class="op">[</span><span class="str">'azimuth'</span><span class="op">]</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t137" class="stm run hide_run"> <span class="key">if</span> <span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">any</span><span class="op">(</span><span class="nam">elevation</span> <span class="op"><=</span> <span class="op">-</span><span class="nam">np</span><span class="op">.</span><span class="nam">pi</span><span class="op">)</span> <span class="key">or</span> <span class="nam">np</span><span class="op">.</span><span class="nam">any</span><span class="op">(</span><span class="nam">elevation</span> <span class="op">>=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">pi</span><span class="op">)</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t138" class="stm mis"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="str">" Elevation must be radians in range [-pi;pi]"</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t139" class="stm run hide_run"> <span class="key">if</span> <span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">max</span><span class="op">(</span><span class="nam">elevation</span><span class="op">)</span> <span class="op">-</span> <span class="nam">np</span><span class="op">.</span><span class="nam">min</span><span class="op">(</span><span class="nam">elevation</span><span class="op">)</span> <span class="op">>=</span> <span class="num">2</span> <span class="op">*</span> <span class="nam">np</span><span class="op">.</span><span class="nam">pi</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t140" class="stm mis"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="str">" max difference in elevation must be < 2*pi"</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t141" class="stm run hide_run"> <span class="key">if</span> <span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">any</span><span class="op">(</span><span class="nam">azimuth</span> <span class="op"><=</span> <span class="op">-</span><span class="num">2</span><span class="op">*</span><span class="nam">np</span><span class="op">.</span><span class="nam">pi</span><span class="op">)</span> <span class="key">or</span> <span class="nam">np</span><span class="op">.</span><span class="nam">any</span><span class="op">(</span><span class="nam">azimuth</span> <span class="op">>=</span> <span class="num">2</span><span class="op">*</span><span class="nam">np</span><span class="op">.</span><span class="nam">pi</span><span class="op">)</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t142" class="stm mis"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="str">" Azimuth must be radians in range [-2*pi;2*pi]"</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t143" class="stm run hide_run"> <span class="key">if</span> <span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">max</span><span class="op">(</span><span class="nam">azimuth</span><span class="op">)</span> <span class="op">-</span> <span class="nam">np</span><span class="op">.</span><span class="nam">min</span><span class="op">(</span><span class="nam">azimuth</span><span class="op">)</span> <span class="op">></span> <span class="num">2</span> <span class="op">*</span> <span class="nam">np</span><span class="op">.</span><span class="nam">pi</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t144" class="stm run hide_run"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="str">" max difference in azimuth must be <= 2*pi"</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t145" class="stm mis"> <span class="nam">x</span><span class="op">,</span> <span class="nam">y</span><span class="op">,</span> <span class="nam">z</span> <span class="op">=</span> <span class="nam">spherical_to_cartesian</span><span class="op">(</span><span class="nam">elevation</span><span class="op">,</span> <span class="nam">azimuth</span><span class="op">,</span> <span class="nam">radius</span><span class="op">=</span><span class="num">1</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t146" class="stm mis"> <span class="nam">unscaled_lv</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">zeros</span><span class="op">(</span><span class="op">(</span><span class="nam">viewing_directions</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t147" class="pln"> <span class="nam">viewing_directions</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">1</span><span class="op">]</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t148" class="pln"> <span class="num">3</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t149" class="stm mis"> <span class="nam">unscaled_lv</span><span class="op">[</span><span class="op">...</span><span class="op">,</span> <span class="nam">__cartesian_indeces__</span><span class="op">[</span><span class="str">'x'</span><span class="op">]</span><span class="op">]</span> <span class="op">=</span> <span class="nam">x</span><span class="strut"> </span></p>
+<p id="t150" class="stm mis"> <span class="nam">unscaled_lv</span><span class="op">[</span><span class="op">...</span><span class="op">,</span> <span class="nam">__cartesian_indeces__</span><span class="op">[</span><span class="str">'y'</span><span class="op">]</span><span class="op">]</span> <span class="op">=</span> <span class="nam">y</span><span class="strut"> </span></p>
+<p id="t151" class="stm mis"> <span class="nam">unscaled_lv</span><span class="op">[</span><span class="op">...</span><span class="op">,</span> <span class="nam">__cartesian_indeces__</span><span class="op">[</span><span class="str">'z'</span><span class="op">]</span><span class="op">]</span> <span class="op">=</span> <span class="nam">z</span><span class="strut"> </span></p>
+<p id="t152" class="stm mis"> <span class="nam">scaled_lv</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">zeros_like</span><span class="op">(</span><span class="nam">place_code</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t153" class="pln"> <span class="com"># (3,) -> (1,1,3) or (1,1,1,3) see numpy.tile</span><span class="strut"> </span></p>
+<p id="t154" class="stm mis"> <span class="nam">scaled_lv</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">tile</span><span class="op">(</span><span class="nam">scaled_lv</span><span class="op">,</span> <span class="op">(</span><span class="nam">unscaled_lv</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="op">-</span><span class="num">1</span><span class="op">]</span><span class="op">,</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t155" class="stm mis"> <span class="key">for</span> <span class="nam">channel_index</span> <span class="key">in</span> <span class="nam">range</span><span class="op">(</span><span class="num">0</span><span class="op">,</span> <span class="nam">scaled_lv</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="nam">channel_dim</span><span class="op">]</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t156" class="stm mis"> <span class="nam">radius</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">tile</span><span class="op">(</span><span class="nam">place_code</span><span class="op">[</span><span class="op">...</span><span class="op">,</span> <span class="nam">channel_index</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t157" class="pln"> <span class="op">[</span><span class="op">...</span><span class="op">,</span> <span class="nam">np</span><span class="op">.</span><span class="nam">newaxis</span><span class="op">]</span><span class="op">,</span> <span class="op">(</span><span class="nam">scaled_lv</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="op">-</span><span class="num">1</span><span class="op">]</span><span class="op">,</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t158" class="stm mis"> <span class="nam">scaled_lv</span><span class="op">[</span><span class="op">...</span><span class="op">,</span> <span class="nam">channel_index</span><span class="op">,</span> <span class="op">:</span><span class="op">]</span> <span class="op">=</span> <span class="nam">unscaled_lv</span> <span class="op">*</span> <span class="nam">radius</span><span class="strut"> </span></p>
+<p id="t159" class="stm mis"> <span class="key">return</span> <span class="nam">scaled_lv</span><span class="strut"> </span></p>
+<p id="t160" class="pln"><span class="strut"> </span></p>
+<p id="t161" class="pln"><span class="strut"> </span></p>
+<p id="t162" class="stm run hide_run"><span class="key">def</span> <span class="nam">apcv</span><span class="op">(</span><span class="nam">place_code</span><span class="op">,</span> <span class="nam">viewing_directions</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t163" class="pln"> <span class="str">"""Calculate the average scene vector</span><span class="strut"> </span></p>
+<p id="t164" class="pln"><span class="strut"> </span></p>
+<p id="t165" class="pln"><span class="str"> :param place_code: the place code at a given location (e.g. an ibs scene)</span><span class="strut"> </span></p>
+<p id="t166" class="pln"><span class="str"> :param viewing_directions: viewing direction of each pixel</span><span class="strut"> </span></p>
+<p id="t167" class="pln"><span class="str"> :returns: the average place-code vector</span><span class="strut"> </span></p>
+<p id="t168" class="pln"><span class="str"> :rtype: (np.ndarray)</span><span class="strut"> </span></p>
+<p id="t169" class="pln"><span class="strut"> </span></p>
+<p id="t170" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t171" class="stm run hide_run"> <span class="nam">check_scene</span><span class="op">(</span><span class="nam">place_code</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t172" class="stm run hide_run"> <span class="nam">check_viewing_direction</span><span class="op">(</span><span class="nam">viewing_directions</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t173" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="nam">place_code</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">0</span><span class="op">]</span> <span class="op">==</span> <span class="nam">viewing_directions</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t174" class="stm mis"> <span class="key">raise</span> <span class="nam">Exception</span><span class="op">(</span><span class="str">'dimensions of place code and viewing\</span><span class="strut"> </span></p>
+<p id="t175" class="pln"><span class="str"> direction do not match'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t176" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="nam">place_code</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">1</span><span class="op">]</span> <span class="op">==</span> <span class="nam">viewing_directions</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">1</span><span class="op">]</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t177" class="stm mis"> <span class="key">raise</span> <span class="nam">Exception</span><span class="op">(</span><span class="str">'dimensions of place code and viewing\</span><span class="strut"> </span></p>
+<p id="t178" class="pln"><span class="str"> direction do not match'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t179" class="stm run hide_run"> <span class="nam">scaled_lv</span> <span class="op">=</span> <span class="nam">pcv</span><span class="op">(</span><span class="nam">place_code</span><span class="op">,</span> <span class="nam">viewing_directions</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t180" class="stm mis"> <span class="key">if</span> <span class="nam">is_ibpc</span><span class="op">(</span><span class="nam">place_code</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t181" class="stm mis"> <span class="key">return</span> <span class="op">(</span><span class="nam">scaled_lv</span><span class="op">.</span><span class="nam">sum</span><span class="op">(</span><span class="nam">axis</span><span class="op">=</span><span class="num">0</span><span class="op">)</span><span class="op">.</span><span class="nam">sum</span><span class="op">(</span><span class="nam">axis</span><span class="op">=</span><span class="num">0</span><span class="op">)</span><span class="op">)</span><span class="op">[</span><span class="nam">np</span><span class="op">.</span><span class="nam">newaxis</span><span class="op">,</span> <span class="nam">np</span><span class="op">.</span><span class="nam">newaxis</span><span class="op">,</span> <span class="op">...</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t182" class="stm mis"> <span class="key">elif</span> <span class="nam">is_obpc</span><span class="op">(</span><span class="nam">place_code</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t183" class="stm mis"> <span class="key">return</span> <span class="op">(</span><span class="nam">scaled_lv</span><span class="op">.</span><span class="nam">sum</span><span class="op">(</span><span class="nam">axis</span><span class="op">=</span><span class="num">0</span><span class="op">)</span><span class="op">)</span><span class="op">[</span><span class="nam">np</span><span class="op">.</span><span class="nam">newaxis</span><span class="op">,</span> <span class="op">...</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t184" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t185" class="stm mis"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="str">'place code is neither an ibpc nor obpc'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t186" class="pln"><span class="strut"> </span></p>
+<p id="t187" class="pln"><span class="strut"> </span></p>
+<p id="t188" class="stm run hide_run"><span class="key">def</span> <span class="nam">nposorient_around_ref</span><span class="op">(</span><span class="nam">mydb</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t189" class="pln"> <span class="nam">position_df</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t190" class="pln"> <span class="nam">ref_pos</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t191" class="pln"> <span class="nam">nb_snapshot</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t192" class="pln"> <span class="nam">radius</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t193" class="pln"> <span class="nam">blender_view</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t194" class="pln"> <span class="str">"""Return set of views around and oriented towards memorized location</span><span class="strut"> </span></p>
+<p id="t195" class="pln"><span class="str"> :param mydb: Database environment</span><span class="strut"> </span></p>
+<p id="t196" class="pln"><span class="str"> :param position_df: dataframe with the positions of the grid</span><span class="strut"> </span></p>
+<p id="t197" class="pln"><span class="str"> :param ref_pos: df with x, y and z position of the reference snapshot</span><span class="strut"> </span></p>
+<p id="t198" class="pln"><span class="str"> :param nb_snapshot: number of wanted set of views (multiple of 2)</span><span class="strut"> </span></p>
+<p id="t199" class="pln"><span class="str"> :param radius: distance from memorized location to take snapshots</span><span class="strut"> </span></p>
+<p id="t200" class="pln"><span class="str"> :param blender_view: viewing axis camera id y=90, if x=0</span><span class="strut"> </span></p>
+<p id="t201" class="pln"><span class="str"> :returns: list of reoriented image array, snaphots positions</span><span class="strut"> </span></p>
+<p id="t202" class="pln"><span class="str"> :rtypes: array of np.array, pd.DataFrame</span><span class="strut"> </span></p>
+<p id="t203" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t204" class="pln"><span class="strut"> </span></p>
+<p id="t205" class="stm mis"> <span class="nam">svp_all</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">DataFrame</span><span class="op">(</span><span class="nam">columns</span><span class="op">=</span><span class="op">[</span><span class="str">'x'</span><span class="op">,</span> <span class="str">'y'</span><span class="op">,</span> <span class="str">'z'</span><span class="op">,</span> <span class="str">'frame'</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t206" class="pln"> <span class="com"># angle of rotation</span><span class="strut"> </span></p>
+<p id="t207" class="stm mis"> <span class="nam">ang_deg</span> <span class="op">=</span> <span class="num">360</span> <span class="op">/</span> <span class="nam">nb_snapshot</span><span class="strut"> </span></p>
+<p id="t208" class="stm mis"> <span class="nam">ang</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">deg2rad</span><span class="op">(</span><span class="nam">ang_deg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t209" class="pln"> <span class="com"># make the different view</span><span class="strut"> </span></p>
+<p id="t210" class="stm mis"> <span class="key">for</span> <span class="nam">i</span> <span class="key">in</span> <span class="nam">range</span><span class="op">(</span><span class="num">0</span><span class="op">,</span> <span class="nam">nb_snapshot</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t211" class="stm mis"> <span class="nam">x</span> <span class="op">=</span> <span class="nam">ref_pos</span><span class="op">.</span><span class="nam">x</span> <span class="op">+</span> <span class="nam">radius</span> <span class="op">*</span> <span class="nam">np</span><span class="op">.</span><span class="nam">cos</span><span class="op">(</span><span class="nam">ang</span> <span class="op">*</span> <span class="nam">i</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t212" class="stm mis"> <span class="nam">y</span> <span class="op">=</span> <span class="nam">ref_pos</span><span class="op">.</span><span class="nam">y</span> <span class="op">+</span> <span class="nam">radius</span> <span class="op">*</span> <span class="nam">np</span><span class="op">.</span><span class="nam">sin</span><span class="op">(</span><span class="nam">ang</span> <span class="op">*</span> <span class="nam">i</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t213" class="stm mis"> <span class="nam">z</span> <span class="op">=</span> <span class="nam">ref_pos</span><span class="op">.</span><span class="nam">z</span><span class="strut"> </span></p>
+<p id="t214" class="stm mis"> <span class="nam">svp_frame</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">Series</span><span class="op">(</span><span class="nam">index</span><span class="op">=</span><span class="op">[</span><span class="str">'frame'</span><span class="op">,</span> <span class="str">'x'</span><span class="op">,</span> <span class="str">'y'</span><span class="op">,</span> <span class="str">'z'</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t215" class="stm mis"> <span class="nam">distance_arr</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">Series</span><span class="op">(</span><span class="nam">index</span><span class="op">=</span><span class="nam">position_df</span><span class="op">.</span><span class="nam">index</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t216" class="stm mis"> <span class="key">for</span> <span class="nam">index</span><span class="op">,</span> <span class="nam">pos</span> <span class="key">in</span> <span class="nam">position_df</span><span class="op">.</span><span class="nam">dropna</span><span class="op">(</span><span class="op">)</span><span class="op">.</span><span class="nam">iterrows</span><span class="op">(</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t217" class="stm mis"> <span class="nam">distance</span> <span class="op">=</span> <span class="op">(</span><span class="nam">pos</span><span class="op">.</span><span class="nam">x</span> <span class="op">-</span> <span class="nam">x</span><span class="op">)</span><span class="op">**</span><span class="num">2</span><span class="strut"> </span></p>
+<p id="t218" class="stm mis"> <span class="nam">distance</span> <span class="op">+=</span> <span class="op">(</span><span class="nam">pos</span><span class="op">.</span><span class="nam">y</span> <span class="op">-</span> <span class="nam">y</span><span class="op">)</span><span class="op">**</span><span class="num">2</span><span class="strut"> </span></p>
+<p id="t219" class="stm mis"> <span class="nam">distance</span> <span class="op">+=</span> <span class="op">(</span><span class="nam">pos</span><span class="op">.</span><span class="nam">z</span> <span class="op">-</span> <span class="nam">z</span><span class="op">)</span><span class="op">**</span><span class="num">2</span><span class="strut"> </span></p>
+<p id="t220" class="stm mis"> <span class="nam">distance_arr</span><span class="op">[</span><span class="nam">index</span><span class="op">]</span> <span class="op">=</span> <span class="nam">distance</span><span class="strut"> </span></p>
+<p id="t221" class="stm mis"> <span class="nam">svp_frame</span><span class="op">.</span><span class="nam">frame</span> <span class="op">=</span> <span class="nam">int</span><span class="op">(</span><span class="nam">distance_arr</span><span class="op">.</span><span class="nam">dropna</span><span class="op">(</span><span class="op">)</span><span class="op">.</span><span class="nam">argmin</span><span class="op">(</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t222" class="stm mis"> <span class="nam">svp_frame</span><span class="op">.</span><span class="nam">x</span> <span class="op">=</span> <span class="nam">position_df</span><span class="op">.</span><span class="nam">x</span><span class="op">[</span><span class="nam">svp_frame</span><span class="op">.</span><span class="nam">frame</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t223" class="stm mis"> <span class="nam">svp_frame</span><span class="op">.</span><span class="nam">y</span> <span class="op">=</span> <span class="nam">position_df</span><span class="op">.</span><span class="nam">y</span><span class="op">[</span><span class="nam">svp_frame</span><span class="op">.</span><span class="nam">frame</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t224" class="stm mis"> <span class="nam">svp_frame</span><span class="op">.</span><span class="nam">z</span> <span class="op">=</span> <span class="nam">position_df</span><span class="op">.</span><span class="nam">z</span><span class="op">[</span><span class="nam">svp_frame</span><span class="op">.</span><span class="nam">frame</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t225" class="stm mis"> <span class="nam">svp_all</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="nam">i</span><span class="op">]</span> <span class="op">=</span> <span class="op">[</span><span class="nam">svp_frame</span><span class="op">.</span><span class="nam">x</span><span class="op">,</span> <span class="nam">svp_frame</span><span class="op">.</span><span class="nam">y</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t226" class="pln"> <span class="nam">svp_frame</span><span class="op">.</span><span class="nam">z</span><span class="op">,</span> <span class="nam">int</span><span class="op">(</span><span class="nam">svp_frame</span><span class="op">.</span><span class="nam">frame</span><span class="op">)</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t227" class="stm mis"> <span class="nam">reoriented_mem</span> <span class="op">=</span> <span class="op">[</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t228" class="stm mis"> <span class="nam">rot</span> <span class="op">=</span> <span class="nam">list</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t229" class="pln"><span class="strut"> </span></p>
+<p id="t230" class="stm mis"> <span class="key">for</span> <span class="nam">i</span><span class="op">,</span> <span class="nam">j</span> <span class="key">in</span> <span class="nam">svp_all</span><span class="op">.</span><span class="nam">iterrows</span><span class="op">(</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t231" class="stm mis"> <span class="nam">ide</span> <span class="op">=</span> <span class="nam">int</span><span class="op">(</span><span class="nam">j</span><span class="op">.</span><span class="nam">frame</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t232" class="stm mis"> <span class="nam">image</span> <span class="op">=</span> <span class="nam">mydb</span><span class="op">.</span><span class="nam">scene</span><span class="op">(</span><span class="nam">rowid</span><span class="op">=</span><span class="nam">ide</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t233" class="stm mis"> <span class="nam">alpha</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">floor</span><span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">rad2deg</span><span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">arctan2</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t234" class="pln"> <span class="op">(</span><span class="nam">ref_pos</span><span class="op">.</span><span class="nam">y</span> <span class="op">-</span> <span class="nam">j</span><span class="op">.</span><span class="nam">y</span><span class="op">)</span><span class="op">,</span> <span class="op">(</span><span class="nam">ref_pos</span><span class="op">.</span><span class="nam">x</span> <span class="op">-</span> <span class="nam">j</span><span class="op">.</span><span class="nam">x</span><span class="op">)</span><span class="op">)</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t235" class="stm mis"> <span class="nam">alpha</span> <span class="op">=</span> <span class="nam">alpha</span> <span class="op">+</span> <span class="nam">blender_view</span> <span class="com"># because y view on blender</span><span class="strut"> </span></p>
+<p id="t236" class="stm mis"> <span class="nam">rot</span><span class="op">.</span><span class="nam">append</span><span class="op">(</span><span class="nam">alpha</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t237" class="stm mis"> <span class="nam">alpha</span> <span class="op">=</span> <span class="nam">int</span><span class="op">(</span><span class="nam">alpha</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t238" class="stm mis"> <span class="nam">svp_reorient</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">roll</span><span class="op">(</span><span class="nam">image</span><span class="op">,</span> <span class="nam">alpha</span><span class="op">,</span> <span class="num">1</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t239" class="stm mis"> <span class="nam">reoriented_mem</span><span class="op">.</span><span class="nam">append</span><span class="op">(</span><span class="nam">svp_reorient</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t240" class="stm mis"> <span class="key">return</span> <span class="nam">reoriented_mem</span><span class="op">,</span> <span class="nam">svp_all</span><span class="strut"> </span></p>
+
+ </td>
+ </tr>
+ </table>
+</div>
+
+<div id="footer">
+ <div class="content">
+ <p>
+ <a class="nav" href="index.html">« index</a> <a class="nav" href="https://coverage.readthedocs.io">coverage.py v4.5.2</a>,
+ created at 2019-01-13 14:34
+ </p>
+ </div>
+</div>
+
+</body>
+</html>
diff --git a/coverage_html_report/navipy_processing_test_py.html b/coverage_html_report/navipy_processing_test_py.html
new file mode 100644
index 0000000000000000000000000000000000000000..c194d2372ced8be23f633cefea78f0aa91018d97
--- /dev/null
+++ b/coverage_html_report/navipy_processing_test_py.html
@@ -0,0 +1,1057 @@
+
+
+
+<!DOCTYPE html>
+<html>
+<head>
+ <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
+
+
+ <meta http-equiv="X-UA-Compatible" content="IE=emulateIE7" />
+ <title>Coverage for navipy/processing/test.py: 73%</title>
+ <link rel="stylesheet" href="style.css" type="text/css">
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+<body class="pyfile">
+
+<div id="header">
+ <div class="content">
+ <h1>Coverage for <b>navipy/processing/test.py</b> :
+ <span class="pc_cov">73%</span>
+ </h1>
+
+ <img id="keyboard_icon" src="keybd_closed.png" alt="Show keyboard shortcuts" />
+
+ <h2 class="stats">
+ 257 statements
+ <span class="run hide_run shortkey_r button_toggle_run">187 run</span>
+ <span class="mis shortkey_m button_toggle_mis">70 missing</span>
+ <span class="exc shortkey_x button_toggle_exc">0 excluded</span>
+
+
+ </h2>
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+<p id="n67" class="pln"><a href="#n67">67</a></p>
+<p id="n68" class="stm run hide_run"><a href="#n68">68</a></p>
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+<p id="n87" class="stm run hide_run"><a href="#n87">87</a></p>
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+<p id="n89" class="pln"><a href="#n89">89</a></p>
+<p id="n90" class="stm run hide_run"><a href="#n90">90</a></p>
+<p id="n91" class="stm run hide_run"><a href="#n91">91</a></p>
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+<p id="n93" class="stm run hide_run"><a href="#n93">93</a></p>
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+<p id="n96" class="stm run hide_run"><a href="#n96">96</a></p>
+<p id="n97" class="stm run hide_run"><a href="#n97">97</a></p>
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+<p id="n99" class="pln"><a href="#n99">99</a></p>
+<p id="n100" class="stm run hide_run"><a href="#n100">100</a></p>
+<p id="n101" class="stm run hide_run"><a href="#n101">101</a></p>
+<p id="n102" class="stm run hide_run"><a href="#n102">102</a></p>
+<p id="n103" class="stm run hide_run"><a href="#n103">103</a></p>
+<p id="n104" class="stm run hide_run"><a href="#n104">104</a></p>
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+<p id="n106" class="stm run hide_run"><a href="#n106">106</a></p>
+<p id="n107" class="stm run hide_run"><a href="#n107">107</a></p>
+<p id="n108" class="stm run hide_run"><a href="#n108">108</a></p>
+<p id="n109" class="stm run hide_run"><a href="#n109">109</a></p>
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+<p id="n111" class="stm run hide_run"><a href="#n111">111</a></p>
+<p id="n112" class="pln"><a href="#n112">112</a></p>
+<p id="n113" class="pln"><a href="#n113">113</a></p>
+<p id="n114" class="pln"><a href="#n114">114</a></p>
+<p id="n115" class="pln"><a href="#n115">115</a></p>
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+<p id="n117" class="pln"><a href="#n117">117</a></p>
+<p id="n118" class="pln"><a href="#n118">118</a></p>
+<p id="n119" class="pln"><a href="#n119">119</a></p>
+<p id="n120" class="pln"><a href="#n120">120</a></p>
+<p id="n121" class="pln"><a href="#n121">121</a></p>
+<p id="n122" class="pln"><a href="#n122">122</a></p>
+<p id="n123" class="pln"><a href="#n123">123</a></p>
+<p id="n124" class="pln"><a href="#n124">124</a></p>
+<p id="n125" class="pln"><a href="#n125">125</a></p>
+<p id="n126" class="stm run hide_run"><a href="#n126">126</a></p>
+<p id="n127" class="stm run hide_run"><a href="#n127">127</a></p>
+<p id="n128" class="pln"><a href="#n128">128</a></p>
+<p id="n129" class="stm run hide_run"><a href="#n129">129</a></p>
+<p id="n130" class="stm run hide_run"><a href="#n130">130</a></p>
+<p id="n131" class="stm run hide_run"><a href="#n131">131</a></p>
+<p id="n132" class="stm run hide_run"><a href="#n132">132</a></p>
+<p id="n133" class="stm run hide_run"><a href="#n133">133</a></p>
+<p id="n134" class="stm run hide_run"><a href="#n134">134</a></p>
+<p id="n135" class="stm run hide_run"><a href="#n135">135</a></p>
+<p id="n136" class="stm run hide_run"><a href="#n136">136</a></p>
+<p id="n137" class="stm run hide_run"><a href="#n137">137</a></p>
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+<p id="n139" class="pln"><a href="#n139">139</a></p>
+<p id="n140" class="stm run hide_run"><a href="#n140">140</a></p>
+<p id="n141" class="stm run hide_run"><a href="#n141">141</a></p>
+<p id="n142" class="pln"><a href="#n142">142</a></p>
+<p id="n143" class="stm run hide_run"><a href="#n143">143</a></p>
+<p id="n144" class="stm run hide_run"><a href="#n144">144</a></p>
+<p id="n145" class="stm run hide_run"><a href="#n145">145</a></p>
+<p id="n146" class="stm run hide_run"><a href="#n146">146</a></p>
+<p id="n147" class="stm run hide_run"><a href="#n147">147</a></p>
+<p id="n148" class="stm run hide_run"><a href="#n148">148</a></p>
+<p id="n149" class="stm run hide_run"><a href="#n149">149</a></p>
+<p id="n150" class="stm run hide_run"><a href="#n150">150</a></p>
+<p id="n151" class="pln"><a href="#n151">151</a></p>
+<p id="n152" class="stm run hide_run"><a href="#n152">152</a></p>
+<p id="n153" class="pln"><a href="#n153">153</a></p>
+<p id="n154" class="pln"><a href="#n154">154</a></p>
+<p id="n155" class="pln"><a href="#n155">155</a></p>
+<p id="n156" class="pln"><a href="#n156">156</a></p>
+<p id="n157" class="pln"><a href="#n157">157</a></p>
+<p id="n158" class="pln"><a href="#n158">158</a></p>
+<p id="n159" class="pln"><a href="#n159">159</a></p>
+<p id="n160" class="pln"><a href="#n160">160</a></p>
+<p id="n161" class="pln"><a href="#n161">161</a></p>
+<p id="n162" class="pln"><a href="#n162">162</a></p>
+<p id="n163" class="pln"><a href="#n163">163</a></p>
+<p id="n164" class="stm run hide_run"><a href="#n164">164</a></p>
+<p id="n165" class="pln"><a href="#n165">165</a></p>
+<p id="n166" class="pln"><a href="#n166">166</a></p>
+<p id="n167" class="stm run hide_run"><a href="#n167">167</a></p>
+<p id="n168" class="stm run hide_run"><a href="#n168">168</a></p>
+<p id="n169" class="stm run hide_run"><a href="#n169">169</a></p>
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+<p id="n171" class="stm run hide_run"><a href="#n171">171</a></p>
+<p id="n172" class="stm run hide_run"><a href="#n172">172</a></p>
+<p id="n173" class="pln"><a href="#n173">173</a></p>
+<p id="n174" class="pln"><a href="#n174">174</a></p>
+<p id="n175" class="pln"><a href="#n175">175</a></p>
+<p id="n176" class="stm run hide_run"><a href="#n176">176</a></p>
+<p id="n177" class="stm run hide_run"><a href="#n177">177</a></p>
+<p id="n178" class="pln"><a href="#n178">178</a></p>
+<p id="n179" class="pln"><a href="#n179">179</a></p>
+<p id="n180" class="pln"><a href="#n180">180</a></p>
+<p id="n181" class="stm run hide_run"><a href="#n181">181</a></p>
+<p id="n182" class="stm run hide_run"><a href="#n182">182</a></p>
+<p id="n183" class="stm run hide_run"><a href="#n183">183</a></p>
+<p id="n184" class="pln"><a href="#n184">184</a></p>
+<p id="n185" class="stm run hide_run"><a href="#n185">185</a></p>
+<p id="n186" class="pln"><a href="#n186">186</a></p>
+<p id="n187" class="pln"><a href="#n187">187</a></p>
+<p id="n188" class="pln"><a href="#n188">188</a></p>
+<p id="n189" class="pln"><a href="#n189">189</a></p>
+<p id="n190" class="pln"><a href="#n190">190</a></p>
+<p id="n191" class="pln"><a href="#n191">191</a></p>
+<p id="n192" class="pln"><a href="#n192">192</a></p>
+<p id="n193" class="pln"><a href="#n193">193</a></p>
+<p id="n194" class="pln"><a href="#n194">194</a></p>
+<p id="n195" class="pln"><a href="#n195">195</a></p>
+<p id="n196" class="pln"><a href="#n196">196</a></p>
+<p id="n197" class="pln"><a href="#n197">197</a></p>
+<p id="n198" class="stm run hide_run"><a href="#n198">198</a></p>
+<p id="n199" class="pln"><a href="#n199">199</a></p>
+<p id="n200" class="pln"><a href="#n200">200</a></p>
+<p id="n201" class="stm run hide_run"><a href="#n201">201</a></p>
+<p id="n202" class="stm run hide_run"><a href="#n202">202</a></p>
+<p id="n203" class="stm run hide_run"><a href="#n203">203</a></p>
+<p id="n204" class="stm run hide_run"><a href="#n204">204</a></p>
+<p id="n205" class="stm run hide_run"><a href="#n205">205</a></p>
+<p id="n206" class="stm run hide_run"><a href="#n206">206</a></p>
+<p id="n207" class="stm run hide_run"><a href="#n207">207</a></p>
+<p id="n208" class="stm run hide_run"><a href="#n208">208</a></p>
+<p id="n209" class="stm run hide_run"><a href="#n209">209</a></p>
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+<p id="n211" class="pln"><a href="#n211">211</a></p>
+<p id="n212" class="stm run hide_run"><a href="#n212">212</a></p>
+<p id="n213" class="stm run hide_run"><a href="#n213">213</a></p>
+<p id="n214" class="stm run hide_run"><a href="#n214">214</a></p>
+<p id="n215" class="stm run hide_run"><a href="#n215">215</a></p>
+<p id="n216" class="stm run hide_run"><a href="#n216">216</a></p>
+<p id="n217" class="stm run hide_run"><a href="#n217">217</a></p>
+<p id="n218" class="stm run hide_run"><a href="#n218">218</a></p>
+<p id="n219" class="stm run hide_run"><a href="#n219">219</a></p>
+<p id="n220" class="stm run hide_run"><a href="#n220">220</a></p>
+<p id="n221" class="stm run hide_run"><a href="#n221">221</a></p>
+<p id="n222" class="stm run hide_run"><a href="#n222">222</a></p>
+<p id="n223" class="stm run hide_run"><a href="#n223">223</a></p>
+<p id="n224" class="pln"><a href="#n224">224</a></p>
+<p id="n225" class="stm run hide_run"><a href="#n225">225</a></p>
+<p id="n226" class="pln"><a href="#n226">226</a></p>
+<p id="n227" class="pln"><a href="#n227">227</a></p>
+<p id="n228" class="pln"><a href="#n228">228</a></p>
+<p id="n229" class="pln"><a href="#n229">229</a></p>
+<p id="n230" class="pln"><a href="#n230">230</a></p>
+<p id="n231" class="pln"><a href="#n231">231</a></p>
+<p id="n232" class="pln"><a href="#n232">232</a></p>
+<p id="n233" class="pln"><a href="#n233">233</a></p>
+<p id="n234" class="pln"><a href="#n234">234</a></p>
+<p id="n235" class="pln"><a href="#n235">235</a></p>
+<p id="n236" class="pln"><a href="#n236">236</a></p>
+<p id="n237" class="pln"><a href="#n237">237</a></p>
+<p id="n238" class="stm run hide_run"><a href="#n238">238</a></p>
+<p id="n239" class="stm run hide_run"><a href="#n239">239</a></p>
+<p id="n240" class="stm run hide_run"><a href="#n240">240</a></p>
+<p id="n241" class="stm run hide_run"><a href="#n241">241</a></p>
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+<p id="n243" class="stm run hide_run"><a href="#n243">243</a></p>
+<p id="n244" class="stm run hide_run"><a href="#n244">244</a></p>
+<p id="n245" class="stm run hide_run"><a href="#n245">245</a></p>
+<p id="n246" class="pln"><a href="#n246">246</a></p>
+<p id="n247" class="pln"><a href="#n247">247</a></p>
+<p id="n248" class="pln"><a href="#n248">248</a></p>
+<p id="n249" class="pln"><a href="#n249">249</a></p>
+<p id="n250" class="stm run hide_run"><a href="#n250">250</a></p>
+<p id="n251" class="stm run hide_run"><a href="#n251">251</a></p>
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+<p id="n253" class="stm run hide_run"><a href="#n253">253</a></p>
+<p id="n254" class="stm run hide_run"><a href="#n254">254</a></p>
+<p id="n255" class="stm run hide_run"><a href="#n255">255</a></p>
+<p id="n256" class="stm run hide_run"><a href="#n256">256</a></p>
+<p id="n257" class="stm run hide_run"><a href="#n257">257</a></p>
+<p id="n258" class="stm run hide_run"><a href="#n258">258</a></p>
+<p id="n259" class="stm run hide_run"><a href="#n259">259</a></p>
+<p id="n260" class="stm run hide_run"><a href="#n260">260</a></p>
+<p id="n261" class="pln"><a href="#n261">261</a></p>
+<p id="n262" class="stm run hide_run"><a href="#n262">262</a></p>
+<p id="n263" class="pln"><a href="#n263">263</a></p>
+<p id="n264" class="pln"><a href="#n264">264</a></p>
+<p id="n265" class="pln"><a href="#n265">265</a></p>
+<p id="n266" class="pln"><a href="#n266">266</a></p>
+<p id="n267" class="pln"><a href="#n267">267</a></p>
+<p id="n268" class="pln"><a href="#n268">268</a></p>
+<p id="n269" class="pln"><a href="#n269">269</a></p>
+<p id="n270" class="pln"><a href="#n270">270</a></p>
+<p id="n271" class="pln"><a href="#n271">271</a></p>
+<p id="n272" class="pln"><a href="#n272">272</a></p>
+<p id="n273" class="pln"><a href="#n273">273</a></p>
+<p id="n274" class="pln"><a href="#n274">274</a></p>
+<p id="n275" class="pln"><a href="#n275">275</a></p>
+<p id="n276" class="pln"><a href="#n276">276</a></p>
+<p id="n277" class="pln"><a href="#n277">277</a></p>
+<p id="n278" class="pln"><a href="#n278">278</a></p>
+<p id="n279" class="stm run hide_run"><a href="#n279">279</a></p>
+<p id="n280" class="stm run hide_run"><a href="#n280">280</a></p>
+<p id="n281" class="stm run hide_run"><a href="#n281">281</a></p>
+<p id="n282" class="stm run hide_run"><a href="#n282">282</a></p>
+<p id="n283" class="stm run hide_run"><a href="#n283">283</a></p>
+<p id="n284" class="stm mis"><a href="#n284">284</a></p>
+<p id="n285" class="stm mis"><a href="#n285">285</a></p>
+<p id="n286" class="stm mis"><a href="#n286">286</a></p>
+<p id="n287" class="stm mis"><a href="#n287">287</a></p>
+<p id="n288" class="stm mis"><a href="#n288">288</a></p>
+<p id="n289" class="stm mis"><a href="#n289">289</a></p>
+<p id="n290" class="stm mis"><a href="#n290">290</a></p>
+<p id="n291" class="stm mis"><a href="#n291">291</a></p>
+<p id="n292" class="pln"><a href="#n292">292</a></p>
+<p id="n293" class="pln"><a href="#n293">293</a></p>
+<p id="n294" class="stm mis"><a href="#n294">294</a></p>
+<p id="n295" class="stm mis"><a href="#n295">295</a></p>
+<p id="n296" class="stm mis"><a href="#n296">296</a></p>
+<p id="n297" class="pln"><a href="#n297">297</a></p>
+<p id="n298" class="pln"><a href="#n298">298</a></p>
+<p id="n299" class="stm mis"><a href="#n299">299</a></p>
+<p id="n300" class="stm mis"><a href="#n300">300</a></p>
+<p id="n301" class="stm mis"><a href="#n301">301</a></p>
+<p id="n302" class="pln"><a href="#n302">302</a></p>
+<p id="n303" class="pln"><a href="#n303">303</a></p>
+<p id="n304" class="stm mis"><a href="#n304">304</a></p>
+<p id="n305" class="stm mis"><a href="#n305">305</a></p>
+<p id="n306" class="stm mis"><a href="#n306">306</a></p>
+<p id="n307" class="pln"><a href="#n307">307</a></p>
+<p id="n308" class="pln"><a href="#n308">308</a></p>
+<p id="n309" class="stm mis"><a href="#n309">309</a></p>
+<p id="n310" class="stm mis"><a href="#n310">310</a></p>
+<p id="n311" class="stm mis"><a href="#n311">311</a></p>
+<p id="n312" class="pln"><a href="#n312">312</a></p>
+<p id="n313" class="pln"><a href="#n313">313</a></p>
+<p id="n314" class="stm mis"><a href="#n314">314</a></p>
+<p id="n315" class="stm mis"><a href="#n315">315</a></p>
+<p id="n316" class="stm mis"><a href="#n316">316</a></p>
+<p id="n317" class="stm mis"><a href="#n317">317</a></p>
+<p id="n318" class="pln"><a href="#n318">318</a></p>
+<p id="n319" class="pln"><a href="#n319">319</a></p>
+<p id="n320" class="pln"><a href="#n320">320</a></p>
+<p id="n321" class="stm mis"><a href="#n321">321</a></p>
+<p id="n322" class="stm mis"><a href="#n322">322</a></p>
+<p id="n323" class="stm mis"><a href="#n323">323</a></p>
+<p id="n324" class="stm mis"><a href="#n324">324</a></p>
+<p id="n325" class="pln"><a href="#n325">325</a></p>
+<p id="n326" class="stm mis"><a href="#n326">326</a></p>
+<p id="n327" class="stm mis"><a href="#n327">327</a></p>
+<p id="n328" class="stm mis"><a href="#n328">328</a></p>
+<p id="n329" class="stm mis"><a href="#n329">329</a></p>
+<p id="n330" class="pln"><a href="#n330">330</a></p>
+<p id="n331" class="pln"><a href="#n331">331</a></p>
+<p id="n332" class="stm mis"><a href="#n332">332</a></p>
+<p id="n333" class="stm mis"><a href="#n333">333</a></p>
+<p id="n334" class="stm mis"><a href="#n334">334</a></p>
+<p id="n335" class="stm mis"><a href="#n335">335</a></p>
+<p id="n336" class="pln"><a href="#n336">336</a></p>
+<p id="n337" class="stm mis"><a href="#n337">337</a></p>
+<p id="n338" class="stm mis"><a href="#n338">338</a></p>
+<p id="n339" class="stm mis"><a href="#n339">339</a></p>
+<p id="n340" class="stm mis"><a href="#n340">340</a></p>
+<p id="n341" class="pln"><a href="#n341">341</a></p>
+<p id="n342" class="stm mis"><a href="#n342">342</a></p>
+<p id="n343" class="stm mis"><a href="#n343">343</a></p>
+<p id="n344" class="stm mis"><a href="#n344">344</a></p>
+<p id="n345" class="stm mis"><a href="#n345">345</a></p>
+<p id="n346" class="stm mis"><a href="#n346">346</a></p>
+<p id="n347" class="pln"><a href="#n347">347</a></p>
+<p id="n348" class="stm run hide_run"><a href="#n348">348</a></p>
+<p id="n349" class="pln"><a href="#n349">349</a></p>
+<p id="n350" class="pln"><a href="#n350">350</a></p>
+<p id="n351" class="pln"><a href="#n351">351</a></p>
+<p id="n352" class="pln"><a href="#n352">352</a></p>
+<p id="n353" class="pln"><a href="#n353">353</a></p>
+<p id="n354" class="pln"><a href="#n354">354</a></p>
+<p id="n355" class="pln"><a href="#n355">355</a></p>
+<p id="n356" class="pln"><a href="#n356">356</a></p>
+<p id="n357" class="pln"><a href="#n357">357</a></p>
+<p id="n358" class="pln"><a href="#n358">358</a></p>
+<p id="n359" class="pln"><a href="#n359">359</a></p>
+<p id="n360" class="pln"><a href="#n360">360</a></p>
+<p id="n361" class="pln"><a href="#n361">361</a></p>
+<p id="n362" class="pln"><a href="#n362">362</a></p>
+<p id="n363" class="pln"><a href="#n363">363</a></p>
+<p id="n364" class="pln"><a href="#n364">364</a></p>
+<p id="n365" class="stm run hide_run"><a href="#n365">365</a></p>
+<p id="n366" class="stm run hide_run"><a href="#n366">366</a></p>
+<p id="n367" class="stm run hide_run"><a href="#n367">367</a></p>
+<p id="n368" class="stm run hide_run"><a href="#n368">368</a></p>
+<p id="n369" class="pln"><a href="#n369">369</a></p>
+<p id="n370" class="stm run hide_run"><a href="#n370">370</a></p>
+<p id="n371" class="pln"><a href="#n371">371</a></p>
+<p id="n372" class="stm mis"><a href="#n372">372</a></p>
+<p id="n373" class="stm mis"><a href="#n373">373</a></p>
+<p id="n374" class="stm mis"><a href="#n374">374</a></p>
+<p id="n375" class="stm mis"><a href="#n375">375</a></p>
+<p id="n376" class="stm mis"><a href="#n376">376</a></p>
+<p id="n377" class="stm mis"><a href="#n377">377</a></p>
+<p id="n378" class="stm mis"><a href="#n378">378</a></p>
+<p id="n379" class="stm mis"><a href="#n379">379</a></p>
+<p id="n380" class="pln"><a href="#n380">380</a></p>
+<p id="n381" class="pln"><a href="#n381">381</a></p>
+<p id="n382" class="stm mis"><a href="#n382">382</a></p>
+<p id="n383" class="stm mis"><a href="#n383">383</a></p>
+<p id="n384" class="stm mis"><a href="#n384">384</a></p>
+<p id="n385" class="pln"><a href="#n385">385</a></p>
+<p id="n386" class="pln"><a href="#n386">386</a></p>
+<p id="n387" class="stm mis"><a href="#n387">387</a></p>
+<p id="n388" class="stm mis"><a href="#n388">388</a></p>
+<p id="n389" class="stm mis"><a href="#n389">389</a></p>
+<p id="n390" class="pln"><a href="#n390">390</a></p>
+<p id="n391" class="pln"><a href="#n391">391</a></p>
+<p id="n392" class="stm mis"><a href="#n392">392</a></p>
+<p id="n393" class="stm mis"><a href="#n393">393</a></p>
+<p id="n394" class="stm mis"><a href="#n394">394</a></p>
+<p id="n395" class="pln"><a href="#n395">395</a></p>
+<p id="n396" class="pln"><a href="#n396">396</a></p>
+<p id="n397" class="stm mis"><a href="#n397">397</a></p>
+<p id="n398" class="stm mis"><a href="#n398">398</a></p>
+<p id="n399" class="stm mis"><a href="#n399">399</a></p>
+<p id="n400" class="pln"><a href="#n400">400</a></p>
+<p id="n401" class="pln"><a href="#n401">401</a></p>
+<p id="n402" class="stm mis"><a href="#n402">402</a></p>
+<p id="n403" class="stm mis"><a href="#n403">403</a></p>
+<p id="n404" class="stm mis"><a href="#n404">404</a></p>
+<p id="n405" class="stm mis"><a href="#n405">405</a></p>
+<p id="n406" class="pln"><a href="#n406">406</a></p>
+<p id="n407" class="stm run hide_run"><a href="#n407">407</a></p>
+<p id="n408" class="pln"><a href="#n408">408</a></p>
+<p id="n409" class="pln"><a href="#n409">409</a></p>
+<p id="n410" class="pln"><a href="#n410">410</a></p>
+<p id="n411" class="pln"><a href="#n411">411</a></p>
+<p id="n412" class="pln"><a href="#n412">412</a></p>
+<p id="n413" class="pln"><a href="#n413">413</a></p>
+<p id="n414" class="pln"><a href="#n414">414</a></p>
+<p id="n415" class="pln"><a href="#n415">415</a></p>
+<p id="n416" class="pln"><a href="#n416">416</a></p>
+<p id="n417" class="pln"><a href="#n417">417</a></p>
+<p id="n418" class="pln"><a href="#n418">418</a></p>
+<p id="n419" class="pln"><a href="#n419">419</a></p>
+<p id="n420" class="pln"><a href="#n420">420</a></p>
+<p id="n421" class="stm run hide_run"><a href="#n421">421</a></p>
+<p id="n422" class="pln"><a href="#n422">422</a></p>
+<p id="n423" class="stm run hide_run"><a href="#n423">423</a></p>
+<p id="n424" class="stm run hide_run"><a href="#n424">424</a></p>
+<p id="n425" class="stm run hide_run"><a href="#n425">425</a></p>
+<p id="n426" class="pln"><a href="#n426">426</a></p>
+<p id="n427" class="stm run hide_run"><a href="#n427">427</a></p>
+<p id="n428" class="stm run hide_run"><a href="#n428">428</a></p>
+<p id="n429" class="stm run hide_run"><a href="#n429">429</a></p>
+<p id="n430" class="pln"><a href="#n430">430</a></p>
+<p id="n431" class="pln"><a href="#n431">431</a></p>
+<p id="n432" class="pln"><a href="#n432">432</a></p>
+<p id="n433" class="stm run hide_run"><a href="#n433">433</a></p>
+<p id="n434" class="stm run hide_run"><a href="#n434">434</a></p>
+<p id="n435" class="stm run hide_run"><a href="#n435">435</a></p>
+<p id="n436" class="stm run hide_run"><a href="#n436">436</a></p>
+<p id="n437" class="stm run hide_run"><a href="#n437">437</a></p>
+<p id="n438" class="stm run hide_run"><a href="#n438">438</a></p>
+<p id="n439" class="stm run hide_run"><a href="#n439">439</a></p>
+<p id="n440" class="stm run hide_run"><a href="#n440">440</a></p>
+<p id="n441" class="stm run hide_run"><a href="#n441">441</a></p>
+<p id="n442" class="stm run hide_run"><a href="#n442">442</a></p>
+<p id="n443" class="pln"><a href="#n443">443</a></p>
+<p id="n444" class="stm run hide_run"><a href="#n444">444</a></p>
+<p id="n445" class="pln"><a href="#n445">445</a></p>
+<p id="n446" class="pln"><a href="#n446">446</a></p>
+<p id="n447" class="pln"><a href="#n447">447</a></p>
+<p id="n448" class="pln"><a href="#n448">448</a></p>
+<p id="n449" class="pln"><a href="#n449">449</a></p>
+<p id="n450" class="pln"><a href="#n450">450</a></p>
+<p id="n451" class="pln"><a href="#n451">451</a></p>
+<p id="n452" class="pln"><a href="#n452">452</a></p>
+<p id="n453" class="pln"><a href="#n453">453</a></p>
+<p id="n454" class="pln"><a href="#n454">454</a></p>
+<p id="n455" class="pln"><a href="#n455">455</a></p>
+<p id="n456" class="pln"><a href="#n456">456</a></p>
+<p id="n457" class="pln"><a href="#n457">457</a></p>
+<p id="n458" class="stm run hide_run"><a href="#n458">458</a></p>
+<p id="n459" class="pln"><a href="#n459">459</a></p>
+<p id="n460" class="pln"><a href="#n460">460</a></p>
+<p id="n461" class="stm run hide_run"><a href="#n461">461</a></p>
+<p id="n462" class="stm run hide_run"><a href="#n462">462</a></p>
+<p id="n463" class="stm run hide_run"><a href="#n463">463</a></p>
+<p id="n464" class="stm run hide_run"><a href="#n464">464</a></p>
+<p id="n465" class="stm run hide_run"><a href="#n465">465</a></p>
+<p id="n466" class="stm run hide_run"><a href="#n466">466</a></p>
+<p id="n467" class="stm run hide_run"><a href="#n467">467</a></p>
+<p id="n468" class="stm run hide_run"><a href="#n468">468</a></p>
+<p id="n469" class="stm run hide_run"><a href="#n469">469</a></p>
+<p id="n470" class="pln"><a href="#n470">470</a></p>
+<p id="n471" class="pln"><a href="#n471">471</a></p>
+<p id="n472" class="stm run hide_run"><a href="#n472">472</a></p>
+<p id="n473" class="stm run hide_run"><a href="#n473">473</a></p>
+<p id="n474" class="stm run hide_run"><a href="#n474">474</a></p>
+<p id="n475" class="stm run hide_run"><a href="#n475">475</a></p>
+<p id="n476" class="stm run hide_run"><a href="#n476">476</a></p>
+<p id="n477" class="stm run hide_run"><a href="#n477">477</a></p>
+<p id="n478" class="stm run hide_run"><a href="#n478">478</a></p>
+<p id="n479" class="stm run hide_run"><a href="#n479">479</a></p>
+<p id="n480" class="stm run hide_run"><a href="#n480">480</a></p>
+<p id="n481" class="pln"><a href="#n481">481</a></p>
+<p id="n482" class="pln"><a href="#n482">482</a></p>
+<p id="n483" class="stm run hide_run"><a href="#n483">483</a></p>
+<p id="n484" class="stm mis"><a href="#n484">484</a></p>
+
+ </td>
+ <td class="text">
+<p id="t1" class="stm run hide_run"><span class="key">import</span> <span class="nam">unittest</span><span class="strut"> </span></p>
+<p id="t2" class="stm run hide_run"><span class="key">import</span> <span class="nam">numpy</span> <span class="key">as</span> <span class="nam">np</span><span class="strut"> </span></p>
+<p id="t3" class="stm run hide_run"><span class="key">from</span> <span class="nam">navipy</span> <span class="key">import</span> <span class="nam">database</span> <span class="key">as</span> <span class="nam">database</span><span class="strut"> </span></p>
+<p id="t4" class="stm run hide_run"><span class="key">from</span> <span class="nam">navipy</span><span class="op">.</span><span class="nam">processing</span> <span class="key">import</span> <span class="nam">pcode</span><span class="strut"> </span></p>
+<p id="t5" class="stm run hide_run"><span class="key">from</span> <span class="nam">navipy</span><span class="op">.</span><span class="nam">scene</span> <span class="key">import</span> <span class="nam">is_numeric_array</span><span class="strut"> </span></p>
+<p id="t6" class="stm run hide_run"><span class="key">from</span> <span class="nam">navipy</span> <span class="key">import</span> <span class="nam">unittestlogger</span><span class="strut"> </span></p>
+<p id="t7" class="stm run hide_run"><span class="key">import</span> <span class="nam">pkg_resources</span><span class="strut"> </span></p>
+<p id="t8" class="pln"><span class="strut"> </span></p>
+<p id="t9" class="pln"><span class="strut"> </span></p>
+<p id="t10" class="stm run hide_run"><span class="key">class</span> <span class="nam">TestCase</span><span class="op">(</span><span class="nam">unittest</span><span class="op">.</span><span class="nam">TestCase</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t11" class="stm run hide_run"> <span class="key">def</span> <span class="nam">setUp</span><span class="op">(</span><span class="nam">self</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t12" class="stm run hide_run"> <span class="nam">unittestlogger</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t13" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">mydb_filename</span> <span class="op">=</span> <span class="nam">pkg_resources</span><span class="op">.</span><span class="nam">resource_filename</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t14" class="pln"> <span class="str">'navipy'</span><span class="op">,</span> <span class="str">'resources/database.db'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t15" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">mydb</span> <span class="op">=</span> <span class="nam">database</span><span class="op">.</span><span class="nam">DataBase</span><span class="op">(</span><span class="nam">self</span><span class="op">.</span><span class="nam">mydb_filename</span><span class="op">,</span> <span class="nam">mode</span><span class="op">=</span><span class="str">'r'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t16" class="pln"><span class="strut"> </span></p>
+<p id="t17" class="stm run hide_run"> <span class="key">def</span> <span class="nam">test_scene_posorient</span><span class="op">(</span><span class="nam">self</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t18" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t19" class="pln"><span class="str"> this test checks that the correct errors are raised if</span><span class="strut"> </span></p>
+<p id="t20" class="pln"><span class="str"> wrong values for the input parameters are passed to the</span><span class="strut"> </span></p>
+<p id="t21" class="pln"><span class="str"> function scene of the navipy.database module</span><span class="strut"> </span></p>
+<p id="t22" class="pln"><span class="str"> it also contains some test where correct parameter values</span><span class="strut"> </span></p>
+<p id="t23" class="pln"><span class="str"> were passed to the scene function and the output was</span><span class="strut"> </span></p>
+<p id="t24" class="pln"><span class="str"> checked for correctness.</span><span class="strut"> </span></p>
+<p id="t25" class="pln"><span class="str"> test cases:</span><span class="strut"> </span></p>
+<p id="t26" class="pln"><span class="str"> missing entries in the posorient pd.series</span><span class="strut"> </span></p>
+<p id="t27" class="pln"><span class="str"> None, NaN values in the posorient pd.series</span><span class="strut"> </span></p>
+<p id="t28" class="pln"><span class="str"> posorient is of wrong type (dictionary instead of pd.series)</span><span class="strut"> </span></p>
+<p id="t29" class="pln"><span class="str"> empty posorient pd.series</span><span class="strut"> </span></p>
+<p id="t30" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t31" class="stm run hide_run"> <span class="nam">posorients</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">mydb</span><span class="op">.</span><span class="nam">posorients</span><span class="strut"> </span></p>
+<p id="t32" class="stm run hide_run"> <span class="nam">posorient</span> <span class="op">=</span> <span class="nam">posorients</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="num">13</span><span class="op">,</span> <span class="op">:</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t33" class="stm run hide_run"> <span class="nam">image</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">mydb</span><span class="op">.</span><span class="nam">scene</span><span class="op">(</span><span class="nam">posorient</span><span class="op">=</span><span class="nam">posorient</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t34" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertIsNotNone</span><span class="op">(</span><span class="nam">image</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t35" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertFalse</span><span class="op">(</span><span class="nam">sum</span><span class="op">(</span><span class="nam">image</span><span class="op">.</span><span class="nam">shape</span><span class="op">)</span> <span class="op">==</span> <span class="num">0</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t36" class="pln"> <span class="com"># print("shape",image.shape)</span><span class="strut"> </span></p>
+<p id="t37" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertTrue</span><span class="op">(</span><span class="nam">len</span><span class="op">(</span><span class="nam">image</span><span class="op">.</span><span class="nam">shape</span><span class="op">)</span> <span class="op">==</span> <span class="num">4</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t38" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertTrue</span><span class="op">(</span><span class="nam">image</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">3</span><span class="op">]</span> <span class="op">==</span> <span class="num">1</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t39" class="pln"><span class="strut"> </span></p>
+<p id="t40" class="pln"> <span class="com"># incorrect case missing column</span><span class="strut"> </span></p>
+<p id="t41" class="stm run hide_run"> <span class="nam">posorient2</span> <span class="op">=</span> <span class="nam">posorients</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="num">13</span><span class="op">,</span> <span class="op">:</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t42" class="stm run hide_run"> <span class="nam">posorient2</span><span class="op">.</span><span class="nam">drop</span><span class="op">(</span><span class="op">(</span><span class="str">'location'</span><span class="op">,</span> <span class="str">'x'</span><span class="op">)</span><span class="op">,</span> <span class="nam">inplace</span><span class="op">=</span><span class="key">True</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t43" class="stm run hide_run"> <span class="key">with</span> <span class="nam">self</span><span class="op">.</span><span class="nam">assertRaises</span><span class="op">(</span><span class="nam">Exception</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t44" class="stm run hide_run"> <span class="nam">image</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">mydb</span><span class="op">.</span><span class="nam">scene</span><span class="op">(</span><span class="nam">posorient</span><span class="op">=</span><span class="nam">posorient2</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t45" class="pln"><span class="strut"> </span></p>
+<p id="t46" class="pln"> <span class="com"># incorrect case None</span><span class="strut"> </span></p>
+<p id="t47" class="stm run hide_run"> <span class="nam">posorient2</span> <span class="op">=</span> <span class="nam">posorients</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="num">13</span><span class="op">,</span> <span class="op">:</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t48" class="stm run hide_run"> <span class="nam">posorient2</span><span class="op">[</span><span class="str">'location'</span><span class="op">]</span><span class="op">[</span><span class="str">'x'</span><span class="op">]</span> <span class="op">=</span> <span class="key">None</span><span class="strut"> </span></p>
+<p id="t49" class="stm run hide_run"> <span class="key">with</span> <span class="nam">self</span><span class="op">.</span><span class="nam">assertRaises</span><span class="op">(</span><span class="nam">ValueError</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t50" class="stm run hide_run"> <span class="nam">image</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">mydb</span><span class="op">.</span><span class="nam">scene</span><span class="op">(</span><span class="nam">posorient</span><span class="op">=</span><span class="nam">posorient2</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t51" class="pln"><span class="strut"> </span></p>
+<p id="t52" class="pln"> <span class="com"># incorrect case nan</span><span class="strut"> </span></p>
+<p id="t53" class="stm run hide_run"> <span class="nam">posorient2</span> <span class="op">=</span> <span class="nam">posorients</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="num">13</span><span class="op">,</span> <span class="op">:</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t54" class="stm run hide_run"> <span class="nam">posorient2</span><span class="op">[</span><span class="str">'location'</span><span class="op">]</span><span class="op">[</span><span class="str">'x'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">nan</span><span class="strut"> </span></p>
+<p id="t55" class="stm run hide_run"> <span class="key">with</span> <span class="nam">self</span><span class="op">.</span><span class="nam">assertRaises</span><span class="op">(</span><span class="nam">ValueError</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t56" class="stm run hide_run"> <span class="nam">image</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">mydb</span><span class="op">.</span><span class="nam">scene</span><span class="op">(</span><span class="nam">posorient</span><span class="op">=</span><span class="nam">posorient2</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t57" class="pln"><span class="strut"> </span></p>
+<p id="t58" class="pln"> <span class="com"># incorrect case no pandas series but dict</span><span class="strut"> </span></p>
+<p id="t59" class="stm run hide_run"> <span class="nam">posorient2</span> <span class="op">=</span> <span class="op">{</span><span class="op">}</span><span class="strut"> </span></p>
+<p id="t60" class="stm run hide_run"> <span class="key">with</span> <span class="nam">self</span><span class="op">.</span><span class="nam">assertRaises</span><span class="op">(</span><span class="nam">TypeError</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t61" class="stm run hide_run"> <span class="nam">image</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">mydb</span><span class="op">.</span><span class="nam">scene</span><span class="op">(</span><span class="nam">posorient</span><span class="op">=</span><span class="nam">posorient2</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t62" class="pln"><span class="strut"> </span></p>
+<p id="t63" class="pln"> <span class="com"># not working case empty</span><span class="strut"> </span></p>
+<p id="t64" class="stm run hide_run"> <span class="nam">posorient2</span> <span class="op">=</span> <span class="nam">posorients</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="num">13</span><span class="op">,</span> <span class="op">:</span><span class="op">]</span> <span class="op">*</span> <span class="nam">np</span><span class="op">.</span><span class="nam">nan</span><span class="strut"> </span></p>
+<p id="t65" class="stm run hide_run"> <span class="key">with</span> <span class="nam">self</span><span class="op">.</span><span class="nam">assertRaises</span><span class="op">(</span><span class="nam">Exception</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t66" class="stm run hide_run"> <span class="nam">image</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">mydb</span><span class="op">.</span><span class="nam">scene</span><span class="op">(</span><span class="nam">posorient</span><span class="op">=</span><span class="nam">posorient2</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t67" class="pln"><span class="strut"> </span></p>
+<p id="t68" class="stm run hide_run"> <span class="key">def</span> <span class="nam">test_skyline_scene</span><span class="op">(</span><span class="nam">self</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t69" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t70" class="pln"><span class="str"> this test checks that the correct errors are raised if</span><span class="strut"> </span></p>
+<p id="t71" class="pln"><span class="str"> wrong values for the input parameters are passed to the</span><span class="strut"> </span></p>
+<p id="t72" class="pln"><span class="str"> function skyline_scene of the navipy.database module</span><span class="strut"> </span></p>
+<p id="t73" class="pln"><span class="str"> it also contains some test where correct parameter values</span><span class="strut"> </span></p>
+<p id="t74" class="pln"><span class="str"> were passed to the scene function and the output was</span><span class="strut"> </span></p>
+<p id="t75" class="pln"><span class="str"> checked for correctness.</span><span class="strut"> </span></p>
+<p id="t76" class="pln"><span class="str"> test cases:</span><span class="strut"> </span></p>
+<p id="t77" class="pln"><span class="str"> None, NaN values in the the scene</span><span class="strut"> </span></p>
+<p id="t78" class="pln"><span class="str"> scene is of wrong type (np.array)</span><span class="strut"> </span></p>
+<p id="t79" class="pln"><span class="str"> scene is of wrong size</span><span class="strut"> </span></p>
+<p id="t80" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t81" class="stm run hide_run"> <span class="nam">scene</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">mydb</span><span class="op">.</span><span class="nam">scene</span><span class="op">(</span><span class="nam">rowid</span><span class="op">=</span><span class="num">1</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t82" class="stm run hide_run"> <span class="nam">scene2</span> <span class="op">=</span> <span class="nam">scene</span><span class="op">.</span><span class="nam">copy</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t83" class="stm run hide_run"> <span class="nam">scene2</span><span class="op">[</span><span class="num">3</span><span class="op">,</span> <span class="num">5</span><span class="op">,</span> <span class="num">2</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">nan</span><span class="strut"> </span></p>
+<p id="t84" class="stm run hide_run"> <span class="nam">scene3</span> <span class="op">=</span> <span class="op">[</span><span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">2</span><span class="op">,</span> <span class="num">3</span><span class="op">]</span><span class="op">,</span> <span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">2</span><span class="op">,</span> <span class="num">3</span><span class="op">]</span><span class="op">,</span> <span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">2</span><span class="op">,</span> <span class="num">3</span><span class="op">]</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t85" class="stm run hide_run"> <span class="nam">scene3</span> <span class="op">=</span> <span class="op">[</span><span class="nam">scene3</span><span class="op">,</span> <span class="nam">scene3</span><span class="op">,</span> <span class="nam">scene3</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t86" class="stm run hide_run"> <span class="nam">scene3</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">array</span><span class="op">(</span><span class="nam">scene3</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t87" class="stm run hide_run"> <span class="nam">scene4</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">zeros</span><span class="op">(</span><span class="op">(</span><span class="num">3</span><span class="op">,</span> <span class="num">4</span><span class="op">,</span> <span class="num">5</span><span class="op">,</span> <span class="num">0</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t88" class="pln"><span class="strut"> </span></p>
+<p id="t89" class="pln"> <span class="com"># contains nan</span><span class="strut"> </span></p>
+<p id="t90" class="stm run hide_run"> <span class="key">with</span> <span class="nam">self</span><span class="op">.</span><span class="nam">assertRaises</span><span class="op">(</span><span class="nam">ValueError</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t91" class="stm run hide_run"> <span class="nam">pcode</span><span class="op">.</span><span class="nam">skyline</span><span class="op">(</span><span class="nam">scene2</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t92" class="pln"> <span class="com"># np.array instead of</span><span class="strut"> </span></p>
+<p id="t93" class="stm run hide_run"> <span class="key">with</span> <span class="nam">self</span><span class="op">.</span><span class="nam">assertRaises</span><span class="op">(</span><span class="nam">TypeError</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t94" class="stm run hide_run"> <span class="nam">pcode</span><span class="op">.</span><span class="nam">skyline</span><span class="op">(</span><span class="nam">scene3</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t95" class="pln"> <span class="com"># wrong size</span><span class="strut"> </span></p>
+<p id="t96" class="stm run hide_run"> <span class="key">with</span> <span class="nam">self</span><span class="op">.</span><span class="nam">assertRaises</span><span class="op">(</span><span class="nam">Exception</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t97" class="stm run hide_run"> <span class="nam">pcode</span><span class="op">.</span><span class="nam">skyline</span><span class="op">(</span><span class="nam">scene4</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t98" class="pln"><span class="strut"> </span></p>
+<p id="t99" class="pln"> <span class="com"># should be working -> check if result(skyline) is correct</span><span class="strut"> </span></p>
+<p id="t100" class="stm run hide_run"> <span class="key">for</span> <span class="nam">s</span> <span class="key">in</span> <span class="op">[</span><span class="nam">scene</span><span class="op">]</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t101" class="stm run hide_run"> <span class="nam">skyline</span> <span class="op">=</span> <span class="nam">pcode</span><span class="op">.</span><span class="nam">skyline</span><span class="op">(</span><span class="nam">s</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t102" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertFalse</span><span class="op">(</span><span class="nam">skyline</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">1</span><span class="op">]</span> <span class="op"><=</span> <span class="num">0</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t103" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertTrue</span><span class="op">(</span><span class="nam">skyline</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">2</span><span class="op">]</span> <span class="op">==</span> <span class="num">4</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t104" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertFalse</span><span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">any</span><span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">isnan</span><span class="op">(</span><span class="nam">skyline</span><span class="op">)</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t105" class="pln"> <span class="com"># self.assertFalse(np.any(np.isNone(skyline)))</span><span class="strut"> </span></p>
+<p id="t106" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertTrue</span><span class="op">(</span><span class="nam">is_numeric_array</span><span class="op">(</span><span class="nam">skyline</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t107" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertTrue</span><span class="op">(</span><span class="nam">skyline</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">3</span><span class="op">]</span> <span class="op">==</span> <span class="num">1</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t108" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertTrue</span><span class="op">(</span><span class="nam">skyline</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">0</span><span class="op">]</span> <span class="op">></span> <span class="num">0</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t109" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertTrue</span><span class="op">(</span><span class="nam">skyline</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">1</span><span class="op">]</span> <span class="op">></span> <span class="num">0</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t110" class="pln"><span class="strut"> </span></p>
+<p id="t111" class="stm run hide_run"> <span class="key">def</span> <span class="nam">test_id</span><span class="op">(</span><span class="nam">self</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t112" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t113" class="pln"><span class="str"> this test checks that the correct errors are raised if</span><span class="strut"> </span></p>
+<p id="t114" class="pln"><span class="str"> wrong values for the input parameters id of the</span><span class="strut"> </span></p>
+<p id="t115" class="pln"><span class="str"> function scene of the navipy.database module</span><span class="strut"> </span></p>
+<p id="t116" class="pln"><span class="str"> it also contains some test where correct parameter values</span><span class="strut"> </span></p>
+<p id="t117" class="pln"><span class="str"> were passed to the scene function and the output was</span><span class="strut"> </span></p>
+<p id="t118" class="pln"><span class="str"> checked for correctness.</span><span class="strut"> </span></p>
+<p id="t119" class="pln"><span class="str"> test cases:</span><span class="strut"> </span></p>
+<p id="t120" class="pln"><span class="str"> zero and negative id</span><span class="strut"> </span></p>
+<p id="t121" class="pln"><span class="str"> char for the id</span><span class="strut"> </span></p>
+<p id="t122" class="pln"><span class="str"> None for the id</span><span class="strut"> </span></p>
+<p id="t123" class="pln"><span class="str"> NaN for the id</span><span class="strut"> </span></p>
+<p id="t124" class="pln"><span class="str"> float for the id</span><span class="strut"> </span></p>
+<p id="t125" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t126" class="stm run hide_run"> <span class="key">for</span> <span class="nam">rowid</span> <span class="key">in</span> <span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="op">-</span><span class="num">2</span><span class="op">]</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t127" class="stm run hide_run"> <span class="key">with</span> <span class="nam">self</span><span class="op">.</span><span class="nam">assertRaises</span><span class="op">(</span><span class="nam">ValueError</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t128" class="pln"> <span class="com"># print("rowid",rowid)</span><span class="strut"> </span></p>
+<p id="t129" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">mydb</span><span class="op">.</span><span class="nam">scene</span><span class="op">(</span><span class="nam">rowid</span><span class="op">=</span><span class="nam">rowid</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t130" class="stm run hide_run"> <span class="key">with</span> <span class="nam">self</span><span class="op">.</span><span class="nam">assertRaises</span><span class="op">(</span><span class="nam">TypeError</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t131" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">mydb</span><span class="op">.</span><span class="nam">scene</span><span class="op">(</span><span class="nam">rowid</span><span class="op">=</span><span class="str">'T'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t132" class="stm run hide_run"> <span class="key">with</span> <span class="nam">self</span><span class="op">.</span><span class="nam">assertRaises</span><span class="op">(</span><span class="nam">Exception</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t133" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">mydb</span><span class="op">.</span><span class="nam">scene</span><span class="op">(</span><span class="nam">rowid</span><span class="op">=</span><span class="key">None</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t134" class="stm run hide_run"> <span class="key">with</span> <span class="nam">self</span><span class="op">.</span><span class="nam">assertRaises</span><span class="op">(</span><span class="nam">TypeError</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t135" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">mydb</span><span class="op">.</span><span class="nam">scene</span><span class="op">(</span><span class="nam">rowid</span><span class="op">=</span><span class="nam">np</span><span class="op">.</span><span class="nam">nan</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t136" class="stm run hide_run"> <span class="key">with</span> <span class="nam">self</span><span class="op">.</span><span class="nam">assertRaises</span><span class="op">(</span><span class="nam">TypeError</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t137" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">mydb</span><span class="op">.</span><span class="nam">scene</span><span class="op">(</span><span class="nam">rowid</span><span class="op">=</span><span class="num">4.5</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t138" class="pln"><span class="strut"> </span></p>
+<p id="t139" class="pln"> <span class="com"># working cases</span><span class="strut"> </span></p>
+<p id="t140" class="stm run hide_run"> <span class="key">for</span> <span class="nam">rowid</span> <span class="key">in</span> <span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">2</span><span class="op">,</span> <span class="num">3</span><span class="op">,</span> <span class="num">4</span><span class="op">,</span> <span class="num">5</span><span class="op">]</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t141" class="stm run hide_run"> <span class="nam">image</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">mydb</span><span class="op">.</span><span class="nam">scene</span><span class="op">(</span><span class="nam">rowid</span><span class="op">=</span><span class="nam">rowid</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t142" class="pln"> <span class="com"># image=np.array(image)</span><span class="strut"> </span></p>
+<p id="t143" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertIsNotNone</span><span class="op">(</span><span class="nam">image</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t144" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertFalse</span><span class="op">(</span><span class="nam">sum</span><span class="op">(</span><span class="nam">image</span><span class="op">.</span><span class="nam">shape</span><span class="op">)</span> <span class="op">==</span> <span class="num">0</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t145" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertTrue</span><span class="op">(</span><span class="nam">len</span><span class="op">(</span><span class="nam">image</span><span class="op">.</span><span class="nam">shape</span><span class="op">)</span> <span class="op">==</span> <span class="num">4</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t146" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertFalse</span><span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">any</span><span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">isnan</span><span class="op">(</span><span class="nam">image</span><span class="op">)</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t147" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertTrue</span><span class="op">(</span><span class="nam">image</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">3</span><span class="op">]</span> <span class="op">==</span> <span class="num">1</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t148" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertTrue</span><span class="op">(</span><span class="nam">image</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">2</span><span class="op">]</span> <span class="op">==</span> <span class="num">4</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t149" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertTrue</span><span class="op">(</span><span class="nam">image</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">0</span><span class="op">]</span> <span class="op">></span> <span class="num">0</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t150" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertTrue</span><span class="op">(</span><span class="nam">image</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">1</span><span class="op">]</span> <span class="op">></span> <span class="num">0</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t151" class="pln"><span class="strut"> </span></p>
+<p id="t152" class="stm run hide_run"> <span class="key">def</span> <span class="nam">test_distance_channel</span><span class="op">(</span><span class="nam">self</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t153" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t154" class="pln"><span class="str"> this test checks that the correct errors are raised if</span><span class="strut"> </span></p>
+<p id="t155" class="pln"><span class="str"> wrong values for the input parameters distance_channel is passed to the</span><span class="strut"> </span></p>
+<p id="t156" class="pln"><span class="str"> function scene of the navipy.database module</span><span class="strut"> </span></p>
+<p id="t157" class="pln"><span class="str"> it also contains some test where correct parameter values</span><span class="strut"> </span></p>
+<p id="t158" class="pln"><span class="str"> were passed to the scene function and the output was</span><span class="strut"> </span></p>
+<p id="t159" class="pln"><span class="str"> checked for correctness.</span><span class="strut"> </span></p>
+<p id="t160" class="pln"><span class="str"> test cases:</span><span class="strut"> </span></p>
+<p id="t161" class="pln"><span class="str"> None, NaN, float, char values in the for the distance channel</span><span class="strut"> </span></p>
+<p id="t162" class="pln"><span class="str"> negative int for the distance channel</span><span class="strut"> </span></p>
+<p id="t163" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t164" class="stm run hide_run"> <span class="nam">scene</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">mydb</span><span class="op">.</span><span class="nam">scene</span><span class="op">(</span><span class="nam">rowid</span><span class="op">=</span><span class="num">1</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t165" class="pln"><span class="strut"> </span></p>
+<p id="t166" class="pln"> <span class="com"># should not be working</span><span class="strut"> </span></p>
+<p id="t167" class="stm run hide_run"> <span class="key">for</span> <span class="nam">d</span> <span class="key">in</span> <span class="op">[</span><span class="str">'g'</span><span class="op">,</span> <span class="key">None</span><span class="op">,</span> <span class="nam">np</span><span class="op">.</span><span class="nam">nan</span><span class="op">,</span> <span class="num">8.4</span><span class="op">]</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t168" class="stm run hide_run"> <span class="key">with</span> <span class="nam">self</span><span class="op">.</span><span class="nam">assertRaises</span><span class="op">(</span><span class="nam">TypeError</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t169" class="stm run hide_run"> <span class="nam">pcode</span><span class="op">.</span><span class="nam">contrast_weighted_nearness</span><span class="op">(</span><span class="nam">scene</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t170" class="pln"> <span class="nam">distance_channel</span><span class="op">=</span><span class="nam">d</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t171" class="stm run hide_run"> <span class="key">with</span> <span class="nam">self</span><span class="op">.</span><span class="nam">assertRaises</span><span class="op">(</span><span class="nam">ValueError</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t172" class="stm run hide_run"> <span class="nam">pcode</span><span class="op">.</span><span class="nam">contrast_weighted_nearness</span><span class="op">(</span><span class="nam">scene</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t173" class="pln"> <span class="nam">distance_channel</span><span class="op">=</span><span class="op">-</span><span class="num">1</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t174" class="pln"><span class="strut"> </span></p>
+<p id="t175" class="pln"> <span class="com"># should work</span><span class="strut"> </span></p>
+<p id="t176" class="stm run hide_run"> <span class="nam">d</span> <span class="op">=</span> <span class="num">3</span><span class="strut"> </span></p>
+<p id="t177" class="stm run hide_run"> <span class="nam">weighted_scene</span> <span class="op">=</span> <span class="xx">\</span><span class="strut"> </span></p>
+<p id="t178" class="pln"> <span class="nam">pcode</span><span class="op">.</span><span class="nam">contrast_weighted_nearness</span><span class="op">(</span><span class="nam">scene</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t179" class="pln"> <span class="nam">distance_channel</span><span class="op">=</span><span class="nam">d</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t180" class="pln"> <span class="com"># print("last channel",d)</span><span class="strut"> </span></p>
+<p id="t181" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertTrue</span><span class="op">(</span><span class="nam">is_numeric_array</span><span class="op">(</span><span class="nam">weighted_scene</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t182" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertTrue</span><span class="op">(</span><span class="op">~</span><span class="nam">np</span><span class="op">.</span><span class="nam">any</span><span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">isnan</span><span class="op">(</span><span class="nam">weighted_scene</span><span class="op">)</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t183" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertEqual</span><span class="op">(</span><span class="nam">weighted_scene</span><span class="op">.</span><span class="nam">shape</span><span class="op">,</span> <span class="nam">scene</span><span class="op">.</span><span class="nam">shape</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t184" class="pln"><span class="strut"> </span></p>
+<p id="t185" class="stm run hide_run"> <span class="key">def</span> <span class="nam">test_contr_weight_scene</span><span class="op">(</span><span class="nam">self</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t186" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t187" class="pln"><span class="str"> this test checks that the correct errors are raised if</span><span class="strut"> </span></p>
+<p id="t188" class="pln"><span class="str"> wrong values for the input parameter scene is passed to the</span><span class="strut"> </span></p>
+<p id="t189" class="pln"><span class="str"> function contr_weight_scene of the navipy.database module</span><span class="strut"> </span></p>
+<p id="t190" class="pln"><span class="str"> it also contains some test where correct parameter values</span><span class="strut"> </span></p>
+<p id="t191" class="pln"><span class="str"> were passed to the scene function and the output was</span><span class="strut"> </span></p>
+<p id="t192" class="pln"><span class="str"> checked for correctness.</span><span class="strut"> </span></p>
+<p id="t193" class="pln"><span class="str"> test cases:</span><span class="strut"> </span></p>
+<p id="t194" class="pln"><span class="str"> None, NaN values in the the scene</span><span class="strut"> </span></p>
+<p id="t195" class="pln"><span class="str"> scene is of wrong type (np.array)</span><span class="strut"> </span></p>
+<p id="t196" class="pln"><span class="str"> scene is of wrong size</span><span class="strut"> </span></p>
+<p id="t197" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t198" class="stm run hide_run"> <span class="nam">scene</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">mydb</span><span class="op">.</span><span class="nam">scene</span><span class="op">(</span><span class="nam">rowid</span><span class="op">=</span><span class="num">1</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t199" class="pln"><span class="strut"> </span></p>
+<p id="t200" class="pln"> <span class="com"># working cases</span><span class="strut"> </span></p>
+<p id="t201" class="stm run hide_run"> <span class="nam">contrast</span> <span class="op">=</span> <span class="nam">pcode</span><span class="op">.</span><span class="nam">contrast_weighted_nearness</span><span class="op">(</span><span class="nam">scene</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t202" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertIsNotNone</span><span class="op">(</span><span class="nam">contrast</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t203" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertFalse</span><span class="op">(</span><span class="nam">sum</span><span class="op">(</span><span class="nam">contrast</span><span class="op">.</span><span class="nam">shape</span><span class="op">)</span> <span class="op">==</span> <span class="num">0</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t204" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertTrue</span><span class="op">(</span><span class="nam">len</span><span class="op">(</span><span class="nam">contrast</span><span class="op">.</span><span class="nam">shape</span><span class="op">)</span> <span class="op">==</span> <span class="num">4</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t205" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertFalse</span><span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">any</span><span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">isnan</span><span class="op">(</span><span class="nam">contrast</span><span class="op">)</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t206" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertTrue</span><span class="op">(</span><span class="nam">contrast</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">3</span><span class="op">]</span> <span class="op">==</span> <span class="num">1</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t207" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertTrue</span><span class="op">(</span><span class="nam">contrast</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">2</span><span class="op">]</span> <span class="op">==</span> <span class="num">4</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t208" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertTrue</span><span class="op">(</span><span class="nam">contrast</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">0</span><span class="op">]</span> <span class="op">></span> <span class="num">0</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t209" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertTrue</span><span class="op">(</span><span class="nam">contrast</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">1</span><span class="op">]</span> <span class="op">></span> <span class="num">0</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t210" class="pln"><span class="strut"> </span></p>
+<p id="t211" class="pln"> <span class="com"># not working case</span><span class="strut"> </span></p>
+<p id="t212" class="stm run hide_run"> <span class="nam">scene2</span> <span class="op">=</span> <span class="nam">scene</span><span class="op">.</span><span class="nam">copy</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t213" class="stm run hide_run"> <span class="nam">scene2</span><span class="op">[</span><span class="num">3</span><span class="op">,</span> <span class="num">2</span><span class="op">,</span> <span class="num">1</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">nan</span><span class="strut"> </span></p>
+<p id="t214" class="stm run hide_run"> <span class="nam">scene3</span> <span class="op">=</span> <span class="op">[</span><span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">2</span><span class="op">,</span> <span class="num">3</span><span class="op">]</span><span class="op">,</span> <span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">2</span><span class="op">,</span> <span class="num">3</span><span class="op">]</span><span class="op">,</span> <span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">2</span><span class="op">,</span> <span class="num">3</span><span class="op">]</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t215" class="stm run hide_run"> <span class="nam">scene3</span> <span class="op">=</span> <span class="op">[</span><span class="nam">scene3</span><span class="op">,</span> <span class="nam">scene3</span><span class="op">,</span> <span class="nam">scene3</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t216" class="stm run hide_run"> <span class="nam">scene3</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">array</span><span class="op">(</span><span class="nam">scene3</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t217" class="stm run hide_run"> <span class="nam">scene4</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">zeros</span><span class="op">(</span><span class="op">(</span><span class="num">3</span><span class="op">,</span> <span class="num">4</span><span class="op">,</span> <span class="num">5</span><span class="op">,</span> <span class="num">0</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t218" class="stm run hide_run"> <span class="key">with</span> <span class="nam">self</span><span class="op">.</span><span class="nam">assertRaises</span><span class="op">(</span><span class="nam">ValueError</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t219" class="stm run hide_run"> <span class="nam">contrast</span> <span class="op">=</span> <span class="nam">pcode</span><span class="op">.</span><span class="nam">contrast_weighted_nearness</span><span class="op">(</span><span class="nam">scene2</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t220" class="stm run hide_run"> <span class="key">with</span> <span class="nam">self</span><span class="op">.</span><span class="nam">assertRaises</span><span class="op">(</span><span class="nam">Exception</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t221" class="stm run hide_run"> <span class="nam">contrast</span> <span class="op">=</span> <span class="nam">pcode</span><span class="op">.</span><span class="nam">contrast_weighted_nearness</span><span class="op">(</span><span class="nam">scene3</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t222" class="stm run hide_run"> <span class="key">with</span> <span class="nam">self</span><span class="op">.</span><span class="nam">assertRaises</span><span class="op">(</span><span class="nam">Exception</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t223" class="stm run hide_run"> <span class="nam">contrast</span> <span class="op">=</span> <span class="nam">pcode</span><span class="op">.</span><span class="nam">contrast_weighted_nearness</span><span class="op">(</span><span class="nam">scene4</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t224" class="pln"><span class="strut"> </span></p>
+<p id="t225" class="stm run hide_run"> <span class="key">def</span> <span class="nam">test_contr_weight_contrast</span><span class="op">(</span><span class="nam">self</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t226" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t227" class="pln"><span class="str"> this test checks that the correct errors are raised if</span><span class="strut"> </span></p>
+<p id="t228" class="pln"><span class="str"> wrong values for the input parameter contrast_size are passed to the</span><span class="strut"> </span></p>
+<p id="t229" class="pln"><span class="str"> function skyline_scene of the navipy.database module.</span><span class="strut"> </span></p>
+<p id="t230" class="pln"><span class="str"> correct values are in the range between 2 and 5.</span><span class="strut"> </span></p>
+<p id="t231" class="pln"><span class="str"> it also contains some test where correct parameter values</span><span class="strut"> </span></p>
+<p id="t232" class="pln"><span class="str"> were passed to the scene function and the output was</span><span class="strut"> </span></p>
+<p id="t233" class="pln"><span class="str"> checked for correctness.</span><span class="strut"> </span></p>
+<p id="t234" class="pln"><span class="str"> test cases:</span><span class="strut"> </span></p>
+<p id="t235" class="pln"><span class="str"> None, NaN values, chars, floats for the contrast_size</span><span class="strut"> </span></p>
+<p id="t236" class="pln"><span class="str"> int values that are out of range (<2;>5)</span><span class="strut"> </span></p>
+<p id="t237" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t238" class="stm run hide_run"> <span class="nam">scene</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">mydb</span><span class="op">.</span><span class="nam">scene</span><span class="op">(</span><span class="nam">rowid</span><span class="op">=</span><span class="num">1</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t239" class="stm run hide_run"> <span class="key">for</span> <span class="nam">size</span> <span class="key">in</span> <span class="op">[</span><span class="num">9.4</span><span class="op">,</span> <span class="str">'g'</span><span class="op">,</span> <span class="key">None</span><span class="op">,</span> <span class="nam">np</span><span class="op">.</span><span class="nam">nan</span><span class="op">]</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t240" class="stm run hide_run"> <span class="key">with</span> <span class="nam">self</span><span class="op">.</span><span class="nam">assertRaises</span><span class="op">(</span><span class="nam">TypeError</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t241" class="stm run hide_run"> <span class="nam">contrast</span> <span class="op">=</span> <span class="nam">pcode</span><span class="op">.</span><span class="nam">contrast_weighted_nearness</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t242" class="pln"> <span class="nam">scene</span><span class="op">,</span> <span class="nam">contrast_size</span><span class="op">=</span><span class="nam">size</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t243" class="stm run hide_run"> <span class="key">for</span> <span class="nam">size</span> <span class="key">in</span> <span class="op">[</span><span class="num">8</span><span class="op">,</span> <span class="num">1</span><span class="op">,</span> <span class="num">0</span><span class="op">,</span> <span class="op">-</span><span class="num">4</span><span class="op">]</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t244" class="stm run hide_run"> <span class="key">with</span> <span class="nam">self</span><span class="op">.</span><span class="nam">assertRaises</span><span class="op">(</span><span class="nam">ValueError</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t245" class="stm run hide_run"> <span class="nam">contrast</span> <span class="op">=</span> <span class="xx">\</span><span class="strut"> </span></p>
+<p id="t246" class="pln"> <span class="nam">pcode</span><span class="op">.</span><span class="nam">contrast_weighted_nearness</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t247" class="pln"> <span class="nam">scene</span><span class="op">,</span> <span class="nam">contrast_size</span><span class="op">=</span><span class="nam">size</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t248" class="pln"><span class="strut"> </span></p>
+<p id="t249" class="pln"> <span class="com"># working cases</span><span class="strut"> </span></p>
+<p id="t250" class="stm run hide_run"> <span class="key">for</span> <span class="nam">size</span> <span class="key">in</span> <span class="op">[</span><span class="num">2</span><span class="op">,</span> <span class="num">3</span><span class="op">,</span> <span class="num">4</span><span class="op">,</span> <span class="num">5</span><span class="op">]</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t251" class="stm run hide_run"> <span class="nam">contrast</span> <span class="op">=</span> <span class="nam">pcode</span><span class="op">.</span><span class="nam">contrast_weighted_nearness</span><span class="op">(</span><span class="nam">scene</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t252" class="pln"> <span class="nam">contrast_size</span><span class="op">=</span><span class="nam">size</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t253" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertIsNotNone</span><span class="op">(</span><span class="nam">contrast</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t254" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertFalse</span><span class="op">(</span><span class="nam">sum</span><span class="op">(</span><span class="nam">contrast</span><span class="op">.</span><span class="nam">shape</span><span class="op">)</span> <span class="op">==</span> <span class="num">0</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t255" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertTrue</span><span class="op">(</span><span class="nam">len</span><span class="op">(</span><span class="nam">contrast</span><span class="op">.</span><span class="nam">shape</span><span class="op">)</span> <span class="op">==</span> <span class="num">4</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t256" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertFalse</span><span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">any</span><span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">isnan</span><span class="op">(</span><span class="nam">contrast</span><span class="op">)</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t257" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertEqual</span><span class="op">(</span><span class="nam">contrast</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">3</span><span class="op">]</span><span class="op">,</span> <span class="num">1</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t258" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertEqual</span><span class="op">(</span><span class="nam">contrast</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">2</span><span class="op">]</span><span class="op">,</span> <span class="nam">scene</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">2</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t259" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertEqual</span><span class="op">(</span><span class="nam">contrast</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">,</span> <span class="nam">scene</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t260" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertEqual</span><span class="op">(</span><span class="nam">contrast</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">1</span><span class="op">]</span><span class="op">,</span> <span class="nam">scene</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">1</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t261" class="pln"><span class="strut"> </span></p>
+<p id="t262" class="stm run hide_run"> <span class="key">def</span> <span class="nam">test_pcv</span><span class="op">(</span><span class="nam">self</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t263" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t264" class="pln"><span class="str"> this test checks that the correct errors are raised if</span><span class="strut"> </span></p>
+<p id="t265" class="pln"><span class="str"> wrong values for the input parameter direction is passed to the</span><span class="strut"> </span></p>
+<p id="t266" class="pln"><span class="str"> function pcv of the navipy.database module.</span><span class="strut"> </span></p>
+<p id="t267" class="pln"><span class="str"> correct values are in the range between 2 and 5.</span><span class="strut"> </span></p>
+<p id="t268" class="pln"><span class="str"> it also contains some test where correct parameter values</span><span class="strut"> </span></p>
+<p id="t269" class="pln"><span class="str"> were passed to the scene function and the output was</span><span class="strut"> </span></p>
+<p id="t270" class="pln"><span class="str"> checked for correctness.</span><span class="strut"> </span></p>
+<p id="t271" class="pln"><span class="str"> test cases:</span><span class="strut"> </span></p>
+<p id="t272" class="pln"><span class="str"> wrong shape (must match the scenes shape)</span><span class="strut"> </span></p>
+<p id="t273" class="pln"><span class="str"> last dimension shape does not match (must 2, azimuth, elevation)</span><span class="strut"> </span></p>
+<p id="t274" class="pln"><span class="str"> direction has too many dimensions</span><span class="strut"> </span></p>
+<p id="t275" class="pln"><span class="str"> is empty</span><span class="strut"> </span></p>
+<p id="t276" class="pln"><span class="str"> contains wrong values (None, nan)</span><span class="strut"> </span></p>
+<p id="t277" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t278" class="pln"> <span class="com"># working case</span><span class="strut"> </span></p>
+<p id="t279" class="stm run hide_run"> <span class="nam">rowid</span> <span class="op">=</span> <span class="num">1</span><span class="strut"> </span></p>
+<p id="t280" class="stm run hide_run"> <span class="nam">my_scene</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">mydb</span><span class="op">.</span><span class="nam">scene</span><span class="op">(</span><span class="nam">rowid</span><span class="op">=</span><span class="nam">rowid</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t281" class="stm run hide_run"> <span class="nam">directions</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">mydb</span><span class="op">.</span><span class="nam">viewing_directions</span><span class="op">.</span><span class="nam">copy</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t282" class="stm run hide_run"> <span class="nam">directions</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">radians</span><span class="op">(</span><span class="nam">directions</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t283" class="stm run hide_run"> <span class="nam">my_pcv</span> <span class="op">=</span> <span class="nam">pcode</span><span class="op">.</span><span class="nam">pcv</span><span class="op">(</span><span class="nam">my_scene</span><span class="op">,</span> <span class="nam">directions</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t284" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertIsNotNone</span><span class="op">(</span><span class="nam">my_pcv</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t285" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertFalse</span><span class="op">(</span><span class="nam">sum</span><span class="op">(</span><span class="nam">my_pcv</span><span class="op">.</span><span class="nam">shape</span><span class="op">)</span> <span class="op">==</span> <span class="num">0</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t286" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertTrue</span><span class="op">(</span><span class="nam">len</span><span class="op">(</span><span class="nam">my_pcv</span><span class="op">.</span><span class="nam">shape</span><span class="op">)</span> <span class="op">==</span> <span class="num">4</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t287" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertFalse</span><span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">any</span><span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">isnan</span><span class="op">(</span><span class="nam">my_pcv</span><span class="op">)</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t288" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertTrue</span><span class="op">(</span><span class="nam">my_pcv</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">3</span><span class="op">]</span> <span class="op">==</span> <span class="num">3</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t289" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertTrue</span><span class="op">(</span><span class="nam">my_pcv</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">2</span><span class="op">]</span> <span class="op">==</span> <span class="num">4</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t290" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertTrue</span><span class="op">(</span><span class="nam">my_pcv</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">0</span><span class="op">]</span> <span class="op">></span> <span class="num">0</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t291" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertTrue</span><span class="op">(</span><span class="nam">my_pcv</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">1</span><span class="op">]</span> <span class="op">></span> <span class="num">0</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t292" class="pln"><span class="strut"> </span></p>
+<p id="t293" class="pln"> <span class="com"># not working cases doesnt match with shape of place code</span><span class="strut"> </span></p>
+<p id="t294" class="stm mis"> <span class="nam">testdirection</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">zeros</span><span class="op">(</span><span class="op">(</span><span class="num">2</span><span class="op">,</span> <span class="num">4</span><span class="op">,</span> <span class="num">2</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t295" class="stm mis"> <span class="key">with</span> <span class="nam">self</span><span class="op">.</span><span class="nam">assertRaises</span><span class="op">(</span><span class="nam">Exception</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t296" class="stm mis"> <span class="nam">my_pcv</span> <span class="op">=</span> <span class="nam">pcode</span><span class="op">.</span><span class="nam">pcv</span><span class="op">(</span><span class="nam">my_scene</span><span class="op">,</span> <span class="nam">testdirection</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t297" class="pln"><span class="strut"> </span></p>
+<p id="t298" class="pln"> <span class="com"># not working cases wrong last dimension</span><span class="strut"> </span></p>
+<p id="t299" class="stm mis"> <span class="nam">testdirection</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">zeros</span><span class="op">(</span><span class="op">(</span><span class="num">180</span><span class="op">,</span> <span class="num">360</span><span class="op">,</span> <span class="num">1</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t300" class="stm mis"> <span class="key">with</span> <span class="nam">self</span><span class="op">.</span><span class="nam">assertRaises</span><span class="op">(</span><span class="nam">Exception</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t301" class="stm mis"> <span class="nam">my_pcv</span> <span class="op">=</span> <span class="nam">pcode</span><span class="op">.</span><span class="nam">pcv</span><span class="op">(</span><span class="nam">my_scene</span><span class="op">,</span> <span class="nam">testdirection</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t302" class="pln"><span class="strut"> </span></p>
+<p id="t303" class="pln"> <span class="com"># not working cases too many dimensions</span><span class="strut"> </span></p>
+<p id="t304" class="stm mis"> <span class="nam">testdirection</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">zeros</span><span class="op">(</span><span class="op">(</span><span class="num">180</span><span class="op">,</span> <span class="num">360</span><span class="op">,</span> <span class="num">2</span><span class="op">,</span> <span class="num">4</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t305" class="stm mis"> <span class="key">with</span> <span class="nam">self</span><span class="op">.</span><span class="nam">assertRaises</span><span class="op">(</span><span class="nam">Exception</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t306" class="stm mis"> <span class="nam">my_pcv</span> <span class="op">=</span> <span class="nam">pcode</span><span class="op">.</span><span class="nam">pcv</span><span class="op">(</span><span class="nam">my_scene</span><span class="op">,</span> <span class="nam">testdirection</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t307" class="pln"><span class="strut"> </span></p>
+<p id="t308" class="pln"> <span class="com"># not working cases empty</span><span class="strut"> </span></p>
+<p id="t309" class="stm mis"> <span class="nam">testdirection</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">zeros</span><span class="op">(</span><span class="op">(</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t310" class="stm mis"> <span class="key">with</span> <span class="nam">self</span><span class="op">.</span><span class="nam">assertRaises</span><span class="op">(</span><span class="nam">Exception</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t311" class="stm mis"> <span class="nam">my_pcv</span> <span class="op">=</span> <span class="nam">pcode</span><span class="op">.</span><span class="nam">pcv</span><span class="op">(</span><span class="nam">my_scene</span><span class="op">,</span> <span class="nam">testdirection</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t312" class="pln"><span class="strut"> </span></p>
+<p id="t313" class="pln"> <span class="com"># not working cases nans</span><span class="strut"> </span></p>
+<p id="t314" class="stm mis"> <span class="nam">testdirection</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">zeros</span><span class="op">(</span><span class="op">(</span><span class="num">180</span><span class="op">,</span> <span class="num">360</span><span class="op">,</span> <span class="num">2</span><span class="op">,</span> <span class="num">4</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t315" class="stm mis"> <span class="nam">testdirection</span><span class="op">[</span><span class="num">2</span><span class="op">,</span> <span class="num">3</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">nan</span><span class="strut"> </span></p>
+<p id="t316" class="stm mis"> <span class="key">with</span> <span class="nam">self</span><span class="op">.</span><span class="nam">assertRaises</span><span class="op">(</span><span class="nam">ValueError</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t317" class="stm mis"> <span class="nam">my_pcv</span> <span class="op">=</span> <span class="nam">pcode</span><span class="op">.</span><span class="nam">pcv</span><span class="op">(</span><span class="nam">my_scene</span><span class="op">,</span> <span class="nam">testdirection</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t318" class="pln"><span class="strut"> </span></p>
+<p id="t319" class="pln"> <span class="com"># test if error is throught for elevation or azimuth out of range</span><span class="strut"> </span></p>
+<p id="t320" class="pln"> <span class="com"># check elevation, should be in [-pi*2;pi*2]</span><span class="strut"> </span></p>
+<p id="t321" class="stm mis"> <span class="nam">testdirections</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">zeros</span><span class="op">(</span><span class="op">(</span><span class="num">180</span><span class="op">,</span> <span class="num">360</span><span class="op">,</span> <span class="num">2</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t322" class="stm mis"> <span class="nam">testdirections</span><span class="op">[</span><span class="num">10</span><span class="op">,</span> <span class="num">15</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span> <span class="op">=</span> <span class="op">-</span><span class="nam">np</span><span class="op">.</span><span class="nam">pi</span> <span class="op">*</span> <span class="num">2</span> <span class="op">-</span> <span class="num">0.001</span><span class="strut"> </span></p>
+<p id="t323" class="stm mis"> <span class="key">with</span> <span class="nam">self</span><span class="op">.</span><span class="nam">assertRaises</span><span class="op">(</span><span class="nam">ValueError</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t324" class="stm mis"> <span class="nam">my_pcv</span> <span class="op">=</span> <span class="nam">pcode</span><span class="op">.</span><span class="nam">pcv</span><span class="op">(</span><span class="nam">my_scene</span><span class="op">,</span> <span class="nam">testdirections</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t325" class="pln"><span class="strut"> </span></p>
+<p id="t326" class="stm mis"> <span class="nam">testdirections</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">zeros</span><span class="op">(</span><span class="op">(</span><span class="num">180</span><span class="op">,</span> <span class="num">360</span><span class="op">,</span> <span class="num">2</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t327" class="stm mis"> <span class="nam">testdirections</span><span class="op">[</span><span class="num">10</span><span class="op">,</span> <span class="num">15</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">pi</span> <span class="op">*</span> <span class="num">2</span> <span class="op">+</span> <span class="num">0.001</span><span class="strut"> </span></p>
+<p id="t328" class="stm mis"> <span class="key">with</span> <span class="nam">self</span><span class="op">.</span><span class="nam">assertRaises</span><span class="op">(</span><span class="nam">ValueError</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t329" class="stm mis"> <span class="nam">my_pcv</span> <span class="op">=</span> <span class="nam">pcode</span><span class="op">.</span><span class="nam">pcv</span><span class="op">(</span><span class="nam">my_scene</span><span class="op">,</span> <span class="nam">testdirections</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t330" class="pln"><span class="strut"> </span></p>
+<p id="t331" class="pln"> <span class="com"># check azimuth, should be in [-2*pi;2*pi]</span><span class="strut"> </span></p>
+<p id="t332" class="stm mis"> <span class="nam">testdirections</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">zeros</span><span class="op">(</span><span class="op">(</span><span class="num">180</span><span class="op">,</span> <span class="num">360</span><span class="op">,</span> <span class="num">2</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t333" class="stm mis"> <span class="nam">testdirections</span><span class="op">[</span><span class="num">10</span><span class="op">,</span> <span class="num">15</span><span class="op">,</span> <span class="num">1</span><span class="op">]</span> <span class="op">=</span> <span class="op">-</span><span class="num">2</span> <span class="op">*</span> <span class="nam">np</span><span class="op">.</span><span class="nam">pi</span> <span class="op">-</span> <span class="num">0.001</span><span class="strut"> </span></p>
+<p id="t334" class="stm mis"> <span class="key">with</span> <span class="nam">self</span><span class="op">.</span><span class="nam">assertRaises</span><span class="op">(</span><span class="nam">ValueError</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t335" class="stm mis"> <span class="nam">my_pcv</span> <span class="op">=</span> <span class="nam">pcode</span><span class="op">.</span><span class="nam">pcv</span><span class="op">(</span><span class="nam">my_scene</span><span class="op">,</span> <span class="nam">testdirections</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t336" class="pln"><span class="strut"> </span></p>
+<p id="t337" class="stm mis"> <span class="nam">testdirections</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">zeros</span><span class="op">(</span><span class="op">(</span><span class="num">180</span><span class="op">,</span> <span class="num">360</span><span class="op">,</span> <span class="num">2</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t338" class="stm mis"> <span class="nam">testdirections</span><span class="op">[</span><span class="num">10</span><span class="op">,</span> <span class="num">15</span><span class="op">,</span> <span class="num">1</span><span class="op">]</span> <span class="op">=</span> <span class="num">2</span> <span class="op">*</span> <span class="nam">np</span><span class="op">.</span><span class="nam">pi</span> <span class="op">+</span> <span class="num">0.001</span><span class="strut"> </span></p>
+<p id="t339" class="stm mis"> <span class="key">with</span> <span class="nam">self</span><span class="op">.</span><span class="nam">assertRaises</span><span class="op">(</span><span class="nam">ValueError</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t340" class="stm mis"> <span class="nam">my_pcv</span> <span class="op">=</span> <span class="nam">pcode</span><span class="op">.</span><span class="nam">pcv</span><span class="op">(</span><span class="nam">my_scene</span><span class="op">,</span> <span class="nam">testdirections</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t341" class="pln"><span class="strut"> </span></p>
+<p id="t342" class="stm mis"> <span class="nam">testdirections</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">zeros</span><span class="op">(</span><span class="op">(</span><span class="num">180</span><span class="op">,</span> <span class="num">360</span><span class="op">,</span> <span class="num">2</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t343" class="stm mis"> <span class="nam">testdirections</span><span class="op">[</span><span class="num">10</span><span class="op">,</span> <span class="num">15</span><span class="op">,</span> <span class="num">1</span><span class="op">]</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">pi</span> <span class="op">+</span> <span class="num">0.001</span><span class="strut"> </span></p>
+<p id="t344" class="stm mis"> <span class="nam">testdirections</span><span class="op">[</span><span class="num">10</span><span class="op">,</span> <span class="num">16</span><span class="op">,</span> <span class="num">1</span><span class="op">]</span> <span class="op">=</span> <span class="op">-</span> <span class="nam">np</span><span class="op">.</span><span class="nam">pi</span> <span class="op">-</span> <span class="num">0.001</span><span class="strut"> </span></p>
+<p id="t345" class="stm mis"> <span class="key">with</span> <span class="nam">self</span><span class="op">.</span><span class="nam">assertRaises</span><span class="op">(</span><span class="nam">ValueError</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t346" class="stm mis"> <span class="nam">my_pcv</span> <span class="op">=</span> <span class="nam">pcode</span><span class="op">.</span><span class="nam">pcv</span><span class="op">(</span><span class="nam">my_scene</span><span class="op">,</span> <span class="nam">testdirections</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t347" class="pln"><span class="strut"> </span></p>
+<p id="t348" class="stm run hide_run"> <span class="key">def</span> <span class="nam">test_apcv</span><span class="op">(</span><span class="nam">self</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t349" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t350" class="pln"><span class="str"> this test checks that the correct errors are raised if</span><span class="strut"> </span></p>
+<p id="t351" class="pln"><span class="str"> wrong values for the input parameter direction is passed to the</span><span class="strut"> </span></p>
+<p id="t352" class="pln"><span class="str"> function apcv of the navipy.database module.</span><span class="strut"> </span></p>
+<p id="t353" class="pln"><span class="str"> correct values are in the range between 2 and 5.</span><span class="strut"> </span></p>
+<p id="t354" class="pln"><span class="str"> it also contains some test where correct parameter values</span><span class="strut"> </span></p>
+<p id="t355" class="pln"><span class="str"> were passed to the scene function and the output was</span><span class="strut"> </span></p>
+<p id="t356" class="pln"><span class="str"> checked for correctness.</span><span class="strut"> </span></p>
+<p id="t357" class="pln"><span class="str"> test cases:</span><span class="strut"> </span></p>
+<p id="t358" class="pln"><span class="str"> wrong shape (must match the scenes shape)</span><span class="strut"> </span></p>
+<p id="t359" class="pln"><span class="str"> last dimension shape does not match (must 2, azimuth, elevation)</span><span class="strut"> </span></p>
+<p id="t360" class="pln"><span class="str"> direction has too many dimensions</span><span class="strut"> </span></p>
+<p id="t361" class="pln"><span class="str"> is empty</span><span class="strut"> </span></p>
+<p id="t362" class="pln"><span class="str"> contains wrong values (None, nan)</span><span class="strut"> </span></p>
+<p id="t363" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t364" class="pln"> <span class="com"># working case</span><span class="strut"> </span></p>
+<p id="t365" class="stm run hide_run"> <span class="nam">rowid</span> <span class="op">=</span> <span class="num">1</span><span class="strut"> </span></p>
+<p id="t366" class="stm run hide_run"> <span class="nam">my_scene</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">mydb</span><span class="op">.</span><span class="nam">scene</span><span class="op">(</span><span class="nam">rowid</span><span class="op">=</span><span class="nam">rowid</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t367" class="stm run hide_run"> <span class="nam">directions</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">mydb</span><span class="op">.</span><span class="nam">viewing_directions</span><span class="op">.</span><span class="nam">copy</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t368" class="stm run hide_run"> <span class="nam">directions</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">radians</span><span class="op">(</span><span class="nam">directions</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t369" class="pln"><span class="strut"> </span></p>
+<p id="t370" class="stm run hide_run"> <span class="nam">my_pcv</span> <span class="op">=</span> <span class="nam">pcode</span><span class="op">.</span><span class="nam">apcv</span><span class="op">(</span><span class="nam">my_scene</span><span class="op">,</span> <span class="nam">directions</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t371" class="pln"><span class="strut"> </span></p>
+<p id="t372" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertIsNotNone</span><span class="op">(</span><span class="nam">my_pcv</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t373" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertFalse</span><span class="op">(</span><span class="nam">sum</span><span class="op">(</span><span class="nam">my_pcv</span><span class="op">.</span><span class="nam">shape</span><span class="op">)</span> <span class="op">==</span> <span class="num">0</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t374" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertTrue</span><span class="op">(</span><span class="nam">len</span><span class="op">(</span><span class="nam">my_pcv</span><span class="op">.</span><span class="nam">shape</span><span class="op">)</span> <span class="op">==</span> <span class="num">4</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t375" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertFalse</span><span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">any</span><span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">isnan</span><span class="op">(</span><span class="nam">my_pcv</span><span class="op">)</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t376" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertTrue</span><span class="op">(</span><span class="nam">my_pcv</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">3</span><span class="op">]</span> <span class="op">==</span> <span class="num">3</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t377" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertTrue</span><span class="op">(</span><span class="nam">my_pcv</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">2</span><span class="op">]</span> <span class="op">==</span> <span class="num">4</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t378" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertTrue</span><span class="op">(</span><span class="nam">my_pcv</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">0</span><span class="op">]</span> <span class="op">==</span> <span class="num">1</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t379" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertTrue</span><span class="op">(</span><span class="nam">my_pcv</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">1</span><span class="op">]</span> <span class="op">==</span> <span class="num">1</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t380" class="pln"><span class="strut"> </span></p>
+<p id="t381" class="pln"> <span class="com"># not working cases doesnt match with shape of place code</span><span class="strut"> </span></p>
+<p id="t382" class="stm mis"> <span class="nam">testdirection</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">zeros</span><span class="op">(</span><span class="op">(</span><span class="num">2</span><span class="op">,</span> <span class="num">4</span><span class="op">,</span> <span class="num">2</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t383" class="stm mis"> <span class="key">with</span> <span class="nam">self</span><span class="op">.</span><span class="nam">assertRaises</span><span class="op">(</span><span class="nam">Exception</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t384" class="stm mis"> <span class="nam">my_pcv</span> <span class="op">=</span> <span class="nam">pcode</span><span class="op">.</span><span class="nam">apcv</span><span class="op">(</span><span class="nam">my_scene</span><span class="op">,</span> <span class="nam">testdirection</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t385" class="pln"><span class="strut"> </span></p>
+<p id="t386" class="pln"> <span class="com"># not working cases wrong last dimension</span><span class="strut"> </span></p>
+<p id="t387" class="stm mis"> <span class="nam">testdirection</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">zeros</span><span class="op">(</span><span class="op">(</span><span class="num">180</span><span class="op">,</span> <span class="num">360</span><span class="op">,</span> <span class="num">1</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t388" class="stm mis"> <span class="key">with</span> <span class="nam">self</span><span class="op">.</span><span class="nam">assertRaises</span><span class="op">(</span><span class="nam">Exception</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t389" class="stm mis"> <span class="nam">my_pcv</span> <span class="op">=</span> <span class="nam">pcode</span><span class="op">.</span><span class="nam">apcv</span><span class="op">(</span><span class="nam">my_scene</span><span class="op">,</span> <span class="nam">testdirection</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t390" class="pln"><span class="strut"> </span></p>
+<p id="t391" class="pln"> <span class="com"># not working cases too many dimensions</span><span class="strut"> </span></p>
+<p id="t392" class="stm mis"> <span class="nam">testdirection</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">zeros</span><span class="op">(</span><span class="op">(</span><span class="num">180</span><span class="op">,</span> <span class="num">360</span><span class="op">,</span> <span class="num">2</span><span class="op">,</span> <span class="num">4</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t393" class="stm mis"> <span class="key">with</span> <span class="nam">self</span><span class="op">.</span><span class="nam">assertRaises</span><span class="op">(</span><span class="nam">Exception</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t394" class="stm mis"> <span class="nam">my_pcv</span> <span class="op">=</span> <span class="nam">pcode</span><span class="op">.</span><span class="nam">apcv</span><span class="op">(</span><span class="nam">my_scene</span><span class="op">,</span> <span class="nam">testdirection</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t395" class="pln"><span class="strut"> </span></p>
+<p id="t396" class="pln"> <span class="com"># not working cases empty</span><span class="strut"> </span></p>
+<p id="t397" class="stm mis"> <span class="nam">testdirection</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">zeros</span><span class="op">(</span><span class="op">(</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t398" class="stm mis"> <span class="key">with</span> <span class="nam">self</span><span class="op">.</span><span class="nam">assertRaises</span><span class="op">(</span><span class="nam">Exception</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t399" class="stm mis"> <span class="nam">my_pcv</span> <span class="op">=</span> <span class="nam">pcode</span><span class="op">.</span><span class="nam">apcv</span><span class="op">(</span><span class="nam">my_scene</span><span class="op">,</span> <span class="nam">testdirection</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t400" class="pln"><span class="strut"> </span></p>
+<p id="t401" class="pln"> <span class="com"># not working cases nans</span><span class="strut"> </span></p>
+<p id="t402" class="stm mis"> <span class="nam">testdirection</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">zeros</span><span class="op">(</span><span class="op">(</span><span class="num">180</span><span class="op">,</span> <span class="num">360</span><span class="op">,</span> <span class="num">2</span><span class="op">,</span> <span class="num">4</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t403" class="stm mis"> <span class="nam">testdirection</span><span class="op">[</span><span class="num">2</span><span class="op">,</span> <span class="num">3</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">nan</span><span class="strut"> </span></p>
+<p id="t404" class="stm mis"> <span class="key">with</span> <span class="nam">self</span><span class="op">.</span><span class="nam">assertRaises</span><span class="op">(</span><span class="nam">ValueError</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t405" class="stm mis"> <span class="nam">my_pcv</span> <span class="op">=</span> <span class="nam">pcode</span><span class="op">.</span><span class="nam">apcv</span><span class="op">(</span><span class="nam">my_scene</span><span class="op">,</span> <span class="nam">testdirection</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t406" class="pln"><span class="strut"> </span></p>
+<p id="t407" class="stm run hide_run"> <span class="key">def</span> <span class="nam">test_size</span><span class="op">(</span><span class="nam">self</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t408" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t409" class="pln"><span class="str"> this test checks that the correct errors are raised if</span><span class="strut"> </span></p>
+<p id="t410" class="pln"><span class="str"> wrong values for the input parameter size are passed to the</span><span class="strut"> </span></p>
+<p id="t411" class="pln"><span class="str"> function michelson_contrast of the navipy.database module.</span><span class="strut"> </span></p>
+<p id="t412" class="pln"><span class="str"> correct values are in the range between 2 and 5.</span><span class="strut"> </span></p>
+<p id="t413" class="pln"><span class="str"> it also contains some test where correct parameter values</span><span class="strut"> </span></p>
+<p id="t414" class="pln"><span class="str"> were passed to the scene function and the output was</span><span class="strut"> </span></p>
+<p id="t415" class="pln"><span class="str"> checked for correctness.</span><span class="strut"> </span></p>
+<p id="t416" class="pln"><span class="str"> test cases:</span><span class="strut"> </span></p>
+<p id="t417" class="pln"><span class="str"> None, NaN values, chars, floats for the contrast_size</span><span class="strut"> </span></p>
+<p id="t418" class="pln"><span class="str"> int values that are out of range (<2;>5)</span><span class="strut"> </span></p>
+<p id="t419" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t420" class="pln"> <span class="com"># not working cases:</span><span class="strut"> </span></p>
+<p id="t421" class="stm run hide_run"> <span class="nam">scene</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">mydb</span><span class="op">.</span><span class="nam">scene</span><span class="op">(</span><span class="nam">rowid</span><span class="op">=</span><span class="num">1</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t422" class="pln"><span class="strut"> </span></p>
+<p id="t423" class="stm run hide_run"> <span class="key">for</span> <span class="nam">size</span> <span class="key">in</span> <span class="op">[</span><span class="num">8</span><span class="op">,</span> <span class="num">1</span><span class="op">,</span> <span class="num">0</span><span class="op">,</span> <span class="op">-</span><span class="num">4</span><span class="op">]</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t424" class="stm run hide_run"> <span class="key">with</span> <span class="nam">self</span><span class="op">.</span><span class="nam">assertRaises</span><span class="op">(</span><span class="nam">ValueError</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t425" class="stm run hide_run"> <span class="nam">contrast</span> <span class="op">=</span> <span class="nam">pcode</span><span class="op">.</span><span class="nam">michelson_contrast</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t426" class="pln"> <span class="nam">scene</span><span class="op">,</span> <span class="nam">size</span><span class="op">=</span><span class="nam">size</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t427" class="stm run hide_run"> <span class="key">for</span> <span class="nam">size</span> <span class="key">in</span> <span class="op">[</span><span class="num">9.4</span><span class="op">,</span> <span class="str">'g'</span><span class="op">,</span> <span class="key">None</span><span class="op">,</span> <span class="nam">np</span><span class="op">.</span><span class="nam">nan</span><span class="op">]</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t428" class="stm run hide_run"> <span class="key">with</span> <span class="nam">self</span><span class="op">.</span><span class="nam">assertRaises</span><span class="op">(</span><span class="nam">TypeError</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t429" class="stm run hide_run"> <span class="nam">contrast</span> <span class="op">=</span> <span class="nam">pcode</span><span class="op">.</span><span class="nam">michelson_contrast</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t430" class="pln"> <span class="nam">scene</span><span class="op">,</span> <span class="nam">size</span><span class="op">=</span><span class="nam">size</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t431" class="pln"><span class="strut"> </span></p>
+<p id="t432" class="pln"> <span class="com"># working cases</span><span class="strut"> </span></p>
+<p id="t433" class="stm run hide_run"> <span class="key">for</span> <span class="nam">size</span> <span class="key">in</span> <span class="op">[</span><span class="num">2</span><span class="op">,</span> <span class="num">3</span><span class="op">,</span> <span class="num">4</span><span class="op">,</span> <span class="num">5</span><span class="op">]</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t434" class="stm run hide_run"> <span class="nam">contrast</span> <span class="op">=</span> <span class="nam">pcode</span><span class="op">.</span><span class="nam">michelson_contrast</span><span class="op">(</span><span class="nam">scene</span><span class="op">,</span> <span class="nam">size</span><span class="op">=</span><span class="nam">size</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t435" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertIsNotNone</span><span class="op">(</span><span class="nam">contrast</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t436" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertFalse</span><span class="op">(</span><span class="nam">sum</span><span class="op">(</span><span class="nam">contrast</span><span class="op">.</span><span class="nam">shape</span><span class="op">)</span> <span class="op">==</span> <span class="num">0</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t437" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertTrue</span><span class="op">(</span><span class="nam">len</span><span class="op">(</span><span class="nam">contrast</span><span class="op">.</span><span class="nam">shape</span><span class="op">)</span> <span class="op">==</span> <span class="num">4</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t438" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertFalse</span><span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">any</span><span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">isnan</span><span class="op">(</span><span class="nam">contrast</span><span class="op">)</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t439" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertTrue</span><span class="op">(</span><span class="nam">contrast</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">3</span><span class="op">]</span> <span class="op">==</span> <span class="num">1</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t440" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertTrue</span><span class="op">(</span><span class="nam">contrast</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">2</span><span class="op">]</span> <span class="op">==</span> <span class="num">4</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t441" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertTrue</span><span class="op">(</span><span class="nam">contrast</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">0</span><span class="op">]</span> <span class="op">></span> <span class="num">0</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t442" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertTrue</span><span class="op">(</span><span class="nam">contrast</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">1</span><span class="op">]</span> <span class="op">></span> <span class="num">0</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t443" class="pln"><span class="strut"> </span></p>
+<p id="t444" class="stm run hide_run"> <span class="key">def</span> <span class="nam">test_michelsoncontrast_scene</span><span class="op">(</span><span class="nam">self</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t445" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t446" class="pln"><span class="str"> this test checks that the correct errors are raised if</span><span class="strut"> </span></p>
+<p id="t447" class="pln"><span class="str"> wrong values for the input parameter scene is passed to the</span><span class="strut"> </span></p>
+<p id="t448" class="pln"><span class="str"> function michelson_contrast of the navipy.database module</span><span class="strut"> </span></p>
+<p id="t449" class="pln"><span class="str"> it also contains some test where correct parameter values</span><span class="strut"> </span></p>
+<p id="t450" class="pln"><span class="str"> were passed to the scene function and the output was</span><span class="strut"> </span></p>
+<p id="t451" class="pln"><span class="str"> checked for correctness.</span><span class="strut"> </span></p>
+<p id="t452" class="pln"><span class="str"> test cases:</span><span class="strut"> </span></p>
+<p id="t453" class="pln"><span class="str"> None, NaN values in the the scene</span><span class="strut"> </span></p>
+<p id="t454" class="pln"><span class="str"> scene is of wrong type (np.array)</span><span class="strut"> </span></p>
+<p id="t455" class="pln"><span class="str"> scene is of wrong size</span><span class="strut"> </span></p>
+<p id="t456" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t457" class="pln"><span class="strut"> </span></p>
+<p id="t458" class="stm run hide_run"> <span class="nam">scene</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">mydb</span><span class="op">.</span><span class="nam">scene</span><span class="op">(</span><span class="nam">rowid</span><span class="op">=</span><span class="num">1</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t459" class="pln"><span class="strut"> </span></p>
+<p id="t460" class="pln"> <span class="com"># working cases</span><span class="strut"> </span></p>
+<p id="t461" class="stm run hide_run"> <span class="nam">contrast</span> <span class="op">=</span> <span class="nam">pcode</span><span class="op">.</span><span class="nam">michelson_contrast</span><span class="op">(</span><span class="nam">scene</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t462" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertIsNotNone</span><span class="op">(</span><span class="nam">contrast</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t463" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertFalse</span><span class="op">(</span><span class="nam">sum</span><span class="op">(</span><span class="nam">contrast</span><span class="op">.</span><span class="nam">shape</span><span class="op">)</span> <span class="op">==</span> <span class="num">0</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t464" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertTrue</span><span class="op">(</span><span class="nam">len</span><span class="op">(</span><span class="nam">contrast</span><span class="op">.</span><span class="nam">shape</span><span class="op">)</span> <span class="op">==</span> <span class="num">4</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t465" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertFalse</span><span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">any</span><span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">isnan</span><span class="op">(</span><span class="nam">contrast</span><span class="op">)</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t466" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertTrue</span><span class="op">(</span><span class="nam">contrast</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">3</span><span class="op">]</span> <span class="op">==</span> <span class="num">1</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t467" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertTrue</span><span class="op">(</span><span class="nam">contrast</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">2</span><span class="op">]</span> <span class="op">==</span> <span class="num">4</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t468" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertTrue</span><span class="op">(</span><span class="nam">contrast</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">0</span><span class="op">]</span> <span class="op">></span> <span class="num">0</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t469" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">assertTrue</span><span class="op">(</span><span class="nam">contrast</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">1</span><span class="op">]</span> <span class="op">></span> <span class="num">0</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t470" class="pln"><span class="strut"> </span></p>
+<p id="t471" class="pln"> <span class="com"># not working case</span><span class="strut"> </span></p>
+<p id="t472" class="stm run hide_run"> <span class="nam">scene2</span> <span class="op">=</span> <span class="nam">scene</span><span class="op">.</span><span class="nam">copy</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t473" class="stm run hide_run"> <span class="nam">scene2</span><span class="op">[</span><span class="num">3</span><span class="op">,</span> <span class="num">2</span><span class="op">,</span> <span class="num">1</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">nan</span><span class="strut"> </span></p>
+<p id="t474" class="stm run hide_run"> <span class="nam">scene3</span> <span class="op">=</span> <span class="op">[</span><span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">2</span><span class="op">,</span> <span class="num">3</span><span class="op">]</span><span class="op">,</span> <span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">2</span><span class="op">,</span> <span class="num">3</span><span class="op">]</span><span class="op">,</span> <span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">2</span><span class="op">,</span> <span class="num">3</span><span class="op">]</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t475" class="stm run hide_run"> <span class="nam">scene3</span> <span class="op">=</span> <span class="op">[</span><span class="nam">scene3</span><span class="op">,</span> <span class="nam">scene3</span><span class="op">,</span> <span class="nam">scene3</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t476" class="stm run hide_run"> <span class="nam">scene3</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">array</span><span class="op">(</span><span class="nam">scene3</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t477" class="stm run hide_run"> <span class="nam">scene4</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">zeros</span><span class="op">(</span><span class="op">(</span><span class="num">3</span><span class="op">,</span> <span class="num">4</span><span class="op">,</span> <span class="num">5</span><span class="op">,</span> <span class="num">0</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t478" class="stm run hide_run"> <span class="key">for</span> <span class="nam">s</span> <span class="key">in</span> <span class="op">[</span><span class="nam">scene2</span><span class="op">,</span> <span class="nam">scene3</span><span class="op">,</span> <span class="nam">scene4</span><span class="op">]</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t479" class="stm run hide_run"> <span class="key">with</span> <span class="nam">self</span><span class="op">.</span><span class="nam">assertRaises</span><span class="op">(</span><span class="nam">Exception</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t480" class="stm run hide_run"> <span class="nam">contrast</span> <span class="op">=</span> <span class="nam">pcode</span><span class="op">.</span><span class="nam">michelson_contrast</span><span class="op">(</span><span class="nam">s</span><span class="op">,</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t481" class="pln"><span class="strut"> </span></p>
+<p id="t482" class="pln"><span class="strut"> </span></p>
+<p id="t483" class="stm run hide_run"><span class="key">if</span> <span class="nam">__name__</span> <span class="op">==</span> <span class="str">'__main__'</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t484" class="stm mis"> <span class="nam">unittest</span><span class="op">.</span><span class="nam">main</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+
+ </td>
+ </tr>
+ </table>
+</div>
+
+<div id="footer">
+ <div class="content">
+ <p>
+ <a class="nav" href="index.html">« index</a> <a class="nav" href="https://coverage.readthedocs.io">coverage.py v4.5.2</a>,
+ created at 2019-01-13 14:34
+ </p>
+ </div>
+</div>
+
+</body>
+</html>
diff --git a/coverage_html_report/navipy_scene_py.html b/coverage_html_report/navipy_scene_py.html
new file mode 100644
index 0000000000000000000000000000000000000000..41b035d0630abb6ec778c11eafb461cbb411f373
--- /dev/null
+++ b/coverage_html_report/navipy_scene_py.html
@@ -0,0 +1,437 @@
+
+
+
+<!DOCTYPE html>
+<html>
+<head>
+ <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
+
+
+ <meta http-equiv="X-UA-Compatible" content="IE=emulateIE7" />
+ <title>Coverage for navipy/scene.py: 63%</title>
+ <link rel="stylesheet" href="style.css" type="text/css">
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+<body class="pyfile">
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+ <div class="content">
+ <h1>Coverage for <b>navipy/scene.py</b> :
+ <span class="pc_cov">63%</span>
+ </h1>
+
+ <img id="keyboard_icon" src="keybd_closed.png" alt="Show keyboard shortcuts" />
+
+ <h2 class="stats">
+ 82 statements
+ <span class="run hide_run shortkey_r button_toggle_run">52 run</span>
+ <span class="mis shortkey_m button_toggle_mis">30 missing</span>
+ <span class="exc shortkey_x button_toggle_exc">0 excluded</span>
+
+
+ </h2>
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+ <table>
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+ <td class="linenos">
+<p id="n1" class="pln"><a href="#n1">1</a></p>
+<p id="n2" class="pln"><a href="#n2">2</a></p>
+<p id="n3" class="pln"><a href="#n3">3</a></p>
+<p id="n4" class="stm run hide_run"><a href="#n4">4</a></p>
+<p id="n5" class="pln"><a href="#n5">5</a></p>
+<p id="n6" class="pln"><a href="#n6">6</a></p>
+<p id="n7" class="pln"><a href="#n7">7</a></p>
+<p id="n8" class="pln"><a href="#n8">8</a></p>
+<p id="n9" class="pln"><a href="#n9">9</a></p>
+<p id="n10" class="stm run hide_run"><a href="#n10">10</a></p>
+<p id="n11" class="pln"><a href="#n11">11</a></p>
+<p id="n12" class="pln"><a href="#n12">12</a></p>
+<p id="n13" class="stm run hide_run"><a href="#n13">13</a></p>
+<p id="n14" class="pln"><a href="#n14">14</a></p>
+<p id="n15" class="pln"><a href="#n15">15</a></p>
+<p id="n16" class="stm run hide_run"><a href="#n16">16</a></p>
+<p id="n17" class="pln"><a href="#n17">17</a></p>
+<p id="n18" class="pln"><a href="#n18">18</a></p>
+<p id="n19" class="pln"><a href="#n19">19</a></p>
+<p id="n20" class="stm run hide_run"><a href="#n20">20</a></p>
+<p id="n21" class="pln"><a href="#n21">21</a></p>
+<p id="n22" class="pln"><a href="#n22">22</a></p>
+<p id="n23" class="stm run hide_run"><a href="#n23">23</a></p>
+<p id="n24" class="pln"><a href="#n24">24</a></p>
+<p id="n25" class="pln"><a href="#n25">25</a></p>
+<p id="n26" class="stm run hide_run"><a href="#n26">26</a></p>
+<p id="n27" class="pln"><a href="#n27">27</a></p>
+<p id="n28" class="pln"><a href="#n28">28</a></p>
+<p id="n29" class="pln"><a href="#n29">29</a></p>
+<p id="n30" class="stm run hide_run"><a href="#n30">30</a></p>
+<p id="n31" class="stm mis"><a href="#n31">31</a></p>
+<p id="n32" class="pln"><a href="#n32">32</a></p>
+<p id="n33" class="pln"><a href="#n33">33</a></p>
+<p id="n34" class="pln"><a href="#n34">34</a></p>
+<p id="n35" class="pln"><a href="#n35">35</a></p>
+<p id="n36" class="stm run hide_run"><a href="#n36">36</a></p>
+<p id="n37" class="stm mis"><a href="#n37">37</a></p>
+<p id="n38" class="pln"><a href="#n38">38</a></p>
+<p id="n39" class="pln"><a href="#n39">39</a></p>
+<p id="n40" class="pln"><a href="#n40">40</a></p>
+<p id="n41" class="pln"><a href="#n41">41</a></p>
+<p id="n42" class="stm run hide_run"><a href="#n42">42</a></p>
+<p id="n43" class="stm run hide_run"><a href="#n43">43</a></p>
+<p id="n44" class="pln"><a href="#n44">44</a></p>
+<p id="n45" class="stm run hide_run"><a href="#n45">45</a></p>
+<p id="n46" class="stm mis"><a href="#n46">46</a></p>
+<p id="n47" class="stm run hide_run"><a href="#n47">47</a></p>
+<p id="n48" class="stm run hide_run"><a href="#n48">48</a></p>
+<p id="n49" class="stm run hide_run"><a href="#n49">49</a></p>
+<p id="n50" class="stm mis"><a href="#n50">50</a></p>
+<p id="n51" class="stm run hide_run"><a href="#n51">51</a></p>
+<p id="n52" class="stm mis"><a href="#n52">52</a></p>
+<p id="n53" class="stm run hide_run"><a href="#n53">53</a></p>
+<p id="n54" class="stm mis"><a href="#n54">54</a></p>
+<p id="n55" class="stm run hide_run"><a href="#n55">55</a></p>
+<p id="n56" class="stm run hide_run"><a href="#n56">56</a></p>
+<p id="n57" class="stm run hide_run"><a href="#n57">57</a></p>
+<p id="n58" class="stm mis"><a href="#n58">58</a></p>
+<p id="n59" class="pln"><a href="#n59">59</a></p>
+<p id="n60" class="stm run hide_run"><a href="#n60">60</a></p>
+<p id="n61" class="pln"><a href="#n61">61</a></p>
+<p id="n62" class="stm run hide_run"><a href="#n62">62</a></p>
+<p id="n63" class="stm run hide_run"><a href="#n63">63</a></p>
+<p id="n64" class="stm mis"><a href="#n64">64</a></p>
+<p id="n65" class="stm run hide_run"><a href="#n65">65</a></p>
+<p id="n66" class="stm mis"><a href="#n66">66</a></p>
+<p id="n67" class="stm run hide_run"><a href="#n67">67</a></p>
+<p id="n68" class="stm mis"><a href="#n68">68</a></p>
+<p id="n69" class="stm run hide_run"><a href="#n69">69</a></p>
+<p id="n70" class="stm mis"><a href="#n70">70</a></p>
+<p id="n71" class="stm run hide_run"><a href="#n71">71</a></p>
+<p id="n72" class="stm mis"><a href="#n72">72</a></p>
+<p id="n73" class="stm run hide_run"><a href="#n73">73</a></p>
+<p id="n74" class="stm run hide_run"><a href="#n74">74</a></p>
+<p id="n75" class="pln"><a href="#n75">75</a></p>
+<p id="n76" class="stm mis"><a href="#n76">76</a></p>
+<p id="n77" class="pln"><a href="#n77">77</a></p>
+<p id="n78" class="pln"><a href="#n78">78</a></p>
+<p id="n79" class="stm run hide_run"><a href="#n79">79</a></p>
+<p id="n80" class="stm run hide_run"><a href="#n80">80</a></p>
+<p id="n81" class="stm mis"><a href="#n81">81</a></p>
+<p id="n82" class="stm run hide_run"><a href="#n82">82</a></p>
+<p id="n83" class="stm mis"><a href="#n83">83</a></p>
+<p id="n84" class="stm run hide_run"><a href="#n84">84</a></p>
+<p id="n85" class="stm mis"><a href="#n85">85</a></p>
+<p id="n86" class="stm run hide_run"><a href="#n86">86</a></p>
+<p id="n87" class="stm mis"><a href="#n87">87</a></p>
+<p id="n88" class="stm run hide_run"><a href="#n88">88</a></p>
+<p id="n89" class="stm mis"><a href="#n89">89</a></p>
+<p id="n90" class="stm run hide_run"><a href="#n90">90</a></p>
+<p id="n91" class="stm mis"><a href="#n91">91</a></p>
+<p id="n92" class="stm run hide_run"><a href="#n92">92</a></p>
+<p id="n93" class="pln"><a href="#n93">93</a></p>
+<p id="n94" class="pln"><a href="#n94">94</a></p>
+<p id="n95" class="stm run hide_run"><a href="#n95">95</a></p>
+<p id="n96" class="pln"><a href="#n96">96</a></p>
+<p id="n97" class="pln"><a href="#n97">97</a></p>
+<p id="n98" class="pln"><a href="#n98">98</a></p>
+<p id="n99" class="pln"><a href="#n99">99</a></p>
+<p id="n100" class="pln"><a href="#n100">100</a></p>
+<p id="n101" class="pln"><a href="#n101">101</a></p>
+<p id="n102" class="pln"><a href="#n102">102</a></p>
+<p id="n103" class="pln"><a href="#n103">103</a></p>
+<p id="n104" class="pln"><a href="#n104">104</a></p>
+<p id="n105" class="pln"><a href="#n105">105</a></p>
+<p id="n106" class="stm run hide_run"><a href="#n106">106</a></p>
+<p id="n107" class="pln"><a href="#n107">107</a></p>
+<p id="n108" class="pln"><a href="#n108">108</a></p>
+<p id="n109" class="pln"><a href="#n109">109</a></p>
+<p id="n110" class="pln"><a href="#n110">110</a></p>
+<p id="n111" class="stm run hide_run"><a href="#n111">111</a></p>
+<p id="n112" class="stm run hide_run"><a href="#n112">112</a></p>
+<p id="n113" class="stm run hide_run"><a href="#n113">113</a></p>
+<p id="n114" class="pln"><a href="#n114">114</a></p>
+<p id="n115" class="stm run hide_run"><a href="#n115">115</a></p>
+<p id="n116" class="pln"><a href="#n116">116</a></p>
+<p id="n117" class="pln"><a href="#n117">117</a></p>
+<p id="n118" class="stm run hide_run"><a href="#n118">118</a></p>
+<p id="n119" class="pln"><a href="#n119">119</a></p>
+<p id="n120" class="pln"><a href="#n120">120</a></p>
+<p id="n121" class="pln"><a href="#n121">121</a></p>
+<p id="n122" class="pln"><a href="#n122">122</a></p>
+<p id="n123" class="pln"><a href="#n123">123</a></p>
+<p id="n124" class="pln"><a href="#n124">124</a></p>
+<p id="n125" class="pln"><a href="#n125">125</a></p>
+<p id="n126" class="stm run hide_run"><a href="#n126">126</a></p>
+<p id="n127" class="stm run hide_run"><a href="#n127">127</a></p>
+<p id="n128" class="pln"><a href="#n128">128</a></p>
+<p id="n129" class="stm run hide_run"><a href="#n129">129</a></p>
+<p id="n130" class="pln"><a href="#n130">130</a></p>
+<p id="n131" class="pln"><a href="#n131">131</a></p>
+<p id="n132" class="stm run hide_run"><a href="#n132">132</a></p>
+<p id="n133" class="pln"><a href="#n133">133</a></p>
+<p id="n134" class="pln"><a href="#n134">134</a></p>
+<p id="n135" class="pln"><a href="#n135">135</a></p>
+<p id="n136" class="pln"><a href="#n136">136</a></p>
+<p id="n137" class="pln"><a href="#n137">137</a></p>
+<p id="n138" class="pln"><a href="#n138">138</a></p>
+<p id="n139" class="pln"><a href="#n139">139</a></p>
+<p id="n140" class="stm run hide_run"><a href="#n140">140</a></p>
+<p id="n141" class="stm run hide_run"><a href="#n141">141</a></p>
+<p id="n142" class="pln"><a href="#n142">142</a></p>
+<p id="n143" class="stm run hide_run"><a href="#n143">143</a></p>
+<p id="n144" class="pln"><a href="#n144">144</a></p>
+<p id="n145" class="pln"><a href="#n145">145</a></p>
+<p id="n146" class="stm run hide_run"><a href="#n146">146</a></p>
+<p id="n147" class="pln"><a href="#n147">147</a></p>
+<p id="n148" class="pln"><a href="#n148">148</a></p>
+<p id="n149" class="pln"><a href="#n149">149</a></p>
+<p id="n150" class="pln"><a href="#n150">150</a></p>
+<p id="n151" class="pln"><a href="#n151">151</a></p>
+<p id="n152" class="pln"><a href="#n152">152</a></p>
+<p id="n153" class="pln"><a href="#n153">153</a></p>
+<p id="n154" class="stm mis"><a href="#n154">154</a></p>
+<p id="n155" class="pln"><a href="#n155">155</a></p>
+<p id="n156" class="stm mis"><a href="#n156">156</a></p>
+<p id="n157" class="stm mis"><a href="#n157">157</a></p>
+<p id="n158" class="pln"><a href="#n158">158</a></p>
+<p id="n159" class="pln"><a href="#n159">159</a></p>
+<p id="n160" class="stm mis"><a href="#n160">160</a></p>
+<p id="n161" class="stm mis"><a href="#n161">161</a></p>
+<p id="n162" class="stm mis"><a href="#n162">162</a></p>
+<p id="n163" class="pln"><a href="#n163">163</a></p>
+<p id="n164" class="pln"><a href="#n164">164</a></p>
+<p id="n165" class="stm mis"><a href="#n165">165</a></p>
+<p id="n166" class="pln"><a href="#n166">166</a></p>
+<p id="n167" class="pln"><a href="#n167">167</a></p>
+<p id="n168" class="pln"><a href="#n168">168</a></p>
+<p id="n169" class="stm mis"><a href="#n169">169</a></p>
+<p id="n170" class="stm mis"><a href="#n170">170</a></p>
+<p id="n171" class="pln"><a href="#n171">171</a></p>
+<p id="n172" class="pln"><a href="#n172">172</a></p>
+<p id="n173" class="stm mis"><a href="#n173">173</a></p>
+<p id="n174" class="stm mis"><a href="#n174">174</a></p>
+
+ </td>
+ <td class="text">
+<p id="t1" class="pln"><span class="str">"""</span><span class="strut"> </span></p>
+<p id="t2" class="pln"><span class="str"> Define what a scene is</span><span class="strut"> </span></p>
+<p id="t3" class="pln"><span class="str">"""</span><span class="strut"> </span></p>
+<p id="t4" class="stm run hide_run"><span class="key">import</span> <span class="nam">numpy</span> <span class="key">as</span> <span class="nam">np</span><span class="strut"> </span></p>
+<p id="t5" class="pln"><span class="strut"> </span></p>
+<p id="t6" class="pln"><span class="strut"> </span></p>
+<p id="t7" class="pln"><span class="com">#</span><span class="strut"> </span></p>
+<p id="t8" class="pln"><span class="com"># Define constants</span><span class="strut"> </span></p>
+<p id="t9" class="pln"><span class="com">#</span><span class="strut"> </span></p>
+<p id="t10" class="stm run hide_run"><span class="nam">__spherical_indeces__</span> <span class="op">=</span> <span class="op">{</span><span class="str">'elevation'</span><span class="op">:</span> <span class="num">0</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t11" class="pln"> <span class="str">'azimuth'</span><span class="op">:</span> <span class="num">1</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t12" class="pln"> <span class="str">'radius'</span><span class="op">:</span> <span class="num">2</span><span class="op">}</span><span class="strut"> </span></p>
+<p id="t13" class="stm run hide_run"><span class="nam">__cartesian_indeces__</span> <span class="op">=</span> <span class="op">{</span><span class="str">'x'</span><span class="op">:</span> <span class="num">0</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t14" class="pln"> <span class="str">'y'</span><span class="op">:</span> <span class="num">1</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t15" class="pln"> <span class="str">'z'</span><span class="op">:</span> <span class="num">2</span><span class="op">}</span><span class="strut"> </span></p>
+<p id="t16" class="stm run hide_run"><span class="nam">__ibpc_indeces__</span> <span class="op">=</span> <span class="op">{</span><span class="str">'elevation'</span><span class="op">:</span> <span class="num">0</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t17" class="pln"> <span class="str">'azimuth'</span><span class="op">:</span> <span class="num">1</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t18" class="pln"> <span class="str">'channel'</span><span class="op">:</span> <span class="num">2</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t19" class="pln"> <span class="str">'component'</span><span class="op">:</span> <span class="num">3</span><span class="op">}</span><span class="strut"> </span></p>
+<p id="t20" class="stm run hide_run"><span class="nam">__obpc_indeces__</span> <span class="op">=</span> <span class="op">{</span><span class="str">'ommatidia'</span><span class="op">:</span> <span class="num">0</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t21" class="pln"> <span class="str">'channel'</span><span class="op">:</span> <span class="num">1</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t22" class="pln"> <span class="str">'component'</span><span class="op">:</span> <span class="num">2</span><span class="op">}</span><span class="strut"> </span></p>
+<p id="t23" class="stm run hide_run"><span class="nam">__eye_indeces__</span> <span class="op">=</span> <span class="op">{</span><span class="str">'elevation'</span><span class="op">:</span> <span class="num">0</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t24" class="pln"> <span class="str">'azimuth'</span><span class="op">:</span> <span class="num">1</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t25" class="pln"> <span class="str">'component'</span><span class="op">:</span> <span class="num">2</span><span class="op">}</span><span class="strut"> </span></p>
+<p id="t26" class="stm run hide_run"><span class="nam">__ommadia_indeces__</span> <span class="op">=</span> <span class="op">{</span><span class="str">'ommatidia'</span><span class="op">:</span> <span class="num">0</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t27" class="pln"> <span class="str">'component'</span><span class="op">:</span> <span class="num">1</span><span class="op">}</span><span class="strut"> </span></p>
+<p id="t28" class="pln"><span class="strut"> </span></p>
+<p id="t29" class="pln"><span class="strut"> </span></p>
+<p id="t30" class="stm run hide_run"><span class="key">def</span> <span class="nam">spherical_indeces</span><span class="op">(</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t31" class="stm mis"> <span class="key">return</span> <span class="op">{</span><span class="str">'elevation'</span><span class="op">:</span> <span class="num">0</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t32" class="pln"> <span class="str">'azimuth'</span><span class="op">:</span> <span class="num">1</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t33" class="pln"> <span class="str">'radius'</span><span class="op">:</span> <span class="num">2</span><span class="op">}</span><span class="strut"> </span></p>
+<p id="t34" class="pln"><span class="strut"> </span></p>
+<p id="t35" class="pln"><span class="strut"> </span></p>
+<p id="t36" class="stm run hide_run"><span class="key">def</span> <span class="nam">cartesian_indeces</span><span class="op">(</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t37" class="stm mis"> <span class="key">return</span> <span class="op">{</span><span class="str">'x'</span><span class="op">:</span> <span class="num">0</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t38" class="pln"> <span class="str">'y'</span><span class="op">:</span> <span class="num">1</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t39" class="pln"> <span class="str">'z'</span><span class="op">:</span> <span class="num">2</span><span class="op">}</span><span class="strut"> </span></p>
+<p id="t40" class="pln"><span class="strut"> </span></p>
+<p id="t41" class="pln"><span class="strut"> </span></p>
+<p id="t42" class="stm run hide_run"><span class="key">def</span> <span class="nam">check_scene</span><span class="op">(</span><span class="nam">scene</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t43" class="stm run hide_run"> <span class="key">if</span> <span class="nam">is_ibpc</span><span class="op">(</span><span class="nam">scene</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t44" class="pln"> <span class="com"># print("normal")</span><span class="strut"> </span></p>
+<p id="t45" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="nam">is_numeric_array</span><span class="op">(</span><span class="nam">scene</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t46" class="stm mis"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="str">'scene is of non numeric type'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t47" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="op">~</span><span class="nam">np</span><span class="op">.</span><span class="nam">any</span><span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">isnan</span><span class="op">(</span><span class="nam">scene</span><span class="op">)</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t48" class="stm run hide_run"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="str">'scene contains nans'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t49" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="nam">len</span><span class="op">(</span><span class="nam">scene</span><span class="op">.</span><span class="nam">shape</span><span class="op">)</span> <span class="op">==</span> <span class="num">4</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t50" class="stm mis"> <span class="key">raise</span> <span class="nam">Exception</span><span class="op">(</span><span class="str">'scene has wrong shape, must have 4 dimensions'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t51" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="op">(</span><span class="nam">scene</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">1</span><span class="op">]</span> <span class="op">></span> <span class="num">0</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t52" class="stm mis"> <span class="key">raise</span> <span class="nam">Exception</span><span class="op">(</span><span class="str">'scenes first dimension is empty'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t53" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="op">(</span><span class="nam">scene</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">0</span><span class="op">]</span> <span class="op">></span> <span class="num">0</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t54" class="stm mis"> <span class="key">raise</span> <span class="nam">Exception</span><span class="op">(</span><span class="str">'scenes second dimension is empty'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t55" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="op">(</span><span class="nam">scene</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">2</span><span class="op">]</span> <span class="op">==</span> <span class="num">4</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t56" class="stm run hide_run"> <span class="key">raise</span> <span class="nam">Exception</span><span class="op">(</span><span class="str">'3rd dimension of scene must be four'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t57" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="op">(</span><span class="nam">scene</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">3</span><span class="op">]</span> <span class="op">==</span> <span class="num">1</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t58" class="stm mis"> <span class="key">raise</span> <span class="nam">Exception</span><span class="op">(</span><span class="str">'4rd dimension of scene must be one'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t59" class="pln"> <span class="com"># assert ~(np.any(np.isNone(scene)))</span><span class="strut"> </span></p>
+<p id="t60" class="stm run hide_run"> <span class="key">return</span> <span class="key">True</span><span class="strut"> </span></p>
+<p id="t61" class="pln"><span class="strut"> </span></p>
+<p id="t62" class="stm run hide_run"> <span class="key">elif</span> <span class="nam">is_obpc</span><span class="op">(</span><span class="nam">scene</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t63" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="nam">is_numeric_array</span><span class="op">(</span><span class="nam">scene</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t64" class="stm mis"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="str">'scene is of non numeric type'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t65" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="op">~</span><span class="nam">np</span><span class="op">.</span><span class="nam">any</span><span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">isnan</span><span class="op">(</span><span class="nam">scene</span><span class="op">)</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t66" class="stm mis"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="str">'scene contains nans'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t67" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="nam">len</span><span class="op">(</span><span class="nam">scene</span><span class="op">.</span><span class="nam">shape</span><span class="op">)</span> <span class="op">==</span> <span class="num">3</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t68" class="stm mis"> <span class="key">raise</span> <span class="nam">Exception</span><span class="op">(</span><span class="str">'scene has wrong shape, must have 4 dimensions'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t69" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="op">~</span><span class="op">(</span><span class="nam">scene</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">1</span><span class="op">]</span> <span class="op"><=</span> <span class="num">0</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t70" class="stm mis"> <span class="key">raise</span> <span class="nam">Exception</span><span class="op">(</span><span class="str">'scenes first dimension is empty'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t71" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="op">~</span><span class="op">(</span><span class="nam">scene</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">0</span><span class="op">]</span> <span class="op"><=</span> <span class="num">0</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t72" class="stm mis"> <span class="key">raise</span> <span class="nam">Exception</span><span class="op">(</span><span class="str">'scenes second dimension is empty'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t73" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="op">(</span><span class="nam">scene</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">2</span><span class="op">]</span> <span class="op">==</span> <span class="num">4</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t74" class="stm run hide_run"> <span class="key">raise</span> <span class="nam">Exception</span><span class="op">(</span><span class="str">'3rd dimension of scene must be four'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t75" class="pln"> <span class="com"># assert ~(np.any(np.isNone(scene)))</span><span class="strut"> </span></p>
+<p id="t76" class="stm mis"> <span class="key">return</span> <span class="key">True</span><span class="strut"> </span></p>
+<p id="t77" class="pln"><span class="strut"> </span></p>
+<p id="t78" class="pln"><span class="strut"> </span></p>
+<p id="t79" class="stm run hide_run"><span class="key">def</span> <span class="nam">check_viewing_direction</span><span class="op">(</span><span class="nam">viewing_direction</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t80" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="nam">is_numeric_array</span><span class="op">(</span><span class="nam">viewing_direction</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t81" class="stm mis"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="str">'viewing direction is of non numeric type'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t82" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="op">~</span><span class="nam">np</span><span class="op">.</span><span class="nam">any</span><span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">isnan</span><span class="op">(</span><span class="nam">viewing_direction</span><span class="op">)</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t83" class="stm mis"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="str">'viewing direction contains nans'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t84" class="stm run hide_run"> <span class="key">if</span> <span class="nam">len</span><span class="op">(</span><span class="nam">viewing_direction</span><span class="op">.</span><span class="nam">shape</span><span class="op">)</span> <span class="op"><</span> <span class="num">3</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t85" class="stm mis"> <span class="key">raise</span> <span class="nam">Exception</span><span class="op">(</span><span class="str">'viewing direction must have at least 3 dimensions'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t86" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="op">(</span><span class="nam">viewing_direction</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">1</span><span class="op">]</span> <span class="op">></span> <span class="num">0</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t87" class="stm mis"> <span class="key">raise</span> <span class="nam">Exception</span><span class="op">(</span><span class="str">'viewing direction has empty second dimension'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t88" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="op">(</span><span class="nam">viewing_direction</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">0</span><span class="op">]</span> <span class="op">></span> <span class="num">0</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t89" class="stm mis"> <span class="key">raise</span> <span class="nam">Exception</span><span class="op">(</span><span class="str">'viewing direction has empty first dimension'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t90" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="op">(</span><span class="nam">viewing_direction</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="op">-</span><span class="num">1</span><span class="op">]</span> <span class="op">==</span> <span class="num">2</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t91" class="stm mis"> <span class="key">raise</span> <span class="nam">Exception</span><span class="op">(</span><span class="str">' last dimension of viewing direction must equal 2'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t92" class="stm run hide_run"> <span class="key">return</span> <span class="key">True</span><span class="strut"> </span></p>
+<p id="t93" class="pln"><span class="strut"> </span></p>
+<p id="t94" class="pln"><span class="strut"> </span></p>
+<p id="t95" class="stm run hide_run"><span class="key">def</span> <span class="nam">is_numeric_array</span><span class="op">(</span><span class="nam">array</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t96" class="pln"> <span class="str">"""Checks if the dtype of the array is numeric.</span><span class="strut"> </span></p>
+<p id="t97" class="pln"><span class="strut"> </span></p>
+<p id="t98" class="pln"><span class="str"> Booleans, unsigned integer, signed integer, floats and complex are</span><span class="strut"> </span></p>
+<p id="t99" class="pln"><span class="str"> considered numeric.</span><span class="strut"> </span></p>
+<p id="t100" class="pln"><span class="strut"> </span></p>
+<p id="t101" class="pln"><span class="str"> :param array : `numpy.ndarray`-like The array to check.</span><span class="strut"> </span></p>
+<p id="t102" class="pln"><span class="str"> :returns: True if it is a recognized numerical and False \</span><span class="strut"> </span></p>
+<p id="t103" class="pln"><span class="str"> if object or string.</span><span class="strut"> </span></p>
+<p id="t104" class="pln"><span class="str"> :rtype:bool</span><span class="strut"> </span></p>
+<p id="t105" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t106" class="stm run hide_run"> <span class="nam">numerical_dtype_kinds</span> <span class="op">=</span> <span class="op">{</span><span class="str">'b'</span><span class="op">,</span> <span class="com"># boolean</span><span class="strut"> </span></p>
+<p id="t107" class="pln"> <span class="str">'u'</span><span class="op">,</span> <span class="com"># unsigned integer</span><span class="strut"> </span></p>
+<p id="t108" class="pln"> <span class="str">'i'</span><span class="op">,</span> <span class="com"># signed integer</span><span class="strut"> </span></p>
+<p id="t109" class="pln"> <span class="str">'f'</span><span class="op">,</span> <span class="com"># floats</span><span class="strut"> </span></p>
+<p id="t110" class="pln"> <span class="str">'c'</span><span class="op">}</span> <span class="com"># complex</span><span class="strut"> </span></p>
+<p id="t111" class="stm run hide_run"> <span class="key">try</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t112" class="stm run hide_run"> <span class="key">return</span> <span class="nam">array</span><span class="op">.</span><span class="nam">dtype</span><span class="op">.</span><span class="nam">kind</span> <span class="key">in</span> <span class="nam">numerical_dtype_kinds</span><span class="strut"> </span></p>
+<p id="t113" class="stm run hide_run"> <span class="key">except</span> <span class="nam">AttributeError</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t114" class="pln"> <span class="com"># in case it's not a numpy array it will probably have no dtype.</span><span class="strut"> </span></p>
+<p id="t115" class="stm run hide_run"> <span class="key">return</span> <span class="nam">np</span><span class="op">.</span><span class="nam">asarray</span><span class="op">(</span><span class="nam">array</span><span class="op">)</span><span class="op">.</span><span class="nam">dtype</span><span class="op">.</span><span class="nam">kind</span> <span class="key">in</span> <span class="nam">numerical_dtype_kinds</span><span class="strut"> </span></p>
+<p id="t116" class="pln"><span class="strut"> </span></p>
+<p id="t117" class="pln"><span class="strut"> </span></p>
+<p id="t118" class="stm run hide_run"><span class="key">def</span> <span class="nam">is_ibpc</span><span class="op">(</span><span class="nam">place_code</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t119" class="pln"> <span class="str">"""Test if a place code is image based</span><span class="strut"> </span></p>
+<p id="t120" class="pln"><span class="strut"> </span></p>
+<p id="t121" class="pln"><span class="str"> :param place_code: a place-code</span><span class="strut"> </span></p>
+<p id="t122" class="pln"><span class="str"> :returns: True if image based place-code</span><span class="strut"> </span></p>
+<p id="t123" class="pln"><span class="str"> :rtype: bool</span><span class="strut"> </span></p>
+<p id="t124" class="pln"><span class="strut"> </span></p>
+<p id="t125" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t126" class="stm run hide_run"> <span class="nam">toreturn</span> <span class="op">=</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">place_code</span><span class="op">,</span> <span class="nam">np</span><span class="op">.</span><span class="nam">ndarray</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t127" class="stm run hide_run"> <span class="nam">toreturn</span> <span class="op">=</span> <span class="nam">toreturn</span> <span class="key">and</span> <span class="op">(</span><span class="nam">len</span><span class="op">(</span><span class="nam">place_code</span><span class="op">.</span><span class="nam">shape</span><span class="op">)</span> <span class="op">==</span><span class="strut"> </span></p>
+<p id="t128" class="pln"> <span class="nam">len</span><span class="op">(</span><span class="nam">__ibpc_indeces__</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t129" class="stm run hide_run"> <span class="key">return</span> <span class="nam">toreturn</span><span class="strut"> </span></p>
+<p id="t130" class="pln"><span class="strut"> </span></p>
+<p id="t131" class="pln"><span class="strut"> </span></p>
+<p id="t132" class="stm run hide_run"><span class="key">def</span> <span class="nam">is_obpc</span><span class="op">(</span><span class="nam">place_code</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t133" class="pln"> <span class="str">"""Test if a place code is ommatidia based</span><span class="strut"> </span></p>
+<p id="t134" class="pln"><span class="strut"> </span></p>
+<p id="t135" class="pln"><span class="str"> :param place_code: a place-code</span><span class="strut"> </span></p>
+<p id="t136" class="pln"><span class="str"> :returns: True if ommatidia based place-code</span><span class="strut"> </span></p>
+<p id="t137" class="pln"><span class="str"> :rtype: bool</span><span class="strut"> </span></p>
+<p id="t138" class="pln"><span class="strut"> </span></p>
+<p id="t139" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t140" class="stm run hide_run"> <span class="nam">toreturn</span> <span class="op">=</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">place_code</span><span class="op">,</span> <span class="nam">np</span><span class="op">.</span><span class="nam">ndarray</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t141" class="stm run hide_run"> <span class="nam">toreturn</span> <span class="op">=</span> <span class="nam">toreturn</span> <span class="key">and</span> <span class="op">(</span><span class="nam">len</span><span class="op">(</span><span class="nam">place_code</span><span class="op">.</span><span class="nam">shape</span><span class="op">)</span> <span class="op">==</span><span class="strut"> </span></p>
+<p id="t142" class="pln"> <span class="nam">len</span><span class="op">(</span><span class="nam">__obpc_indeces__</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t143" class="stm run hide_run"> <span class="key">return</span> <span class="nam">toreturn</span><span class="strut"> </span></p>
+<p id="t144" class="pln"><span class="strut"> </span></p>
+<p id="t145" class="pln"><span class="strut"> </span></p>
+<p id="t146" class="stm run hide_run"><span class="key">def</span> <span class="nam">ibs_to_obs</span><span class="op">(</span><span class="nam">scene</span><span class="op">,</span> <span class="nam">eye_map</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t147" class="pln"> <span class="str">"""Convert an image based scene to an ommatidium based scene.</span><span class="strut"> </span></p>
+<p id="t148" class="pln"><span class="strut"> </span></p>
+<p id="t149" class="pln"><span class="str"> :param scene: The scene to be converted</span><span class="strut"> </span></p>
+<p id="t150" class="pln"><span class="str"> :param eye_map: The eye_map to use</span><span class="strut"> </span></p>
+<p id="t151" class="pln"><span class="str"> :returns: (obs_scene,ommatidia_map)</span><span class="strut"> </span></p>
+<p id="t152" class="pln"><span class="str"> :rtype: (np.ndarray,np.ndarray)</span><span class="strut"> </span></p>
+<p id="t153" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t154" class="stm mis"> <span class="key">assert</span> <span class="nam">is_ibpc</span><span class="op">(</span><span class="nam">scene</span><span class="op">)</span><span class="op">,</span><span class="xx">\</span><span class="strut"> </span></p>
+<p id="t155" class="pln"> <span class="str">'scene should be an ibs scene'</span><span class="strut"> </span></p>
+<p id="t156" class="stm mis"> <span class="key">assert</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">eye_map</span><span class="op">,</span> <span class="nam">np</span><span class="op">.</span><span class="nam">ndarray</span><span class="op">)</span><span class="op">,</span> <span class="str">'eye_map should be a numpy array'</span><span class="strut"> </span></p>
+<p id="t157" class="stm mis"> <span class="key">assert</span> <span class="nam">len</span><span class="op">(</span><span class="nam">eye_map</span><span class="op">.</span><span class="nam">shape</span><span class="op">)</span> <span class="op">==</span> <span class="nam">len</span><span class="op">(</span><span class="nam">__eye_indeces__</span><span class="op">)</span><span class="op">,</span><span class="xx">\</span><span class="strut"> </span></p>
+<p id="t158" class="pln"> <span class="str">'eye_map should have {} dimensions to be an ibs scene'</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t159" class="pln"> <span class="nam">len</span><span class="op">(</span><span class="nam">__eye_indeces__</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t160" class="stm mis"> <span class="key">for</span> <span class="nam">index_name</span> <span class="key">in</span> <span class="op">[</span><span class="str">'elevation'</span><span class="op">,</span> <span class="str">'azimuth'</span><span class="op">]</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t161" class="stm mis"> <span class="nam">index</span> <span class="op">=</span> <span class="nam">__ibpc_indeces__</span><span class="op">[</span><span class="nam">index_name</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t162" class="stm mis"> <span class="key">assert</span> <span class="nam">eye_map</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="nam">index</span><span class="op">]</span> <span class="op">==</span> <span class="nam">scene</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="nam">index</span><span class="op">]</span><span class="op">,</span><span class="xx">\</span><span class="strut"> </span></p>
+<p id="t163" class="pln"> <span class="str">'eye_map and scene should have the same number of {}'</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t164" class="pln"> <span class="nam">index_name</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t165" class="stm mis"> <span class="nam">obs_size</span> <span class="op">=</span> <span class="op">(</span><span class="nam">scene</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="nam">__ibpc_indeces__</span><span class="op">[</span><span class="str">'elevation'</span><span class="op">]</span><span class="op">]</span> <span class="op">*</span><span class="strut"> </span></p>
+<p id="t166" class="pln"> <span class="nam">scene</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="nam">__ibpc_indeces__</span><span class="op">[</span><span class="str">'azimuth'</span><span class="op">]</span><span class="op">]</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t167" class="pln"> <span class="nam">scene</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="nam">__ibpc_indeces__</span><span class="op">[</span><span class="str">'channel'</span><span class="op">]</span><span class="op">]</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t168" class="pln"> <span class="nam">scene</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="nam">__ibpc_indeces__</span><span class="op">[</span><span class="str">'component'</span><span class="op">]</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t169" class="stm mis"> <span class="nam">obs_scene</span> <span class="op">=</span> <span class="nam">scene</span><span class="op">.</span><span class="nam">reshape</span><span class="op">(</span><span class="nam">obs_size</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t170" class="stm mis"> <span class="nam">omm_size</span> <span class="op">=</span> <span class="op">(</span><span class="nam">eye_map</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="nam">__ibpc_indeces__</span><span class="op">[</span><span class="str">'elevation'</span><span class="op">]</span><span class="op">]</span> <span class="op">*</span><span class="strut"> </span></p>
+<p id="t171" class="pln"> <span class="nam">eye_map</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="nam">__ibpc_indeces__</span><span class="op">[</span><span class="str">'azimuth'</span><span class="op">]</span><span class="op">]</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t172" class="pln"> <span class="nam">eye_map</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="nam">__ibpc_indeces__</span><span class="op">[</span><span class="str">'component'</span><span class="op">]</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t173" class="stm mis"> <span class="nam">ommatidia_map</span> <span class="op">=</span> <span class="nam">eye_map</span><span class="op">.</span><span class="nam">reshape</span><span class="op">(</span><span class="nam">omm_size</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t174" class="stm mis"> <span class="key">return</span> <span class="op">(</span><span class="nam">obs_scene</span><span class="op">,</span> <span class="nam">ommatidia_map</span><span class="op">)</span><span class="strut"> </span></p>
+
+ </td>
+ </tr>
+ </table>
+</div>
+
+<div id="footer">
+ <div class="content">
+ <p>
+ <a class="nav" href="index.html">« index</a> <a class="nav" href="https://coverage.readthedocs.io">coverage.py v4.5.2</a>,
+ created at 2019-01-13 14:34
+ </p>
+ </div>
+</div>
+
+</body>
+</html>
diff --git a/coverage_html_report/navipy_scripts___init___py.html b/coverage_html_report/navipy_scripts___init___py.html
new file mode 100644
index 0000000000000000000000000000000000000000..1535b0ec6dc62309e7f782b26314eceaf588cf61
--- /dev/null
+++ b/coverage_html_report/navipy_scripts___init___py.html
@@ -0,0 +1,159 @@
+
+
+
+<!DOCTYPE html>
+<html>
+<head>
+ <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
+
+
+ <meta http-equiv="X-UA-Compatible" content="IE=emulateIE7" />
+ <title>Coverage for navipy/scripts/__init__.py: 21%</title>
+ <link rel="stylesheet" href="style.css" type="text/css">
+
+ <script type="text/javascript" src="jquery.min.js"></script>
+ <script type="text/javascript" src="jquery.hotkeys.js"></script>
+ <script type="text/javascript" src="jquery.isonscreen.js"></script>
+ <script type="text/javascript" src="coverage_html.js"></script>
+ <script type="text/javascript">
+ jQuery(document).ready(coverage.pyfile_ready);
+ </script>
+</head>
+<body class="pyfile">
+
+<div id="header">
+ <div class="content">
+ <h1>Coverage for <b>navipy/scripts/__init__.py</b> :
+ <span class="pc_cov">21%</span>
+ </h1>
+
+ <img id="keyboard_icon" src="keybd_closed.png" alt="Show keyboard shortcuts" />
+
+ <h2 class="stats">
+ 19 statements
+ <span class="run hide_run shortkey_r button_toggle_run">4 run</span>
+ <span class="mis shortkey_m button_toggle_mis">15 missing</span>
+ <span class="exc shortkey_x button_toggle_exc">0 excluded</span>
+
+
+ </h2>
+ </div>
+</div>
+
+<div class="help_panel">
+ <img id="panel_icon" src="keybd_open.png" alt="Hide keyboard shortcuts" />
+ <p class="legend">Hot-keys on this page</p>
+ <div>
+ <p class="keyhelp">
+ <span class="key">r</span>
+ <span class="key">m</span>
+ <span class="key">x</span>
+ <span class="key">p</span> toggle line displays
+ </p>
+ <p class="keyhelp">
+ <span class="key">j</span>
+ <span class="key">k</span> next/prev highlighted chunk
+ </p>
+ <p class="keyhelp">
+ <span class="key">0</span> (zero) top of page
+ </p>
+ <p class="keyhelp">
+ <span class="key">1</span> (one) first highlighted chunk
+ </p>
+ </div>
+</div>
+
+<div id="source">
+ <table>
+ <tr>
+ <td class="linenos">
+<p id="n1" class="pln"><a href="#n1">1</a></p>
+<p id="n2" class="pln"><a href="#n2">2</a></p>
+<p id="n3" class="pln"><a href="#n3">3</a></p>
+<p id="n4" class="stm run hide_run"><a href="#n4">4</a></p>
+<p id="n5" class="stm run hide_run"><a href="#n5">5</a></p>
+<p id="n6" class="pln"><a href="#n6">6</a></p>
+<p id="n7" class="pln"><a href="#n7">7</a></p>
+<p id="n8" class="stm run hide_run"><a href="#n8">8</a></p>
+<p id="n9" class="pln"><a href="#n9">9</a></p>
+<p id="n10" class="stm mis"><a href="#n10">10</a></p>
+<p id="n11" class="stm mis"><a href="#n11">11</a></p>
+<p id="n12" class="stm mis"><a href="#n12">12</a></p>
+<p id="n13" class="stm mis"><a href="#n13">13</a></p>
+<p id="n14" class="pln"><a href="#n14">14</a></p>
+<p id="n15" class="pln"><a href="#n15">15</a></p>
+<p id="n16" class="pln"><a href="#n16">16</a></p>
+<p id="n17" class="pln"><a href="#n17">17</a></p>
+<p id="n18" class="stm mis"><a href="#n18">18</a></p>
+<p id="n19" class="stm mis"><a href="#n19">19</a></p>
+<p id="n20" class="pln"><a href="#n20">20</a></p>
+<p id="n21" class="pln"><a href="#n21">21</a></p>
+<p id="n22" class="pln"><a href="#n22">22</a></p>
+<p id="n23" class="stm mis"><a href="#n23">23</a></p>
+<p id="n24" class="pln"><a href="#n24">24</a></p>
+<p id="n25" class="pln"><a href="#n25">25</a></p>
+<p id="n26" class="stm run hide_run"><a href="#n26">26</a></p>
+<p id="n27" class="stm mis"><a href="#n27">27</a></p>
+<p id="n28" class="stm mis"><a href="#n28">28</a></p>
+<p id="n29" class="stm mis"><a href="#n29">29</a></p>
+<p id="n30" class="stm mis"><a href="#n30">30</a></p>
+<p id="n31" class="stm mis"><a href="#n31">31</a></p>
+<p id="n32" class="stm mis"><a href="#n32">32</a></p>
+<p id="n33" class="stm mis"><a href="#n33">33</a></p>
+<p id="n34" class="pln"><a href="#n34">34</a></p>
+<p id="n35" class="stm mis"><a href="#n35">35</a></p>
+
+ </td>
+ <td class="text">
+<p id="t1" class="pln"><span class="str">"""</span><span class="strut"> </span></p>
+<p id="t2" class="pln"><span class="strut"> </span></p>
+<p id="t3" class="pln"><span class="str">"""</span><span class="strut"> </span></p>
+<p id="t4" class="stm run hide_run"><span class="key">import</span> <span class="nam">argparse</span><span class="strut"> </span></p>
+<p id="t5" class="stm run hide_run"><span class="key">import</span> <span class="nam">logging</span><span class="strut"> </span></p>
+<p id="t6" class="pln"><span class="strut"> </span></p>
+<p id="t7" class="pln"><span class="strut"> </span></p>
+<p id="t8" class="stm run hide_run"><span class="key">def</span> <span class="nam">parser_logger</span><span class="op">(</span><span class="nam">parser</span><span class="op">=</span><span class="nam">argparse</span><span class="op">.</span><span class="nam">ArgumentParser</span><span class="op">(</span><span class="op">)</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t9" class="pln"> <span class="str">""" Append logger argparse """</span><span class="strut"> </span></p>
+<p id="t10" class="stm mis"> <span class="nam">arghelp</span> <span class="op">=</span> <span class="str">'To display some stuff \n'</span><span class="strut"> </span></p>
+<p id="t11" class="stm mis"> <span class="nam">arghelp</span> <span class="op">+=</span> <span class="str">' * -v print command \n'</span><span class="strut"> </span></p>
+<p id="t12" class="stm mis"> <span class="nam">arghelp</span> <span class="op">+=</span> <span class="str">' * -vv print also script'</span><span class="strut"> </span></p>
+<p id="t13" class="stm mis"> <span class="nam">parser</span><span class="op">.</span><span class="nam">add_argument</span><span class="op">(</span><span class="str">'-v'</span><span class="op">,</span> <span class="str">'--verbose'</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t14" class="pln"> <span class="nam">action</span><span class="op">=</span><span class="str">'count'</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t15" class="pln"> <span class="nam">default</span><span class="op">=</span><span class="num">0</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t16" class="pln"> <span class="nam">help</span><span class="op">=</span><span class="nam">arghelp</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t17" class="pln"><span class="strut"> </span></p>
+<p id="t18" class="stm mis"> <span class="nam">arghelp</span> <span class="op">=</span> <span class="str">'Outputfile for logging \n'</span><span class="strut"> </span></p>
+<p id="t19" class="stm mis"> <span class="nam">parser</span><span class="op">.</span><span class="nam">add_argument</span><span class="op">(</span><span class="str">'--logfile'</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t20" class="pln"> <span class="nam">default</span><span class="op">=</span><span class="key">None</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t21" class="pln"> <span class="nam">help</span><span class="op">=</span><span class="nam">arghelp</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t22" class="pln"><span class="strut"> </span></p>
+<p id="t23" class="stm mis"> <span class="key">return</span> <span class="nam">parser</span><span class="strut"> </span></p>
+<p id="t24" class="pln"><span class="strut"> </span></p>
+<p id="t25" class="pln"><span class="strut"> </span></p>
+<p id="t26" class="stm run hide_run"><span class="key">def</span> <span class="nam">args_to_logparam</span><span class="op">(</span><span class="nam">args</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t27" class="stm mis"> <span class="nam">logfile</span> <span class="op">=</span> <span class="nam">args</span><span class="op">.</span><span class="nam">logfile</span><span class="strut"> </span></p>
+<p id="t28" class="stm mis"> <span class="key">if</span> <span class="nam">args</span><span class="op">.</span><span class="nam">verbose</span> <span class="op">==</span> <span class="num">1</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t29" class="stm mis"> <span class="key">return</span> <span class="nam">logging</span><span class="op">.</span><span class="nam">WARNING</span><span class="op">,</span> <span class="nam">logfile</span><span class="strut"> </span></p>
+<p id="t30" class="stm mis"> <span class="key">elif</span> <span class="nam">args</span><span class="op">.</span><span class="nam">verbose</span> <span class="op">==</span> <span class="num">2</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t31" class="stm mis"> <span class="key">return</span> <span class="nam">logging</span><span class="op">.</span><span class="nam">INFO</span><span class="op">,</span> <span class="nam">logfile</span><span class="strut"> </span></p>
+<p id="t32" class="stm mis"> <span class="key">elif</span> <span class="nam">args</span><span class="op">.</span><span class="nam">verbose</span> <span class="op">>=</span> <span class="num">3</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t33" class="stm mis"> <span class="key">return</span> <span class="nam">logging</span><span class="op">.</span><span class="nam">DEBUG</span><span class="op">,</span> <span class="nam">logfile</span><span class="strut"> </span></p>
+<p id="t34" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t35" class="stm mis"> <span class="key">return</span> <span class="nam">logging</span><span class="op">.</span><span class="nam">ERROR</span><span class="op">,</span> <span class="nam">logfile</span><span class="strut"> </span></p>
+
+ </td>
+ </tr>
+ </table>
+</div>
+
+<div id="footer">
+ <div class="content">
+ <p>
+ <a class="nav" href="index.html">« index</a> <a class="nav" href="https://coverage.readthedocs.io">coverage.py v4.5.2</a>,
+ created at 2019-01-13 14:34
+ </p>
+ </div>
+</div>
+
+</body>
+</html>
diff --git a/coverage_html_report/navipy_scripts_check_blender_versions_py.html b/coverage_html_report/navipy_scripts_check_blender_versions_py.html
new file mode 100644
index 0000000000000000000000000000000000000000..10eb9e57533480aa5e2e0f6da65f702ac7ad8660
--- /dev/null
+++ b/coverage_html_report/navipy_scripts_check_blender_versions_py.html
@@ -0,0 +1,187 @@
+
+
+
+<!DOCTYPE html>
+<html>
+<head>
+ <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
+
+
+ <meta http-equiv="X-UA-Compatible" content="IE=emulateIE7" />
+ <title>Coverage for navipy/scripts/check_blender_versions.py: 0%</title>
+ <link rel="stylesheet" href="style.css" type="text/css">
+
+ <script type="text/javascript" src="jquery.min.js"></script>
+ <script type="text/javascript" src="jquery.hotkeys.js"></script>
+ <script type="text/javascript" src="jquery.isonscreen.js"></script>
+ <script type="text/javascript" src="coverage_html.js"></script>
+ <script type="text/javascript">
+ jQuery(document).ready(coverage.pyfile_ready);
+ </script>
+</head>
+<body class="pyfile">
+
+<div id="header">
+ <div class="content">
+ <h1>Coverage for <b>navipy/scripts/check_blender_versions.py</b> :
+ <span class="pc_cov">0%</span>
+ </h1>
+
+ <img id="keyboard_icon" src="keybd_closed.png" alt="Show keyboard shortcuts" />
+
+ <h2 class="stats">
+ 29 statements
+ <span class="run hide_run shortkey_r button_toggle_run">0 run</span>
+ <span class="mis shortkey_m button_toggle_mis">29 missing</span>
+ <span class="exc shortkey_x button_toggle_exc">0 excluded</span>
+
+
+ </h2>
+ </div>
+</div>
+
+<div class="help_panel">
+ <img id="panel_icon" src="keybd_open.png" alt="Hide keyboard shortcuts" />
+ <p class="legend">Hot-keys on this page</p>
+ <div>
+ <p class="keyhelp">
+ <span class="key">r</span>
+ <span class="key">m</span>
+ <span class="key">x</span>
+ <span class="key">p</span> toggle line displays
+ </p>
+ <p class="keyhelp">
+ <span class="key">j</span>
+ <span class="key">k</span> next/prev highlighted chunk
+ </p>
+ <p class="keyhelp">
+ <span class="key">0</span> (zero) top of page
+ </p>
+ <p class="keyhelp">
+ <span class="key">1</span> (one) first highlighted chunk
+ </p>
+ </div>
+</div>
+
+<div id="source">
+ <table>
+ <tr>
+ <td class="linenos">
+<p id="n1" class="stm mis"><a href="#n1">1</a></p>
+<p id="n2" class="stm mis"><a href="#n2">2</a></p>
+<p id="n3" class="pln"><a href="#n3">3</a></p>
+<p id="n4" class="pln"><a href="#n4">4</a></p>
+<p id="n5" class="stm mis"><a href="#n5">5</a></p>
+<p id="n6" class="pln"><a href="#n6">6</a></p>
+<p id="n7" class="pln"><a href="#n7">7</a></p>
+<p id="n8" class="pln"><a href="#n8">8</a></p>
+<p id="n9" class="pln"><a href="#n9">9</a></p>
+<p id="n10" class="pln"><a href="#n10">10</a></p>
+<p id="n11" class="pln"><a href="#n11">11</a></p>
+<p id="n12" class="pln"><a href="#n12">12</a></p>
+<p id="n13" class="pln"><a href="#n13">13</a></p>
+<p id="n14" class="pln"><a href="#n14">14</a></p>
+<p id="n15" class="stm mis"><a href="#n15">15</a></p>
+<p id="n16" class="pln"><a href="#n16">16</a></p>
+<p id="n17" class="pln"><a href="#n17">17</a></p>
+<p id="n18" class="stm mis"><a href="#n18">18</a></p>
+<p id="n19" class="stm mis"><a href="#n19">19</a></p>
+<p id="n20" class="stm mis"><a href="#n20">20</a></p>
+<p id="n21" class="stm mis"><a href="#n21">21</a></p>
+<p id="n22" class="stm mis"><a href="#n22">22</a></p>
+<p id="n23" class="stm mis"><a href="#n23">23</a></p>
+<p id="n24" class="pln"><a href="#n24">24</a></p>
+<p id="n25" class="stm mis"><a href="#n25">25</a></p>
+<p id="n26" class="stm mis"><a href="#n26">26</a></p>
+<p id="n27" class="stm mis"><a href="#n27">27</a></p>
+<p id="n28" class="stm mis"><a href="#n28">28</a></p>
+<p id="n29" class="pln"><a href="#n29">29</a></p>
+<p id="n30" class="stm mis"><a href="#n30">30</a></p>
+<p id="n31" class="stm mis"><a href="#n31">31</a></p>
+<p id="n32" class="stm mis"><a href="#n32">32</a></p>
+<p id="n33" class="pln"><a href="#n33">33</a></p>
+<p id="n34" class="pln"><a href="#n34">34</a></p>
+<p id="n35" class="stm mis"><a href="#n35">35</a></p>
+<p id="n36" class="stm mis"><a href="#n36">36</a></p>
+<p id="n37" class="stm mis"><a href="#n37">37</a></p>
+<p id="n38" class="stm mis"><a href="#n38">38</a></p>
+<p id="n39" class="pln"><a href="#n39">39</a></p>
+<p id="n40" class="pln"><a href="#n40">40</a></p>
+<p id="n41" class="stm mis"><a href="#n41">41</a></p>
+<p id="n42" class="stm mis"><a href="#n42">42</a></p>
+<p id="n43" class="stm mis"><a href="#n43">43</a></p>
+<p id="n44" class="stm mis"><a href="#n44">44</a></p>
+<p id="n45" class="stm mis"><a href="#n45">45</a></p>
+<p id="n46" class="pln"><a href="#n46">46</a></p>
+<p id="n47" class="stm mis"><a href="#n47">47</a></p>
+<p id="n48" class="stm mis"><a href="#n48">48</a></p>
+<p id="n49" class="stm mis"><a href="#n49">49</a></p>
+
+ </td>
+ <td class="text">
+<p id="t1" class="stm mis"><span class="key">from</span> <span class="nam">platform</span> <span class="key">import</span> <span class="nam">python_version</span><span class="strut"> </span></p>
+<p id="t2" class="stm mis"><span class="key">import</span> <span class="nam">os</span><span class="strut"> </span></p>
+<p id="t3" class="pln"><span class="strut"> </span></p>
+<p id="t4" class="pln"><span class="strut"> </span></p>
+<p id="t5" class="stm mis"><span class="nam">packages</span> <span class="op">=</span> <span class="op">[</span><span class="str">'numpy'</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t6" class="pln"> <span class="str">'pandas'</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t7" class="pln"> <span class="str">'matplotlib'</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t8" class="pln"> <span class="str">'scipy'</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t9" class="pln"> <span class="str">'networkx'</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t10" class="pln"> <span class="str">'ipython'</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t11" class="pln"> <span class="str">'yaml'</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t12" class="pln"> <span class="str">'PIL'</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t13" class="pln"> <span class="str">'cv2'</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t14" class="pln"> <span class="str">'fastdtw'</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t15" class="stm mis"><span class="nam">filereq</span> <span class="op">=</span> <span class="str">'requirement.txt'</span><span class="strut"> </span></p>
+<p id="t16" class="pln"><span class="com"># Look for packages require by blender and navipy</span><span class="strut"> </span></p>
+<p id="t17" class="pln"><span class="com"># there versions should match</span><span class="strut"> </span></p>
+<p id="t18" class="stm mis"><span class="nam">requirements</span> <span class="op">=</span> <span class="op">[</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t19" class="stm mis"><span class="nam">print</span><span class="op">(</span><span class="str">'Look for packages'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t20" class="stm mis"><span class="key">for</span> <span class="nam">pkg</span> <span class="key">in</span> <span class="nam">packages</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t21" class="stm mis"> <span class="key">try</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t22" class="stm mis"> <span class="nam">cmod</span> <span class="op">=</span> <span class="nam">__import__</span><span class="op">(</span><span class="nam">pkg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t23" class="stm mis"> <span class="key">except</span> <span class="nam">ImportError</span> <span class="key">as</span> <span class="nam">e</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t24" class="pln"> <span class="com"># Not use by blender so no incompatibilty issues</span><span class="strut"> </span></p>
+<p id="t25" class="stm mis"> <span class="key">continue</span><span class="strut"> </span></p>
+<p id="t26" class="stm mis"> <span class="key">try</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t27" class="stm mis"> <span class="nam">line</span> <span class="op">=</span> <span class="nam">pkg</span> <span class="op">+</span> <span class="str">'=='</span> <span class="op">+</span> <span class="nam">cmod</span><span class="op">.</span><span class="nam">__version__</span><span class="strut"> </span></p>
+<p id="t28" class="stm mis"> <span class="key">except</span> <span class="nam">AttributeError</span> <span class="key">as</span> <span class="nam">e</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t29" class="pln"> <span class="com">#Package as no __version__</span><span class="strut"> </span></p>
+<p id="t30" class="stm mis"> <span class="key">continue</span><span class="strut"> </span></p>
+<p id="t31" class="stm mis"> <span class="nam">print</span><span class="op">(</span><span class="str">'\t'</span><span class="op">,</span> <span class="nam">line</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t32" class="stm mis"> <span class="nam">requirements</span><span class="op">.</span><span class="nam">append</span><span class="op">(</span><span class="nam">line</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t33" class="pln"><span class="com"># Write a requirement file to auto install the packages</span><span class="strut"> </span></p>
+<p id="t34" class="pln"><span class="com"># prior to navipy with the correct versions</span><span class="strut"> </span></p>
+<p id="t35" class="stm mis"><span class="key">with</span> <span class="nam">open</span><span class="op">(</span><span class="nam">filereq</span><span class="op">,</span> <span class="str">'w'</span><span class="op">)</span> <span class="key">as</span> <span class="nam">cfile</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t36" class="stm mis"> <span class="key">for</span> <span class="nam">line</span> <span class="key">in</span> <span class="nam">requirements</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t37" class="stm mis"> <span class="nam">cfile</span><span class="op">.</span><span class="nam">write</span><span class="op">(</span><span class="nam">line</span> <span class="op">+</span> <span class="str">'\n'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t38" class="stm mis"><span class="nam">print</span><span class="op">(</span><span class="str">'Requirement file written... Ok'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t39" class="pln"><span class="strut"> </span></p>
+<p id="t40" class="pln"><span class="com"># Display user informations</span><span class="strut"> </span></p>
+<p id="t41" class="stm mis"><span class="nam">pythonvec</span> <span class="op">=</span> <span class="nam">python_version</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t42" class="stm mis"><span class="nam">pathreq</span> <span class="op">=</span> <span class="nam">os</span><span class="op">.</span><span class="nam">path</span><span class="op">.</span><span class="nam">abspath</span><span class="op">(</span><span class="nam">filereq</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t43" class="stm mis"><span class="nam">print</span><span class="op">(</span><span class="str">'You can create an anaconda virtual environment as follow'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t44" class="stm mis"><span class="nam">print</span><span class="op">(</span><span class="str">'\t conda update conda'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t45" class="stm mis"><span class="nam">print</span><span class="op">(</span><span class="str">'\t conda create -n myblendnavipy python={} anaconda'</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t46" class="pln"> <span class="nam">pythonvec</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t47" class="stm mis"><span class="nam">print</span><span class="op">(</span><span class="str">'\t activate myblendnavipy'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t48" class="stm mis"><span class="nam">print</span><span class="op">(</span><span class="str">'\t conda install --yes --file {}'</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">pathreq</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t49" class="stm mis"><span class="nam">print</span><span class="op">(</span><span class="str">'\t conda install navipy'</span><span class="op">)</span><span class="strut"> </span></p>
+
+ </td>
+ </tr>
+ </table>
+</div>
+
+<div id="footer">
+ <div class="content">
+ <p>
+ <a class="nav" href="index.html">« index</a> <a class="nav" href="https://coverage.readthedocs.io">coverage.py v4.5.2</a>,
+ created at 2019-01-13 14:34
+ </p>
+ </div>
+</div>
+
+</body>
+</html>
diff --git a/coverage_html_report/navipy_scripts_config_matplotlib_server_py.html b/coverage_html_report/navipy_scripts_config_matplotlib_server_py.html
new file mode 100644
index 0000000000000000000000000000000000000000..ac5121bf9da6edc8242b6fa2f49f31889450b1c9
--- /dev/null
+++ b/coverage_html_report/navipy_scripts_config_matplotlib_server_py.html
@@ -0,0 +1,111 @@
+
+
+
+<!DOCTYPE html>
+<html>
+<head>
+ <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
+
+
+ <meta http-equiv="X-UA-Compatible" content="IE=emulateIE7" />
+ <title>Coverage for navipy/scripts/config_matplotlib_server.py: 0%</title>
+ <link rel="stylesheet" href="style.css" type="text/css">
+
+ <script type="text/javascript" src="jquery.min.js"></script>
+ <script type="text/javascript" src="jquery.hotkeys.js"></script>
+ <script type="text/javascript" src="jquery.isonscreen.js"></script>
+ <script type="text/javascript" src="coverage_html.js"></script>
+ <script type="text/javascript">
+ jQuery(document).ready(coverage.pyfile_ready);
+ </script>
+</head>
+<body class="pyfile">
+
+<div id="header">
+ <div class="content">
+ <h1>Coverage for <b>navipy/scripts/config_matplotlib_server.py</b> :
+ <span class="pc_cov">0%</span>
+ </h1>
+
+ <img id="keyboard_icon" src="keybd_closed.png" alt="Show keyboard shortcuts" />
+
+ <h2 class="stats">
+ 10 statements
+ <span class="run hide_run shortkey_r button_toggle_run">0 run</span>
+ <span class="mis shortkey_m button_toggle_mis">10 missing</span>
+ <span class="exc shortkey_x button_toggle_exc">0 excluded</span>
+
+
+ </h2>
+ </div>
+</div>
+
+<div class="help_panel">
+ <img id="panel_icon" src="keybd_open.png" alt="Hide keyboard shortcuts" />
+ <p class="legend">Hot-keys on this page</p>
+ <div>
+ <p class="keyhelp">
+ <span class="key">r</span>
+ <span class="key">m</span>
+ <span class="key">x</span>
+ <span class="key">p</span> toggle line displays
+ </p>
+ <p class="keyhelp">
+ <span class="key">j</span>
+ <span class="key">k</span> next/prev highlighted chunk
+ </p>
+ <p class="keyhelp">
+ <span class="key">0</span> (zero) top of page
+ </p>
+ <p class="keyhelp">
+ <span class="key">1</span> (one) first highlighted chunk
+ </p>
+ </div>
+</div>
+
+<div id="source">
+ <table>
+ <tr>
+ <td class="linenos">
+<p id="n1" class="pln"><a href="#n1">1</a></p>
+<p id="n2" class="stm mis"><a href="#n2">2</a></p>
+<p id="n3" class="stm mis"><a href="#n3">3</a></p>
+<p id="n4" class="stm mis"><a href="#n4">4</a></p>
+<p id="n5" class="stm mis"><a href="#n5">5</a></p>
+<p id="n6" class="stm mis"><a href="#n6">6</a></p>
+<p id="n7" class="stm mis"><a href="#n7">7</a></p>
+<p id="n8" class="stm mis"><a href="#n8">8</a></p>
+<p id="n9" class="stm mis"><a href="#n9">9</a></p>
+<p id="n10" class="stm mis"><a href="#n10">10</a></p>
+<p id="n11" class="stm mis"><a href="#n11">11</a></p>
+
+ </td>
+ <td class="text">
+<p id="t1" class="pln"><span class="com">#!/usr/bin/env python3</span><span class="strut"> </span></p>
+<p id="t2" class="stm mis"><span class="key">import</span> <span class="nam">fileinput</span><span class="strut"> </span></p>
+<p id="t3" class="stm mis"><span class="key">import</span> <span class="nam">matplotlib</span><span class="strut"> </span></p>
+<p id="t4" class="stm mis"><span class="nam">filename</span> <span class="op">=</span> <span class="nam">matplotlib</span><span class="op">.</span><span class="nam">matplotlib_fname</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t5" class="stm mis"><span class="nam">print</span><span class="op">(</span><span class="str">'In file: {}'</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">filename</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t6" class="stm mis"><span class="nam">text_to_search</span> <span class="op">=</span> <span class="str">'backend '</span><span class="strut"> </span></p>
+<p id="t7" class="stm mis"><span class="nam">replacement_text</span> <span class="op">=</span> <span class="str">'#backend '</span><span class="strut"> </span></p>
+<p id="t8" class="stm mis"><span class="nam">print</span><span class="op">(</span><span class="str">'replace {} by {}'</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">text_to_search</span><span class="op">,</span> <span class="nam">replacement_text</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t9" class="stm mis"><span class="key">with</span> <span class="nam">fileinput</span><span class="op">.</span><span class="nam">FileInput</span><span class="op">(</span><span class="nam">filename</span><span class="op">,</span> <span class="nam">inplace</span><span class="op">=</span><span class="key">True</span><span class="op">,</span> <span class="nam">backup</span><span class="op">=</span><span class="str">'.bak'</span><span class="op">)</span> <span class="key">as</span> <span class="nam">file</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t10" class="stm mis"> <span class="key">for</span> <span class="nam">line</span> <span class="key">in</span> <span class="nam">file</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t11" class="stm mis"> <span class="nam">print</span><span class="op">(</span><span class="nam">line</span><span class="op">.</span><span class="nam">replace</span><span class="op">(</span><span class="nam">text_to_search</span><span class="op">,</span> <span class="nam">replacement_text</span><span class="op">)</span><span class="op">,</span> <span class="nam">end</span><span class="op">=</span><span class="str">''</span><span class="op">)</span><span class="strut"> </span></p>
+
+ </td>
+ </tr>
+ </table>
+</div>
+
+<div id="footer">
+ <div class="content">
+ <p>
+ <a class="nav" href="index.html">« index</a> <a class="nav" href="https://coverage.readthedocs.io">coverage.py v4.5.2</a>,
+ created at 2019-01-13 14:34
+ </p>
+ </div>
+</div>
+
+</body>
+</html>
diff --git a/coverage_html_report/navipy_scripts_dlt_calibrator_py.html b/coverage_html_report/navipy_scripts_dlt_calibrator_py.html
new file mode 100644
index 0000000000000000000000000000000000000000..ec1019c5428fa872901de17a8f5cf7c5b40dc0ef
--- /dev/null
+++ b/coverage_html_report/navipy_scripts_dlt_calibrator_py.html
@@ -0,0 +1,457 @@
+
+
+
+<!DOCTYPE html>
+<html>
+<head>
+ <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
+
+
+ <meta http-equiv="X-UA-Compatible" content="IE=emulateIE7" />
+ <title>Coverage for navipy/scripts/dlt_calibrator.py: 0%</title>
+ <link rel="stylesheet" href="style.css" type="text/css">
+
+ <script type="text/javascript" src="jquery.min.js"></script>
+ <script type="text/javascript" src="jquery.hotkeys.js"></script>
+ <script type="text/javascript" src="jquery.isonscreen.js"></script>
+ <script type="text/javascript" src="coverage_html.js"></script>
+ <script type="text/javascript">
+ jQuery(document).ready(coverage.pyfile_ready);
+ </script>
+</head>
+<body class="pyfile">
+
+<div id="header">
+ <div class="content">
+ <h1>Coverage for <b>navipy/scripts/dlt_calibrator.py</b> :
+ <span class="pc_cov">0%</span>
+ </h1>
+
+ <img id="keyboard_icon" src="keybd_closed.png" alt="Show keyboard shortcuts" />
+
+ <h2 class="stats">
+ 118 statements
+ <span class="run hide_run shortkey_r button_toggle_run">0 run</span>
+ <span class="mis shortkey_m button_toggle_mis">118 missing</span>
+ <span class="exc shortkey_x button_toggle_exc">0 excluded</span>
+
+
+ </h2>
+ </div>
+</div>
+
+<div class="help_panel">
+ <img id="panel_icon" src="keybd_open.png" alt="Hide keyboard shortcuts" />
+ <p class="legend">Hot-keys on this page</p>
+ <div>
+ <p class="keyhelp">
+ <span class="key">r</span>
+ <span class="key">m</span>
+ <span class="key">x</span>
+ <span class="key">p</span> toggle line displays
+ </p>
+ <p class="keyhelp">
+ <span class="key">j</span>
+ <span class="key">k</span> next/prev highlighted chunk
+ </p>
+ <p class="keyhelp">
+ <span class="key">0</span> (zero) top of page
+ </p>
+ <p class="keyhelp">
+ <span class="key">1</span> (one) first highlighted chunk
+ </p>
+ </div>
+</div>
+
+<div id="source">
+ <table>
+ <tr>
+ <td class="linenos">
+<p id="n1" class="stm mis"><a href="#n1">1</a></p>
+<p id="n2" class="stm mis"><a href="#n2">2</a></p>
+<p id="n3" class="stm mis"><a href="#n3">3</a></p>
+<p id="n4" class="stm mis"><a href="#n4">4</a></p>
+<p id="n5" class="stm mis"><a href="#n5">5</a></p>
+<p id="n6" class="stm mis"><a href="#n6">6</a></p>
+<p id="n7" class="stm mis"><a href="#n7">7</a></p>
+<p id="n8" class="stm mis"><a href="#n8">8</a></p>
+<p id="n9" class="stm mis"><a href="#n9">9</a></p>
+<p id="n10" class="stm mis"><a href="#n10">10</a></p>
+<p id="n11" class="stm mis"><a href="#n11">11</a></p>
+<p id="n12" class="pln"><a href="#n12">12</a></p>
+<p id="n13" class="pln"><a href="#n13">13</a></p>
+<p id="n14" class="stm mis"><a href="#n14">14</a></p>
+<p id="n15" class="stm mis"><a href="#n15">15</a></p>
+<p id="n16" class="stm mis"><a href="#n16">16</a></p>
+<p id="n17" class="stm mis"><a href="#n17">17</a></p>
+<p id="n18" class="stm mis"><a href="#n18">18</a></p>
+<p id="n19" class="stm mis"><a href="#n19">19</a></p>
+<p id="n20" class="stm mis"><a href="#n20">20</a></p>
+<p id="n21" class="pln"><a href="#n21">21</a></p>
+<p id="n22" class="pln"><a href="#n22">22</a></p>
+<p id="n23" class="stm mis"><a href="#n23">23</a></p>
+<p id="n24" class="pln"><a href="#n24">24</a></p>
+<p id="n25" class="pln"><a href="#n25">25</a></p>
+<p id="n26" class="stm mis"><a href="#n26">26</a></p>
+<p id="n27" class="stm mis"><a href="#n27">27</a></p>
+<p id="n28" class="stm mis"><a href="#n28">28</a></p>
+<p id="n29" class="stm mis"><a href="#n29">29</a></p>
+<p id="n30" class="stm mis"><a href="#n30">30</a></p>
+<p id="n31" class="stm mis"><a href="#n31">31</a></p>
+<p id="n32" class="stm mis"><a href="#n32">32</a></p>
+<p id="n33" class="stm mis"><a href="#n33">33</a></p>
+<p id="n34" class="stm mis"><a href="#n34">34</a></p>
+<p id="n35" class="pln"><a href="#n35">35</a></p>
+<p id="n36" class="pln"><a href="#n36">36</a></p>
+<p id="n37" class="stm mis"><a href="#n37">37</a></p>
+<p id="n38" class="stm mis"><a href="#n38">38</a></p>
+<p id="n39" class="pln"><a href="#n39">39</a></p>
+<p id="n40" class="pln"><a href="#n40">40</a></p>
+<p id="n41" class="stm mis"><a href="#n41">41</a></p>
+<p id="n42" class="stm mis"><a href="#n42">42</a></p>
+<p id="n43" class="pln"><a href="#n43">43</a></p>
+<p id="n44" class="pln"><a href="#n44">44</a></p>
+<p id="n45" class="stm mis"><a href="#n45">45</a></p>
+<p id="n46" class="stm mis"><a href="#n46">46</a></p>
+<p id="n47" class="pln"><a href="#n47">47</a></p>
+<p id="n48" class="pln"><a href="#n48">48</a></p>
+<p id="n49" class="stm mis"><a href="#n49">49</a></p>
+<p id="n50" class="stm mis"><a href="#n50">50</a></p>
+<p id="n51" class="pln"><a href="#n51">51</a></p>
+<p id="n52" class="pln"><a href="#n52">52</a></p>
+<p id="n53" class="pln"><a href="#n53">53</a></p>
+<p id="n54" class="stm mis"><a href="#n54">54</a></p>
+<p id="n55" class="stm mis"><a href="#n55">55</a></p>
+<p id="n56" class="pln"><a href="#n56">56</a></p>
+<p id="n57" class="pln"><a href="#n57">57</a></p>
+<p id="n58" class="pln"><a href="#n58">58</a></p>
+<p id="n59" class="stm mis"><a href="#n59">59</a></p>
+<p id="n60" class="pln"><a href="#n60">60</a></p>
+<p id="n61" class="pln"><a href="#n61">61</a></p>
+<p id="n62" class="stm mis"><a href="#n62">62</a></p>
+<p id="n63" class="pln"><a href="#n63">63</a></p>
+<p id="n64" class="pln"><a href="#n64">64</a></p>
+<p id="n65" class="pln"><a href="#n65">65</a></p>
+<p id="n66" class="pln"><a href="#n66">66</a></p>
+<p id="n67" class="pln"><a href="#n67">67</a></p>
+<p id="n68" class="stm mis"><a href="#n68">68</a></p>
+<p id="n69" class="stm mis"><a href="#n69">69</a></p>
+<p id="n70" class="pln"><a href="#n70">70</a></p>
+<p id="n71" class="pln"><a href="#n71">71</a></p>
+<p id="n72" class="stm mis"><a href="#n72">72</a></p>
+<p id="n73" class="pln"><a href="#n73">73</a></p>
+<p id="n74" class="stm mis"><a href="#n74">74</a></p>
+<p id="n75" class="pln"><a href="#n75">75</a></p>
+<p id="n76" class="pln"><a href="#n76">76</a></p>
+<p id="n77" class="pln"><a href="#n77">77</a></p>
+<p id="n78" class="stm mis"><a href="#n78">78</a></p>
+<p id="n79" class="stm mis"><a href="#n79">79</a></p>
+<p id="n80" class="stm mis"><a href="#n80">80</a></p>
+<p id="n81" class="stm mis"><a href="#n81">81</a></p>
+<p id="n82" class="stm mis"><a href="#n82">82</a></p>
+<p id="n83" class="pln"><a href="#n83">83</a></p>
+<p id="n84" class="stm mis"><a href="#n84">84</a></p>
+<p id="n85" class="pln"><a href="#n85">85</a></p>
+<p id="n86" class="pln"><a href="#n86">86</a></p>
+<p id="n87" class="stm mis"><a href="#n87">87</a></p>
+<p id="n88" class="stm mis"><a href="#n88">88</a></p>
+<p id="n89" class="stm mis"><a href="#n89">89</a></p>
+<p id="n90" class="stm mis"><a href="#n90">90</a></p>
+<p id="n91" class="pln"><a href="#n91">91</a></p>
+<p id="n92" class="stm mis"><a href="#n92">92</a></p>
+<p id="n93" class="stm mis"><a href="#n93">93</a></p>
+<p id="n94" class="stm mis"><a href="#n94">94</a></p>
+<p id="n95" class="stm mis"><a href="#n95">95</a></p>
+<p id="n96" class="pln"><a href="#n96">96</a></p>
+<p id="n97" class="pln"><a href="#n97">97</a></p>
+<p id="n98" class="stm mis"><a href="#n98">98</a></p>
+<p id="n99" class="stm mis"><a href="#n99">99</a></p>
+<p id="n100" class="pln"><a href="#n100">100</a></p>
+<p id="n101" class="stm mis"><a href="#n101">101</a></p>
+<p id="n102" class="stm mis"><a href="#n102">102</a></p>
+<p id="n103" class="pln"><a href="#n103">103</a></p>
+<p id="n104" class="stm mis"><a href="#n104">104</a></p>
+<p id="n105" class="pln"><a href="#n105">105</a></p>
+<p id="n106" class="stm mis"><a href="#n106">106</a></p>
+<p id="n107" class="stm mis"><a href="#n107">107</a></p>
+<p id="n108" class="pln"><a href="#n108">108</a></p>
+<p id="n109" class="stm mis"><a href="#n109">109</a></p>
+<p id="n110" class="stm mis"><a href="#n110">110</a></p>
+<p id="n111" class="pln"><a href="#n111">111</a></p>
+<p id="n112" class="stm mis"><a href="#n112">112</a></p>
+<p id="n113" class="stm mis"><a href="#n113">113</a></p>
+<p id="n114" class="stm mis"><a href="#n114">114</a></p>
+<p id="n115" class="pln"><a href="#n115">115</a></p>
+<p id="n116" class="stm mis"><a href="#n116">116</a></p>
+<p id="n117" class="pln"><a href="#n117">117</a></p>
+<p id="n118" class="pln"><a href="#n118">118</a></p>
+<p id="n119" class="stm mis"><a href="#n119">119</a></p>
+<p id="n120" class="stm mis"><a href="#n120">120</a></p>
+<p id="n121" class="pln"><a href="#n121">121</a></p>
+<p id="n122" class="stm mis"><a href="#n122">122</a></p>
+<p id="n123" class="pln"><a href="#n123">123</a></p>
+<p id="n124" class="pln"><a href="#n124">124</a></p>
+<p id="n125" class="stm mis"><a href="#n125">125</a></p>
+<p id="n126" class="stm mis"><a href="#n126">126</a></p>
+<p id="n127" class="stm mis"><a href="#n127">127</a></p>
+<p id="n128" class="stm mis"><a href="#n128">128</a></p>
+<p id="n129" class="stm mis"><a href="#n129">129</a></p>
+<p id="n130" class="pln"><a href="#n130">130</a></p>
+<p id="n131" class="stm mis"><a href="#n131">131</a></p>
+<p id="n132" class="pln"><a href="#n132">132</a></p>
+<p id="n133" class="pln"><a href="#n133">133</a></p>
+<p id="n134" class="stm mis"><a href="#n134">134</a></p>
+<p id="n135" class="stm mis"><a href="#n135">135</a></p>
+<p id="n136" class="pln"><a href="#n136">136</a></p>
+<p id="n137" class="stm mis"><a href="#n137">137</a></p>
+<p id="n138" class="pln"><a href="#n138">138</a></p>
+<p id="n139" class="stm mis"><a href="#n139">139</a></p>
+<p id="n140" class="stm mis"><a href="#n140">140</a></p>
+<p id="n141" class="stm mis"><a href="#n141">141</a></p>
+<p id="n142" class="stm mis"><a href="#n142">142</a></p>
+<p id="n143" class="pln"><a href="#n143">143</a></p>
+<p id="n144" class="stm mis"><a href="#n144">144</a></p>
+<p id="n145" class="stm mis"><a href="#n145">145</a></p>
+<p id="n146" class="stm mis"><a href="#n146">146</a></p>
+<p id="n147" class="pln"><a href="#n147">147</a></p>
+<p id="n148" class="stm mis"><a href="#n148">148</a></p>
+<p id="n149" class="stm mis"><a href="#n149">149</a></p>
+<p id="n150" class="stm mis"><a href="#n150">150</a></p>
+<p id="n151" class="stm mis"><a href="#n151">151</a></p>
+<p id="n152" class="pln"><a href="#n152">152</a></p>
+<p id="n153" class="stm mis"><a href="#n153">153</a></p>
+<p id="n154" class="stm mis"><a href="#n154">154</a></p>
+<p id="n155" class="stm mis"><a href="#n155">155</a></p>
+<p id="n156" class="stm mis"><a href="#n156">156</a></p>
+<p id="n157" class="stm mis"><a href="#n157">157</a></p>
+<p id="n158" class="stm mis"><a href="#n158">158</a></p>
+<p id="n159" class="stm mis"><a href="#n159">159</a></p>
+<p id="n160" class="stm mis"><a href="#n160">160</a></p>
+<p id="n161" class="stm mis"><a href="#n161">161</a></p>
+<p id="n162" class="stm mis"><a href="#n162">162</a></p>
+<p id="n163" class="stm mis"><a href="#n163">163</a></p>
+<p id="n164" class="pln"><a href="#n164">164</a></p>
+<p id="n165" class="pln"><a href="#n165">165</a></p>
+<p id="n166" class="stm mis"><a href="#n166">166</a></p>
+<p id="n167" class="stm mis"><a href="#n167">167</a></p>
+<p id="n168" class="stm mis"><a href="#n168">168</a></p>
+<p id="n169" class="stm mis"><a href="#n169">169</a></p>
+<p id="n170" class="pln"><a href="#n170">170</a></p>
+<p id="n171" class="stm mis"><a href="#n171">171</a></p>
+<p id="n172" class="stm mis"><a href="#n172">172</a></p>
+<p id="n173" class="stm mis"><a href="#n173">173</a></p>
+<p id="n174" class="stm mis"><a href="#n174">174</a></p>
+<p id="n175" class="stm mis"><a href="#n175">175</a></p>
+<p id="n176" class="pln"><a href="#n176">176</a></p>
+<p id="n177" class="pln"><a href="#n177">177</a></p>
+<p id="n178" class="stm mis"><a href="#n178">178</a></p>
+<p id="n179" class="stm mis"><a href="#n179">179</a></p>
+<p id="n180" class="pln"><a href="#n180">180</a></p>
+<p id="n181" class="pln"><a href="#n181">181</a></p>
+<p id="n182" class="stm mis"><a href="#n182">182</a></p>
+<p id="n183" class="pln"><a href="#n183">183</a></p>
+<p id="n184" class="stm mis"><a href="#n184">184</a></p>
+
+ </td>
+ <td class="text">
+<p id="t1" class="stm mis"><span class="key">import</span> <span class="nam">argparse</span><span class="strut"> </span></p>
+<p id="t2" class="stm mis"><span class="key">import</span> <span class="nam">pandas</span> <span class="key">as</span> <span class="nam">pd</span><span class="strut"> </span></p>
+<p id="t3" class="stm mis"><span class="key">import</span> <span class="nam">numpy</span> <span class="key">as</span> <span class="nam">np</span><span class="strut"> </span></p>
+<p id="t4" class="stm mis"><span class="key">import</span> <span class="nam">cv2</span><span class="strut"> </span></p>
+<p id="t5" class="stm mis"><span class="key">import</span> <span class="nam">os</span><span class="strut"> </span></p>
+<p id="t6" class="stm mis"><span class="key">from</span> <span class="nam">navipy</span><span class="op">.</span><span class="nam">arenatools</span><span class="op">.</span><span class="nam">cam_dlt</span> <span class="key">import</span> <span class="nam">dlt_inverse</span><span class="strut"> </span></p>
+<p id="t7" class="stm mis"><span class="key">from</span> <span class="nam">navipy</span><span class="op">.</span><span class="nam">arenatools</span><span class="op">.</span><span class="nam">cam_dlt</span> <span class="key">import</span> <span class="nam">dlt_compute_coeffs</span><span class="strut"> </span></p>
+<p id="t8" class="stm mis"><span class="key">from</span> <span class="nam">navipy</span><span class="op">.</span><span class="nam">arenatools</span><span class="op">.</span><span class="nam">cam_dlt</span> <span class="key">import</span> <span class="nam">dlt_principal_point</span><span class="strut"> </span></p>
+<p id="t9" class="stm mis"><span class="key">from</span> <span class="nam">navipy</span><span class="op">.</span><span class="nam">arenatools</span><span class="op">.</span><span class="nam">cam_dlt</span> <span class="key">import</span> <span class="nam">dlt_principal_distance</span><span class="strut"> </span></p>
+<p id="t10" class="stm mis"><span class="key">from</span> <span class="nam">navipy</span><span class="op">.</span><span class="nam">arenatools</span><span class="op">.</span><span class="nam">cam_dlt</span> <span class="key">import</span> <span class="nam">dlt_scale_factors</span><span class="strut"> </span></p>
+<p id="t11" class="stm mis"><span class="key">from</span> <span class="nam">navipy</span><span class="op">.</span><span class="nam">arenatools</span><span class="op">.</span><span class="nam">cam_dlt</span> <span class="key">import</span> <span class="nam">dlt_transformation_matrix</span><span class="strut"> </span></p>
+<p id="t12" class="pln"><span class="strut"> </span></p>
+<p id="t13" class="pln"><span class="strut"> </span></p>
+<p id="t14" class="stm mis"><span class="nam">keybinding</span> <span class="op">=</span> <span class="nam">dict</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t15" class="stm mis"><span class="nam">keybinding</span><span class="op">[</span><span class="str">'Quit without saving'</span><span class="op">]</span> <span class="op">=</span> <span class="str">'q'</span><span class="strut"> </span></p>
+<p id="t16" class="stm mis"><span class="nam">keybinding</span><span class="op">[</span><span class="str">'Save and quite'</span><span class="op">]</span> <span class="op">=</span> <span class="str">'e'</span><span class="strut"> </span></p>
+<p id="t17" class="stm mis"><span class="nam">keybinding</span><span class="op">[</span><span class="str">'Forward'</span><span class="op">]</span> <span class="op">=</span> <span class="str">'f'</span><span class="strut"> </span></p>
+<p id="t18" class="stm mis"><span class="nam">keybinding</span><span class="op">[</span><span class="str">'Backward'</span><span class="op">]</span> <span class="op">=</span> <span class="str">'b'</span><span class="strut"> </span></p>
+<p id="t19" class="stm mis"><span class="nam">keybinding</span><span class="op">[</span><span class="str">'Skip'</span><span class="op">]</span> <span class="op">=</span> <span class="str">'s'</span><span class="strut"> </span></p>
+<p id="t20" class="stm mis"><span class="nam">keybinding</span><span class="op">[</span><span class="str">'Calculate coeff'</span><span class="op">]</span> <span class="op">=</span> <span class="str">'c'</span><span class="strut"> </span></p>
+<p id="t21" class="pln"><span class="strut"> </span></p>
+<p id="t22" class="pln"><span class="strut"> </span></p>
+<p id="t23" class="stm mis"><span class="key">def</span> <span class="nam">parser_dlt_calibrator</span><span class="op">(</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t24" class="pln"> <span class="com"># Create command line options</span><span class="strut"> </span></p>
+<p id="t25" class="pln"><span class="strut"> </span></p>
+<p id="t26" class="stm mis"> <span class="nam">description</span> <span class="op">=</span> <span class="str">'DLT calibrator provide a elementary user '</span><span class="strut"> </span></p>
+<p id="t27" class="stm mis"> <span class="nam">description</span> <span class="op">+=</span> <span class="str">'interface to determine the dlt coeffs of '</span><span class="strut"> </span></p>
+<p id="t28" class="stm mis"> <span class="nam">description</span> <span class="op">+=</span> <span class="str">'a camera from an image and calibration'</span><span class="strut"> </span></p>
+<p id="t29" class="stm mis"> <span class="nam">description</span> <span class="op">+=</span> <span class="str">'\n\n'</span><span class="strut"> </span></p>
+<p id="t30" class="stm mis"> <span class="nam">description</span> <span class="op">+=</span> <span class="str">'Key bindings:\n'</span><span class="strut"> </span></p>
+<p id="t31" class="stm mis"> <span class="nam">description</span> <span class="op">+=</span> <span class="str">'-------------\n'</span><span class="strut"> </span></p>
+<p id="t32" class="stm mis"> <span class="key">for</span> <span class="nam">key</span><span class="op">,</span> <span class="nam">val</span> <span class="key">in</span> <span class="nam">keybinding</span><span class="op">.</span><span class="nam">items</span><span class="op">(</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t33" class="stm mis"> <span class="nam">description</span> <span class="op">+=</span> <span class="str">'{} : {}\n'</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">val</span><span class="op">,</span> <span class="nam">key</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t34" class="stm mis"> <span class="nam">parser</span> <span class="op">=</span> <span class="nam">argparse</span><span class="op">.</span><span class="nam">ArgumentParser</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t35" class="pln"> <span class="nam">description</span><span class="op">=</span><span class="nam">description</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t36" class="pln"> <span class="nam">formatter_class</span><span class="op">=</span><span class="nam">argparse</span><span class="op">.</span><span class="nam">RawDescriptionHelpFormatter</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t37" class="stm mis"> <span class="nam">arghelp</span> <span class="op">=</span> <span class="str">'Path to the calibration image'</span><span class="strut"> </span></p>
+<p id="t38" class="stm mis"> <span class="nam">parser</span><span class="op">.</span><span class="nam">add_argument</span><span class="op">(</span><span class="str">'-i'</span><span class="op">,</span> <span class="str">'--image'</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t39" class="pln"> <span class="nam">required</span><span class="op">=</span><span class="key">True</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t40" class="pln"> <span class="nam">help</span><span class="op">=</span><span class="nam">arghelp</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t41" class="stm mis"> <span class="nam">arghelp</span> <span class="op">=</span> <span class="str">'Path to the csv files containing calibration points'</span><span class="strut"> </span></p>
+<p id="t42" class="stm mis"> <span class="nam">parser</span><span class="op">.</span><span class="nam">add_argument</span><span class="op">(</span><span class="str">'-p'</span><span class="op">,</span> <span class="str">'--points'</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t43" class="pln"> <span class="nam">required</span><span class="op">=</span><span class="key">True</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t44" class="pln"> <span class="nam">help</span><span class="op">=</span><span class="nam">arghelp</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t45" class="stm mis"> <span class="nam">arghelp</span> <span class="op">=</span> <span class="str">'Scaling of the image'</span><span class="strut"> </span></p>
+<p id="t46" class="stm mis"> <span class="nam">parser</span><span class="op">.</span><span class="nam">add_argument</span><span class="op">(</span><span class="str">'-s'</span><span class="op">,</span> <span class="str">'--scale'</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t47" class="pln"> <span class="nam">default</span><span class="op">=</span><span class="num">0.5</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t48" class="pln"> <span class="nam">help</span><span class="op">=</span><span class="nam">arghelp</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t49" class="stm mis"> <span class="nam">arghelp</span> <span class="op">=</span> <span class="str">'number of dlt parameters (coeff)'</span><span class="strut"> </span></p>
+<p id="t50" class="stm mis"> <span class="nam">parser</span><span class="op">.</span><span class="nam">add_argument</span><span class="op">(</span><span class="str">'-c'</span><span class="op">,</span> <span class="str">'--ndltcoeff'</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t51" class="pln"> <span class="nam">type</span><span class="op">=</span><span class="nam">int</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t52" class="pln"> <span class="nam">default</span><span class="op">=</span><span class="num">11</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t53" class="pln"> <span class="nam">help</span><span class="op">=</span><span class="nam">arghelp</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t54" class="stm mis"> <span class="nam">arghelp</span> <span class="op">=</span> <span class="str">'number of iteration for calibration'</span><span class="strut"> </span></p>
+<p id="t55" class="stm mis"> <span class="nam">parser</span><span class="op">.</span><span class="nam">add_argument</span><span class="op">(</span><span class="str">'-e'</span><span class="op">,</span> <span class="str">'--epoque'</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t56" class="pln"> <span class="nam">type</span><span class="op">=</span><span class="nam">int</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t57" class="pln"> <span class="nam">default</span><span class="op">=</span><span class="num">100</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t58" class="pln"> <span class="nam">help</span><span class="op">=</span><span class="nam">arghelp</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t59" class="stm mis"> <span class="key">return</span> <span class="nam">parser</span><span class="strut"> </span></p>
+<p id="t60" class="pln"><span class="strut"> </span></p>
+<p id="t61" class="pln"><span class="strut"> </span></p>
+<p id="t62" class="stm mis"><span class="key">def</span> <span class="nam">click</span><span class="op">(</span><span class="nam">event</span><span class="op">,</span> <span class="nam">x</span><span class="op">,</span> <span class="nam">y</span><span class="op">,</span> <span class="nam">flags</span><span class="op">,</span> <span class="nam">param</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t63" class="pln"> <span class="com"># grab references to the global variables</span><span class="strut"> </span></p>
+<p id="t64" class="pln"> <span class="key">global</span> <span class="nam">campts</span><span class="op">,</span> <span class="nam">index_i</span><span class="op">,</span> <span class="nam">scale</span><span class="strut"> </span></p>
+<p id="t65" class="pln"> <span class="com"># if the left mouse button was clicked, record the starting</span><span class="strut"> </span></p>
+<p id="t66" class="pln"> <span class="com"># (x, y) coordinates and indicate that cropping is being</span><span class="strut"> </span></p>
+<p id="t67" class="pln"> <span class="com"># performed</span><span class="strut"> </span></p>
+<p id="t68" class="stm mis"> <span class="key">if</span> <span class="nam">event</span> <span class="op">==</span> <span class="nam">cv2</span><span class="op">.</span><span class="nam">EVENT_LBUTTONDOWN</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t69" class="stm mis"> <span class="nam">campts</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="nam">index_i</span><span class="op">,</span> <span class="op">[</span><span class="str">'u'</span><span class="op">,</span> <span class="str">'v'</span><span class="op">]</span><span class="op">]</span> <span class="op">=</span> <span class="op">[</span><span class="nam">x</span><span class="op">/</span><span class="nam">scale</span><span class="op">,</span> <span class="nam">y</span><span class="op">/</span><span class="nam">scale</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t70" class="pln"><span class="strut"> </span></p>
+<p id="t71" class="pln"><span class="strut"> </span></p>
+<p id="t72" class="stm mis"><span class="key">def</span> <span class="nam">main</span><span class="op">(</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t73" class="pln"> <span class="com"># Fetch arguments</span><span class="strut"> </span></p>
+<p id="t74" class="stm mis"> <span class="nam">args</span> <span class="op">=</span> <span class="nam">vars</span><span class="op">(</span><span class="nam">parser_dlt_calibrator</span><span class="op">(</span><span class="op">)</span><span class="op">.</span><span class="nam">parse_args</span><span class="op">(</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t75" class="pln"> <span class="com"># Load the u,v points if any, otherwise</span><span class="strut"> </span></p>
+<p id="t76" class="pln"> <span class="com"># set all u,v for each frame to nan, because</span><span class="strut"> </span></p>
+<p id="t77" class="pln"> <span class="com"># we do not know the position of x,y,z points on cam</span><span class="strut"> </span></p>
+<p id="t78" class="stm mis"> <span class="nam">frames</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">read_csv</span><span class="op">(</span><span class="nam">args</span><span class="op">[</span><span class="str">'points'</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t79" class="stm mis"> <span class="key">if</span> <span class="op">(</span><span class="str">'u'</span> <span class="key">in</span> <span class="nam">frames</span><span class="op">.</span><span class="nam">columns</span><span class="op">)</span> <span class="key">and</span> <span class="op">(</span><span class="str">'v'</span> <span class="key">in</span> <span class="nam">frames</span><span class="op">.</span><span class="nam">columns</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t80" class="stm mis"> <span class="nam">campts</span> <span class="op">=</span> <span class="nam">frames</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="op">[</span><span class="str">'u'</span><span class="op">,</span> <span class="str">'v'</span><span class="op">]</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t81" class="stm mis"> <span class="nam">frames</span> <span class="op">=</span> <span class="nam">frames</span><span class="op">.</span><span class="nam">drop</span><span class="op">(</span><span class="str">'u'</span><span class="op">,</span> <span class="nam">axis</span><span class="op">=</span><span class="num">1</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t82" class="stm mis"> <span class="nam">frames</span> <span class="op">=</span> <span class="nam">frames</span><span class="op">.</span><span class="nam">drop</span><span class="op">(</span><span class="str">'v'</span><span class="op">,</span> <span class="nam">axis</span><span class="op">=</span><span class="num">1</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t83" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t84" class="stm mis"> <span class="nam">campts</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">DataFrame</span><span class="op">(</span><span class="nam">index</span><span class="op">=</span><span class="nam">frames</span><span class="op">.</span><span class="nam">index</span><span class="op">,</span> <span class="nam">columns</span><span class="op">=</span><span class="op">[</span><span class="str">'u'</span><span class="op">,</span> <span class="str">'v'</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t85" class="pln"> <span class="com"># The image may need to be scale because screen may have</span><span class="strut"> </span></p>
+<p id="t86" class="pln"> <span class="com"># less pixel than the image</span><span class="strut"> </span></p>
+<p id="t87" class="stm mis"> <span class="nam">scale</span> <span class="op">=</span> <span class="nam">args</span><span class="op">[</span><span class="str">'scale'</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t88" class="stm mis"> <span class="nam">ndlt_coeff</span> <span class="op">=</span> <span class="nam">args</span><span class="op">[</span><span class="str">'ndltcoeff'</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t89" class="stm mis"> <span class="nam">niter</span> <span class="op">=</span> <span class="nam">args</span><span class="op">[</span><span class="str">'epoque'</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t90" class="stm mis"> <span class="nam">imageref</span> <span class="op">=</span> <span class="nam">cv2</span><span class="op">.</span><span class="nam">imread</span><span class="op">(</span><span class="nam">args</span><span class="op">[</span><span class="str">'image'</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t91" class="pln"> <span class="com"># define some constants</span><span class="strut"> </span></p>
+<p id="t92" class="stm mis"> <span class="nam">showframe_ref</span> <span class="op">=</span> <span class="num">50</span><span class="strut"> </span></p>
+<p id="t93" class="stm mis"> <span class="nam">showframe</span> <span class="op">=</span> <span class="nam">showframe_ref</span><span class="strut"> </span></p>
+<p id="t94" class="stm mis"> <span class="nam">font</span> <span class="op">=</span> <span class="nam">cv2</span><span class="op">.</span><span class="nam">FONT_HERSHEY_SIMPLEX</span><span class="strut"> </span></p>
+<p id="t95" class="stm mis"> <span class="nam">coeff</span> <span class="op">=</span> <span class="key">None</span><span class="strut"> </span></p>
+<p id="t96" class="pln"><span class="strut"> </span></p>
+<p id="t97" class="pln"> <span class="com"># create an image window</span><span class="strut"> </span></p>
+<p id="t98" class="stm mis"> <span class="nam">cv2</span><span class="op">.</span><span class="nam">namedWindow</span><span class="op">(</span><span class="str">"image"</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t99" class="stm mis"> <span class="nam">cv2</span><span class="op">.</span><span class="nam">setMouseCallback</span><span class="op">(</span><span class="str">"image"</span><span class="op">,</span> <span class="nam">click</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t100" class="pln"> <span class="com"># Loop until users quit</span><span class="strut"> </span></p>
+<p id="t101" class="stm mis"> <span class="nam">idx</span> <span class="op">=</span> <span class="num">0</span> <span class="com"># User will control it during the loop</span><span class="strut"> </span></p>
+<p id="t102" class="stm mis"> <span class="key">while</span> <span class="key">True</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t103" class="pln"> <span class="com"># Make sure the idx do not go outof bound</span><span class="strut"> </span></p>
+<p id="t104" class="stm mis"> <span class="nam">idx</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">clip</span><span class="op">(</span><span class="nam">idx</span><span class="op">,</span> <span class="num">0</span><span class="op">,</span> <span class="nam">frames</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">-</span><span class="num">1</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t105" class="pln"> <span class="com"># load image</span><span class="strut"> </span></p>
+<p id="t106" class="stm mis"> <span class="nam">index_i</span> <span class="op">=</span> <span class="nam">frames</span><span class="op">.</span><span class="nam">index</span><span class="op">[</span><span class="nam">idx</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t107" class="stm mis"> <span class="nam">mimage</span> <span class="op">=</span> <span class="nam">imageref</span><span class="op">.</span><span class="nam">copy</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t108" class="pln"> <span class="com"># Display stuff at given time</span><span class="strut"> </span></p>
+<p id="t109" class="stm mis"> <span class="key">if</span> <span class="nam">showframe</span> <span class="op">></span> <span class="num">0</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t110" class="stm mis"> <span class="nam">cv2</span><span class="op">.</span><span class="nam">putText</span><span class="op">(</span><span class="nam">mimage</span><span class="op">,</span> <span class="nam">str</span><span class="op">(</span><span class="nam">index_i</span><span class="op">)</span><span class="op">,</span> <span class="op">(</span><span class="num">50</span><span class="op">,</span> <span class="num">50</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t111" class="pln"> <span class="nam">font</span><span class="op">,</span> <span class="num">2</span><span class="op">,</span> <span class="op">(</span><span class="num">0</span><span class="op">,</span> <span class="num">0</span><span class="op">,</span> <span class="num">255</span><span class="op">)</span><span class="op">,</span> <span class="num">3</span><span class="op">,</span> <span class="nam">cv2</span><span class="op">.</span><span class="nam">LINE_AA</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t112" class="stm mis"> <span class="nam">showframe</span> <span class="op">-=</span> <span class="num">1</span><span class="strut"> </span></p>
+<p id="t113" class="stm mis"> <span class="key">for</span> <span class="nam">nbi</span><span class="op">,</span> <span class="nam">row</span> <span class="key">in</span> <span class="nam">campts</span><span class="op">.</span><span class="nam">dropna</span><span class="op">(</span><span class="op">)</span><span class="op">.</span><span class="nam">iterrows</span><span class="op">(</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t114" class="stm mis"> <span class="nam">cv2</span><span class="op">.</span><span class="nam">circle</span><span class="op">(</span><span class="nam">mimage</span><span class="op">,</span> <span class="op">(</span><span class="nam">row</span><span class="op">.</span><span class="nam">u</span><span class="op">.</span><span class="nam">astype</span><span class="op">(</span><span class="nam">int</span><span class="op">)</span><span class="op">,</span> <span class="nam">row</span><span class="op">.</span><span class="nam">v</span><span class="op">.</span><span class="nam">astype</span><span class="op">(</span><span class="nam">int</span><span class="op">)</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t115" class="pln"> <span class="num">5</span><span class="op">,</span> <span class="op">(</span><span class="num">0</span><span class="op">,</span> <span class="num">0</span><span class="op">,</span> <span class="num">255</span><span class="op">)</span><span class="op">,</span> <span class="num">1</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t116" class="stm mis"> <span class="nam">cv2</span><span class="op">.</span><span class="nam">putText</span><span class="op">(</span><span class="nam">mimage</span><span class="op">,</span> <span class="nam">str</span><span class="op">(</span><span class="nam">nbi</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t117" class="pln"> <span class="op">(</span><span class="nam">row</span><span class="op">.</span><span class="nam">u</span><span class="op">.</span><span class="nam">astype</span><span class="op">(</span><span class="nam">int</span><span class="op">)</span><span class="op">,</span> <span class="nam">row</span><span class="op">.</span><span class="nam">v</span><span class="op">.</span><span class="nam">astype</span><span class="op">(</span><span class="nam">int</span><span class="op">)</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t118" class="pln"> <span class="nam">font</span><span class="op">,</span> <span class="num">1</span><span class="op">,</span> <span class="op">(</span><span class="num">0</span><span class="op">,</span> <span class="num">0</span><span class="op">,</span> <span class="num">255</span><span class="op">)</span><span class="op">,</span> <span class="num">2</span><span class="op">,</span> <span class="nam">cv2</span><span class="op">.</span><span class="nam">LINE_AA</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t119" class="stm mis"> <span class="key">if</span> <span class="nam">coeff</span> <span class="key">is</span> <span class="key">not</span> <span class="key">None</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t120" class="stm mis"> <span class="nam">matrix_uv</span> <span class="op">=</span> <span class="nam">dlt_inverse</span><span class="op">(</span><span class="nam">coeff</span><span class="op">,</span> <span class="nam">frames</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t121" class="pln"> <span class="com"># print(matrix_uv)</span><span class="strut"> </span></p>
+<p id="t122" class="stm mis"> <span class="nam">matrix_uv</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">DataFrame</span><span class="op">(</span><span class="nam">data</span><span class="op">=</span><span class="nam">matrix_uv</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t123" class="pln"> <span class="nam">index</span><span class="op">=</span><span class="nam">frames</span><span class="op">.</span><span class="nam">index</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t124" class="pln"> <span class="nam">columns</span><span class="op">=</span><span class="op">[</span><span class="str">'u'</span><span class="op">,</span> <span class="str">'v'</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t125" class="stm mis"> <span class="nam">matrix_uv</span><span class="op">[</span><span class="nam">matrix_uv</span> <span class="op"><</span> <span class="num">0</span><span class="op">]</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">nan</span><span class="strut"> </span></p>
+<p id="t126" class="stm mis"> <span class="nam">matrix_uv</span><span class="op">[</span><span class="nam">matrix_uv</span><span class="op">.</span><span class="nam">u</span> <span class="op">></span> <span class="nam">mimage</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">]</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">nan</span><span class="strut"> </span></p>
+<p id="t127" class="stm mis"> <span class="nam">matrix_uv</span><span class="op">[</span><span class="nam">matrix_uv</span><span class="op">.</span><span class="nam">v</span> <span class="op">></span> <span class="nam">mimage</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">1</span><span class="op">]</span><span class="op">]</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">nan</span><span class="strut"> </span></p>
+<p id="t128" class="stm mis"> <span class="key">for</span> <span class="nam">nbi</span><span class="op">,</span> <span class="nam">row</span> <span class="key">in</span> <span class="nam">matrix_uv</span><span class="op">.</span><span class="nam">dropna</span><span class="op">(</span><span class="op">)</span><span class="op">.</span><span class="nam">iterrows</span><span class="op">(</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t129" class="stm mis"> <span class="nam">cv2</span><span class="op">.</span><span class="nam">circle</span><span class="op">(</span><span class="nam">mimage</span><span class="op">,</span> <span class="op">(</span><span class="nam">row</span><span class="op">.</span><span class="nam">u</span><span class="op">.</span><span class="nam">astype</span><span class="op">(</span><span class="nam">int</span><span class="op">)</span><span class="op">,</span> <span class="nam">row</span><span class="op">.</span><span class="nam">v</span><span class="op">.</span><span class="nam">astype</span><span class="op">(</span><span class="nam">int</span><span class="op">)</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t130" class="pln"> <span class="num">5</span><span class="op">,</span> <span class="op">(</span><span class="num">0</span><span class="op">,</span> <span class="num">255</span><span class="op">,</span> <span class="num">0</span><span class="op">)</span><span class="op">,</span> <span class="num">1</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t131" class="stm mis"> <span class="nam">cv2</span><span class="op">.</span><span class="nam">putText</span><span class="op">(</span><span class="nam">mimage</span><span class="op">,</span> <span class="nam">str</span><span class="op">(</span><span class="nam">nbi</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t132" class="pln"> <span class="op">(</span><span class="nam">row</span><span class="op">.</span><span class="nam">u</span><span class="op">.</span><span class="nam">astype</span><span class="op">(</span><span class="nam">int</span><span class="op">)</span><span class="op">,</span> <span class="nam">row</span><span class="op">.</span><span class="nam">v</span><span class="op">.</span><span class="nam">astype</span><span class="op">(</span><span class="nam">int</span><span class="op">)</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t133" class="pln"> <span class="nam">font</span><span class="op">,</span> <span class="num">1</span><span class="op">,</span> <span class="op">(</span><span class="num">0</span><span class="op">,</span> <span class="num">255</span><span class="op">,</span> <span class="num">0</span><span class="op">)</span><span class="op">,</span> <span class="num">2</span><span class="op">,</span> <span class="nam">cv2</span><span class="op">.</span><span class="nam">LINE_AA</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t134" class="stm mis"> <span class="nam">mimage</span> <span class="op">=</span> <span class="nam">cv2</span><span class="op">.</span><span class="nam">resize</span><span class="op">(</span><span class="nam">mimage</span><span class="op">,</span> <span class="op">(</span><span class="num">0</span><span class="op">,</span> <span class="num">0</span><span class="op">)</span><span class="op">,</span> <span class="nam">fx</span><span class="op">=</span><span class="nam">scale</span><span class="op">,</span> <span class="nam">fy</span><span class="op">=</span><span class="nam">scale</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t135" class="stm mis"> <span class="nam">cv2</span><span class="op">.</span><span class="nam">imshow</span><span class="op">(</span><span class="str">"image"</span><span class="op">,</span> <span class="nam">mimage</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t136" class="pln"> <span class="com"># Wait for keys</span><span class="strut"> </span></p>
+<p id="t137" class="stm mis"> <span class="nam">key</span> <span class="op">=</span> <span class="nam">cv2</span><span class="op">.</span><span class="nam">waitKey</span><span class="op">(</span><span class="num">20</span><span class="op">)</span> <span class="op">&</span> <span class="num">0xFF</span> <span class="com"># 20ms</span><span class="strut"> </span></p>
+<p id="t138" class="pln"> <span class="com"># Key binding</span><span class="strut"> </span></p>
+<p id="t139" class="stm mis"> <span class="key">if</span> <span class="nam">key</span> <span class="op">==</span> <span class="nam">ord</span><span class="op">(</span><span class="str">"q"</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t140" class="stm mis"> <span class="nam">print</span><span class="op">(</span><span class="str">'quit without saving'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t141" class="stm mis"> <span class="key">break</span><span class="strut"> </span></p>
+<p id="t142" class="stm mis"> <span class="key">if</span> <span class="nam">key</span> <span class="op">==</span> <span class="nam">ord</span><span class="op">(</span><span class="str">"f"</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t143" class="pln"> <span class="com"># forward</span><span class="strut"> </span></p>
+<p id="t144" class="stm mis"> <span class="nam">showframe</span> <span class="op">=</span> <span class="nam">showframe_ref</span><span class="strut"> </span></p>
+<p id="t145" class="stm mis"> <span class="nam">idx</span> <span class="op">+=</span> <span class="num">1</span><span class="strut"> </span></p>
+<p id="t146" class="stm mis"> <span class="key">if</span> <span class="nam">key</span> <span class="op">==</span> <span class="nam">ord</span><span class="op">(</span><span class="str">"s"</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t147" class="pln"> <span class="com"># skip</span><span class="strut"> </span></p>
+<p id="t148" class="stm mis"> <span class="nam">showframe</span> <span class="op">=</span> <span class="nam">showframe_ref</span><span class="strut"> </span></p>
+<p id="t149" class="stm mis"> <span class="nam">campts</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="nam">index_i</span><span class="op">,</span> <span class="op">:</span><span class="op">]</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">nan</span><span class="strut"> </span></p>
+<p id="t150" class="stm mis"> <span class="nam">idx</span> <span class="op">+=</span> <span class="num">1</span><span class="strut"> </span></p>
+<p id="t151" class="stm mis"> <span class="key">if</span> <span class="nam">key</span> <span class="op">==</span> <span class="nam">ord</span><span class="op">(</span><span class="str">"b"</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t152" class="pln"> <span class="com"># backward</span><span class="strut"> </span></p>
+<p id="t153" class="stm mis"> <span class="nam">showframe</span> <span class="op">=</span> <span class="nam">showframe_ref</span><span class="strut"> </span></p>
+<p id="t154" class="stm mis"> <span class="nam">idx</span> <span class="op">-=</span> <span class="num">1</span><span class="strut"> </span></p>
+<p id="t155" class="stm mis"> <span class="key">if</span> <span class="nam">key</span> <span class="op">==</span> <span class="nam">ord</span><span class="op">(</span><span class="str">"e"</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t156" class="stm mis"> <span class="nam">print</span><span class="op">(</span><span class="str">'save and quit'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t157" class="stm mis"> <span class="nam">frames</span><span class="op">[</span><span class="str">'u'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">campts</span><span class="op">.</span><span class="nam">u</span><span class="strut"> </span></p>
+<p id="t158" class="stm mis"> <span class="nam">frames</span><span class="op">[</span><span class="str">'v'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">campts</span><span class="op">.</span><span class="nam">v</span><span class="strut"> </span></p>
+<p id="t159" class="stm mis"> <span class="nam">frames</span><span class="op">.</span><span class="nam">to_csv</span><span class="op">(</span><span class="nam">args</span><span class="op">[</span><span class="str">'points'</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t160" class="stm mis"> <span class="key">break</span><span class="strut"> </span></p>
+<p id="t161" class="stm mis"> <span class="key">if</span> <span class="nam">key</span> <span class="op">==</span> <span class="nam">ord</span><span class="op">(</span><span class="str">"c"</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t162" class="stm mis"> <span class="nam">print</span><span class="op">(</span><span class="str">'calibrate'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t163" class="stm mis"> <span class="nam">coeff</span><span class="op">,</span> <span class="nam">rmse</span> <span class="op">=</span> <span class="nam">dlt_compute_coeffs</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t164" class="pln"> <span class="nam">frames</span><span class="op">,</span> <span class="nam">campts</span><span class="op">,</span> <span class="nam">nparams</span><span class="op">=</span><span class="nam">ndlt_coeff</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t165" class="pln"> <span class="nam">niter</span><span class="op">=</span><span class="nam">niter</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t166" class="stm mis"> <span class="nam">print</span><span class="op">(</span><span class="nam">rmse</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t167" class="stm mis"> <span class="nam">print</span><span class="op">(</span><span class="nam">coeff</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t168" class="stm mis"> <span class="nam">print</span><span class="op">(</span><span class="str">'principal points: {}'</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">dlt_principal_point</span><span class="op">(</span><span class="nam">coeff</span><span class="op">)</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t169" class="stm mis"> <span class="nam">print</span><span class="op">(</span><span class="str">'principal distance: {}'</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t170" class="pln"> <span class="nam">dlt_principal_distance</span><span class="op">(</span><span class="nam">coeff</span><span class="op">)</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t171" class="stm mis"> <span class="nam">print</span><span class="op">(</span><span class="str">'scale factor: {}'</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">dlt_scale_factors</span><span class="op">(</span><span class="nam">coeff</span><span class="op">)</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t172" class="stm mis"> <span class="nam">print</span><span class="op">(</span><span class="str">'transform:'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t173" class="stm mis"> <span class="nam">print</span><span class="op">(</span><span class="nam">dlt_transformation_matrix</span><span class="op">(</span><span class="nam">coeff</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t174" class="stm mis"> <span class="nam">coeff</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">Series</span><span class="op">(</span><span class="nam">data</span><span class="op">=</span><span class="nam">coeff</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t175" class="stm mis"> <span class="nam">coeff</span><span class="op">.</span><span class="nam">to_csv</span><span class="op">(</span><span class="nam">os</span><span class="op">.</span><span class="nam">path</span><span class="op">.</span><span class="nam">splitext</span><span class="op">(</span><span class="nam">args</span><span class="op">[</span><span class="str">'points'</span><span class="op">]</span><span class="op">)</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">+</span><span class="str">'_coeff.csv'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t176" class="pln"><span class="strut"> </span></p>
+<p id="t177" class="pln"> <span class="com"># close all open windows</span><span class="strut"> </span></p>
+<p id="t178" class="stm mis"> <span class="nam">cv2</span><span class="op">.</span><span class="nam">destroyAllWindows</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t179" class="stm mis"> <span class="nam">print</span><span class="op">(</span><span class="str">'End'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t180" class="pln"><span class="strut"> </span></p>
+<p id="t181" class="pln"><span class="strut"> </span></p>
+<p id="t182" class="stm mis"><span class="key">if</span> <span class="nam">__name__</span> <span class="op">==</span> <span class="str">"__main__"</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t183" class="pln"> <span class="com"># execute only if run as a script</span><span class="strut"> </span></p>
+<p id="t184" class="stm mis"> <span class="nam">main</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+
+ </td>
+ </tr>
+ </table>
+</div>
+
+<div id="footer">
+ <div class="content">
+ <p>
+ <a class="nav" href="index.html">« index</a> <a class="nav" href="https://coverage.readthedocs.io">coverage.py v4.5.2</a>,
+ created at 2019-01-13 14:34
+ </p>
+ </div>
+</div>
+
+</body>
+</html>
diff --git a/coverage_html_report/navipy_sensors___init___py.html b/coverage_html_report/navipy_sensors___init___py.html
new file mode 100644
index 0000000000000000000000000000000000000000..106b3be69bb4e4aca163c78f1e61796b81140c30
--- /dev/null
+++ b/coverage_html_report/navipy_sensors___init___py.html
@@ -0,0 +1,89 @@
+
+
+
+<!DOCTYPE html>
+<html>
+<head>
+ <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
+
+
+ <meta http-equiv="X-UA-Compatible" content="IE=emulateIE7" />
+ <title>Coverage for navipy/sensors/__init__.py: 100%</title>
+ <link rel="stylesheet" href="style.css" type="text/css">
+
+ <script type="text/javascript" src="jquery.min.js"></script>
+ <script type="text/javascript" src="jquery.hotkeys.js"></script>
+ <script type="text/javascript" src="jquery.isonscreen.js"></script>
+ <script type="text/javascript" src="coverage_html.js"></script>
+ <script type="text/javascript">
+ jQuery(document).ready(coverage.pyfile_ready);
+ </script>
+</head>
+<body class="pyfile">
+
+<div id="header">
+ <div class="content">
+ <h1>Coverage for <b>navipy/sensors/__init__.py</b> :
+ <span class="pc_cov">100%</span>
+ </h1>
+
+ <img id="keyboard_icon" src="keybd_closed.png" alt="Show keyboard shortcuts" />
+
+ <h2 class="stats">
+ 0 statements
+ <span class="run hide_run shortkey_r button_toggle_run">0 run</span>
+ <span class="mis shortkey_m button_toggle_mis">0 missing</span>
+ <span class="exc shortkey_x button_toggle_exc">0 excluded</span>
+
+
+ </h2>
+ </div>
+</div>
+
+<div class="help_panel">
+ <img id="panel_icon" src="keybd_open.png" alt="Hide keyboard shortcuts" />
+ <p class="legend">Hot-keys on this page</p>
+ <div>
+ <p class="keyhelp">
+ <span class="key">r</span>
+ <span class="key">m</span>
+ <span class="key">x</span>
+ <span class="key">p</span> toggle line displays
+ </p>
+ <p class="keyhelp">
+ <span class="key">j</span>
+ <span class="key">k</span> next/prev highlighted chunk
+ </p>
+ <p class="keyhelp">
+ <span class="key">0</span> (zero) top of page
+ </p>
+ <p class="keyhelp">
+ <span class="key">1</span> (one) first highlighted chunk
+ </p>
+ </div>
+</div>
+
+<div id="source">
+ <table>
+ <tr>
+ <td class="linenos">
+
+ </td>
+ <td class="text">
+
+ </td>
+ </tr>
+ </table>
+</div>
+
+<div id="footer">
+ <div class="content">
+ <p>
+ <a class="nav" href="index.html">« index</a> <a class="nav" href="https://coverage.readthedocs.io">coverage.py v4.5.2</a>,
+ created at 2019-01-13 14:34
+ </p>
+ </div>
+</div>
+
+</body>
+</html>
diff --git a/coverage_html_report/navipy_sensors_renderer_py.html b/coverage_html_report/navipy_sensors_renderer_py.html
new file mode 100644
index 0000000000000000000000000000000000000000..db15614bf75e15cf7fc342f12087494868e7bd54
--- /dev/null
+++ b/coverage_html_report/navipy_sensors_renderer_py.html
@@ -0,0 +1,1411 @@
+
+
+
+<!DOCTYPE html>
+<html>
+<head>
+ <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
+
+
+ <meta http-equiv="X-UA-Compatible" content="IE=emulateIE7" />
+ <title>Coverage for navipy/sensors/renderer.py: 0%</title>
+ <link rel="stylesheet" href="style.css" type="text/css">
+
+ <script type="text/javascript" src="jquery.min.js"></script>
+ <script type="text/javascript" src="jquery.hotkeys.js"></script>
+ <script type="text/javascript" src="jquery.isonscreen.js"></script>
+ <script type="text/javascript" src="coverage_html.js"></script>
+ <script type="text/javascript">
+ jQuery(document).ready(coverage.pyfile_ready);
+ </script>
+</head>
+<body class="pyfile">
+
+<div id="header">
+ <div class="content">
+ <h1>Coverage for <b>navipy/sensors/renderer.py</b> :
+ <span class="pc_cov">0%</span>
+ </h1>
+
+ <img id="keyboard_icon" src="keybd_closed.png" alt="Show keyboard shortcuts" />
+
+ <h2 class="stats">
+ 350 statements
+ <span class="run hide_run shortkey_r button_toggle_run">0 run</span>
+ <span class="mis shortkey_m button_toggle_mis">350 missing</span>
+ <span class="exc shortkey_x button_toggle_exc">0 excluded</span>
+
+
+ </h2>
+ </div>
+</div>
+
+<div class="help_panel">
+ <img id="panel_icon" src="keybd_open.png" alt="Hide keyboard shortcuts" />
+ <p class="legend">Hot-keys on this page</p>
+ <div>
+ <p class="keyhelp">
+ <span class="key">r</span>
+ <span class="key">m</span>
+ <span class="key">x</span>
+ <span class="key">p</span> toggle line displays
+ </p>
+ <p class="keyhelp">
+ <span class="key">j</span>
+ <span class="key">k</span> next/prev highlighted chunk
+ </p>
+ <p class="keyhelp">
+ <span class="key">0</span> (zero) top of page
+ </p>
+ <p class="keyhelp">
+ <span class="key">1</span> (one) first highlighted chunk
+ </p>
+ </div>
+</div>
+
+<div id="source">
+ <table>
+ <tr>
+ <td class="linenos">
+<p id="n1" class="pln"><a href="#n1">1</a></p>
+<p id="n2" class="pln"><a href="#n2">2</a></p>
+<p id="n3" class="pln"><a href="#n3">3</a></p>
+<p id="n4" class="stm mis"><a href="#n4">4</a></p>
+<p id="n5" class="stm mis"><a href="#n5">5</a></p>
+<p id="n6" class="stm mis"><a href="#n6">6</a></p>
+<p id="n7" class="stm mis"><a href="#n7">7</a></p>
+<p id="n8" class="stm mis"><a href="#n8">8</a></p>
+<p id="n9" class="pln"><a href="#n9">9</a></p>
+<p id="n10" class="pln"><a href="#n10">10</a></p>
+<p id="n11" class="stm mis"><a href="#n11">11</a></p>
+<p id="n12" class="stm mis"><a href="#n12">12</a></p>
+<p id="n13" class="stm mis"><a href="#n13">13</a></p>
+<p id="n14" class="stm mis"><a href="#n14">14</a></p>
+<p id="n15" class="stm mis"><a href="#n15">15</a></p>
+<p id="n16" class="stm mis"><a href="#n16">16</a></p>
+<p id="n17" class="stm mis"><a href="#n17">17</a></p>
+<p id="n18" class="stm mis"><a href="#n18">18</a></p>
+<p id="n19" class="stm mis"><a href="#n19">19</a></p>
+<p id="n20" class="stm mis"><a href="#n20">20</a></p>
+<p id="n21" class="stm mis"><a href="#n21">21</a></p>
+<p id="n22" class="stm mis"><a href="#n22">22</a></p>
+<p id="n23" class="stm mis"><a href="#n23">23</a></p>
+<p id="n24" class="stm mis"><a href="#n24">24</a></p>
+<p id="n25" class="stm mis"><a href="#n25">25</a></p>
+<p id="n26" class="pln"><a href="#n26">26</a></p>
+<p id="n27" class="pln"><a href="#n27">27</a></p>
+<p id="n28" class="stm mis"><a href="#n28">28</a></p>
+<p id="n29" class="pln"><a href="#n29">29</a></p>
+<p id="n30" class="pln"><a href="#n30">30</a></p>
+<p id="n31" class="pln"><a href="#n31">31</a></p>
+<p id="n32" class="pln"><a href="#n32">32</a></p>
+<p id="n33" class="stm mis"><a href="#n33">33</a></p>
+<p id="n34" class="stm mis"><a href="#n34">34</a></p>
+<p id="n35" class="stm mis"><a href="#n35">35</a></p>
+<p id="n36" class="pln"><a href="#n36">36</a></p>
+<p id="n37" class="stm mis"><a href="#n37">37</a></p>
+<p id="n38" class="pln"><a href="#n38">38</a></p>
+<p id="n39" class="pln"><a href="#n39">39</a></p>
+<p id="n40" class="pln"><a href="#n40">40</a></p>
+<p id="n41" class="pln"><a href="#n41">41</a></p>
+<p id="n42" class="pln"><a href="#n42">42</a></p>
+<p id="n43" class="pln"><a href="#n43">43</a></p>
+<p id="n44" class="pln"><a href="#n44">44</a></p>
+<p id="n45" class="stm mis"><a href="#n45">45</a></p>
+<p id="n46" class="pln"><a href="#n46">46</a></p>
+<p id="n47" class="stm mis"><a href="#n47">47</a></p>
+<p id="n48" class="pln"><a href="#n48">48</a></p>
+<p id="n49" class="pln"><a href="#n49">49</a></p>
+<p id="n50" class="stm mis"><a href="#n50">50</a></p>
+<p id="n51" class="pln"><a href="#n51">51</a></p>
+<p id="n52" class="stm mis"><a href="#n52">52</a></p>
+<p id="n53" class="pln"><a href="#n53">53</a></p>
+<p id="n54" class="pln"><a href="#n54">54</a></p>
+<p id="n55" class="stm mis"><a href="#n55">55</a></p>
+<p id="n56" class="pln"><a href="#n56">56</a></p>
+<p id="n57" class="stm mis"><a href="#n57">57</a></p>
+<p id="n58" class="pln"><a href="#n58">58</a></p>
+<p id="n59" class="pln"><a href="#n59">59</a></p>
+<p id="n60" class="pln"><a href="#n60">60</a></p>
+<p id="n61" class="pln"><a href="#n61">61</a></p>
+<p id="n62" class="pln"><a href="#n62">62</a></p>
+<p id="n63" class="stm mis"><a href="#n63">63</a></p>
+<p id="n64" class="stm mis"><a href="#n64">64</a></p>
+<p id="n65" class="stm mis"><a href="#n65">65</a></p>
+<p id="n66" class="stm mis"><a href="#n66">66</a></p>
+<p id="n67" class="stm mis"><a href="#n67">67</a></p>
+<p id="n68" class="stm mis"><a href="#n68">68</a></p>
+<p id="n69" class="stm mis"><a href="#n69">69</a></p>
+<p id="n70" class="stm mis"><a href="#n70">70</a></p>
+<p id="n71" class="stm mis"><a href="#n71">71</a></p>
+<p id="n72" class="pln"><a href="#n72">72</a></p>
+<p id="n73" class="pln"><a href="#n73">73</a></p>
+<p id="n74" class="stm mis"><a href="#n74">74</a></p>
+<p id="n75" class="stm mis"><a href="#n75">75</a></p>
+<p id="n76" class="pln"><a href="#n76">76</a></p>
+<p id="n77" class="stm mis"><a href="#n77">77</a></p>
+<p id="n78" class="stm mis"><a href="#n78">78</a></p>
+<p id="n79" class="pln"><a href="#n79">79</a></p>
+<p id="n80" class="stm mis"><a href="#n80">80</a></p>
+<p id="n81" class="stm mis"><a href="#n81">81</a></p>
+<p id="n82" class="stm mis"><a href="#n82">82</a></p>
+<p id="n83" class="stm mis"><a href="#n83">83</a></p>
+<p id="n84" class="pln"><a href="#n84">84</a></p>
+<p id="n85" class="pln"><a href="#n85">85</a></p>
+<p id="n86" class="pln"><a href="#n86">86</a></p>
+<p id="n87" class="stm mis"><a href="#n87">87</a></p>
+<p id="n88" class="stm mis"><a href="#n88">88</a></p>
+<p id="n89" class="stm mis"><a href="#n89">89</a></p>
+<p id="n90" class="pln"><a href="#n90">90</a></p>
+<p id="n91" class="pln"><a href="#n91">91</a></p>
+<p id="n92" class="pln"><a href="#n92">92</a></p>
+<p id="n93" class="stm mis"><a href="#n93">93</a></p>
+<p id="n94" class="stm mis"><a href="#n94">94</a></p>
+<p id="n95" class="pln"><a href="#n95">95</a></p>
+<p id="n96" class="stm mis"><a href="#n96">96</a></p>
+<p id="n97" class="stm mis"><a href="#n97">97</a></p>
+<p id="n98" class="pln"><a href="#n98">98</a></p>
+<p id="n99" class="pln"><a href="#n99">99</a></p>
+<p id="n100" class="stm mis"><a href="#n100">100</a></p>
+<p id="n101" class="pln"><a href="#n101">101</a></p>
+<p id="n102" class="stm mis"><a href="#n102">102</a></p>
+<p id="n103" class="stm mis"><a href="#n103">103</a></p>
+<p id="n104" class="pln"><a href="#n104">104</a></p>
+<p id="n105" class="pln"><a href="#n105">105</a></p>
+<p id="n106" class="stm mis"><a href="#n106">106</a></p>
+<p id="n107" class="stm mis"><a href="#n107">107</a></p>
+<p id="n108" class="stm mis"><a href="#n108">108</a></p>
+<p id="n109" class="stm mis"><a href="#n109">109</a></p>
+<p id="n110" class="stm mis"><a href="#n110">110</a></p>
+<p id="n111" class="stm mis"><a href="#n111">111</a></p>
+<p id="n112" class="stm mis"><a href="#n112">112</a></p>
+<p id="n113" class="stm mis"><a href="#n113">113</a></p>
+<p id="n114" class="stm mis"><a href="#n114">114</a></p>
+<p id="n115" class="stm mis"><a href="#n115">115</a></p>
+<p id="n116" class="stm mis"><a href="#n116">116</a></p>
+<p id="n117" class="stm mis"><a href="#n117">117</a></p>
+<p id="n118" class="stm mis"><a href="#n118">118</a></p>
+<p id="n119" class="stm mis"><a href="#n119">119</a></p>
+<p id="n120" class="stm mis"><a href="#n120">120</a></p>
+<p id="n121" class="pln"><a href="#n121">121</a></p>
+<p id="n122" class="pln"><a href="#n122">122</a></p>
+<p id="n123" class="pln"><a href="#n123">123</a></p>
+<p id="n124" class="stm mis"><a href="#n124">124</a></p>
+<p id="n125" class="stm mis"><a href="#n125">125</a></p>
+<p id="n126" class="stm mis"><a href="#n126">126</a></p>
+<p id="n127" class="stm mis"><a href="#n127">127</a></p>
+<p id="n128" class="stm mis"><a href="#n128">128</a></p>
+<p id="n129" class="stm mis"><a href="#n129">129</a></p>
+<p id="n130" class="stm mis"><a href="#n130">130</a></p>
+<p id="n131" class="stm mis"><a href="#n131">131</a></p>
+<p id="n132" class="stm mis"><a href="#n132">132</a></p>
+<p id="n133" class="stm mis"><a href="#n133">133</a></p>
+<p id="n134" class="stm mis"><a href="#n134">134</a></p>
+<p id="n135" class="stm mis"><a href="#n135">135</a></p>
+<p id="n136" class="stm mis"><a href="#n136">136</a></p>
+<p id="n137" class="pln"><a href="#n137">137</a></p>
+<p id="n138" class="stm mis"><a href="#n138">138</a></p>
+<p id="n139" class="pln"><a href="#n139">139</a></p>
+<p id="n140" class="stm mis"><a href="#n140">140</a></p>
+<p id="n141" class="pln"><a href="#n141">141</a></p>
+<p id="n142" class="stm mis"><a href="#n142">142</a></p>
+<p id="n143" class="pln"><a href="#n143">143</a></p>
+<p id="n144" class="pln"><a href="#n144">144</a></p>
+<p id="n145" class="pln"><a href="#n145">145</a></p>
+<p id="n146" class="pln"><a href="#n146">146</a></p>
+<p id="n147" class="pln"><a href="#n147">147</a></p>
+<p id="n148" class="stm mis"><a href="#n148">148</a></p>
+<p id="n149" class="stm mis"><a href="#n149">149</a></p>
+<p id="n150" class="pln"><a href="#n150">150</a></p>
+<p id="n151" class="pln"><a href="#n151">151</a></p>
+<p id="n152" class="pln"><a href="#n152">152</a></p>
+<p id="n153" class="stm mis"><a href="#n153">153</a></p>
+<p id="n154" class="stm mis"><a href="#n154">154</a></p>
+<p id="n155" class="stm mis"><a href="#n155">155</a></p>
+<p id="n156" class="stm mis"><a href="#n156">156</a></p>
+<p id="n157" class="stm mis"><a href="#n157">157</a></p>
+<p id="n158" class="stm mis"><a href="#n158">158</a></p>
+<p id="n159" class="stm mis"><a href="#n159">159</a></p>
+<p id="n160" class="stm mis"><a href="#n160">160</a></p>
+<p id="n161" class="stm mis"><a href="#n161">161</a></p>
+<p id="n162" class="stm mis"><a href="#n162">162</a></p>
+<p id="n163" class="stm mis"><a href="#n163">163</a></p>
+<p id="n164" class="pln"><a href="#n164">164</a></p>
+<p id="n165" class="stm mis"><a href="#n165">165</a></p>
+<p id="n166" class="stm mis"><a href="#n166">166</a></p>
+<p id="n167" class="pln"><a href="#n167">167</a></p>
+<p id="n168" class="stm mis"><a href="#n168">168</a></p>
+<p id="n169" class="stm mis"><a href="#n169">169</a></p>
+<p id="n170" class="pln"><a href="#n170">170</a></p>
+<p id="n171" class="stm mis"><a href="#n171">171</a></p>
+<p id="n172" class="stm mis"><a href="#n172">172</a></p>
+<p id="n173" class="pln"><a href="#n173">173</a></p>
+<p id="n174" class="stm mis"><a href="#n174">174</a></p>
+<p id="n175" class="pln"><a href="#n175">175</a></p>
+<p id="n176" class="stm mis"><a href="#n176">176</a></p>
+<p id="n177" class="pln"><a href="#n177">177</a></p>
+<p id="n178" class="stm mis"><a href="#n178">178</a></p>
+<p id="n179" class="stm mis"><a href="#n179">179</a></p>
+<p id="n180" class="pln"><a href="#n180">180</a></p>
+<p id="n181" class="stm mis"><a href="#n181">181</a></p>
+<p id="n182" class="stm mis"><a href="#n182">182</a></p>
+<p id="n183" class="pln"><a href="#n183">183</a></p>
+<p id="n184" class="stm mis"><a href="#n184">184</a></p>
+<p id="n185" class="pln"><a href="#n185">185</a></p>
+<p id="n186" class="pln"><a href="#n186">186</a></p>
+<p id="n187" class="stm mis"><a href="#n187">187</a></p>
+<p id="n188" class="stm mis"><a href="#n188">188</a></p>
+<p id="n189" class="pln"><a href="#n189">189</a></p>
+<p id="n190" class="pln"><a href="#n190">190</a></p>
+<p id="n191" class="stm mis"><a href="#n191">191</a></p>
+<p id="n192" class="stm mis"><a href="#n192">192</a></p>
+<p id="n193" class="pln"><a href="#n193">193</a></p>
+<p id="n194" class="stm mis"><a href="#n194">194</a></p>
+<p id="n195" class="stm mis"><a href="#n195">195</a></p>
+<p id="n196" class="stm mis"><a href="#n196">196</a></p>
+<p id="n197" class="stm mis"><a href="#n197">197</a></p>
+<p id="n198" class="stm mis"><a href="#n198">198</a></p>
+<p id="n199" class="stm mis"><a href="#n199">199</a></p>
+<p id="n200" class="stm mis"><a href="#n200">200</a></p>
+<p id="n201" class="pln"><a href="#n201">201</a></p>
+<p id="n202" class="pln"><a href="#n202">202</a></p>
+<p id="n203" class="stm mis"><a href="#n203">203</a></p>
+<p id="n204" class="pln"><a href="#n204">204</a></p>
+<p id="n205" class="pln"><a href="#n205">205</a></p>
+<p id="n206" class="stm mis"><a href="#n206">206</a></p>
+<p id="n207" class="stm mis"><a href="#n207">207</a></p>
+<p id="n208" class="pln"><a href="#n208">208</a></p>
+<p id="n209" class="stm mis"><a href="#n209">209</a></p>
+<p id="n210" class="stm mis"><a href="#n210">210</a></p>
+<p id="n211" class="stm mis"><a href="#n211">211</a></p>
+<p id="n212" class="stm mis"><a href="#n212">212</a></p>
+<p id="n213" class="stm mis"><a href="#n213">213</a></p>
+<p id="n214" class="stm mis"><a href="#n214">214</a></p>
+<p id="n215" class="pln"><a href="#n215">215</a></p>
+<p id="n216" class="stm mis"><a href="#n216">216</a></p>
+<p id="n217" class="pln"><a href="#n217">217</a></p>
+<p id="n218" class="pln"><a href="#n218">218</a></p>
+<p id="n219" class="stm mis"><a href="#n219">219</a></p>
+<p id="n220" class="pln"><a href="#n220">220</a></p>
+<p id="n221" class="pln"><a href="#n221">221</a></p>
+<p id="n222" class="pln"><a href="#n222">222</a></p>
+<p id="n223" class="pln"><a href="#n223">223</a></p>
+<p id="n224" class="pln"><a href="#n224">224</a></p>
+<p id="n225" class="pln"><a href="#n225">225</a></p>
+<p id="n226" class="pln"><a href="#n226">226</a></p>
+<p id="n227" class="pln"><a href="#n227">227</a></p>
+<p id="n228" class="pln"><a href="#n228">228</a></p>
+<p id="n229" class="pln"><a href="#n229">229</a></p>
+<p id="n230" class="stm mis"><a href="#n230">230</a></p>
+<p id="n231" class="pln"><a href="#n231">231</a></p>
+<p id="n232" class="pln"><a href="#n232">232</a></p>
+<p id="n233" class="pln"><a href="#n233">233</a></p>
+<p id="n234" class="stm mis"><a href="#n234">234</a></p>
+<p id="n235" class="stm mis"><a href="#n235">235</a></p>
+<p id="n236" class="pln"><a href="#n236">236</a></p>
+<p id="n237" class="pln"><a href="#n237">237</a></p>
+<p id="n238" class="stm mis"><a href="#n238">238</a></p>
+<p id="n239" class="pln"><a href="#n239">239</a></p>
+<p id="n240" class="stm mis"><a href="#n240">240</a></p>
+<p id="n241" class="pln"><a href="#n241">241</a></p>
+<p id="n242" class="stm mis"><a href="#n242">242</a></p>
+<p id="n243" class="stm mis"><a href="#n243">243</a></p>
+<p id="n244" class="stm mis"><a href="#n244">244</a></p>
+<p id="n245" class="stm mis"><a href="#n245">245</a></p>
+<p id="n246" class="stm mis"><a href="#n246">246</a></p>
+<p id="n247" class="stm mis"><a href="#n247">247</a></p>
+<p id="n248" class="stm mis"><a href="#n248">248</a></p>
+<p id="n249" class="pln"><a href="#n249">249</a></p>
+<p id="n250" class="pln"><a href="#n250">250</a></p>
+<p id="n251" class="stm mis"><a href="#n251">251</a></p>
+<p id="n252" class="pln"><a href="#n252">252</a></p>
+<p id="n253" class="stm mis"><a href="#n253">253</a></p>
+<p id="n254" class="stm mis"><a href="#n254">254</a></p>
+<p id="n255" class="pln"><a href="#n255">255</a></p>
+<p id="n256" class="pln"><a href="#n256">256</a></p>
+<p id="n257" class="pln"><a href="#n257">257</a></p>
+<p id="n258" class="pln"><a href="#n258">258</a></p>
+<p id="n259" class="pln"><a href="#n259">259</a></p>
+<p id="n260" class="stm mis"><a href="#n260">260</a></p>
+<p id="n261" class="stm mis"><a href="#n261">261</a></p>
+<p id="n262" class="stm mis"><a href="#n262">262</a></p>
+<p id="n263" class="pln"><a href="#n263">263</a></p>
+<p id="n264" class="stm mis"><a href="#n264">264</a></p>
+<p id="n265" class="stm mis"><a href="#n265">265</a></p>
+<p id="n266" class="stm mis"><a href="#n266">266</a></p>
+<p id="n267" class="stm mis"><a href="#n267">267</a></p>
+<p id="n268" class="stm mis"><a href="#n268">268</a></p>
+<p id="n269" class="stm mis"><a href="#n269">269</a></p>
+<p id="n270" class="stm mis"><a href="#n270">270</a></p>
+<p id="n271" class="stm mis"><a href="#n271">271</a></p>
+<p id="n272" class="stm mis"><a href="#n272">272</a></p>
+<p id="n273" class="stm mis"><a href="#n273">273</a></p>
+<p id="n274" class="stm mis"><a href="#n274">274</a></p>
+<p id="n275" class="stm mis"><a href="#n275">275</a></p>
+<p id="n276" class="stm mis"><a href="#n276">276</a></p>
+<p id="n277" class="pln"><a href="#n277">277</a></p>
+<p id="n278" class="pln"><a href="#n278">278</a></p>
+<p id="n279" class="pln"><a href="#n279">279</a></p>
+<p id="n280" class="pln"><a href="#n280">280</a></p>
+<p id="n281" class="stm mis"><a href="#n281">281</a></p>
+<p id="n282" class="stm mis"><a href="#n282">282</a></p>
+<p id="n283" class="pln"><a href="#n283">283</a></p>
+<p id="n284" class="pln"><a href="#n284">284</a></p>
+<p id="n285" class="pln"><a href="#n285">285</a></p>
+<p id="n286" class="pln"><a href="#n286">286</a></p>
+<p id="n287" class="stm mis"><a href="#n287">287</a></p>
+<p id="n288" class="pln"><a href="#n288">288</a></p>
+<p id="n289" class="pln"><a href="#n289">289</a></p>
+<p id="n290" class="pln"><a href="#n290">290</a></p>
+<p id="n291" class="stm mis"><a href="#n291">291</a></p>
+<p id="n292" class="pln"><a href="#n292">292</a></p>
+<p id="n293" class="pln"><a href="#n293">293</a></p>
+<p id="n294" class="stm mis"><a href="#n294">294</a></p>
+<p id="n295" class="stm mis"><a href="#n295">295</a></p>
+<p id="n296" class="pln"><a href="#n296">296</a></p>
+<p id="n297" class="pln"><a href="#n297">297</a></p>
+<p id="n298" class="stm mis"><a href="#n298">298</a></p>
+<p id="n299" class="pln"><a href="#n299">299</a></p>
+<p id="n300" class="stm mis"><a href="#n300">300</a></p>
+<p id="n301" class="pln"><a href="#n301">301</a></p>
+<p id="n302" class="stm mis"><a href="#n302">302</a></p>
+<p id="n303" class="pln"><a href="#n303">303</a></p>
+<p id="n304" class="stm mis"><a href="#n304">304</a></p>
+<p id="n305" class="stm mis"><a href="#n305">305</a></p>
+<p id="n306" class="stm mis"><a href="#n306">306</a></p>
+<p id="n307" class="stm mis"><a href="#n307">307</a></p>
+<p id="n308" class="stm mis"><a href="#n308">308</a></p>
+<p id="n309" class="stm mis"><a href="#n309">309</a></p>
+<p id="n310" class="stm mis"><a href="#n310">310</a></p>
+<p id="n311" class="stm mis"><a href="#n311">311</a></p>
+<p id="n312" class="stm mis"><a href="#n312">312</a></p>
+<p id="n313" class="stm mis"><a href="#n313">313</a></p>
+<p id="n314" class="stm mis"><a href="#n314">314</a></p>
+<p id="n315" class="stm mis"><a href="#n315">315</a></p>
+<p id="n316" class="stm mis"><a href="#n316">316</a></p>
+<p id="n317" class="stm mis"><a href="#n317">317</a></p>
+<p id="n318" class="stm mis"><a href="#n318">318</a></p>
+<p id="n319" class="stm mis"><a href="#n319">319</a></p>
+<p id="n320" class="stm mis"><a href="#n320">320</a></p>
+<p id="n321" class="stm mis"><a href="#n321">321</a></p>
+<p id="n322" class="stm mis"><a href="#n322">322</a></p>
+<p id="n323" class="pln"><a href="#n323">323</a></p>
+<p id="n324" class="stm mis"><a href="#n324">324</a></p>
+<p id="n325" class="stm mis"><a href="#n325">325</a></p>
+<p id="n326" class="stm mis"><a href="#n326">326</a></p>
+<p id="n327" class="stm mis"><a href="#n327">327</a></p>
+<p id="n328" class="stm mis"><a href="#n328">328</a></p>
+<p id="n329" class="pln"><a href="#n329">329</a></p>
+<p id="n330" class="stm mis"><a href="#n330">330</a></p>
+<p id="n331" class="pln"><a href="#n331">331</a></p>
+<p id="n332" class="stm mis"><a href="#n332">332</a></p>
+<p id="n333" class="stm mis"><a href="#n333">333</a></p>
+<p id="n334" class="stm mis"><a href="#n334">334</a></p>
+<p id="n335" class="pln"><a href="#n335">335</a></p>
+<p id="n336" class="stm mis"><a href="#n336">336</a></p>
+<p id="n337" class="pln"><a href="#n337">337</a></p>
+<p id="n338" class="stm mis"><a href="#n338">338</a></p>
+<p id="n339" class="pln"><a href="#n339">339</a></p>
+<p id="n340" class="stm mis"><a href="#n340">340</a></p>
+<p id="n341" class="pln"><a href="#n341">341</a></p>
+<p id="n342" class="stm mis"><a href="#n342">342</a></p>
+<p id="n343" class="stm mis"><a href="#n343">343</a></p>
+<p id="n344" class="pln"><a href="#n344">344</a></p>
+<p id="n345" class="stm mis"><a href="#n345">345</a></p>
+<p id="n346" class="pln"><a href="#n346">346</a></p>
+<p id="n347" class="stm mis"><a href="#n347">347</a></p>
+<p id="n348" class="stm mis"><a href="#n348">348</a></p>
+<p id="n349" class="pln"><a href="#n349">349</a></p>
+<p id="n350" class="stm mis"><a href="#n350">350</a></p>
+<p id="n351" class="pln"><a href="#n351">351</a></p>
+<p id="n352" class="pln"><a href="#n352">352</a></p>
+<p id="n353" class="stm mis"><a href="#n353">353</a></p>
+<p id="n354" class="stm mis"><a href="#n354">354</a></p>
+<p id="n355" class="pln"><a href="#n355">355</a></p>
+<p id="n356" class="stm mis"><a href="#n356">356</a></p>
+<p id="n357" class="pln"><a href="#n357">357</a></p>
+<p id="n358" class="pln"><a href="#n358">358</a></p>
+<p id="n359" class="stm mis"><a href="#n359">359</a></p>
+<p id="n360" class="stm mis"><a href="#n360">360</a></p>
+<p id="n361" class="stm mis"><a href="#n361">361</a></p>
+<p id="n362" class="stm mis"><a href="#n362">362</a></p>
+<p id="n363" class="pln"><a href="#n363">363</a></p>
+<p id="n364" class="stm mis"><a href="#n364">364</a></p>
+<p id="n365" class="pln"><a href="#n365">365</a></p>
+<p id="n366" class="pln"><a href="#n366">366</a></p>
+<p id="n367" class="pln"><a href="#n367">367</a></p>
+<p id="n368" class="pln"><a href="#n368">368</a></p>
+<p id="n369" class="pln"><a href="#n369">369</a></p>
+<p id="n370" class="pln"><a href="#n370">370</a></p>
+<p id="n371" class="pln"><a href="#n371">371</a></p>
+<p id="n372" class="stm mis"><a href="#n372">372</a></p>
+<p id="n373" class="pln"><a href="#n373">373</a></p>
+<p id="n374" class="stm mis"><a href="#n374">374</a></p>
+<p id="n375" class="stm mis"><a href="#n375">375</a></p>
+<p id="n376" class="pln"><a href="#n376">376</a></p>
+<p id="n377" class="pln"><a href="#n377">377</a></p>
+<p id="n378" class="pln"><a href="#n378">378</a></p>
+<p id="n379" class="pln"><a href="#n379">379</a></p>
+<p id="n380" class="pln"><a href="#n380">380</a></p>
+<p id="n381" class="pln"><a href="#n381">381</a></p>
+<p id="n382" class="stm mis"><a href="#n382">382</a></p>
+<p id="n383" class="stm mis"><a href="#n383">383</a></p>
+<p id="n384" class="stm mis"><a href="#n384">384</a></p>
+<p id="n385" class="pln"><a href="#n385">385</a></p>
+<p id="n386" class="stm mis"><a href="#n386">386</a></p>
+<p id="n387" class="pln"><a href="#n387">387</a></p>
+<p id="n388" class="pln"><a href="#n388">388</a></p>
+<p id="n389" class="pln"><a href="#n389">389</a></p>
+<p id="n390" class="pln"><a href="#n390">390</a></p>
+<p id="n391" class="pln"><a href="#n391">391</a></p>
+<p id="n392" class="pln"><a href="#n392">392</a></p>
+<p id="n393" class="pln"><a href="#n393">393</a></p>
+<p id="n394" class="pln"><a href="#n394">394</a></p>
+<p id="n395" class="pln"><a href="#n395">395</a></p>
+<p id="n396" class="pln"><a href="#n396">396</a></p>
+<p id="n397" class="pln"><a href="#n397">397</a></p>
+<p id="n398" class="pln"><a href="#n398">398</a></p>
+<p id="n399" class="stm mis"><a href="#n399">399</a></p>
+<p id="n400" class="stm mis"><a href="#n400">400</a></p>
+<p id="n401" class="stm mis"><a href="#n401">401</a></p>
+<p id="n402" class="stm mis"><a href="#n402">402</a></p>
+<p id="n403" class="stm mis"><a href="#n403">403</a></p>
+<p id="n404" class="stm mis"><a href="#n404">404</a></p>
+<p id="n405" class="stm mis"><a href="#n405">405</a></p>
+<p id="n406" class="stm mis"><a href="#n406">406</a></p>
+<p id="n407" class="stm mis"><a href="#n407">407</a></p>
+<p id="n408" class="stm mis"><a href="#n408">408</a></p>
+<p id="n409" class="pln"><a href="#n409">409</a></p>
+<p id="n410" class="stm mis"><a href="#n410">410</a></p>
+<p id="n411" class="pln"><a href="#n411">411</a></p>
+<p id="n412" class="pln"><a href="#n412">412</a></p>
+<p id="n413" class="pln"><a href="#n413">413</a></p>
+<p id="n414" class="pln"><a href="#n414">414</a></p>
+<p id="n415" class="pln"><a href="#n415">415</a></p>
+<p id="n416" class="pln"><a href="#n416">416</a></p>
+<p id="n417" class="pln"><a href="#n417">417</a></p>
+<p id="n418" class="pln"><a href="#n418">418</a></p>
+<p id="n419" class="stm mis"><a href="#n419">419</a></p>
+<p id="n420" class="pln"><a href="#n420">420</a></p>
+<p id="n421" class="pln"><a href="#n421">421</a></p>
+<p id="n422" class="stm mis"><a href="#n422">422</a></p>
+<p id="n423" class="stm mis"><a href="#n423">423</a></p>
+<p id="n424" class="stm mis"><a href="#n424">424</a></p>
+<p id="n425" class="stm mis"><a href="#n425">425</a></p>
+<p id="n426" class="stm mis"><a href="#n426">426</a></p>
+<p id="n427" class="stm mis"><a href="#n427">427</a></p>
+<p id="n428" class="pln"><a href="#n428">428</a></p>
+<p id="n429" class="stm mis"><a href="#n429">429</a></p>
+<p id="n430" class="pln"><a href="#n430">430</a></p>
+<p id="n431" class="stm mis"><a href="#n431">431</a></p>
+<p id="n432" class="pln"><a href="#n432">432</a></p>
+<p id="n433" class="stm mis"><a href="#n433">433</a></p>
+<p id="n434" class="pln"><a href="#n434">434</a></p>
+<p id="n435" class="pln"><a href="#n435">435</a></p>
+<p id="n436" class="stm mis"><a href="#n436">436</a></p>
+<p id="n437" class="pln"><a href="#n437">437</a></p>
+<p id="n438" class="pln"><a href="#n438">438</a></p>
+<p id="n439" class="pln"><a href="#n439">439</a></p>
+<p id="n440" class="pln"><a href="#n440">440</a></p>
+<p id="n441" class="pln"><a href="#n441">441</a></p>
+<p id="n442" class="pln"><a href="#n442">442</a></p>
+<p id="n443" class="pln"><a href="#n443">443</a></p>
+<p id="n444" class="stm mis"><a href="#n444">444</a></p>
+<p id="n445" class="pln"><a href="#n445">445</a></p>
+<p id="n446" class="stm mis"><a href="#n446">446</a></p>
+<p id="n447" class="pln"><a href="#n447">447</a></p>
+<p id="n448" class="pln"><a href="#n448">448</a></p>
+<p id="n449" class="pln"><a href="#n449">449</a></p>
+<p id="n450" class="pln"><a href="#n450">450</a></p>
+<p id="n451" class="pln"><a href="#n451">451</a></p>
+<p id="n452" class="pln"><a href="#n452">452</a></p>
+<p id="n453" class="pln"><a href="#n453">453</a></p>
+<p id="n454" class="stm mis"><a href="#n454">454</a></p>
+<p id="n455" class="stm mis"><a href="#n455">455</a></p>
+<p id="n456" class="stm mis"><a href="#n456">456</a></p>
+<p id="n457" class="pln"><a href="#n457">457</a></p>
+<p id="n458" class="stm mis"><a href="#n458">458</a></p>
+<p id="n459" class="pln"><a href="#n459">459</a></p>
+<p id="n460" class="pln"><a href="#n460">460</a></p>
+<p id="n461" class="pln"><a href="#n461">461</a></p>
+<p id="n462" class="pln"><a href="#n462">462</a></p>
+<p id="n463" class="pln"><a href="#n463">463</a></p>
+<p id="n464" class="pln"><a href="#n464">464</a></p>
+<p id="n465" class="pln"><a href="#n465">465</a></p>
+<p id="n466" class="stm mis"><a href="#n466">466</a></p>
+<p id="n467" class="stm mis"><a href="#n467">467</a></p>
+<p id="n468" class="stm mis"><a href="#n468">468</a></p>
+<p id="n469" class="pln"><a href="#n469">469</a></p>
+<p id="n470" class="stm mis"><a href="#n470">470</a></p>
+<p id="n471" class="pln"><a href="#n471">471</a></p>
+<p id="n472" class="pln"><a href="#n472">472</a></p>
+<p id="n473" class="pln"><a href="#n473">473</a></p>
+<p id="n474" class="pln"><a href="#n474">474</a></p>
+<p id="n475" class="pln"><a href="#n475">475</a></p>
+<p id="n476" class="pln"><a href="#n476">476</a></p>
+<p id="n477" class="pln"><a href="#n477">477</a></p>
+<p id="n478" class="pln"><a href="#n478">478</a></p>
+<p id="n479" class="stm mis"><a href="#n479">479</a></p>
+<p id="n480" class="pln"><a href="#n480">480</a></p>
+<p id="n481" class="stm mis"><a href="#n481">481</a></p>
+<p id="n482" class="stm mis"><a href="#n482">482</a></p>
+<p id="n483" class="stm mis"><a href="#n483">483</a></p>
+<p id="n484" class="stm mis"><a href="#n484">484</a></p>
+<p id="n485" class="pln"><a href="#n485">485</a></p>
+<p id="n486" class="stm mis"><a href="#n486">486</a></p>
+<p id="n487" class="pln"><a href="#n487">487</a></p>
+<p id="n488" class="stm mis"><a href="#n488">488</a></p>
+<p id="n489" class="stm mis"><a href="#n489">489</a></p>
+<p id="n490" class="stm mis"><a href="#n490">490</a></p>
+<p id="n491" class="stm mis"><a href="#n491">491</a></p>
+<p id="n492" class="stm mis"><a href="#n492">492</a></p>
+<p id="n493" class="stm mis"><a href="#n493">493</a></p>
+<p id="n494" class="stm mis"><a href="#n494">494</a></p>
+<p id="n495" class="stm mis"><a href="#n495">495</a></p>
+<p id="n496" class="stm mis"><a href="#n496">496</a></p>
+<p id="n497" class="stm mis"><a href="#n497">497</a></p>
+<p id="n498" class="pln"><a href="#n498">498</a></p>
+<p id="n499" class="stm mis"><a href="#n499">499</a></p>
+<p id="n500" class="pln"><a href="#n500">500</a></p>
+<p id="n501" class="pln"><a href="#n501">501</a></p>
+<p id="n502" class="pln"><a href="#n502">502</a></p>
+<p id="n503" class="pln"><a href="#n503">503</a></p>
+<p id="n504" class="pln"><a href="#n504">504</a></p>
+<p id="n505" class="pln"><a href="#n505">505</a></p>
+<p id="n506" class="pln"><a href="#n506">506</a></p>
+<p id="n507" class="pln"><a href="#n507">507</a></p>
+<p id="n508" class="pln"><a href="#n508">508</a></p>
+<p id="n509" class="stm mis"><a href="#n509">509</a></p>
+<p id="n510" class="pln"><a href="#n510">510</a></p>
+<p id="n511" class="pln"><a href="#n511">511</a></p>
+<p id="n512" class="stm mis"><a href="#n512">512</a></p>
+<p id="n513" class="stm mis"><a href="#n513">513</a></p>
+<p id="n514" class="pln"><a href="#n514">514</a></p>
+<p id="n515" class="pln"><a href="#n515">515</a></p>
+<p id="n516" class="pln"><a href="#n516">516</a></p>
+<p id="n517" class="stm mis"><a href="#n517">517</a></p>
+<p id="n518" class="stm mis"><a href="#n518">518</a></p>
+<p id="n519" class="stm mis"><a href="#n519">519</a></p>
+<p id="n520" class="stm mis"><a href="#n520">520</a></p>
+<p id="n521" class="pln"><a href="#n521">521</a></p>
+<p id="n522" class="stm mis"><a href="#n522">522</a></p>
+<p id="n523" class="stm mis"><a href="#n523">523</a></p>
+<p id="n524" class="pln"><a href="#n524">524</a></p>
+<p id="n525" class="stm mis"><a href="#n525">525</a></p>
+<p id="n526" class="stm mis"><a href="#n526">526</a></p>
+<p id="n527" class="stm mis"><a href="#n527">527</a></p>
+<p id="n528" class="pln"><a href="#n528">528</a></p>
+<p id="n529" class="stm mis"><a href="#n529">529</a></p>
+<p id="n530" class="pln"><a href="#n530">530</a></p>
+<p id="n531" class="pln"><a href="#n531">531</a></p>
+<p id="n532" class="pln"><a href="#n532">532</a></p>
+<p id="n533" class="pln"><a href="#n533">533</a></p>
+<p id="n534" class="pln"><a href="#n534">534</a></p>
+<p id="n535" class="pln"><a href="#n535">535</a></p>
+<p id="n536" class="pln"><a href="#n536">536</a></p>
+<p id="n537" class="pln"><a href="#n537">537</a></p>
+<p id="n538" class="pln"><a href="#n538">538</a></p>
+<p id="n539" class="pln"><a href="#n539">539</a></p>
+<p id="n540" class="pln"><a href="#n540">540</a></p>
+<p id="n541" class="pln"><a href="#n541">541</a></p>
+<p id="n542" class="stm mis"><a href="#n542">542</a></p>
+<p id="n543" class="pln"><a href="#n543">543</a></p>
+<p id="n544" class="pln"><a href="#n544">544</a></p>
+<p id="n545" class="stm mis"><a href="#n545">545</a></p>
+<p id="n546" class="stm mis"><a href="#n546">546</a></p>
+<p id="n547" class="pln"><a href="#n547">547</a></p>
+<p id="n548" class="pln"><a href="#n548">548</a></p>
+<p id="n549" class="pln"><a href="#n549">549</a></p>
+<p id="n550" class="stm mis"><a href="#n550">550</a></p>
+<p id="n551" class="stm mis"><a href="#n551">551</a></p>
+<p id="n552" class="stm mis"><a href="#n552">552</a></p>
+<p id="n553" class="stm mis"><a href="#n553">553</a></p>
+<p id="n554" class="pln"><a href="#n554">554</a></p>
+<p id="n555" class="stm mis"><a href="#n555">555</a></p>
+<p id="n556" class="pln"><a href="#n556">556</a></p>
+<p id="n557" class="stm mis"><a href="#n557">557</a></p>
+<p id="n558" class="stm mis"><a href="#n558">558</a></p>
+<p id="n559" class="pln"><a href="#n559">559</a></p>
+<p id="n560" class="stm mis"><a href="#n560">560</a></p>
+<p id="n561" class="stm mis"><a href="#n561">561</a></p>
+<p id="n562" class="stm mis"><a href="#n562">562</a></p>
+<p id="n563" class="pln"><a href="#n563">563</a></p>
+<p id="n564" class="stm mis"><a href="#n564">564</a></p>
+<p id="n565" class="pln"><a href="#n565">565</a></p>
+<p id="n566" class="pln"><a href="#n566">566</a></p>
+<p id="n567" class="pln"><a href="#n567">567</a></p>
+<p id="n568" class="pln"><a href="#n568">568</a></p>
+<p id="n569" class="pln"><a href="#n569">569</a></p>
+<p id="n570" class="pln"><a href="#n570">570</a></p>
+<p id="n571" class="pln"><a href="#n571">571</a></p>
+<p id="n572" class="pln"><a href="#n572">572</a></p>
+<p id="n573" class="pln"><a href="#n573">573</a></p>
+<p id="n574" class="pln"><a href="#n574">574</a></p>
+<p id="n575" class="pln"><a href="#n575">575</a></p>
+<p id="n576" class="pln"><a href="#n576">576</a></p>
+<p id="n577" class="pln"><a href="#n577">577</a></p>
+<p id="n578" class="pln"><a href="#n578">578</a></p>
+<p id="n579" class="pln"><a href="#n579">579</a></p>
+<p id="n580" class="pln"><a href="#n580">580</a></p>
+<p id="n581" class="pln"><a href="#n581">581</a></p>
+<p id="n582" class="pln"><a href="#n582">582</a></p>
+<p id="n583" class="pln"><a href="#n583">583</a></p>
+<p id="n584" class="pln"><a href="#n584">584</a></p>
+<p id="n585" class="pln"><a href="#n585">585</a></p>
+<p id="n586" class="pln"><a href="#n586">586</a></p>
+<p id="n587" class="pln"><a href="#n587">587</a></p>
+<p id="n588" class="pln"><a href="#n588">588</a></p>
+<p id="n589" class="pln"><a href="#n589">589</a></p>
+<p id="n590" class="pln"><a href="#n590">590</a></p>
+<p id="n591" class="stm mis"><a href="#n591">591</a></p>
+<p id="n592" class="stm mis"><a href="#n592">592</a></p>
+<p id="n593" class="pln"><a href="#n593">593</a></p>
+<p id="n594" class="stm mis"><a href="#n594">594</a></p>
+<p id="n595" class="stm mis"><a href="#n595">595</a></p>
+<p id="n596" class="stm mis"><a href="#n596">596</a></p>
+<p id="n597" class="stm mis"><a href="#n597">597</a></p>
+<p id="n598" class="stm mis"><a href="#n598">598</a></p>
+<p id="n599" class="stm mis"><a href="#n599">599</a></p>
+<p id="n600" class="pln"><a href="#n600">600</a></p>
+<p id="n601" class="stm mis"><a href="#n601">601</a></p>
+<p id="n602" class="stm mis"><a href="#n602">602</a></p>
+<p id="n603" class="stm mis"><a href="#n603">603</a></p>
+<p id="n604" class="stm mis"><a href="#n604">604</a></p>
+<p id="n605" class="stm mis"><a href="#n605">605</a></p>
+<p id="n606" class="stm mis"><a href="#n606">606</a></p>
+<p id="n607" class="stm mis"><a href="#n607">607</a></p>
+<p id="n608" class="stm mis"><a href="#n608">608</a></p>
+<p id="n609" class="stm mis"><a href="#n609">609</a></p>
+<p id="n610" class="stm mis"><a href="#n610">610</a></p>
+<p id="n611" class="stm mis"><a href="#n611">611</a></p>
+<p id="n612" class="stm mis"><a href="#n612">612</a></p>
+<p id="n613" class="stm mis"><a href="#n613">613</a></p>
+<p id="n614" class="stm mis"><a href="#n614">614</a></p>
+<p id="n615" class="pln"><a href="#n615">615</a></p>
+<p id="n616" class="stm mis"><a href="#n616">616</a></p>
+<p id="n617" class="pln"><a href="#n617">617</a></p>
+<p id="n618" class="pln"><a href="#n618">618</a></p>
+<p id="n619" class="stm mis"><a href="#n619">619</a></p>
+<p id="n620" class="pln"><a href="#n620">620</a></p>
+<p id="n621" class="pln"><a href="#n621">621</a></p>
+<p id="n622" class="pln"><a href="#n622">622</a></p>
+<p id="n623" class="stm mis"><a href="#n623">623</a></p>
+<p id="n624" class="stm mis"><a href="#n624">624</a></p>
+<p id="n625" class="pln"><a href="#n625">625</a></p>
+<p id="n626" class="pln"><a href="#n626">626</a></p>
+<p id="n627" class="pln"><a href="#n627">627</a></p>
+<p id="n628" class="stm mis"><a href="#n628">628</a></p>
+<p id="n629" class="pln"><a href="#n629">629</a></p>
+<p id="n630" class="pln"><a href="#n630">630</a></p>
+<p id="n631" class="stm mis"><a href="#n631">631</a></p>
+<p id="n632" class="stm mis"><a href="#n632">632</a></p>
+<p id="n633" class="pln"><a href="#n633">633</a></p>
+<p id="n634" class="stm mis"><a href="#n634">634</a></p>
+<p id="n635" class="pln"><a href="#n635">635</a></p>
+<p id="n636" class="pln"><a href="#n636">636</a></p>
+<p id="n637" class="pln"><a href="#n637">637</a></p>
+<p id="n638" class="pln"><a href="#n638">638</a></p>
+<p id="n639" class="pln"><a href="#n639">639</a></p>
+<p id="n640" class="pln"><a href="#n640">640</a></p>
+<p id="n641" class="pln"><a href="#n641">641</a></p>
+<p id="n642" class="pln"><a href="#n642">642</a></p>
+<p id="n643" class="pln"><a href="#n643">643</a></p>
+<p id="n644" class="pln"><a href="#n644">644</a></p>
+<p id="n645" class="pln"><a href="#n645">645</a></p>
+<p id="n646" class="stm mis"><a href="#n646">646</a></p>
+<p id="n647" class="stm mis"><a href="#n647">647</a></p>
+<p id="n648" class="stm mis"><a href="#n648">648</a></p>
+<p id="n649" class="pln"><a href="#n649">649</a></p>
+<p id="n650" class="stm mis"><a href="#n650">650</a></p>
+<p id="n651" class="stm mis"><a href="#n651">651</a></p>
+<p id="n652" class="stm mis"><a href="#n652">652</a></p>
+<p id="n653" class="stm mis"><a href="#n653">653</a></p>
+<p id="n654" class="stm mis"><a href="#n654">654</a></p>
+<p id="n655" class="stm mis"><a href="#n655">655</a></p>
+<p id="n656" class="stm mis"><a href="#n656">656</a></p>
+<p id="n657" class="stm mis"><a href="#n657">657</a></p>
+<p id="n658" class="stm mis"><a href="#n658">658</a></p>
+<p id="n659" class="stm mis"><a href="#n659">659</a></p>
+<p id="n660" class="stm mis"><a href="#n660">660</a></p>
+<p id="n661" class="stm mis"><a href="#n661">661</a></p>
+
+ </td>
+ <td class="text">
+<p id="t1" class="pln"><span class="str">"""</span><span class="strut"> </span></p>
+<p id="t2" class="pln"><span class="str">Renderer</span><span class="strut"> </span></p>
+<p id="t3" class="pln"><span class="str">"""</span><span class="strut"> </span></p>
+<p id="t4" class="stm mis"><span class="key">import</span> <span class="nam">warnings</span><span class="strut"> </span></p>
+<p id="t5" class="stm mis"><span class="key">try</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t6" class="stm mis"> <span class="key">import</span> <span class="nam">bpy</span><span class="strut"> </span></p>
+<p id="t7" class="stm mis"><span class="key">except</span> <span class="nam">ImportError</span><span class="op">:</span> <span class="com"># noqa F821</span><span class="strut"> </span></p>
+<p id="t8" class="stm mis"> <span class="nam">warnings</span><span class="op">.</span><span class="nam">warn</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t9" class="pln"> <span class="str">'bpy could not be imported, '</span> <span class="op">+</span><span class="strut"> </span></p>
+<p id="t10" class="pln"> <span class="str">'please run your python program in blender'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t11" class="stm mis"><span class="key">import</span> <span class="nam">numpy</span> <span class="key">as</span> <span class="nam">np</span><span class="strut"> </span></p>
+<p id="t12" class="stm mis"><span class="key">import</span> <span class="nam">tempfile</span><span class="strut"> </span></p>
+<p id="t13" class="stm mis"><span class="key">import</span> <span class="nam">os</span><span class="strut"> </span></p>
+<p id="t14" class="stm mis"><span class="key">import</span> <span class="nam">pandas</span> <span class="key">as</span> <span class="nam">pd</span><span class="strut"> </span></p>
+<p id="t15" class="stm mis"><span class="key">import</span> <span class="nam">yaml</span> <span class="com"># Used to load config files</span><span class="strut"> </span></p>
+<p id="t16" class="stm mis"><span class="key">import</span> <span class="nam">pkg_resources</span><span class="strut"> </span></p>
+<p id="t17" class="stm mis"><span class="key">from</span> <span class="nam">navipy</span><span class="op">.</span><span class="nam">maths</span><span class="op">.</span><span class="nam">homogeneous_transformations</span> <span class="key">import</span> <span class="nam">compose_matrix</span><span class="strut"> </span></p>
+<p id="t18" class="stm mis"><span class="key">from</span> <span class="nam">navipy</span><span class="op">.</span><span class="nam">maths</span><span class="op">.</span><span class="nam">quaternion</span> <span class="key">import</span> <span class="nam">matrix</span> <span class="key">as</span> <span class="nam">quatmatrix</span><span class="strut"> </span></p>
+<p id="t19" class="stm mis"><span class="key">from</span> <span class="nam">navipy</span><span class="op">.</span><span class="nam">scene</span> <span class="key">import</span> <span class="nam">spherical_indeces</span><span class="strut"> </span></p>
+<p id="t20" class="stm mis"><span class="key">from</span> <span class="nam">navipy</span><span class="op">.</span><span class="nam">maths</span> <span class="key">import</span> <span class="nam">constants</span><span class="strut"> </span></p>
+<p id="t21" class="stm mis"><span class="key">from</span> <span class="nam">navipy</span><span class="op">.</span><span class="nam">trajectories</span> <span class="key">import</span> <span class="nam">Trajectory</span><span class="strut"> </span></p>
+<p id="t22" class="stm mis"><span class="key">from</span> <span class="nam">PIL</span> <span class="key">import</span> <span class="nam">Image</span><span class="strut"> </span></p>
+<p id="t23" class="stm mis"><span class="key">from</span> <span class="nam">navipy</span><span class="op">.</span><span class="nam">scene</span> <span class="key">import</span> <span class="nam">check_scene</span><span class="strut"> </span></p>
+<p id="t24" class="stm mis"><span class="key">from</span> <span class="nam">navipy</span><span class="op">.</span><span class="nam">database</span> <span class="key">import</span> <span class="nam">DataBase</span><span class="strut"> </span></p>
+<p id="t25" class="stm mis"><span class="key">import</span> <span class="nam">logging</span><span class="strut"> </span></p>
+<p id="t26" class="pln"><span class="strut"> </span></p>
+<p id="t27" class="pln"><span class="strut"> </span></p>
+<p id="t28" class="stm mis"><span class="key">class</span> <span class="nam">AbstractRender</span><span class="op">(</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t29" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t30" class="pln"><span class="str"> List method to render on a grid or along a trajectory</span><span class="strut"> </span></p>
+<p id="t31" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t32" class="pln"><span class="strut"> </span></p>
+<p id="t33" class="stm mis"> <span class="key">def</span> <span class="nam">__init__</span><span class="op">(</span><span class="nam">self</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t34" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">_logger</span> <span class="op">=</span> <span class="nam">logging</span><span class="op">.</span><span class="nam">getLogger</span><span class="op">(</span><span class="str">'navipy'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t35" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">__worldlimit</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">inf</span><span class="strut"> </span></p>
+<p id="t36" class="pln"><span class="strut"> </span></p>
+<p id="t37" class="stm mis"> <span class="op">@</span><span class="nam">property</span><span class="strut"> </span></p>
+<p id="t38" class="pln"> <span class="key">def</span> <span class="nam">worldlimit</span><span class="op">(</span><span class="nam">self</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t39" class="pln"> <span class="str">""" worldlimit is the max distance return in scene</span><span class="strut"> </span></p>
+<p id="t40" class="pln"><span class="strut"> </span></p>
+<p id="t41" class="pln"><span class="str"> :getter: return a worldlimit</span><span class="strut"> </span></p>
+<p id="t42" class="pln"><span class="str"> :setter: set a worldlimit</span><span class="strut"> </span></p>
+<p id="t43" class="pln"><span class="str"> :type: list</span><span class="strut"> </span></p>
+<p id="t44" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t45" class="stm mis"> <span class="key">return</span> <span class="nam">self</span><span class="op">.</span><span class="nam">__worldlimit</span><span class="strut"> </span></p>
+<p id="t46" class="pln"><span class="strut"> </span></p>
+<p id="t47" class="stm mis"> <span class="op">@</span><span class="nam">worldlimit</span><span class="op">.</span><span class="nam">setter</span><span class="strut"> </span></p>
+<p id="t48" class="pln"> <span class="key">def</span> <span class="nam">worldlimit</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span> <span class="nam">worldlimit</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t49" class="pln"> <span class="str">""" worldlimit"""</span><span class="strut"> </span></p>
+<p id="t50" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">__worldlimit</span> <span class="op">=</span> <span class="nam">worldlimit</span><span class="strut"> </span></p>
+<p id="t51" class="pln"><span class="strut"> </span></p>
+<p id="t52" class="stm mis"> <span class="op">@</span><span class="nam">property</span><span class="strut"> </span></p>
+<p id="t53" class="pln"> <span class="key">def</span> <span class="nam">viewing_directions</span><span class="op">(</span><span class="nam">self</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t54" class="pln"> <span class="str">""" Need to be implemented by children classes """</span><span class="strut"> </span></p>
+<p id="t55" class="stm mis"> <span class="key">return</span> <span class="key">None</span><span class="strut"> </span></p>
+<p id="t56" class="pln"><span class="strut"> </span></p>
+<p id="t57" class="stm mis"> <span class="key">def</span> <span class="nam">render_trajectory</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span> <span class="nam">outputfile</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t58" class="pln"> <span class="nam">trajectory</span><span class="op">,</span> <span class="nam">imformat</span><span class="op">=</span><span class="str">'.jpg'</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t59" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t60" class="pln"><span class="str"> Render on a trajectory</span><span class="strut"> </span></p>
+<p id="t61" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t62" class="pln"> <span class="com"># Check the user input</span><span class="strut"> </span></p>
+<p id="t63" class="stm mis"> <span class="key">if</span> <span class="key">not</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">outputfile</span><span class="op">,</span> <span class="nam">str</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t64" class="stm mis"> <span class="nam">msg</span> <span class="op">=</span> <span class="str">'OutputFile should be a path {}'</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">outputfile</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t65" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">_logger</span><span class="op">.</span><span class="nam">exception</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t66" class="stm mis"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t67" class="stm mis"> <span class="key">if</span> <span class="key">not</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">trajectory</span><span class="op">,</span> <span class="nam">Trajectory</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t68" class="stm mis"> <span class="nam">msg</span> <span class="op">=</span> <span class="str">'trajectory should be {}'</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">Trajectory</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t69" class="stm mis"> <span class="nam">msg</span> <span class="op">+=</span> <span class="str">'and not {}'</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">type</span><span class="op">(</span><span class="nam">trajectory</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t70" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">_logger</span><span class="op">.</span><span class="nam">exception</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t71" class="stm mis"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t72" class="pln"> <span class="com"># Create the directory name if it does</span><span class="strut"> </span></p>
+<p id="t73" class="pln"> <span class="com"># not exist</span><span class="strut"> </span></p>
+<p id="t74" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">_logger</span><span class="op">.</span><span class="nam">debug</span><span class="op">(</span><span class="str">'render output:{}'</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">outputfile</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t75" class="stm mis"> <span class="nam">dirname</span> <span class="op">=</span> <span class="nam">os</span><span class="op">.</span><span class="nam">path</span><span class="op">.</span><span class="nam">dirname</span><span class="op">(</span><span class="nam">outputfile</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t76" class="pln"> <span class="com"># Todo empty dirname</span><span class="strut"> </span></p>
+<p id="t77" class="stm mis"> <span class="key">if</span> <span class="key">not</span> <span class="nam">os</span><span class="op">.</span><span class="nam">path</span><span class="op">.</span><span class="nam">isdir</span><span class="op">(</span><span class="nam">dirname</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t78" class="stm mis"> <span class="nam">os</span><span class="op">.</span><span class="nam">makedirs</span><span class="op">(</span><span class="nam">dirname</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t79" class="pln"> <span class="com"># Check the file type</span><span class="strut"> </span></p>
+<p id="t80" class="stm mis"> <span class="key">if</span> <span class="nam">os</span><span class="op">.</span><span class="nam">path</span><span class="op">.</span><span class="nam">isdir</span><span class="op">(</span><span class="nam">outputfile</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t81" class="stm mis"> <span class="nam">mode</span> <span class="op">=</span> <span class="str">'array'</span><span class="strut"> </span></p>
+<p id="t82" class="stm mis"> <span class="nam">nbdigit</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">floor</span><span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">log10</span><span class="op">(</span><span class="nam">trajectory</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">)</span><span class="op">)</span> <span class="op">+</span> <span class="num">1</span><span class="strut"> </span></p>
+<p id="t83" class="stm mis"> <span class="nam">fileformat</span> <span class="op">=</span> <span class="nam">os</span><span class="op">.</span><span class="nam">path</span><span class="op">.</span><span class="nam">join</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t84" class="pln"> <span class="nam">outputfile</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t85" class="pln"> <span class="str">'frame_{:0'</span> <span class="op">+</span> <span class="nam">str</span><span class="op">(</span><span class="nam">nbdigit</span><span class="op">)</span> <span class="op">+</span> <span class="str">'d}'</span> <span class="op">+</span> <span class="nam">imformat</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t86" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t87" class="stm mis"> <span class="nam">mode</span> <span class="op">=</span> <span class="str">'database'</span><span class="strut"> </span></p>
+<p id="t88" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">_logger</span><span class="op">.</span><span class="nam">debug</span><span class="op">(</span><span class="str">'render outputmode:{}'</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">mode</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t89" class="stm mis"> <span class="nam">dataloger</span> <span class="op">=</span> <span class="nam">DataBase</span><span class="op">(</span><span class="nam">outputfile</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t90" class="pln"> <span class="nam">mode</span><span class="op">=</span><span class="str">'a'</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t91" class="pln"> <span class="nam">channels</span><span class="op">=</span><span class="op">[</span><span class="str">'R'</span><span class="op">,</span> <span class="str">'G'</span><span class="op">,</span> <span class="str">'B'</span><span class="op">,</span> <span class="str">'D'</span><span class="op">]</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t92" class="pln"> <span class="nam">arr_dtype</span><span class="op">=</span><span class="nam">np</span><span class="op">.</span><span class="nam">uint8</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t93" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">_logger</span><span class="op">.</span><span class="nam">debug</span><span class="op">(</span><span class="str">'database created'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t94" class="stm mis"> <span class="nam">dataloger</span><span class="op">.</span><span class="nam">viewing_directions</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">viewing_directions</span><span class="strut"> </span></p>
+<p id="t95" class="pln"> <span class="com"># We now can render</span><span class="strut"> </span></p>
+<p id="t96" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">_logger</span><span class="op">.</span><span class="nam">info</span><span class="op">(</span><span class="str">'Start rendering'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t97" class="stm mis"> <span class="key">for</span> <span class="nam">frame_i</span><span class="op">,</span> <span class="nam">posorient</span> <span class="key">in</span> <span class="nam">trajectory</span><span class="op">.</span><span class="nam">iterrows</span><span class="op">(</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t98" class="pln"> <span class="com"># Check if posorient is a valid one</span><span class="strut"> </span></p>
+<p id="t99" class="pln"> <span class="com"># otherwise skip to next position</span><span class="strut"> </span></p>
+<p id="t100" class="stm mis"> <span class="key">if</span> <span class="nam">np</span><span class="op">.</span><span class="nam">any</span><span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">isnan</span><span class="op">(</span><span class="nam">posorient</span><span class="op">)</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t101" class="pln"> <span class="com"># Skip because we can not render when nans</span><span class="strut"> </span></p>
+<p id="t102" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">_logger</span><span class="op">.</span><span class="nam">info</span><span class="op">(</span><span class="str">'Skip nan frame_i : {}'</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">frame_i</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t103" class="stm mis"> <span class="key">continue</span><span class="strut"> </span></p>
+<p id="t104" class="pln"> <span class="com"># Avoid rerendering by checking if data already</span><span class="strut"> </span></p>
+<p id="t105" class="pln"> <span class="com"># exist</span><span class="strut"> </span></p>
+<p id="t106" class="stm mis"> <span class="key">if</span> <span class="nam">mode</span> <span class="op">==</span> <span class="str">'database'</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t107" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">_logger</span><span class="op">.</span><span class="nam">warning</span><span class="op">(</span><span class="nam">posorient</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t108" class="stm mis"> <span class="nam">rowid</span> <span class="op">=</span> <span class="nam">dataloger</span><span class="op">.</span><span class="nam">get_posid</span><span class="op">(</span><span class="nam">posorient</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t109" class="stm mis"> <span class="key">if</span> <span class="nam">dataloger</span><span class="op">.</span><span class="nam">check_data_validity</span><span class="op">(</span><span class="nam">rowid</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t110" class="stm mis"> <span class="nam">msg</span> <span class="op">=</span> <span class="str">'frame_i: {} data is valid rowid {}'</span><span class="strut"> </span></p>
+<p id="t111" class="stm mis"> <span class="nam">msg</span> <span class="op">=</span> <span class="nam">msg</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">frame_i</span><span class="op">,</span> <span class="nam">rowid</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t112" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">_logger</span><span class="op">.</span><span class="nam">warning</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t113" class="stm mis"> <span class="key">continue</span><span class="strut"> </span></p>
+<p id="t114" class="stm mis"> <span class="key">elif</span> <span class="nam">mode</span> <span class="op">==</span> <span class="str">'array'</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t115" class="stm mis"> <span class="nam">filename</span> <span class="op">=</span> <span class="nam">fileformat</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">frame_i</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t116" class="stm mis"> <span class="key">if</span> <span class="nam">os</span><span class="op">.</span><span class="nam">path</span><span class="op">.</span><span class="nam">exists</span><span class="op">(</span><span class="nam">filename</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t117" class="stm mis"> <span class="nam">msg</span> <span class="op">=</span> <span class="str">'frame_i: {} already exist'</span><span class="strut"> </span></p>
+<p id="t118" class="stm mis"> <span class="nam">msg</span> <span class="op">=</span> <span class="nam">msg</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">frame_i</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t119" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">_logger</span><span class="op">.</span><span class="nam">warning</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t120" class="stm mis"> <span class="key">continue</span><span class="strut"> </span></p>
+<p id="t121" class="pln"> <span class="com"># The position-orientatios is valid (none nan)</span><span class="strut"> </span></p>
+<p id="t122" class="pln"> <span class="com"># and the cmaxminrange has not already been assigned</span><span class="strut"> </span></p>
+<p id="t123" class="pln"> <span class="com"># so the image need to be rendered</span><span class="strut"> </span></p>
+<p id="t124" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">_logger</span><span class="op">.</span><span class="nam">info</span><span class="op">(</span><span class="str">'Update frame_i : {}'</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">frame_i</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t125" class="stm mis"> <span class="nam">scene</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">scene</span><span class="op">(</span><span class="nam">posorient</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t126" class="stm mis"> <span class="nam">check_scene</span><span class="op">(</span><span class="nam">scene</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t127" class="stm mis"> <span class="nam">scene</span> <span class="op">=</span> <span class="nam">scene</span><span class="op">[</span><span class="op">...</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t128" class="stm mis"> <span class="nam">distance</span> <span class="op">=</span> <span class="nam">scene</span><span class="op">[</span><span class="op">...</span><span class="op">,</span> <span class="op">-</span><span class="num">1</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t129" class="stm mis"> <span class="nam">distance</span><span class="op">[</span><span class="nam">distance</span> <span class="op">></span> <span class="nam">self</span><span class="op">.</span><span class="nam">worldlimit</span><span class="op">]</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">worldlimit</span><span class="strut"> </span></p>
+<p id="t130" class="stm mis"> <span class="nam">scene</span><span class="op">[</span><span class="op">...</span><span class="op">,</span> <span class="op">-</span><span class="num">1</span><span class="op">]</span> <span class="op">=</span> <span class="nam">distance</span><span class="strut"> </span></p>
+<p id="t131" class="stm mis"> <span class="key">if</span> <span class="nam">mode</span> <span class="op">==</span> <span class="str">'database'</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t132" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">_logger</span><span class="op">.</span><span class="nam">info</span><span class="op">(</span><span class="str">'Write image'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t133" class="stm mis"> <span class="nam">dataloger</span><span class="op">.</span><span class="nam">write_image</span><span class="op">(</span><span class="nam">posorient</span><span class="op">,</span> <span class="nam">scene</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t134" class="stm mis"> <span class="key">elif</span> <span class="nam">mode</span> <span class="op">==</span> <span class="str">'array'</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t135" class="stm mis"> <span class="key">if</span> <span class="nam">imformat</span> <span class="op">==</span> <span class="str">'.npy'</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t136" class="stm mis"> <span class="nam">np</span><span class="op">.</span><span class="nam">save</span><span class="op">(</span><span class="nam">filename</span><span class="op">,</span> <span class="nam">scene</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t137" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t138" class="stm mis"> <span class="nam">result</span> <span class="op">=</span> <span class="nam">Image</span><span class="op">.</span><span class="nam">fromarray</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t139" class="pln"> <span class="op">(</span><span class="nam">scene</span> <span class="op">*</span> <span class="num">255</span><span class="op">)</span><span class="op">.</span><span class="nam">astype</span><span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">uint8</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t140" class="stm mis"> <span class="nam">result</span><span class="op">.</span><span class="nam">save</span><span class="op">(</span><span class="nam">filename</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t141" class="pln"><span class="strut"> </span></p>
+<p id="t142" class="stm mis"> <span class="key">def</span> <span class="nam">render_ongrid</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span> <span class="nam">outputfile</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t143" class="pln"> <span class="nam">x</span><span class="op">,</span> <span class="nam">y</span><span class="op">,</span> <span class="nam">z</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t144" class="pln"> <span class="nam">alpha_0</span><span class="op">=</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">,</span> <span class="nam">alpha_1</span><span class="op">=</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">,</span> <span class="nam">alpha_2</span><span class="op">=</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t145" class="pln"> <span class="nam">q_0</span><span class="op">=</span><span class="key">None</span><span class="op">,</span> <span class="nam">q_1</span><span class="op">=</span><span class="key">None</span><span class="op">,</span> <span class="nam">q_2</span><span class="op">=</span><span class="key">None</span><span class="op">,</span> <span class="nam">q_3</span><span class="op">=</span><span class="key">None</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t146" class="pln"> <span class="nam">rotconv</span><span class="op">=</span><span class="str">'zyx'</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t147" class="pln"> <span class="com"># Check inputs</span><span class="strut"> </span></p>
+<p id="t148" class="stm mis"> <span class="key">if</span> <span class="nam">rotconv</span> <span class="op">==</span> <span class="str">'quaternion'</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t149" class="stm mis"> <span class="key">if</span> <span class="op">(</span><span class="nam">q_0</span> <span class="key">is</span> <span class="key">None</span><span class="op">)</span> <span class="key">or</span> <span class="xx">\</span><span class="strut"> </span></p>
+<p id="t150" class="pln"> <span class="op">(</span><span class="nam">q_1</span> <span class="key">is</span> <span class="key">None</span><span class="op">)</span> <span class="key">or</span> <span class="xx">\</span><span class="strut"> </span></p>
+<p id="t151" class="pln"> <span class="op">(</span><span class="nam">q_2</span> <span class="key">is</span> <span class="key">None</span><span class="op">)</span> <span class="key">or</span> <span class="xx">\</span><span class="strut"> </span></p>
+<p id="t152" class="pln"> <span class="op">(</span><span class="nam">q_3</span> <span class="key">is</span> <span class="key">None</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t153" class="stm mis"> <span class="nam">msg</span> <span class="op">=</span> <span class="str">'With rotconv {}, q_0,q_1,q_2,q_3 can not be None'</span><span class="strut"> </span></p>
+<p id="t154" class="stm mis"> <span class="nam">msg</span> <span class="op">=</span> <span class="nam">msg</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">rotconv</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t155" class="stm mis"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t156" class="stm mis"> <span class="key">if</span> <span class="key">not</span> <span class="op">(</span><span class="nam">isinstance</span><span class="op">(</span><span class="nam">x</span><span class="op">,</span> <span class="nam">np</span><span class="op">.</span><span class="nam">ndarray</span><span class="op">)</span> <span class="key">or</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">x</span><span class="op">,</span> <span class="nam">list</span><span class="op">)</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t157" class="stm mis"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="str">'x must be list or np.array'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t158" class="stm mis"> <span class="key">if</span> <span class="key">not</span> <span class="op">(</span><span class="nam">isinstance</span><span class="op">(</span><span class="nam">y</span><span class="op">,</span> <span class="nam">np</span><span class="op">.</span><span class="nam">ndarray</span><span class="op">)</span> <span class="key">or</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">y</span><span class="op">,</span> <span class="nam">list</span><span class="op">)</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t159" class="stm mis"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="str">'y must be list or np.array'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t160" class="stm mis"> <span class="key">if</span> <span class="key">not</span> <span class="op">(</span><span class="nam">isinstance</span><span class="op">(</span><span class="nam">z</span><span class="op">,</span> <span class="nam">np</span><span class="op">.</span><span class="nam">ndarray</span><span class="op">)</span> <span class="key">or</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">z</span><span class="op">,</span> <span class="nam">list</span><span class="op">)</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t161" class="stm mis"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="str">'z must be list or np.array'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t162" class="stm mis"> <span class="key">if</span> <span class="nam">rotconv</span> <span class="op">==</span> <span class="str">'quaternion'</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t163" class="stm mis"> <span class="key">if</span> <span class="key">not</span> <span class="op">(</span><span class="nam">isinstance</span><span class="op">(</span><span class="nam">q_0</span><span class="op">,</span> <span class="nam">np</span><span class="op">.</span><span class="nam">ndarray</span><span class="op">)</span> <span class="key">or</span><span class="strut"> </span></p>
+<p id="t164" class="pln"> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">q_0</span><span class="op">,</span> <span class="nam">list</span><span class="op">)</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t165" class="stm mis"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="str">'q_0 must be list or np.array'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t166" class="stm mis"> <span class="key">if</span> <span class="key">not</span> <span class="op">(</span><span class="nam">isinstance</span><span class="op">(</span><span class="nam">q_1</span><span class="op">,</span> <span class="nam">np</span><span class="op">.</span><span class="nam">ndarray</span><span class="op">)</span> <span class="key">or</span><span class="strut"> </span></p>
+<p id="t167" class="pln"> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">q_1</span><span class="op">,</span> <span class="nam">list</span><span class="op">)</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t168" class="stm mis"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="str">'q_1 must be list or np.array'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t169" class="stm mis"> <span class="key">if</span> <span class="key">not</span> <span class="op">(</span><span class="nam">isinstance</span><span class="op">(</span><span class="nam">q_2</span><span class="op">,</span> <span class="nam">np</span><span class="op">.</span><span class="nam">ndarray</span><span class="op">)</span> <span class="key">or</span><span class="strut"> </span></p>
+<p id="t170" class="pln"> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">q_2</span><span class="op">,</span> <span class="nam">list</span><span class="op">)</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t171" class="stm mis"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="str">'q_3 must be list or np.array'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t172" class="stm mis"> <span class="key">if</span> <span class="key">not</span> <span class="op">(</span><span class="nam">isinstance</span><span class="op">(</span><span class="nam">q_3</span><span class="op">,</span> <span class="nam">np</span><span class="op">.</span><span class="nam">ndarray</span><span class="op">)</span> <span class="key">or</span><span class="strut"> </span></p>
+<p id="t173" class="pln"> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">q_3</span><span class="op">,</span> <span class="nam">list</span><span class="op">)</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t174" class="stm mis"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="str">'q_3 must be list or np.array'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t175" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t176" class="stm mis"> <span class="key">if</span> <span class="key">not</span> <span class="op">(</span><span class="nam">isinstance</span><span class="op">(</span><span class="nam">alpha_0</span><span class="op">,</span> <span class="nam">np</span><span class="op">.</span><span class="nam">ndarray</span><span class="op">)</span> <span class="key">or</span><span class="strut"> </span></p>
+<p id="t177" class="pln"> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">alpha_0</span><span class="op">,</span> <span class="nam">list</span><span class="op">)</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t178" class="stm mis"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="str">'alpha_0 must be list or np.array'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t179" class="stm mis"> <span class="key">if</span> <span class="key">not</span> <span class="op">(</span><span class="nam">isinstance</span><span class="op">(</span><span class="nam">alpha_1</span><span class="op">,</span> <span class="nam">np</span><span class="op">.</span><span class="nam">ndarray</span><span class="op">)</span> <span class="key">or</span><span class="strut"> </span></p>
+<p id="t180" class="pln"> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">alpha_1</span><span class="op">,</span> <span class="nam">list</span><span class="op">)</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t181" class="stm mis"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="str">'alpha_1 must be list or np.array'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t182" class="stm mis"> <span class="key">if</span> <span class="key">not</span> <span class="op">(</span><span class="nam">isinstance</span><span class="op">(</span><span class="nam">alpha_2</span><span class="op">,</span> <span class="nam">np</span><span class="op">.</span><span class="nam">ndarray</span><span class="op">)</span> <span class="key">or</span><span class="strut"> </span></p>
+<p id="t183" class="pln"> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">alpha_2</span><span class="op">,</span> <span class="nam">list</span><span class="op">)</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t184" class="stm mis"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="str">'alpha_2 must be list or np.array'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t185" class="pln"> <span class="com"># We create data on a grid.</span><span class="strut"> </span></p>
+<p id="t186" class="pln"> <span class="com"># To then render it as a trajectory</span><span class="strut"> </span></p>
+<p id="t187" class="stm mis"> <span class="key">if</span> <span class="nam">rotconv</span> <span class="op">==</span> <span class="str">'quaternion'</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t188" class="stm mis"> <span class="op">[</span><span class="nam">mx</span><span class="op">,</span> <span class="nam">my</span><span class="op">,</span> <span class="nam">mz</span><span class="op">,</span> <span class="nam">mq0</span><span class="op">,</span> <span class="nam">mq1</span><span class="op">,</span> <span class="nam">mq2</span><span class="op">,</span> <span class="nam">mq3</span><span class="op">]</span> <span class="op">=</span> <span class="xx">\</span><span class="strut"> </span></p>
+<p id="t189" class="pln"> <span class="nam">np</span><span class="op">.</span><span class="nam">meshgrid</span><span class="op">(</span><span class="nam">x</span><span class="op">,</span> <span class="nam">y</span><span class="op">,</span> <span class="nam">z</span><span class="op">,</span> <span class="nam">q_0</span><span class="op">,</span> <span class="nam">q_1</span><span class="op">,</span> <span class="nam">q_2</span><span class="op">,</span> <span class="nam">q_3</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t190" class="pln"><span class="strut"> </span></p>
+<p id="t191" class="stm mis"> <span class="nam">mx</span> <span class="op">=</span> <span class="nam">mx</span><span class="op">.</span><span class="nam">flatten</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t192" class="stm mis"> <span class="nam">grid_point</span> <span class="op">=</span> <span class="nam">Trajectory</span><span class="op">(</span><span class="nam">rotconv</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t193" class="pln"> <span class="nam">indeces</span><span class="op">=</span><span class="nam">range</span><span class="op">(</span><span class="num">0</span><span class="op">,</span> <span class="nam">mx</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t194" class="stm mis"> <span class="nam">grid_point</span><span class="op">.</span><span class="nam">x</span> <span class="op">=</span> <span class="nam">mx</span><span class="strut"> </span></p>
+<p id="t195" class="stm mis"> <span class="nam">grid_point</span><span class="op">.</span><span class="nam">y</span> <span class="op">=</span> <span class="nam">my</span><span class="op">.</span><span class="nam">flatten</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t196" class="stm mis"> <span class="nam">grid_point</span><span class="op">.</span><span class="nam">z</span> <span class="op">=</span> <span class="nam">mz</span><span class="op">.</span><span class="nam">flatten</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t197" class="stm mis"> <span class="nam">grid_point</span><span class="op">.</span><span class="nam">q0</span> <span class="op">=</span> <span class="nam">mq0</span><span class="op">.</span><span class="nam">flatten</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t198" class="stm mis"> <span class="nam">grid_point</span><span class="op">.</span><span class="nam">q1</span> <span class="op">=</span> <span class="nam">mq1</span><span class="op">.</span><span class="nam">flatten</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t199" class="stm mis"> <span class="nam">grid_point</span><span class="op">.</span><span class="nam">q2</span> <span class="op">=</span> <span class="nam">mq2</span><span class="op">.</span><span class="nam">flatten</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t200" class="stm mis"> <span class="nam">grid_point</span><span class="op">.</span><span class="nam">q3</span> <span class="op">=</span> <span class="nam">mq3</span><span class="op">.</span><span class="nam">flatten</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t201" class="pln"><span class="strut"> </span></p>
+<p id="t202" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t203" class="stm mis"> <span class="op">[</span><span class="nam">mx</span><span class="op">,</span> <span class="nam">my</span><span class="op">,</span> <span class="nam">mz</span><span class="op">,</span> <span class="nam">ma0</span><span class="op">,</span> <span class="nam">ma1</span><span class="op">,</span> <span class="nam">ma2</span><span class="op">]</span> <span class="op">=</span> <span class="xx">\</span><span class="strut"> </span></p>
+<p id="t204" class="pln"> <span class="nam">np</span><span class="op">.</span><span class="nam">meshgrid</span><span class="op">(</span><span class="nam">x</span><span class="op">,</span> <span class="nam">y</span><span class="op">,</span> <span class="nam">z</span><span class="op">,</span> <span class="nam">alpha_0</span><span class="op">,</span> <span class="nam">alpha_1</span><span class="op">,</span> <span class="nam">alpha_2</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t205" class="pln"><span class="strut"> </span></p>
+<p id="t206" class="stm mis"> <span class="nam">mx</span> <span class="op">=</span> <span class="nam">mx</span><span class="op">.</span><span class="nam">flatten</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t207" class="stm mis"> <span class="nam">grid_point</span> <span class="op">=</span> <span class="nam">Trajectory</span><span class="op">(</span><span class="nam">rotconv</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t208" class="pln"> <span class="nam">indeces</span><span class="op">=</span><span class="nam">range</span><span class="op">(</span><span class="num">0</span><span class="op">,</span> <span class="nam">mx</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t209" class="stm mis"> <span class="nam">grid_point</span><span class="op">.</span><span class="nam">x</span> <span class="op">=</span> <span class="nam">mx</span><span class="strut"> </span></p>
+<p id="t210" class="stm mis"> <span class="nam">grid_point</span><span class="op">.</span><span class="nam">y</span> <span class="op">=</span> <span class="nam">my</span><span class="op">.</span><span class="nam">flatten</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t211" class="stm mis"> <span class="nam">grid_point</span><span class="op">.</span><span class="nam">z</span> <span class="op">=</span> <span class="nam">mz</span><span class="op">.</span><span class="nam">flatten</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t212" class="stm mis"> <span class="nam">grid_point</span><span class="op">.</span><span class="nam">alpha_0</span> <span class="op">=</span> <span class="nam">ma0</span><span class="op">.</span><span class="nam">flatten</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t213" class="stm mis"> <span class="nam">grid_point</span><span class="op">.</span><span class="nam">alpha_1</span> <span class="op">=</span> <span class="nam">ma1</span><span class="op">.</span><span class="nam">flatten</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t214" class="stm mis"> <span class="nam">grid_point</span><span class="op">.</span><span class="nam">alpha_2</span> <span class="op">=</span> <span class="nam">ma2</span><span class="op">.</span><span class="nam">flatten</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t215" class="pln"> <span class="com">#</span><span class="strut"> </span></p>
+<p id="t216" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">render_trajectory</span><span class="op">(</span><span class="nam">outputfile</span><span class="op">,</span> <span class="nam">grid_point</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t217" class="pln"><span class="strut"> </span></p>
+<p id="t218" class="pln"><span class="strut"> </span></p>
+<p id="t219" class="stm mis"><span class="key">class</span> <span class="nam">BlenderRender</span><span class="op">(</span><span class="nam">AbstractRender</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t220" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t221" class="pln"><span class="str"> BlenderRender is a small class binding python with blender.</span><span class="strut"> </span></p>
+<p id="t222" class="pln"><span class="str"> With BlenderRender one can move the bee to a position, and render what</span><span class="strut"> </span></p>
+<p id="t223" class="pln"><span class="str"> the bee see at this position.</span><span class="strut"> </span></p>
+<p id="t224" class="pln"><span class="strut"> </span></p>
+<p id="t225" class="pln"><span class="str"> The Bee eye is a panoramic camera with equirectangular projection</span><span class="strut"> </span></p>
+<p id="t226" class="pln"><span class="str"> The light rays attaining the eyes are filtered with a gaussian.</span><span class="strut"> </span></p>
+<p id="t227" class="pln"><span class="strut"> </span></p>
+<p id="t228" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t229" class="pln"><span class="strut"> </span></p>
+<p id="t230" class="stm mis"> <span class="key">def</span> <span class="nam">__init__</span><span class="op">(</span><span class="nam">self</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t231" class="pln"> <span class="str">"""Initialise the Cyberbee</span><span class="strut"> </span></p>
+<p id="t232" class="pln"><span class="str"> ..todo check that TemporaryDirectory is writtable and readable</span><span class="strut"> </span></p>
+<p id="t233" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t234" class="stm mis"> <span class="nam">super</span><span class="op">(</span><span class="nam">BlenderRender</span><span class="op">,</span> <span class="nam">self</span><span class="op">)</span><span class="op">.</span><span class="nam">__init__</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t235" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">_renderaxis</span> <span class="op">=</span> <span class="str">'+x'</span><span class="strut"> </span></p>
+<p id="t236" class="pln"> <span class="com"># Rendering engine needs to be Cycles to support panoramic</span><span class="strut"> </span></p>
+<p id="t237" class="pln"> <span class="com"># equirectangular camera</span><span class="strut"> </span></p>
+<p id="t238" class="stm mis"> <span class="nam">bpy</span><span class="op">.</span><span class="nam">context</span><span class="op">.</span><span class="nam">scene</span><span class="op">.</span><span class="nam">render</span><span class="op">.</span><span class="nam">engine</span> <span class="op">=</span> <span class="str">'CYCLES'</span><span class="strut"> </span></p>
+<p id="t239" class="pln"> <span class="com"># To get the distances we need to pass the z-buffer</span><span class="strut"> </span></p>
+<p id="t240" class="stm mis"> <span class="nam">bpy</span><span class="op">.</span><span class="nam">context</span><span class="op">.</span><span class="nam">scene</span><span class="op">.</span><span class="nam">render</span><span class="op">.</span><span class="nam">layers</span><span class="op">[</span><span class="str">"RenderLayer"</span><span class="op">]</span><span class="op">.</span><span class="nam">use_pass_z</span> <span class="op">=</span> <span class="key">True</span><span class="strut"> </span></p>
+<p id="t241" class="pln"> <span class="com"># Look for object camera</span><span class="strut"> </span></p>
+<p id="t242" class="stm mis"> <span class="nam">camera_found</span> <span class="op">=</span> <span class="key">False</span><span class="strut"> </span></p>
+<p id="t243" class="stm mis"> <span class="key">for</span> <span class="nam">obj</span> <span class="key">in</span> <span class="nam">bpy</span><span class="op">.</span><span class="nam">context</span><span class="op">.</span><span class="nam">scene</span><span class="op">.</span><span class="nam">objects</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t244" class="stm mis"> <span class="key">if</span> <span class="nam">obj</span><span class="op">.</span><span class="nam">type</span> <span class="op">==</span> <span class="str">'CAMERA'</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t245" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">camera</span> <span class="op">=</span> <span class="nam">obj</span><span class="strut"> </span></p>
+<p id="t246" class="stm mis"> <span class="nam">camera_found</span> <span class="op">=</span> <span class="key">True</span><span class="strut"> </span></p>
+<p id="t247" class="stm mis"> <span class="key">break</span><span class="strut"> </span></p>
+<p id="t248" class="stm mis"> <span class="key">assert</span> <span class="nam">camera_found</span><span class="op">,</span> <span class="str">'The blender file does not contain a camera'</span><span class="strut"> </span></p>
+<p id="t249" class="pln"> <span class="com"># Remove animation to be able to move the camera</span><span class="strut"> </span></p>
+<p id="t250" class="pln"> <span class="com"># and add animation</span><span class="strut"> </span></p>
+<p id="t251" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">camera</span><span class="op">.</span><span class="nam">animation_data_clear</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t252" class="pln"> <span class="com"># The bee eye is panoramic, and with equirectangular projection</span><span class="strut"> </span></p>
+<p id="t253" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">camera</span><span class="op">.</span><span class="nam">data</span><span class="op">.</span><span class="nam">type</span> <span class="op">=</span> <span class="str">'PANO'</span><span class="strut"> </span></p>
+<p id="t254" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">camera</span><span class="op">.</span><span class="nam">data</span><span class="op">.</span><span class="nam">cycles</span><span class="op">.</span><span class="nam">panorama_type</span> <span class="op">=</span> <span class="str">'EQUIRECTANGULAR'</span><span class="strut"> </span></p>
+<p id="t255" class="pln"> <span class="com"># switch on nodes</span><span class="strut"> </span></p>
+<p id="t256" class="pln"> <span class="com"># Create render link to OutputFile with Image and Z buffer</span><span class="strut"> </span></p>
+<p id="t257" class="pln"> <span class="com"># so that we can read the image from somewhere.</span><span class="strut"> </span></p>
+<p id="t258" class="pln"> <span class="com"># This is a hack, because we did not manage to</span><span class="strut"> </span></p>
+<p id="t259" class="pln"> <span class="com"># directly blender buffer...</span><span class="strut"> </span></p>
+<p id="t260" class="stm mis"> <span class="nam">bpy</span><span class="op">.</span><span class="nam">context</span><span class="op">.</span><span class="nam">scene</span><span class="op">.</span><span class="nam">use_nodes</span> <span class="op">=</span> <span class="key">True</span><span class="strut"> </span></p>
+<p id="t261" class="stm mis"> <span class="nam">scene</span> <span class="op">=</span> <span class="nam">bpy</span><span class="op">.</span><span class="nam">context</span><span class="op">.</span><span class="nam">scene</span><span class="strut"> </span></p>
+<p id="t262" class="stm mis"> <span class="nam">nodes</span> <span class="op">=</span> <span class="nam">scene</span><span class="op">.</span><span class="nam">node_tree</span><span class="op">.</span><span class="nam">nodes</span><span class="strut"> </span></p>
+<p id="t263" class="pln"><span class="strut"> </span></p>
+<p id="t264" class="stm mis"> <span class="nam">render_layers</span> <span class="op">=</span> <span class="nam">nodes</span><span class="op">[</span><span class="str">'Render Layers'</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t265" class="stm mis"> <span class="nam">output_file</span> <span class="op">=</span> <span class="nam">nodes</span><span class="op">.</span><span class="nam">new</span><span class="op">(</span><span class="str">"CompositorNodeOutputFile"</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t266" class="stm mis"> <span class="nam">output_file</span><span class="op">.</span><span class="nam">format</span><span class="op">.</span><span class="nam">file_format</span> <span class="op">=</span> <span class="str">"OPEN_EXR"</span><span class="strut"> </span></p>
+<p id="t267" class="stm mis"> <span class="nam">output_file</span><span class="op">.</span><span class="nam">file_slots</span><span class="op">.</span><span class="nam">remove</span><span class="op">(</span><span class="nam">output_file</span><span class="op">.</span><span class="nam">inputs</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t268" class="stm mis"> <span class="nam">tmp_fileoutput</span> <span class="op">=</span> <span class="nam">dict</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t269" class="stm mis"> <span class="nam">tmp_fileoutput</span><span class="op">[</span><span class="str">'Image'</span><span class="op">]</span> <span class="op">=</span> <span class="str">'Image'</span><span class="strut"> </span></p>
+<p id="t270" class="stm mis"> <span class="nam">tmp_fileoutput</span><span class="op">[</span><span class="str">'Depth'</span><span class="op">]</span> <span class="op">=</span> <span class="str">'Depth'</span><span class="strut"> </span></p>
+<p id="t271" class="stm mis"> <span class="nam">tmp_fileoutput</span><span class="op">[</span><span class="str">'Folder'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">tempfile</span><span class="op">.</span><span class="nam">TemporaryDirectory</span><span class="op">(</span><span class="op">)</span><span class="op">.</span><span class="nam">name</span><span class="strut"> </span></p>
+<p id="t272" class="stm mis"> <span class="nam">tmp_fileoutput</span><span class="op">[</span><span class="str">'ext'</span><span class="op">]</span> <span class="op">=</span> <span class="str">'.exr'</span><span class="strut"> </span></p>
+<p id="t273" class="stm mis"> <span class="nam">output_file</span><span class="op">.</span><span class="nam">file_slots</span><span class="op">.</span><span class="nam">new</span><span class="op">(</span><span class="nam">tmp_fileoutput</span><span class="op">[</span><span class="str">'Image'</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t274" class="stm mis"> <span class="nam">output_file</span><span class="op">.</span><span class="nam">file_slots</span><span class="op">.</span><span class="nam">new</span><span class="op">(</span><span class="nam">tmp_fileoutput</span><span class="op">[</span><span class="str">'Depth'</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t275" class="stm mis"> <span class="nam">output_file</span><span class="op">.</span><span class="nam">base_path</span> <span class="op">=</span> <span class="nam">tmp_fileoutput</span><span class="op">[</span><span class="str">'Folder'</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t276" class="stm mis"> <span class="nam">scene</span><span class="op">.</span><span class="nam">node_tree</span><span class="op">.</span><span class="nam">links</span><span class="op">.</span><span class="nam">new</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t277" class="pln"> <span class="nam">render_layers</span><span class="op">.</span><span class="nam">outputs</span><span class="op">[</span><span class="str">'Image'</span><span class="op">]</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t278" class="pln"> <span class="nam">output_file</span><span class="op">.</span><span class="nam">inputs</span><span class="op">[</span><span class="str">'Image'</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t279" class="pln"> <span class="op">)</span><span class="strut"> </span></p>
+<p id="t280" class="pln"> <span class="com"># Z buffer has been renamed in Depth in newer versionW</span><span class="strut"> </span></p>
+<p id="t281" class="stm mis"> <span class="key">if</span> <span class="nam">bpy</span><span class="op">.</span><span class="nam">app</span><span class="op">.</span><span class="nam">version</span> <span class="op"><</span> <span class="op">(</span><span class="num">2</span><span class="op">,</span> <span class="num">79</span><span class="op">,</span> <span class="num">0</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t282" class="stm mis"> <span class="nam">scene</span><span class="op">.</span><span class="nam">node_tree</span><span class="op">.</span><span class="nam">links</span><span class="op">.</span><span class="nam">new</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t283" class="pln"> <span class="nam">render_layers</span><span class="op">.</span><span class="nam">outputs</span><span class="op">[</span><span class="str">'Z'</span><span class="op">]</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t284" class="pln"> <span class="nam">output_file</span><span class="op">.</span><span class="nam">inputs</span><span class="op">[</span><span class="str">'Depth'</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t285" class="pln"> <span class="op">)</span><span class="strut"> </span></p>
+<p id="t286" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t287" class="stm mis"> <span class="nam">scene</span><span class="op">.</span><span class="nam">node_tree</span><span class="op">.</span><span class="nam">links</span><span class="op">.</span><span class="nam">new</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t288" class="pln"> <span class="nam">render_layers</span><span class="op">.</span><span class="nam">outputs</span><span class="op">[</span><span class="str">'Depth'</span><span class="op">]</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t289" class="pln"> <span class="nam">output_file</span><span class="op">.</span><span class="nam">inputs</span><span class="op">[</span><span class="str">'Depth'</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t290" class="pln"> <span class="op">)</span><span class="strut"> </span></p>
+<p id="t291" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">tmp_fileoutput</span> <span class="op">=</span> <span class="nam">tmp_fileoutput</span><span class="strut"> </span></p>
+<p id="t292" class="pln"><span class="strut"> </span></p>
+<p id="t293" class="pln"> <span class="com"># Filtering props</span><span class="strut"> </span></p>
+<p id="t294" class="stm mis"> <span class="nam">bpy</span><span class="op">.</span><span class="nam">context</span><span class="op">.</span><span class="nam">scene</span><span class="op">.</span><span class="nam">cycles</span><span class="op">.</span><span class="nam">filter_type</span> <span class="op">=</span> <span class="str">'GAUSSIAN'</span><span class="strut"> </span></p>
+<p id="t295" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">config_file</span> <span class="op">=</span> <span class="nam">pkg_resources</span><span class="op">.</span><span class="nam">resource_filename</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t296" class="pln"> <span class="str">'navipy'</span><span class="op">,</span> <span class="str">'resources/configs/BlenderRender.yaml'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t297" class="pln"><span class="strut"> </span></p>
+<p id="t298" class="stm mis"> <span class="op">@</span><span class="nam">property</span><span class="strut"> </span></p>
+<p id="t299" class="pln"> <span class="key">def</span> <span class="nam">config_file</span><span class="op">(</span><span class="nam">self</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t300" class="stm mis"> <span class="key">return</span> <span class="nam">self</span><span class="op">.</span><span class="nam">__config_file</span><span class="strut"> </span></p>
+<p id="t301" class="pln"><span class="strut"> </span></p>
+<p id="t302" class="stm mis"> <span class="op">@</span><span class="nam">config_file</span><span class="op">.</span><span class="nam">setter</span><span class="strut"> </span></p>
+<p id="t303" class="pln"> <span class="key">def</span> <span class="nam">config_file</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span> <span class="nam">config_file</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t304" class="stm mis"> <span class="key">if</span> <span class="key">not</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">config_file</span><span class="op">,</span> <span class="nam">str</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t305" class="stm mis"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="str">'Config file should be a file path'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t306" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">_logger</span><span class="op">.</span><span class="nam">debug</span><span class="op">(</span><span class="str">'Open config file {}'</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">config_file</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t307" class="stm mis"> <span class="key">try</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t308" class="stm mis"> <span class="key">with</span> <span class="nam">open</span><span class="op">(</span><span class="nam">config_file</span><span class="op">,</span> <span class="str">'r'</span><span class="op">)</span> <span class="key">as</span> <span class="nam">stream</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t309" class="stm mis"> <span class="key">try</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t310" class="stm mis"> <span class="nam">config</span> <span class="op">=</span> <span class="nam">yaml</span><span class="op">.</span><span class="nam">load</span><span class="op">(</span><span class="nam">stream</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t311" class="stm mis"> <span class="key">except</span> <span class="nam">yaml</span><span class="op">.</span><span class="nam">YAMLError</span> <span class="key">as</span> <span class="nam">exc</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t312" class="stm mis"> <span class="nam">print</span><span class="op">(</span><span class="nam">exc</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t313" class="stm mis"> <span class="key">except</span> <span class="nam">IOError</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t314" class="stm mis"> <span class="nam">msg</span> <span class="op">=</span> <span class="str">"The file could not be read"</span><span class="strut"> </span></p>
+<p id="t315" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">_logger</span><span class="op">.</span><span class="nam">exception</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t316" class="stm mis"> <span class="key">raise</span> <span class="nam">IOError</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t317" class="stm mis"> <span class="key">if</span> <span class="str">'BlenderRender'</span> <span class="key">not</span> <span class="key">in</span> <span class="nam">config</span><span class="op">.</span><span class="nam">keys</span><span class="op">(</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t318" class="stm mis"> <span class="nam">msg</span> <span class="op">=</span> <span class="str">"The file could not be read"</span><span class="strut"> </span></p>
+<p id="t319" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">_logger</span><span class="op">.</span><span class="nam">exception</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t320" class="stm mis"> <span class="key">raise</span> <span class="nam">KeyError</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t321" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">_logger</span><span class="op">.</span><span class="nam">debug</span><span class="op">(</span><span class="str">'Access BlenderRender'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t322" class="stm mis"> <span class="nam">blendconfig</span> <span class="op">=</span> <span class="nam">config</span><span class="op">[</span><span class="str">'BlenderRender'</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t323" class="pln"> <span class="com"># Loading the field of view in the camera</span><span class="strut"> </span></p>
+<p id="t324" class="stm mis"> <span class="key">if</span> <span class="str">'fov'</span> <span class="key">in</span> <span class="nam">blendconfig</span><span class="op">.</span><span class="nam">keys</span><span class="op">(</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t325" class="stm mis"> <span class="nam">fov</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">zeros</span><span class="op">(</span><span class="op">(</span><span class="num">2</span><span class="op">,</span> <span class="num">2</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t326" class="stm mis"> <span class="key">if</span> <span class="str">'elevation'</span> <span class="key">in</span> <span class="nam">blendconfig</span><span class="op">[</span><span class="str">'fov'</span><span class="op">]</span><span class="op">.</span><span class="nam">keys</span><span class="op">(</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t327" class="stm mis"> <span class="nam">fov</span><span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span> <span class="op">=</span> <span class="nam">min</span><span class="op">(</span><span class="nam">blendconfig</span><span class="op">[</span><span class="str">'fov'</span><span class="op">]</span><span class="op">[</span><span class="str">'elevation'</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t328" class="stm mis"> <span class="nam">fov</span><span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="num">1</span><span class="op">]</span> <span class="op">=</span> <span class="nam">max</span><span class="op">(</span><span class="nam">blendconfig</span><span class="op">[</span><span class="str">'fov'</span><span class="op">]</span><span class="op">[</span><span class="str">'elevation'</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t329" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t330" class="stm mis"> <span class="key">raise</span> <span class="nam">KeyError</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t331" class="pln"> <span class="str">'Yaml config file should contain fov/elevation key'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t332" class="stm mis"> <span class="key">if</span> <span class="str">'azimuth'</span> <span class="key">in</span> <span class="nam">blendconfig</span><span class="op">[</span><span class="str">'fov'</span><span class="op">]</span><span class="op">.</span><span class="nam">keys</span><span class="op">(</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t333" class="stm mis"> <span class="nam">fov</span><span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span> <span class="op">=</span> <span class="nam">min</span><span class="op">(</span><span class="nam">blendconfig</span><span class="op">[</span><span class="str">'fov'</span><span class="op">]</span><span class="op">[</span><span class="str">'azimuth'</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t334" class="stm mis"> <span class="nam">fov</span><span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">1</span><span class="op">]</span> <span class="op">=</span> <span class="nam">max</span><span class="op">(</span><span class="nam">blendconfig</span><span class="op">[</span><span class="str">'fov'</span><span class="op">]</span><span class="op">[</span><span class="str">'azimuth'</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t335" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t336" class="stm mis"> <span class="key">raise</span> <span class="nam">KeyError</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t337" class="pln"> <span class="str">'Yaml config file should contain fov/azimuth key'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t338" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">camera_fov</span> <span class="op">=</span> <span class="nam">fov</span><span class="strut"> </span></p>
+<p id="t339" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t340" class="stm mis"> <span class="key">raise</span> <span class="nam">KeyError</span><span class="op">(</span><span class="str">'Yaml config file should contain fov'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t341" class="pln"> <span class="com"># Loading the resolution ie number of pixel of the camera</span><span class="strut"> </span></p>
+<p id="t342" class="stm mis"> <span class="key">if</span> <span class="str">'resolution'</span> <span class="key">in</span> <span class="nam">blendconfig</span><span class="op">.</span><span class="nam">keys</span><span class="op">(</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t343" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">camera_resolution</span> <span class="op">=</span> <span class="nam">blendconfig</span><span class="op">[</span><span class="str">'resolution'</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t344" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t345" class="stm mis"> <span class="key">raise</span> <span class="nam">KeyError</span><span class="op">(</span><span class="str">'Yaml config file should contain resolution'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t346" class="pln"> <span class="com"># Load the filter of rendering</span><span class="strut"> </span></p>
+<p id="t347" class="stm mis"> <span class="key">if</span> <span class="str">'gaussian_width'</span> <span class="key">in</span> <span class="nam">blendconfig</span><span class="op">.</span><span class="nam">keys</span><span class="op">(</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t348" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">camera_gaussian_width</span> <span class="op">=</span> <span class="nam">blendconfig</span><span class="op">[</span><span class="str">'gaussian_width'</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t349" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t350" class="stm mis"> <span class="key">raise</span> <span class="nam">KeyError</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t351" class="pln"> <span class="str">'Yaml config file should contain gaussian_width'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t352" class="pln"> <span class="com"># Load cycle for rendering</span><span class="strut"> </span></p>
+<p id="t353" class="stm mis"> <span class="key">if</span> <span class="str">'samples'</span> <span class="key">in</span> <span class="nam">blendconfig</span><span class="op">.</span><span class="nam">keys</span><span class="op">(</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t354" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">camera_samples</span> <span class="op">=</span> <span class="nam">blendconfig</span><span class="op">[</span><span class="str">'samples'</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t355" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t356" class="stm mis"> <span class="key">raise</span> <span class="nam">KeyError</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t357" class="pln"> <span class="str">'Yaml config file should contain samples'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t358" class="pln"> <span class="com"># Load worldlimit</span><span class="strut"> </span></p>
+<p id="t359" class="stm mis"> <span class="key">if</span> <span class="str">'worldlimit'</span> <span class="key">in</span> <span class="nam">blendconfig</span><span class="op">.</span><span class="nam">keys</span><span class="op">(</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t360" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">worldlimit</span> <span class="op">=</span> <span class="nam">blendconfig</span><span class="op">[</span><span class="str">'worldlimit'</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t361" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">__config_file</span> <span class="op">=</span> <span class="nam">config_file</span><span class="strut"> </span></p>
+<p id="t362" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">_logger</span><span class="op">.</span><span class="nam">debug</span><span class="op">(</span><span class="str">'END: BlendRender configured'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t363" class="pln"><span class="strut"> </span></p>
+<p id="t364" class="stm mis"> <span class="op">@</span><span class="nam">property</span><span class="strut"> </span></p>
+<p id="t365" class="pln"> <span class="key">def</span> <span class="nam">cycle_samples</span><span class="op">(</span><span class="nam">self</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t366" class="pln"> <span class="str">"""get the samples for rendering with cycle</span><span class="strut"> </span></p>
+<p id="t367" class="pln"><span class="strut"> </span></p>
+<p id="t368" class="pln"><span class="str"> : returns: the number of samples used for the rendering</span><span class="strut"> </span></p>
+<p id="t369" class="pln"><span class="str"> : rtype: int</span><span class="strut"> </span></p>
+<p id="t370" class="pln"><span class="strut"> </span></p>
+<p id="t371" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t372" class="stm mis"> <span class="key">return</span> <span class="nam">bpy</span><span class="op">.</span><span class="nam">context</span><span class="op">.</span><span class="nam">scene</span><span class="op">.</span><span class="nam">cycles</span><span class="op">.</span><span class="nam">samples</span><span class="strut"> </span></p>
+<p id="t373" class="pln"><span class="strut"> </span></p>
+<p id="t374" class="stm mis"> <span class="op">@</span><span class="nam">cycle_samples</span><span class="op">.</span><span class="nam">setter</span><span class="strut"> </span></p>
+<p id="t375" class="stm mis"> <span class="key">def</span> <span class="nam">cycle_samples</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span> <span class="nam">samples</span><span class="op">=</span><span class="num">30</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t376" class="pln"> <span class="str">"""change the samples for rendering with cycle</span><span class="strut"> </span></p>
+<p id="t377" class="pln"><span class="strut"> </span></p>
+<p id="t378" class="pln"><span class="str"> : param samples: the number of samples to use when rendering images</span><span class="strut"> </span></p>
+<p id="t379" class="pln"><span class="str"> : type samples: int</span><span class="strut"> </span></p>
+<p id="t380" class="pln"><span class="strut"> </span></p>
+<p id="t381" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t382" class="stm mis"> <span class="key">if</span> <span class="key">not</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">samples</span><span class="op">,</span> <span class="nam">int</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t383" class="stm mis"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="str">'samples must be an integer'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t384" class="stm mis"> <span class="nam">bpy</span><span class="op">.</span><span class="nam">context</span><span class="op">.</span><span class="nam">scene</span><span class="op">.</span><span class="nam">cycles</span><span class="op">.</span><span class="nam">samples</span> <span class="op">=</span> <span class="nam">samples</span><span class="strut"> </span></p>
+<p id="t385" class="pln"><span class="strut"> </span></p>
+<p id="t386" class="stm mis"> <span class="op">@</span><span class="nam">property</span><span class="strut"> </span></p>
+<p id="t387" class="pln"> <span class="key">def</span> <span class="nam">camera_fov</span><span class="op">(</span><span class="nam">self</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t388" class="pln"> <span class="str">"""get fov of camera</span><span class="strut"> </span></p>
+<p id="t389" class="pln"><span class="strut"> </span></p>
+<p id="t390" class="pln"><span class="str"> : returns: the field of view of the camera as \</span><span class="strut"> </span></p>
+<p id="t391" class="pln"><span class="str"> [[minimum latitude, maximum latitude],</span><span class="strut"> </span></p>
+<p id="t392" class="pln"><span class="str"> [minimum longitude, maximum longitude]]</span><span class="strut"> </span></p>
+<p id="t393" class="pln"><span class="str"> (in deg)</span><span class="strut"> </span></p>
+<p id="t394" class="pln"><span class="str"> : rtype: np.array</span><span class="strut"> </span></p>
+<p id="t395" class="pln"><span class="strut"> </span></p>
+<p id="t396" class="pln"><span class="str"> ..todo Change assert to if -> raise TypeError/KeyError</span><span class="strut"> </span></p>
+<p id="t397" class="pln"><span class="strut"> </span></p>
+<p id="t398" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t399" class="stm mis"> <span class="key">if</span> <span class="key">not</span> <span class="nam">self</span><span class="op">.</span><span class="nam">camera</span><span class="op">.</span><span class="nam">data</span><span class="op">.</span><span class="nam">type</span> <span class="op">==</span> <span class="str">'PANO'</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t400" class="stm mis"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="str">'Camera is not panoramic'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t401" class="stm mis"> <span class="key">if</span> <span class="key">not</span> <span class="nam">self</span><span class="op">.</span><span class="nam">camera</span><span class="op">.</span><span class="nam">data</span><span class="op">.</span><span class="nam">cycles</span><span class="op">.</span><span class="nam">panorama_type</span> <span class="op">==</span> <span class="str">'EQUIRECTANGULAR'</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t402" class="stm mis"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="str">'The panoramic camera is not equirectangular'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t403" class="stm mis"> <span class="nam">fov</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">zeros</span><span class="op">(</span><span class="op">(</span><span class="num">2</span><span class="op">,</span> <span class="num">2</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t404" class="stm mis"> <span class="nam">fov</span><span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">rad2deg</span><span class="op">(</span><span class="nam">self</span><span class="op">.</span><span class="nam">camera</span><span class="op">.</span><span class="nam">data</span><span class="op">.</span><span class="nam">cycles</span><span class="op">.</span><span class="nam">latitude_min</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t405" class="stm mis"> <span class="nam">fov</span><span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="num">1</span><span class="op">]</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">rad2deg</span><span class="op">(</span><span class="nam">self</span><span class="op">.</span><span class="nam">camera</span><span class="op">.</span><span class="nam">data</span><span class="op">.</span><span class="nam">cycles</span><span class="op">.</span><span class="nam">latitude_max</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t406" class="stm mis"> <span class="nam">fov</span><span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">rad2deg</span><span class="op">(</span><span class="nam">self</span><span class="op">.</span><span class="nam">camera</span><span class="op">.</span><span class="nam">data</span><span class="op">.</span><span class="nam">cycles</span><span class="op">.</span><span class="nam">longitude_min</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t407" class="stm mis"> <span class="nam">fov</span><span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">1</span><span class="op">]</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">rad2deg</span><span class="op">(</span><span class="nam">self</span><span class="op">.</span><span class="nam">camera</span><span class="op">.</span><span class="nam">data</span><span class="op">.</span><span class="nam">cycles</span><span class="op">.</span><span class="nam">longitude_max</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t408" class="stm mis"> <span class="key">return</span> <span class="nam">fov</span><span class="strut"> </span></p>
+<p id="t409" class="pln"><span class="strut"> </span></p>
+<p id="t410" class="stm mis"> <span class="op">@</span><span class="nam">camera_fov</span><span class="op">.</span><span class="nam">setter</span><span class="strut"> </span></p>
+<p id="t411" class="pln"> <span class="key">def</span> <span class="nam">camera_fov</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span> <span class="nam">resolution</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t412" class="pln"> <span class="str">"""change the field of view of the panoramic camera</span><span class="strut"> </span></p>
+<p id="t413" class="pln"><span class="strut"> </span></p>
+<p id="t414" class="pln"><span class="str"> : param resolution: [[minimum latitude, maximum latitude],</span><span class="strut"> </span></p>
+<p id="t415" class="pln"><span class="str"> [minimum longitude, maximum longitude]]</span><span class="strut"> </span></p>
+<p id="t416" class="pln"><span class="str"> (in deg)</span><span class="strut"> </span></p>
+<p id="t417" class="pln"><span class="str"> : type latmin: 2x2 float array or list</span><span class="strut"> </span></p>
+<p id="t418" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t419" class="stm mis"> <span class="key">if</span> <span class="key">not</span> <span class="op">(</span><span class="nam">isinstance</span><span class="op">(</span><span class="nam">resolution</span><span class="op">,</span> <span class="nam">tuple</span><span class="op">)</span> <span class="key">or</span><span class="strut"> </span></p>
+<p id="t420" class="pln"> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">resolution</span><span class="op">,</span> <span class="nam">list</span><span class="op">)</span> <span class="key">or</span><span class="strut"> </span></p>
+<p id="t421" class="pln"> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">resolution</span><span class="op">,</span> <span class="nam">np</span><span class="op">.</span><span class="nam">ndarray</span><span class="op">)</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t422" class="stm mis"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="str">'resolution must be list, array, or tuple'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t423" class="stm mis"> <span class="key">if</span> <span class="key">not</span> <span class="nam">self</span><span class="op">.</span><span class="nam">camera</span><span class="op">.</span><span class="nam">data</span><span class="op">.</span><span class="nam">type</span> <span class="op">==</span> <span class="str">'PANO'</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t424" class="stm mis"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="str">'Camera is not panoramic'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t425" class="stm mis"> <span class="key">if</span> <span class="key">not</span> <span class="nam">self</span><span class="op">.</span><span class="nam">camera</span><span class="op">.</span><span class="nam">data</span><span class="op">.</span><span class="nam">cycles</span><span class="op">.</span><span class="nam">panorama_type</span> <span class="op">==</span> <span class="str">'EQUIRECTANGULAR'</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t426" class="stm mis"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="str">'Camera is not equirectangular'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t427" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">camera</span><span class="op">.</span><span class="nam">data</span><span class="op">.</span><span class="nam">cycles</span><span class="op">.</span><span class="nam">latitude_min</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">deg2rad</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t428" class="pln"> <span class="nam">resolution</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t429" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">camera</span><span class="op">.</span><span class="nam">data</span><span class="op">.</span><span class="nam">cycles</span><span class="op">.</span><span class="nam">latitude_max</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">deg2rad</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t430" class="pln"> <span class="nam">resolution</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">[</span><span class="num">1</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t431" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">camera</span><span class="op">.</span><span class="nam">data</span><span class="op">.</span><span class="nam">cycles</span><span class="op">.</span><span class="nam">longitude_min</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">deg2rad</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t432" class="pln"> <span class="nam">resolution</span><span class="op">[</span><span class="num">1</span><span class="op">]</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t433" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">camera</span><span class="op">.</span><span class="nam">data</span><span class="op">.</span><span class="nam">cycles</span><span class="op">.</span><span class="nam">longitude_max</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">deg2rad</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t434" class="pln"> <span class="nam">resolution</span><span class="op">[</span><span class="num">1</span><span class="op">]</span><span class="op">[</span><span class="num">1</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t435" class="pln"><span class="strut"> </span></p>
+<p id="t436" class="stm mis"> <span class="op">@</span><span class="nam">property</span><span class="strut"> </span></p>
+<p id="t437" class="pln"> <span class="key">def</span> <span class="nam">camera_gaussian_width</span><span class="op">(</span><span class="nam">self</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t438" class="pln"> <span class="str">"""get width of the gaussian spatial filter</span><span class="strut"> </span></p>
+<p id="t439" class="pln"><span class="strut"> </span></p>
+<p id="t440" class="pln"><span class="str"> : returns: the width of the gaussian filter</span><span class="strut"> </span></p>
+<p id="t441" class="pln"><span class="str"> : rtype: float</span><span class="strut"> </span></p>
+<p id="t442" class="pln"><span class="strut"> </span></p>
+<p id="t443" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t444" class="stm mis"> <span class="key">return</span> <span class="nam">bpy</span><span class="op">.</span><span class="nam">context</span><span class="op">.</span><span class="nam">scene</span><span class="op">.</span><span class="nam">cycles</span><span class="op">.</span><span class="nam">filter_width</span><span class="strut"> </span></p>
+<p id="t445" class="pln"><span class="strut"> </span></p>
+<p id="t446" class="stm mis"> <span class="op">@</span><span class="nam">camera_gaussian_width</span><span class="op">.</span><span class="nam">setter</span><span class="strut"> </span></p>
+<p id="t447" class="pln"> <span class="key">def</span> <span class="nam">camera_gaussian_width</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span> <span class="nam">gauss_w</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t448" class="pln"> <span class="str">"""change width of the gaussian spatial filter</span><span class="strut"> </span></p>
+<p id="t449" class="pln"><span class="strut"> </span></p>
+<p id="t450" class="pln"><span class="str"> : param gauss_w: width of the gaussian filter</span><span class="strut"> </span></p>
+<p id="t451" class="pln"><span class="str"> : type gauss_w: float</span><span class="strut"> </span></p>
+<p id="t452" class="pln"><span class="strut"> </span></p>
+<p id="t453" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t454" class="stm mis"> <span class="key">if</span> <span class="key">not</span> <span class="op">(</span><span class="nam">isinstance</span><span class="op">(</span><span class="nam">gauss_w</span><span class="op">,</span> <span class="nam">int</span><span class="op">)</span> <span class="key">or</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">gauss_w</span><span class="op">,</span> <span class="nam">float</span><span class="op">)</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t455" class="stm mis"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="str">'gauss window must be integer or float'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t456" class="stm mis"> <span class="nam">bpy</span><span class="op">.</span><span class="nam">context</span><span class="op">.</span><span class="nam">scene</span><span class="op">.</span><span class="nam">cycles</span><span class="op">.</span><span class="nam">filter_width</span> <span class="op">=</span> <span class="nam">gauss_w</span><span class="strut"> </span></p>
+<p id="t457" class="pln"><span class="strut"> </span></p>
+<p id="t458" class="stm mis"> <span class="op">@</span><span class="nam">property</span><span class="strut"> </span></p>
+<p id="t459" class="pln"> <span class="key">def</span> <span class="nam">camera_resolution</span><span class="op">(</span><span class="nam">self</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t460" class="pln"> <span class="str">"""return camera resolution(x, y)</span><span class="strut"> </span></p>
+<p id="t461" class="pln"><span class="strut"> </span></p>
+<p id="t462" class="pln"><span class="str"> : returns: the resolution of the camera along(x-axis, y-axis)</span><span class="strut"> </span></p>
+<p id="t463" class="pln"><span class="str"> : rtype: (int, int)</span><span class="strut"> </span></p>
+<p id="t464" class="pln"><span class="strut"> </span></p>
+<p id="t465" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t466" class="stm mis"> <span class="nam">resolution_x</span> <span class="op">=</span> <span class="nam">bpy</span><span class="op">.</span><span class="nam">context</span><span class="op">.</span><span class="nam">scene</span><span class="op">.</span><span class="nam">render</span><span class="op">.</span><span class="nam">resolution_x</span><span class="strut"> </span></p>
+<p id="t467" class="stm mis"> <span class="nam">resolution_y</span> <span class="op">=</span> <span class="nam">bpy</span><span class="op">.</span><span class="nam">context</span><span class="op">.</span><span class="nam">scene</span><span class="op">.</span><span class="nam">render</span><span class="op">.</span><span class="nam">resolution_y</span><span class="strut"> </span></p>
+<p id="t468" class="stm mis"> <span class="key">return</span> <span class="nam">resolution_x</span><span class="op">,</span> <span class="nam">resolution_y</span><span class="strut"> </span></p>
+<p id="t469" class="pln"><span class="strut"> </span></p>
+<p id="t470" class="stm mis"> <span class="op">@</span><span class="nam">camera_resolution</span><span class="op">.</span><span class="nam">setter</span><span class="strut"> </span></p>
+<p id="t471" class="pln"> <span class="key">def</span> <span class="nam">camera_resolution</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span> <span class="nam">resolution</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t472" class="pln"> <span class="str">"""change the camera resolution(nb of pixels)</span><span class="strut"> </span></p>
+<p id="t473" class="pln"><span class="strut"> </span></p>
+<p id="t474" class="pln"><span class="str"> : param resolution_x: number of pixels along the x-axis of the camera</span><span class="strut"> </span></p>
+<p id="t475" class="pln"><span class="str"> : type resolution_x: int</span><span class="strut"> </span></p>
+<p id="t476" class="pln"><span class="str"> : param resolution_y: number of pixels along the y-axis of the camera</span><span class="strut"> </span></p>
+<p id="t477" class="pln"><span class="str"> : type resolution_y: int</span><span class="strut"> </span></p>
+<p id="t478" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t479" class="stm mis"> <span class="key">if</span> <span class="key">not</span> <span class="op">(</span><span class="nam">isinstance</span><span class="op">(</span><span class="nam">resolution</span><span class="op">,</span> <span class="nam">list</span><span class="op">)</span> <span class="key">or</span><span class="strut"> </span></p>
+<p id="t480" class="pln"> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">resolution</span><span class="op">,</span> <span class="nam">np</span><span class="op">.</span><span class="nam">ndarray</span><span class="op">)</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t481" class="stm mis"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="str">'resolution list or array'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t482" class="stm mis"> <span class="nam">bpy</span><span class="op">.</span><span class="nam">context</span><span class="op">.</span><span class="nam">scene</span><span class="op">.</span><span class="nam">render</span><span class="op">.</span><span class="nam">resolution_x</span> <span class="op">=</span> <span class="nam">resolution</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t483" class="stm mis"> <span class="nam">bpy</span><span class="op">.</span><span class="nam">context</span><span class="op">.</span><span class="nam">scene</span><span class="op">.</span><span class="nam">render</span><span class="op">.</span><span class="nam">resolution_y</span> <span class="op">=</span> <span class="nam">resolution</span><span class="op">[</span><span class="num">1</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t484" class="stm mis"> <span class="nam">bpy</span><span class="op">.</span><span class="nam">context</span><span class="op">.</span><span class="nam">scene</span><span class="op">.</span><span class="nam">render</span><span class="op">.</span><span class="nam">resolution_percentage</span> <span class="op">=</span> <span class="num">100</span><span class="strut"> </span></p>
+<p id="t485" class="pln"><span class="strut"> </span></p>
+<p id="t486" class="stm mis"> <span class="op">@</span><span class="nam">property</span><span class="strut"> </span></p>
+<p id="t487" class="pln"> <span class="key">def</span> <span class="nam">viewing_directions</span><span class="op">(</span><span class="nam">self</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t488" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">_logger</span><span class="op">.</span><span class="nam">info</span><span class="op">(</span><span class="str">'get viewdir'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t489" class="stm mis"> <span class="nam">rx</span><span class="op">,</span> <span class="nam">ry</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">camera_resolution</span><span class="strut"> </span></p>
+<p id="t490" class="stm mis"> <span class="nam">fov</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">camera_fov</span><span class="strut"> </span></p>
+<p id="t491" class="stm mis"> <span class="nam">az</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">linspace</span><span class="op">(</span><span class="nam">fov</span><span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span><span class="op">,</span> <span class="nam">fov</span><span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="num">1</span><span class="op">]</span><span class="op">,</span> <span class="nam">rx</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t492" class="stm mis"> <span class="nam">el</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">linspace</span><span class="op">(</span><span class="nam">fov</span><span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span><span class="op">,</span> <span class="nam">fov</span><span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="num">1</span><span class="op">]</span><span class="op">,</span> <span class="nam">ry</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t493" class="stm mis"> <span class="op">[</span><span class="nam">ma</span><span class="op">,</span> <span class="nam">me</span><span class="op">]</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">meshgrid</span><span class="op">(</span><span class="nam">az</span><span class="op">,</span> <span class="nam">el</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t494" class="stm mis"> <span class="nam">view_dir</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">zeros</span><span class="op">(</span><span class="op">(</span><span class="nam">ma</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">,</span> <span class="nam">ma</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">1</span><span class="op">]</span><span class="op">,</span> <span class="num">2</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t495" class="stm mis"> <span class="nam">view_dir</span><span class="op">[</span><span class="op">...</span><span class="op">,</span> <span class="nam">spherical_indeces</span><span class="op">(</span><span class="op">)</span><span class="op">[</span><span class="str">'elevation'</span><span class="op">]</span><span class="op">]</span> <span class="op">=</span> <span class="nam">me</span><span class="strut"> </span></p>
+<p id="t496" class="stm mis"> <span class="nam">view_dir</span><span class="op">[</span><span class="op">...</span><span class="op">,</span> <span class="nam">spherical_indeces</span><span class="op">(</span><span class="op">)</span><span class="op">[</span><span class="str">'azimuth'</span><span class="op">]</span><span class="op">]</span> <span class="op">=</span> <span class="nam">ma</span><span class="strut"> </span></p>
+<p id="t497" class="stm mis"> <span class="key">return</span> <span class="nam">view_dir</span><span class="strut"> </span></p>
+<p id="t498" class="pln"><span class="strut"> </span></p>
+<p id="t499" class="stm mis"> <span class="op">@</span><span class="nam">property</span><span class="strut"> </span></p>
+<p id="t500" class="pln"> <span class="key">def</span> <span class="nam">image</span><span class="op">(</span><span class="nam">self</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t501" class="pln"> <span class="str">"""return the last rendered image as a numpy array</span><span class="strut"> </span></p>
+<p id="t502" class="pln"><span class="strut"> </span></p>
+<p id="t503" class="pln"><span class="str"> : returns: the image(height, width, nchannel)</span><span class="strut"> </span></p>
+<p id="t504" class="pln"><span class="str"> : rtype: a double numpy array</span><span class="strut"> </span></p>
+<p id="t505" class="pln"><span class="strut"> </span></p>
+<p id="t506" class="pln"><span class="str"> .. note: A temporary file will be written on the harddrive,</span><span class="strut"> </span></p>
+<p id="t507" class="pln"><span class="str"> due to API blender limitation</span><span class="strut"> </span></p>
+<p id="t508" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t509" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">_logger</span><span class="op">.</span><span class="nam">info</span><span class="op">(</span><span class="str">'get image'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t510" class="pln"> <span class="com"># save image as a temporary file, and then loaded</span><span class="strut"> </span></p>
+<p id="t511" class="pln"> <span class="com"># sadly the rendered image pixels can not directly be access</span><span class="strut"> </span></p>
+<p id="t512" class="stm mis"> <span class="nam">keyframe</span> <span class="op">=</span> <span class="nam">bpy</span><span class="op">.</span><span class="nam">context</span><span class="op">.</span><span class="nam">scene</span><span class="op">.</span><span class="nam">frame_current</span><span class="strut"> </span></p>
+<p id="t513" class="stm mis"> <span class="nam">filename</span> <span class="op">=</span> <span class="nam">os</span><span class="op">.</span><span class="nam">path</span><span class="op">.</span><span class="nam">join</span><span class="op">(</span><span class="nam">self</span><span class="op">.</span><span class="nam">tmp_fileoutput</span><span class="op">[</span><span class="str">'Folder'</span><span class="op">]</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t514" class="pln"> <span class="nam">self</span><span class="op">.</span><span class="nam">tmp_fileoutput</span><span class="op">[</span><span class="str">'Image'</span><span class="op">]</span> <span class="op">+</span><span class="strut"> </span></p>
+<p id="t515" class="pln"> <span class="str">'{:04d}'</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">keyframe</span><span class="op">)</span> <span class="op">+</span><span class="strut"> </span></p>
+<p id="t516" class="pln"> <span class="nam">self</span><span class="op">.</span><span class="nam">tmp_fileoutput</span><span class="op">[</span><span class="str">'ext'</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t517" class="stm mis"> <span class="nam">im_width</span><span class="op">,</span> <span class="nam">im_height</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">camera_resolution</span><span class="strut"> </span></p>
+<p id="t518" class="stm mis"> <span class="nam">im</span> <span class="op">=</span> <span class="nam">bpy</span><span class="op">.</span><span class="nam">data</span><span class="op">.</span><span class="nam">images</span><span class="op">.</span><span class="nam">load</span><span class="op">(</span><span class="nam">filename</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t519" class="stm mis"> <span class="nam">pixels</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">array</span><span class="op">(</span><span class="nam">im</span><span class="op">.</span><span class="nam">pixels</span><span class="op">)</span><span class="op">.</span><span class="nam">copy</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t520" class="stm mis"> <span class="nam">pixels</span> <span class="op">=</span> <span class="nam">pixels</span><span class="op">.</span><span class="nam">reshape</span><span class="op">(</span><span class="op">[</span><span class="nam">im_height</span><span class="op">,</span> <span class="nam">im_width</span><span class="op">,</span> <span class="op">-</span><span class="num">1</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t521" class="pln"> <span class="com"># The last channel is the alpha channel</span><span class="strut"> </span></p>
+<p id="t522" class="stm mis"> <span class="nam">pixels</span> <span class="op">=</span> <span class="nam">pixels</span><span class="op">[</span><span class="op">...</span><span class="op">,</span> <span class="op">:</span><span class="op">(</span><span class="nam">pixels</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">2</span><span class="op">]</span> <span class="op">-</span> <span class="num">1</span><span class="op">)</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t523" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">_logger</span><span class="op">.</span><span class="nam">debug</span><span class="op">(</span><span class="str">'Image -> Ok'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t524" class="pln"> <span class="com"># remote image once we read it. To avoid storing all images</span><span class="strut"> </span></p>
+<p id="t525" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">_logger</span><span class="op">.</span><span class="nam">debug</span><span class="op">(</span><span class="str">'Delete file {}'</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">filename</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t526" class="stm mis"> <span class="nam">os</span><span class="op">.</span><span class="nam">remove</span><span class="op">(</span><span class="nam">filename</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t527" class="stm mis"> <span class="key">return</span> <span class="nam">pixels</span><span class="strut"> </span></p>
+<p id="t528" class="pln"><span class="strut"> </span></p>
+<p id="t529" class="stm mis"> <span class="op">@</span><span class="nam">property</span><span class="strut"> </span></p>
+<p id="t530" class="pln"> <span class="key">def</span> <span class="nam">distance</span><span class="op">(</span><span class="nam">self</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t531" class="pln"> <span class="str">"""return the last rendered distance map as a numpy array</span><span class="strut"> </span></p>
+<p id="t532" class="pln"><span class="strut"> </span></p>
+<p id="t533" class="pln"><span class="str"> : returns: the distance map(height, width)</span><span class="strut"> </span></p>
+<p id="t534" class="pln"><span class="str"> : rtype: a double numpy array</span><span class="strut"> </span></p>
+<p id="t535" class="pln"><span class="strut"> </span></p>
+<p id="t536" class="pln"><span class="str"> .. note: A temporary file will be written on the harddrive,</span><span class="strut"> </span></p>
+<p id="t537" class="pln"><span class="str"> due to API blender limitation</span><span class="strut"> </span></p>
+<p id="t538" class="pln"><span class="strut"> </span></p>
+<p id="t539" class="pln"><span class="str"> .. todo: use @property</span><span class="strut"> </span></p>
+<p id="t540" class="pln"><span class="str"> def distance(self)</span><span class="strut"> </span></p>
+<p id="t541" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t542" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">_logger</span><span class="op">.</span><span class="nam">info</span><span class="op">(</span><span class="str">'get distances'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t543" class="pln"> <span class="com"># save image as a temporary file, and then loaded</span><span class="strut"> </span></p>
+<p id="t544" class="pln"> <span class="com"># sadly the rendered image pixels can not directly be access</span><span class="strut"> </span></p>
+<p id="t545" class="stm mis"> <span class="nam">keyframe</span> <span class="op">=</span> <span class="nam">bpy</span><span class="op">.</span><span class="nam">context</span><span class="op">.</span><span class="nam">scene</span><span class="op">.</span><span class="nam">frame_current</span><span class="strut"> </span></p>
+<p id="t546" class="stm mis"> <span class="nam">filename</span> <span class="op">=</span> <span class="nam">os</span><span class="op">.</span><span class="nam">path</span><span class="op">.</span><span class="nam">join</span><span class="op">(</span><span class="nam">self</span><span class="op">.</span><span class="nam">tmp_fileoutput</span><span class="op">[</span><span class="str">'Folder'</span><span class="op">]</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t547" class="pln"> <span class="nam">self</span><span class="op">.</span><span class="nam">tmp_fileoutput</span><span class="op">[</span><span class="str">'Depth'</span><span class="op">]</span> <span class="op">+</span><span class="strut"> </span></p>
+<p id="t548" class="pln"> <span class="str">'{:04d}'</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">keyframe</span><span class="op">)</span> <span class="op">+</span><span class="strut"> </span></p>
+<p id="t549" class="pln"> <span class="nam">self</span><span class="op">.</span><span class="nam">tmp_fileoutput</span><span class="op">[</span><span class="str">'ext'</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t550" class="stm mis"> <span class="nam">im_width</span><span class="op">,</span> <span class="nam">im_height</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">camera_resolution</span><span class="strut"> </span></p>
+<p id="t551" class="stm mis"> <span class="nam">im</span> <span class="op">=</span> <span class="nam">bpy</span><span class="op">.</span><span class="nam">data</span><span class="op">.</span><span class="nam">images</span><span class="op">.</span><span class="nam">load</span><span class="op">(</span><span class="nam">filename</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t552" class="stm mis"> <span class="nam">distance</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">array</span><span class="op">(</span><span class="nam">im</span><span class="op">.</span><span class="nam">pixels</span><span class="op">)</span><span class="op">.</span><span class="nam">copy</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t553" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">_logger</span><span class="op">.</span><span class="nam">debug</span><span class="op">(</span><span class="str">'Reshape {}->{}'</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t554" class="pln"> <span class="nam">distance</span><span class="op">.</span><span class="nam">shape</span><span class="op">,</span> <span class="nam">self</span><span class="op">.</span><span class="nam">camera_resolution</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t555" class="stm mis"> <span class="nam">distance</span> <span class="op">=</span> <span class="nam">distance</span><span class="op">.</span><span class="nam">reshape</span><span class="op">(</span><span class="op">[</span><span class="nam">im_height</span><span class="op">,</span> <span class="nam">im_width</span><span class="op">,</span> <span class="op">-</span><span class="num">1</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t556" class="pln"> <span class="com"># Distance are channel independent</span><span class="strut"> </span></p>
+<p id="t557" class="stm mis"> <span class="nam">distance</span> <span class="op">=</span> <span class="nam">distance</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="op">:</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t558" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">_logger</span><span class="op">.</span><span class="nam">debug</span><span class="op">(</span><span class="str">'Distance -> Ok'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t559" class="pln"> <span class="com"># remote image once we read it. To avoid storing all images</span><span class="strut"> </span></p>
+<p id="t560" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">_logger</span><span class="op">.</span><span class="nam">debug</span><span class="op">(</span><span class="str">'Delete file {}'</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">filename</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t561" class="stm mis"> <span class="nam">os</span><span class="op">.</span><span class="nam">remove</span><span class="op">(</span><span class="nam">filename</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t562" class="stm mis"> <span class="key">return</span> <span class="nam">distance</span><span class="op">[</span><span class="op">...</span><span class="op">,</span> <span class="nam">np</span><span class="op">.</span><span class="nam">newaxis</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t563" class="pln"><span class="strut"> </span></p>
+<p id="t564" class="stm mis"> <span class="key">def</span> <span class="nam">update</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span> <span class="nam">posorient</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t565" class="pln"> <span class="str">"""assign the position and the orientation of the camera.</span><span class="strut"> </span></p>
+<p id="t566" class="pln"><span class="strut"> </span></p>
+<p id="t567" class="pln"><span class="str"> : param posorient: is a 1x6 vector containing:</span><span class="strut"> </span></p>
+<p id="t568" class="pln"><span class="str"> *in case of euler angeles the index should be</span><span class="strut"> </span></p>
+<p id="t569" class="pln"><span class="str"> ['location']['x']</span><span class="strut"> </span></p>
+<p id="t570" class="pln"><span class="str"> ['location']['y']</span><span class="strut"> </span></p>
+<p id="t571" class="pln"><span class="str"> ['location']['z']</span><span class="strut"> </span></p>
+<p id="t572" class="pln"><span class="str"> [convention][alpha_0]</span><span class="strut"> </span></p>
+<p id="t573" class="pln"><span class="str"> [convention][alpha_1]</span><span class="strut"> </span></p>
+<p id="t574" class="pln"><span class="str"> [convention][alpha_2]</span><span class="strut"> </span></p>
+<p id="t575" class="pln"><span class="str"> **where convention can be:</span><span class="strut"> </span></p>
+<p id="t576" class="pln"><span class="str"> xyz, xzy, yxz, yzx, zyx, zxy</span><span class="strut"> </span></p>
+<p id="t577" class="pln"><span class="str"> *in case of quaternions the index should be</span><span class="strut"> </span></p>
+<p id="t578" class="pln"><span class="str"> ['location']['x']</span><span class="strut"> </span></p>
+<p id="t579" class="pln"><span class="str"> ['location']['y']</span><span class="strut"> </span></p>
+<p id="t580" class="pln"><span class="str"> ['location']['z']</span><span class="strut"> </span></p>
+<p id="t581" class="pln"><span class="str"> [convention]['q_0']</span><span class="strut"> </span></p>
+<p id="t582" class="pln"><span class="str"> [convention]['q_1']</span><span class="strut"> </span></p>
+<p id="t583" class="pln"><span class="str"> [convention]['q_2']</span><span class="strut"> </span></p>
+<p id="t584" class="pln"><span class="str"> [convention]['q_3']</span><span class="strut"> </span></p>
+<p id="t585" class="pln"><span class="str"> **where convention can be:</span><span class="strut"> </span></p>
+<p id="t586" class="pln"><span class="str"> quaternion</span><span class="strut"> </span></p>
+<p id="t587" class="pln"><span class="str"> here the angles are euler rotation around the axis</span><span class="strut"> </span></p>
+<p id="t588" class="pln"><span class="str"> specified by scene.camera.rotation_mode</span><span class="strut"> </span></p>
+<p id="t589" class="pln"><span class="str"> : type posorient: pandas Series with multi-index</span><span class="strut"> </span></p>
+<p id="t590" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t591" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">_logger</span><span class="op">.</span><span class="nam">info</span><span class="op">(</span><span class="str">'update posorient to {}'</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">posorient</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t592" class="stm mis"> <span class="key">if</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">posorient</span><span class="op">,</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">Series</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t593" class="pln"> <span class="com"># set frame</span><span class="strut"> </span></p>
+<p id="t594" class="stm mis"> <span class="nam">cframe</span> <span class="op">=</span> <span class="nam">int</span><span class="op">(</span><span class="nam">posorient</span><span class="op">.</span><span class="nam">name</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t595" class="stm mis"> <span class="key">if</span> <span class="nam">cframe</span> <span class="op">></span> <span class="nam">bpy</span><span class="op">.</span><span class="nam">context</span><span class="op">.</span><span class="nam">scene</span><span class="op">.</span><span class="nam">frame_end</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t596" class="stm mis"> <span class="nam">bpy</span><span class="op">.</span><span class="nam">context</span><span class="op">.</span><span class="nam">scene</span><span class="op">.</span><span class="nam">frame_end</span> <span class="op">=</span> <span class="nam">cframe</span><span class="strut"> </span></p>
+<p id="t597" class="stm mis"> <span class="key">if</span> <span class="nam">cframe</span> <span class="op"><</span> <span class="nam">bpy</span><span class="op">.</span><span class="nam">context</span><span class="op">.</span><span class="nam">scene</span><span class="op">.</span><span class="nam">frame_start</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t598" class="stm mis"> <span class="nam">bpy</span><span class="op">.</span><span class="nam">context</span><span class="op">.</span><span class="nam">scene</span><span class="op">.</span><span class="nam">frame_start</span> <span class="op">=</span> <span class="nam">cframe</span><span class="strut"> </span></p>
+<p id="t599" class="stm mis"> <span class="nam">bpy</span><span class="op">.</span><span class="nam">context</span><span class="op">.</span><span class="nam">scene</span><span class="op">.</span><span class="nam">frame_current</span> <span class="op">=</span> <span class="nam">cframe</span><span class="strut"> </span></p>
+<p id="t600" class="pln"> <span class="com"># set roation mode</span><span class="strut"> </span></p>
+<p id="t601" class="stm mis"> <span class="nam">conv_found</span> <span class="op">=</span> <span class="key">False</span><span class="strut"> </span></p>
+<p id="t602" class="stm mis"> <span class="nam">index</span> <span class="op">=</span> <span class="nam">posorient</span><span class="op">.</span><span class="nam">index</span><span class="strut"> </span></p>
+<p id="t603" class="stm mis"> <span class="nam">convention</span> <span class="op">=</span> <span class="nam">index</span><span class="op">.</span><span class="nam">get_level_values</span><span class="op">(</span><span class="num">0</span><span class="op">)</span><span class="op">[</span><span class="op">-</span><span class="num">1</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t604" class="stm mis"> <span class="key">for</span> <span class="nam">key</span><span class="op">,</span> <span class="nam">_</span> <span class="key">in</span> <span class="nam">constants</span><span class="op">.</span><span class="nam">_AXES2TUPLE</span><span class="op">.</span><span class="nam">items</span><span class="op">(</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t605" class="stm mis"> <span class="key">if</span> <span class="nam">convention</span> <span class="op">==</span> <span class="nam">key</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t606" class="stm mis"> <span class="nam">conv_found</span> <span class="op">=</span> <span class="key">True</span><span class="strut"> </span></p>
+<p id="t607" class="stm mis"> <span class="key">break</span><span class="strut"> </span></p>
+<p id="t608" class="stm mis"> <span class="key">if</span> <span class="nam">convention</span> <span class="op">==</span> <span class="str">'quaternion'</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t609" class="stm mis"> <span class="nam">conv_found</span> <span class="op">=</span> <span class="key">True</span><span class="strut"> </span></p>
+<p id="t610" class="stm mis"> <span class="key">if</span> <span class="key">not</span> <span class="nam">conv_found</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t611" class="stm mis"> <span class="nam">msg</span> <span class="op">=</span> <span class="str">'The convention {} used for the orientation'</span><span class="strut"> </span></p>
+<p id="t612" class="stm mis"> <span class="nam">msg</span> <span class="op">=</span> <span class="nam">msg</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">convention</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t613" class="stm mis"> <span class="nam">msg</span> <span class="op">+=</span> <span class="str">' is not supported'</span><span class="strut"> </span></p>
+<p id="t614" class="stm mis"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t615" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t616" class="stm mis"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t617" class="pln"> <span class="str">'posorient must be of type array, list, or pandas Series'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t618" class="pln"> <span class="com"># Render</span><span class="strut"> </span></p>
+<p id="t619" class="stm mis"> <span class="nam">rotmat</span> <span class="op">=</span> <span class="nam">compose_matrix</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t620" class="pln"> <span class="nam">angles</span><span class="op">=</span><span class="nam">posorient</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="nam">convention</span><span class="op">]</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t621" class="pln"> <span class="nam">translate</span><span class="op">=</span><span class="nam">posorient</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="str">'location'</span><span class="op">]</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t622" class="pln"> <span class="nam">axes</span><span class="op">=</span><span class="nam">convention</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t623" class="stm mis"> <span class="key">if</span> <span class="nam">self</span><span class="op">.</span><span class="nam">_renderaxis</span> <span class="op">==</span> <span class="str">'+x'</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t624" class="stm mis"> <span class="nam">initrot</span> <span class="op">=</span> <span class="nam">quatmatrix</span><span class="op">(</span><span class="op">[</span><span class="num">0.5</span><span class="op">,</span> <span class="op">-</span><span class="num">0.5</span><span class="op">,</span> <span class="num">0.5</span><span class="op">,</span> <span class="num">0.5</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t625" class="pln"> <span class="com"># The camera is aligned in -z</span><span class="strut"> </span></p>
+<p id="t626" class="pln"> <span class="com"># A rotation along z wll thus roll the camera</span><span class="strut"> </span></p>
+<p id="t627" class="pln"> <span class="com"># Althougth the camera should yaw in such case</span><span class="strut"> </span></p>
+<p id="t628" class="stm mis"> <span class="nam">rotmat</span><span class="op">[</span><span class="op">:</span><span class="num">3</span><span class="op">,</span> <span class="op">:</span><span class="num">3</span><span class="op">]</span> <span class="op">=</span> <span class="nam">rotmat</span><span class="op">[</span><span class="op">:</span><span class="num">3</span><span class="op">,</span> <span class="op">:</span><span class="num">3</span><span class="op">]</span><span class="op">.</span><span class="nam">dot</span><span class="op">(</span><span class="nam">initrot</span><span class="op">[</span><span class="op">:</span><span class="num">3</span><span class="op">,</span> <span class="op">:</span><span class="num">3</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t629" class="pln"> <span class="com"># matrix_world in blender are column-major order</span><span class="strut"> </span></p>
+<p id="t630" class="pln"> <span class="com"># and numpy row-major order</span><span class="strut"> </span></p>
+<p id="t631" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">camera</span><span class="op">.</span><span class="nam">matrix_world</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">transpose</span><span class="op">(</span><span class="nam">rotmat</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t632" class="stm mis"> <span class="nam">bpy</span><span class="op">.</span><span class="nam">ops</span><span class="op">.</span><span class="nam">render</span><span class="op">.</span><span class="nam">render</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t633" class="pln"><span class="strut"> </span></p>
+<p id="t634" class="stm mis"> <span class="key">def</span> <span class="nam">scene</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span> <span class="nam">posorient</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t635" class="pln"> <span class="str">""" update position orientation and return a RGBD image</span><span class="strut"> </span></p>
+<p id="t636" class="pln"><span class="strut"> </span></p>
+<p id="t637" class="pln"><span class="str"> : param posorient: is a 1x6 vector containing:</span><span class="strut"> </span></p>
+<p id="t638" class="pln"><span class="str"> x, y, z, angle_1, angle_2, angle_3,</span><span class="strut"> </span></p>
+<p id="t639" class="pln"><span class="str"> here the angles are euler rotation around the axis</span><span class="strut"> </span></p>
+<p id="t640" class="pln"><span class="str"> specified by scene.camera.rotation_mode</span><span class="strut"> </span></p>
+<p id="t641" class="pln"><span class="str"> : type posorient: 1x6 double array</span><span class="strut"> </span></p>
+<p id="t642" class="pln"><span class="str"> : returns: a(height, width, channel) array here the last channel \</span><span class="strut"> </span></p>
+<p id="t643" class="pln"><span class="str">is the distance.</span><span class="strut"> </span></p>
+<p id="t644" class="pln"><span class="str"> : rtype: a double numpy array</span><span class="strut"> </span></p>
+<p id="t645" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t646" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">_logger</span><span class="op">.</span><span class="nam">info</span><span class="op">(</span><span class="str">'get a scene'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t647" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">update</span><span class="op">(</span><span class="nam">posorient</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t648" class="stm mis"> <span class="nam">toreturn</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">concatenate</span><span class="op">(</span><span class="op">(</span><span class="nam">self</span><span class="op">.</span><span class="nam">image</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t649" class="pln"> <span class="nam">self</span><span class="op">.</span><span class="nam">distance</span><span class="op">)</span><span class="op">,</span> <span class="nam">axis</span><span class="op">=</span><span class="num">2</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t650" class="stm mis"> <span class="nam">ninffound</span> <span class="op">=</span> <span class="num">0</span><span class="strut"> </span></p>
+<p id="t651" class="stm mis"> <span class="key">for</span> <span class="nam">chan_i</span> <span class="key">in</span> <span class="nam">range</span><span class="op">(</span><span class="num">4</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t652" class="stm mis"> <span class="nam">cim</span> <span class="op">=</span> <span class="nam">toreturn</span><span class="op">[</span><span class="op">...</span><span class="op">,</span> <span class="nam">chan_i</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t653" class="stm mis"> <span class="nam">cmax</span> <span class="op">=</span> <span class="nam">cim</span><span class="op">.</span><span class="nam">max</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t654" class="stm mis"> <span class="key">if</span> <span class="nam">np</span><span class="op">.</span><span class="nam">isinf</span><span class="op">(</span><span class="nam">cmax</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t655" class="stm mis"> <span class="nam">ninffound</span> <span class="op">+=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">sum</span><span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">isinf</span><span class="op">(</span><span class="nam">cim</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t656" class="stm mis"> <span class="nam">cmax</span> <span class="op">=</span> <span class="nam">cim</span><span class="op">[</span><span class="nam">np</span><span class="op">.</span><span class="nam">isinf</span><span class="op">(</span><span class="nam">cim</span><span class="op">)</span> <span class="op">==</span> <span class="num">0</span><span class="op">]</span><span class="op">.</span><span class="nam">max</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t657" class="stm mis"> <span class="nam">toreturn</span><span class="op">[</span><span class="nam">np</span><span class="op">.</span><span class="nam">isinf</span><span class="op">(</span><span class="nam">cim</span><span class="op">)</span> <span class="op">==</span> <span class="num">1</span><span class="op">]</span> <span class="op">=</span> <span class="nam">cmax</span><span class="strut"> </span></p>
+<p id="t658" class="stm mis"> <span class="key">if</span> <span class="nam">ninffound</span> <span class="op">></span> <span class="num">0</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t659" class="stm mis"> <span class="nam">warnings</span><span class="op">.</span><span class="nam">warn</span><span class="op">(</span><span class="str">'{} Inf found in image'</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">ninffound</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t660" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">_logger</span><span class="op">.</span><span class="nam">info</span><span class="op">(</span><span class="str">'Scene -> Ok'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t661" class="stm mis"> <span class="key">return</span> <span class="nam">toreturn</span><span class="op">[</span><span class="op">...</span><span class="op">,</span> <span class="nam">np</span><span class="op">.</span><span class="nam">newaxis</span><span class="op">]</span><span class="strut"> </span></p>
+
+ </td>
+ </tr>
+ </table>
+</div>
+
+<div id="footer">
+ <div class="content">
+ <p>
+ <a class="nav" href="index.html">« index</a> <a class="nav" href="https://coverage.readthedocs.io">coverage.py v4.5.2</a>,
+ created at 2019-01-13 14:34
+ </p>
+ </div>
+</div>
+
+</body>
+</html>
diff --git a/coverage_html_report/navipy_tools___init___py.html b/coverage_html_report/navipy_tools___init___py.html
new file mode 100644
index 0000000000000000000000000000000000000000..5ac8a721fad77abc464a79ed25bb735d3fd177b4
--- /dev/null
+++ b/coverage_html_report/navipy_tools___init___py.html
@@ -0,0 +1,231 @@
+
+
+
+<!DOCTYPE html>
+<html>
+<head>
+ <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
+
+
+ <meta http-equiv="X-UA-Compatible" content="IE=emulateIE7" />
+ <title>Coverage for navipy/tools/__init__.py: 13%</title>
+ <link rel="stylesheet" href="style.css" type="text/css">
+
+ <script type="text/javascript" src="jquery.min.js"></script>
+ <script type="text/javascript" src="jquery.hotkeys.js"></script>
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+ <script type="text/javascript">
+ jQuery(document).ready(coverage.pyfile_ready);
+ </script>
+</head>
+<body class="pyfile">
+
+<div id="header">
+ <div class="content">
+ <h1>Coverage for <b>navipy/tools/__init__.py</b> :
+ <span class="pc_cov">13%</span>
+ </h1>
+
+ <img id="keyboard_icon" src="keybd_closed.png" alt="Show keyboard shortcuts" />
+
+ <h2 class="stats">
+ 31 statements
+ <span class="run hide_run shortkey_r button_toggle_run">4 run</span>
+ <span class="mis shortkey_m button_toggle_mis">27 missing</span>
+ <span class="exc shortkey_x button_toggle_exc">0 excluded</span>
+
+
+ </h2>
+ </div>
+</div>
+
+<div class="help_panel">
+ <img id="panel_icon" src="keybd_open.png" alt="Hide keyboard shortcuts" />
+ <p class="legend">Hot-keys on this page</p>
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+ <table>
+ <tr>
+ <td class="linenos">
+<p id="n1" class="pln"><a href="#n1">1</a></p>
+<p id="n2" class="pln"><a href="#n2">2</a></p>
+<p id="n3" class="pln"><a href="#n3">3</a></p>
+<p id="n4" class="stm run hide_run"><a href="#n4">4</a></p>
+<p id="n5" class="stm run hide_run"><a href="#n5">5</a></p>
+<p id="n6" class="pln"><a href="#n6">6</a></p>
+<p id="n7" class="pln"><a href="#n7">7</a></p>
+<p id="n8" class="stm run hide_run"><a href="#n8">8</a></p>
+<p id="n9" class="pln"><a href="#n9">9</a></p>
+<p id="n10" class="pln"><a href="#n10">10</a></p>
+<p id="n11" class="pln"><a href="#n11">11</a></p>
+<p id="n12" class="pln"><a href="#n12">12</a></p>
+<p id="n13" class="pln"><a href="#n13">13</a></p>
+<p id="n14" class="pln"><a href="#n14">14</a></p>
+<p id="n15" class="pln"><a href="#n15">15</a></p>
+<p id="n16" class="pln"><a href="#n16">16</a></p>
+<p id="n17" class="pln"><a href="#n17">17</a></p>
+<p id="n18" class="pln"><a href="#n18">18</a></p>
+<p id="n19" class="pln"><a href="#n19">19</a></p>
+<p id="n20" class="pln"><a href="#n20">20</a></p>
+<p id="n21" class="pln"><a href="#n21">21</a></p>
+<p id="n22" class="stm mis"><a href="#n22">22</a></p>
+<p id="n23" class="stm mis"><a href="#n23">23</a></p>
+<p id="n24" class="pln"><a href="#n24">24</a></p>
+<p id="n25" class="pln"><a href="#n25">25</a></p>
+<p id="n26" class="pln"><a href="#n26">26</a></p>
+<p id="n27" class="pln"><a href="#n27">27</a></p>
+<p id="n28" class="stm mis"><a href="#n28">28</a></p>
+<p id="n29" class="pln"><a href="#n29">29</a></p>
+<p id="n30" class="stm mis"><a href="#n30">30</a></p>
+<p id="n31" class="stm mis"><a href="#n31">31</a></p>
+<p id="n32" class="stm mis"><a href="#n32">32</a></p>
+<p id="n33" class="pln"><a href="#n33">33</a></p>
+<p id="n34" class="stm mis"><a href="#n34">34</a></p>
+<p id="n35" class="stm mis"><a href="#n35">35</a></p>
+<p id="n36" class="pln"><a href="#n36">36</a></p>
+<p id="n37" class="stm mis"><a href="#n37">37</a></p>
+<p id="n38" class="pln"><a href="#n38">38</a></p>
+<p id="n39" class="pln"><a href="#n39">39</a></p>
+<p id="n40" class="stm mis"><a href="#n40">40</a></p>
+<p id="n41" class="pln"><a href="#n41">41</a></p>
+<p id="n42" class="pln"><a href="#n42">42</a></p>
+<p id="n43" class="stm mis"><a href="#n43">43</a></p>
+<p id="n44" class="stm mis"><a href="#n44">44</a></p>
+<p id="n45" class="stm mis"><a href="#n45">45</a></p>
+<p id="n46" class="stm mis"><a href="#n46">46</a></p>
+<p id="n47" class="pln"><a href="#n47">47</a></p>
+<p id="n48" class="pln"><a href="#n48">48</a></p>
+<p id="n49" class="stm mis"><a href="#n49">49</a></p>
+<p id="n50" class="stm mis"><a href="#n50">50</a></p>
+<p id="n51" class="pln"><a href="#n51">51</a></p>
+<p id="n52" class="stm mis"><a href="#n52">52</a></p>
+<p id="n53" class="pln"><a href="#n53">53</a></p>
+<p id="n54" class="stm mis"><a href="#n54">54</a></p>
+<p id="n55" class="stm mis"><a href="#n55">55</a></p>
+<p id="n56" class="pln"><a href="#n56">56</a></p>
+<p id="n57" class="stm mis"><a href="#n57">57</a></p>
+<p id="n58" class="pln"><a href="#n58">58</a></p>
+<p id="n59" class="stm mis"><a href="#n59">59</a></p>
+<p id="n60" class="stm mis"><a href="#n60">60</a></p>
+<p id="n61" class="pln"><a href="#n61">61</a></p>
+<p id="n62" class="stm mis"><a href="#n62">62</a></p>
+<p id="n63" class="pln"><a href="#n63">63</a></p>
+<p id="n64" class="stm mis"><a href="#n64">64</a></p>
+<p id="n65" class="stm mis"><a href="#n65">65</a></p>
+<p id="n66" class="pln"><a href="#n66">66</a></p>
+<p id="n67" class="stm mis"><a href="#n67">67</a></p>
+<p id="n68" class="pln"><a href="#n68">68</a></p>
+<p id="n69" class="pln"><a href="#n69">69</a></p>
+<p id="n70" class="stm run hide_run"><a href="#n70">70</a></p>
+<p id="n71" class="stm mis"><a href="#n71">71</a></p>
+
+ </td>
+ <td class="text">
+<p id="t1" class="pln"><span class="str">"""</span><span class="strut"> </span></p>
+<p id="t2" class="pln"><span class="str">Some tools</span><span class="strut"> </span></p>
+<p id="t3" class="pln"><span class="str">"""</span><span class="strut"> </span></p>
+<p id="t4" class="stm run hide_run"><span class="key">import</span> <span class="nam">pandas</span> <span class="key">as</span> <span class="nam">pd</span><span class="strut"> </span></p>
+<p id="t5" class="stm run hide_run"><span class="key">import</span> <span class="nam">numpy</span> <span class="key">as</span> <span class="nam">np</span><span class="strut"> </span></p>
+<p id="t6" class="pln"><span class="strut"> </span></p>
+<p id="t7" class="pln"><span class="strut"> </span></p>
+<p id="t8" class="stm run hide_run"><span class="key">def</span> <span class="nam">extract_block</span><span class="op">(</span><span class="nam">data</span><span class="op">,</span> <span class="nam">thresholds</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t9" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t10" class="pln"><span class="str"> data is a pandas series with integer consecutive indexes</span><span class="strut"> </span></p>
+<p id="t11" class="pln"><span class="strut"> </span></p>
+<p id="t12" class="pln"><span class="str"> return a dataframe, index by block containing block start and end</span><span class="strut"> </span></p>
+<p id="t13" class="pln"><span class="str"> a block is defined as:</span><span class="strut"> </span></p>
+<p id="t14" class="pln"><span class="str"> - data are greater than threshold_1</span><span class="strut"> </span></p>
+<p id="t15" class="pln"><span class="str"> - extend to the last value of data below threshold_2 \</span><span class="strut"> </span></p>
+<p id="t16" class="pln"><span class="str">before the block</span><span class="strut"> </span></p>
+<p id="t17" class="pln"><span class="str"> - extend to the first value of data below threshold_2 \</span><span class="strut"> </span></p>
+<p id="t18" class="pln"><span class="str">after the block</span><span class="strut"> </span></p>
+<p id="t19" class="pln"><span class="strut"> </span></p>
+<p id="t20" class="pln"><span class="str"> threshold_1 should be higher than threshold_2</span><span class="strut"> </span></p>
+<p id="t21" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t22" class="stm mis"> <span class="nam">threshold_2</span> <span class="op">=</span> <span class="nam">min</span><span class="op">(</span><span class="nam">thresholds</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t23" class="stm mis"> <span class="nam">threshold_1</span> <span class="op">=</span> <span class="nam">max</span><span class="op">(</span><span class="nam">thresholds</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t24" class="pln"><span class="strut"> </span></p>
+<p id="t25" class="pln"> <span class="com"># create a dataframe containing:</span><span class="strut"> </span></p>
+<p id="t26" class="pln"> <span class="com"># in column th_1: 1 for data above th_1, nan other wise</span><span class="strut"> </span></p>
+<p id="t27" class="pln"> <span class="com"># in column th_2: 1 for data below th_2, nan other wise</span><span class="strut"> </span></p>
+<p id="t28" class="stm mis"> <span class="nam">treshold_df</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">DataFrame</span><span class="op">(</span><span class="nam">index</span><span class="op">=</span><span class="nam">data</span><span class="op">.</span><span class="nam">index</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t29" class="pln"> <span class="nam">columns</span><span class="op">=</span><span class="op">[</span><span class="str">'th_1'</span><span class="op">,</span> <span class="str">'th_2'</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t30" class="stm mis"> <span class="nam">treshold_df</span><span class="op">.</span><span class="nam">th_1</span><span class="op">[</span><span class="nam">data</span> <span class="op">></span> <span class="nam">threshold_1</span><span class="op">]</span> <span class="op">=</span> <span class="num">1</span><span class="strut"> </span></p>
+<p id="t31" class="stm mis"> <span class="nam">treshold_df</span><span class="op">.</span><span class="nam">th_2</span><span class="op">[</span><span class="nam">data</span> <span class="op"><=</span> <span class="nam">threshold_2</span><span class="op">]</span> <span class="op">=</span> <span class="num">1</span><span class="strut"> </span></p>
+<p id="t32" class="stm mis"> <span class="nam">treshold_df</span><span class="op">[</span><span class="str">'frame'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">treshold_df</span><span class="op">.</span><span class="nam">index</span><span class="strut"> </span></p>
+<p id="t33" class="pln"> <span class="com"># Calculate unextended block</span><span class="strut"> </span></p>
+<p id="t34" class="stm mis"> <span class="nam">subdf</span> <span class="op">=</span> <span class="nam">treshold_df</span><span class="op">[</span><span class="op">[</span><span class="str">'th_1'</span><span class="op">,</span> <span class="str">'frame'</span><span class="op">]</span><span class="op">]</span><span class="op">.</span><span class="nam">dropna</span><span class="op">(</span><span class="nam">how</span><span class="op">=</span><span class="str">'any'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t35" class="stm mis"> <span class="nam">start_block</span> <span class="op">=</span> <span class="nam">subdf</span><span class="op">.</span><span class="nam">frame</span><span class="op">[</span><span class="op">(</span><span class="nam">subdf</span><span class="op">.</span><span class="nam">frame</span><span class="op">.</span><span class="nam">diff</span><span class="op">(</span><span class="op">)</span> <span class="op">></span> <span class="num">1</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t36" class="pln"> <span class="op">|</span> <span class="op">(</span><span class="nam">subdf</span><span class="op">.</span><span class="nam">frame</span><span class="op">.</span><span class="nam">diff</span><span class="op">(</span><span class="op">)</span><span class="op">.</span><span class="nam">isnull</span><span class="op">(</span><span class="op">)</span><span class="op">)</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t37" class="stm mis"> <span class="nam">end_block</span> <span class="op">=</span> <span class="nam">subdf</span><span class="op">.</span><span class="nam">frame</span><span class="op">[</span><span class="op">(</span><span class="nam">subdf</span><span class="op">.</span><span class="nam">frame</span><span class="op">[</span><span class="op">:</span><span class="op">:</span><span class="op">-</span><span class="num">1</span><span class="op">]</span><span class="op">.</span><span class="nam">diff</span><span class="op">(</span><span class="op">)</span> <span class="op"><</span> <span class="op">-</span><span class="num">1</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t38" class="pln"> <span class="op">|</span> <span class="op">(</span><span class="nam">subdf</span><span class="op">.</span><span class="nam">frame</span><span class="op">[</span><span class="op">:</span><span class="op">:</span><span class="op">-</span><span class="num">1</span><span class="op">]</span><span class="op">.</span><span class="nam">diff</span><span class="op">(</span><span class="op">)</span><span class="op">.</span><span class="nam">isnull</span><span class="op">(</span><span class="op">)</span><span class="op">)</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t39" class="pln"><span class="strut"> </span></p>
+<p id="t40" class="stm mis"> <span class="nam">block_df</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">DataFrame</span><span class="op">(</span><span class="op">{</span><span class="str">'start_th1'</span><span class="op">:</span> <span class="nam">start_block</span><span class="op">.</span><span class="nam">reset_index</span><span class="op">(</span><span class="op">)</span><span class="op">.</span><span class="nam">frame</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t41" class="pln"> <span class="str">'end_th1'</span><span class="op">:</span> <span class="nam">end_block</span><span class="op">.</span><span class="nam">reset_index</span><span class="op">(</span><span class="op">)</span><span class="op">.</span><span class="nam">frame</span><span class="op">}</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t42" class="pln"> <span class="com"># extend block based on th_2</span><span class="strut"> </span></p>
+<p id="t43" class="stm mis"> <span class="nam">block_df</span><span class="op">[</span><span class="str">'end_th2'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">nan</span><span class="strut"> </span></p>
+<p id="t44" class="stm mis"> <span class="nam">block_df</span><span class="op">[</span><span class="str">'start_th2'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">nan</span><span class="strut"> </span></p>
+<p id="t45" class="stm mis"> <span class="key">for</span> <span class="nam">i</span><span class="op">,</span> <span class="nam">row</span> <span class="key">in</span> <span class="nam">block_df</span><span class="op">.</span><span class="nam">iterrows</span><span class="op">(</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t46" class="stm mis"> <span class="nam">point_below_th2</span> <span class="op">=</span> <span class="nam">treshold_df</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="op">:</span><span class="nam">row</span><span class="op">.</span><span class="nam">start_th1</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t47" class="pln"> <span class="str">'th_2'</span><span class="op">]</span><span class="op">.</span><span class="nam">dropna</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t48" class="pln"> <span class="com"># check if a point is below th2</span><span class="strut"> </span></p>
+<p id="t49" class="stm mis"> <span class="key">if</span> <span class="nam">len</span><span class="op">(</span><span class="nam">point_below_th2</span><span class="op">)</span> <span class="op">></span> <span class="num">0</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t50" class="stm mis"> <span class="nam">start_th2</span> <span class="op">=</span> <span class="nam">point_below_th2</span><span class="op">.</span><span class="nam">index</span><span class="op">[</span><span class="op">-</span><span class="num">1</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t51" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t52" class="stm mis"> <span class="nam">start_th2</span> <span class="op">=</span> <span class="nam">row</span><span class="op">.</span><span class="nam">start_th1</span><span class="strut"> </span></p>
+<p id="t53" class="pln"> <span class="com"># Check if the point is before th1</span><span class="strut"> </span></p>
+<p id="t54" class="stm mis"> <span class="key">if</span> <span class="nam">start_th2</span> <span class="op"><=</span> <span class="nam">row</span><span class="op">.</span><span class="nam">start_th1</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t55" class="stm mis"> <span class="nam">block_df</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="nam">i</span><span class="op">,</span> <span class="str">'start_th2'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">start_th2</span><span class="strut"> </span></p>
+<p id="t56" class="pln"><span class="strut"> </span></p>
+<p id="t57" class="stm mis"> <span class="nam">point_below_th2</span> <span class="op">=</span> <span class="nam">treshold_df</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="nam">row</span><span class="op">.</span><span class="nam">start_th1</span><span class="op">:</span><span class="op">,</span> <span class="str">'th_2'</span><span class="op">]</span><span class="op">.</span><span class="nam">dropna</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t58" class="pln"> <span class="com"># check if a point is below th2</span><span class="strut"> </span></p>
+<p id="t59" class="stm mis"> <span class="key">if</span> <span class="nam">len</span><span class="op">(</span><span class="nam">point_below_th2</span><span class="op">)</span> <span class="op">></span> <span class="num">0</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t60" class="stm mis"> <span class="nam">end_th2</span> <span class="op">=</span> <span class="nam">point_below_th2</span><span class="op">.</span><span class="nam">index</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t61" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t62" class="stm mis"> <span class="nam">end_th2</span> <span class="op">=</span> <span class="nam">row</span><span class="op">.</span><span class="nam">end_th1</span><span class="strut"> </span></p>
+<p id="t63" class="pln"> <span class="com"># Check if the point is after th1</span><span class="strut"> </span></p>
+<p id="t64" class="stm mis"> <span class="key">if</span> <span class="nam">end_th2</span> <span class="op">>=</span> <span class="nam">row</span><span class="op">.</span><span class="nam">end_th1</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t65" class="stm mis"> <span class="nam">block_df</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="nam">i</span><span class="op">,</span> <span class="str">'end_th2'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">end_th2</span><span class="strut"> </span></p>
+<p id="t66" class="pln"><span class="strut"> </span></p>
+<p id="t67" class="stm mis"> <span class="key">return</span> <span class="nam">block_df</span><span class="strut"> </span></p>
+<p id="t68" class="pln"><span class="strut"> </span></p>
+<p id="t69" class="pln"><span class="strut"> </span></p>
+<p id="t70" class="stm run hide_run"><span class="key">def</span> <span class="nam">extract_block_nonans</span><span class="op">(</span><span class="nam">data</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t71" class="stm mis"> <span class="key">return</span> <span class="nam">extract_block</span><span class="op">(</span><span class="nam">data</span><span class="op">.</span><span class="nam">isnull</span><span class="op">(</span><span class="op">)</span> <span class="op">==</span> <span class="num">0</span><span class="op">,</span> <span class="nam">thresholds</span><span class="op">=</span><span class="op">[</span><span class="num">0.4</span><span class="op">,</span> <span class="num">0.5</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+
+ </td>
+ </tr>
+ </table>
+</div>
+
+<div id="footer">
+ <div class="content">
+ <p>
+ <a class="nav" href="index.html">« index</a> <a class="nav" href="https://coverage.readthedocs.io">coverage.py v4.5.2</a>,
+ created at 2019-01-13 14:34
+ </p>
+ </div>
+</div>
+
+</body>
+</html>
diff --git a/coverage_html_report/navipy_tools_plots_py.html b/coverage_html_report/navipy_tools_plots_py.html
new file mode 100644
index 0000000000000000000000000000000000000000..8db396c3d5bd4014c3eeb0fb3be822ff328c4a91
--- /dev/null
+++ b/coverage_html_report/navipy_tools_plots_py.html
@@ -0,0 +1,347 @@
+
+
+
+<!DOCTYPE html>
+<html>
+<head>
+ <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
+
+
+ <meta http-equiv="X-UA-Compatible" content="IE=emulateIE7" />
+ <title>Coverage for navipy/tools/plots.py: 24%</title>
+ <link rel="stylesheet" href="style.css" type="text/css">
+
+ <script type="text/javascript" src="jquery.min.js"></script>
+ <script type="text/javascript" src="jquery.hotkeys.js"></script>
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+ </script>
+</head>
+<body class="pyfile">
+
+<div id="header">
+ <div class="content">
+ <h1>Coverage for <b>navipy/tools/plots.py</b> :
+ <span class="pc_cov">24%</span>
+ </h1>
+
+ <img id="keyboard_icon" src="keybd_closed.png" alt="Show keyboard shortcuts" />
+
+ <h2 class="stats">
+ 46 statements
+ <span class="run hide_run shortkey_r button_toggle_run">11 run</span>
+ <span class="mis shortkey_m button_toggle_mis">35 missing</span>
+ <span class="exc shortkey_x button_toggle_exc">0 excluded</span>
+
+
+ </h2>
+ </div>
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+<p id="n2" class="pln"><a href="#n2">2</a></p>
+<p id="n3" class="stm run hide_run"><a href="#n3">3</a></p>
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+<p id="n9" class="pln"><a href="#n9">9</a></p>
+<p id="n10" class="stm run hide_run"><a href="#n10">10</a></p>
+<p id="n11" class="pln"><a href="#n11">11</a></p>
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+<p id="n17" class="pln"><a href="#n17">17</a></p>
+<p id="n18" class="pln"><a href="#n18">18</a></p>
+<p id="n19" class="pln"><a href="#n19">19</a></p>
+<p id="n20" class="pln"><a href="#n20">20</a></p>
+<p id="n21" class="pln"><a href="#n21">21</a></p>
+<p id="n22" class="pln"><a href="#n22">22</a></p>
+<p id="n23" class="pln"><a href="#n23">23</a></p>
+<p id="n24" class="pln"><a href="#n24">24</a></p>
+<p id="n25" class="pln"><a href="#n25">25</a></p>
+<p id="n26" class="pln"><a href="#n26">26</a></p>
+<p id="n27" class="pln"><a href="#n27">27</a></p>
+<p id="n28" class="pln"><a href="#n28">28</a></p>
+<p id="n29" class="pln"><a href="#n29">29</a></p>
+<p id="n30" class="pln"><a href="#n30">30</a></p>
+<p id="n31" class="pln"><a href="#n31">31</a></p>
+<p id="n32" class="pln"><a href="#n32">32</a></p>
+<p id="n33" class="pln"><a href="#n33">33</a></p>
+<p id="n34" class="pln"><a href="#n34">34</a></p>
+<p id="n35" class="pln"><a href="#n35">35</a></p>
+<p id="n36" class="pln"><a href="#n36">36</a></p>
+<p id="n37" class="stm mis"><a href="#n37">37</a></p>
+<p id="n38" class="pln"><a href="#n38">38</a></p>
+<p id="n39" class="stm mis"><a href="#n39">39</a></p>
+<p id="n40" class="stm mis"><a href="#n40">40</a></p>
+<p id="n41" class="pln"><a href="#n41">41</a></p>
+<p id="n42" class="pln"><a href="#n42">42</a></p>
+<p id="n43" class="stm run hide_run"><a href="#n43">43</a></p>
+<p id="n44" class="pln"><a href="#n44">44</a></p>
+<p id="n45" class="pln"><a href="#n45">45</a></p>
+<p id="n46" class="pln"><a href="#n46">46</a></p>
+<p id="n47" class="pln"><a href="#n47">47</a></p>
+<p id="n48" class="pln"><a href="#n48">48</a></p>
+<p id="n49" class="pln"><a href="#n49">49</a></p>
+<p id="n50" class="pln"><a href="#n50">50</a></p>
+<p id="n51" class="pln"><a href="#n51">51</a></p>
+<p id="n52" class="pln"><a href="#n52">52</a></p>
+<p id="n53" class="pln"><a href="#n53">53</a></p>
+<p id="n54" class="pln"><a href="#n54">54</a></p>
+<p id="n55" class="pln"><a href="#n55">55</a></p>
+<p id="n56" class="pln"><a href="#n56">56</a></p>
+<p id="n57" class="pln"><a href="#n57">57</a></p>
+<p id="n58" class="pln"><a href="#n58">58</a></p>
+<p id="n59" class="pln"><a href="#n59">59</a></p>
+<p id="n60" class="pln"><a href="#n60">60</a></p>
+<p id="n61" class="pln"><a href="#n61">61</a></p>
+<p id="n62" class="pln"><a href="#n62">62</a></p>
+<p id="n63" class="pln"><a href="#n63">63</a></p>
+<p id="n64" class="pln"><a href="#n64">64</a></p>
+<p id="n65" class="pln"><a href="#n65">65</a></p>
+<p id="n66" class="pln"><a href="#n66">66</a></p>
+<p id="n67" class="pln"><a href="#n67">67</a></p>
+<p id="n68" class="pln"><a href="#n68">68</a></p>
+<p id="n69" class="stm mis"><a href="#n69">69</a></p>
+<p id="n70" class="pln"><a href="#n70">70</a></p>
+<p id="n71" class="stm mis"><a href="#n71">71</a></p>
+<p id="n72" class="pln"><a href="#n72">72</a></p>
+<p id="n73" class="stm mis"><a href="#n73">73</a></p>
+<p id="n74" class="stm mis"><a href="#n74">74</a></p>
+<p id="n75" class="pln"><a href="#n75">75</a></p>
+<p id="n76" class="stm mis"><a href="#n76">76</a></p>
+<p id="n77" class="stm mis"><a href="#n77">77</a></p>
+<p id="n78" class="pln"><a href="#n78">78</a></p>
+<p id="n79" class="stm mis"><a href="#n79">79</a></p>
+<p id="n80" class="pln"><a href="#n80">80</a></p>
+<p id="n81" class="pln"><a href="#n81">81</a></p>
+<p id="n82" class="pln"><a href="#n82">82</a></p>
+<p id="n83" class="stm mis"><a href="#n83">83</a></p>
+<p id="n84" class="pln"><a href="#n84">84</a></p>
+<p id="n85" class="pln"><a href="#n85">85</a></p>
+<p id="n86" class="pln"><a href="#n86">86</a></p>
+<p id="n87" class="pln"><a href="#n87">87</a></p>
+<p id="n88" class="stm mis"><a href="#n88">88</a></p>
+<p id="n89" class="pln"><a href="#n89">89</a></p>
+<p id="n90" class="stm mis"><a href="#n90">90</a></p>
+<p id="n91" class="pln"><a href="#n91">91</a></p>
+<p id="n92" class="pln"><a href="#n92">92</a></p>
+<p id="n93" class="stm run hide_run"><a href="#n93">93</a></p>
+<p id="n94" class="stm run hide_run"><a href="#n94">94</a></p>
+<p id="n95" class="stm mis"><a href="#n95">95</a></p>
+<p id="n96" class="stm mis"><a href="#n96">96</a></p>
+<p id="n97" class="pln"><a href="#n97">97</a></p>
+<p id="n98" class="stm run hide_run"><a href="#n98">98</a></p>
+<p id="n99" class="stm mis"><a href="#n99">99</a></p>
+<p id="n100" class="stm mis"><a href="#n100">100</a></p>
+<p id="n101" class="stm mis"><a href="#n101">101</a></p>
+<p id="n102" class="stm mis"><a href="#n102">102</a></p>
+<p id="n103" class="pln"><a href="#n103">103</a></p>
+<p id="n104" class="pln"><a href="#n104">104</a></p>
+<p id="n105" class="stm run hide_run"><a href="#n105">105</a></p>
+<p id="n106" class="pln"><a href="#n106">106</a></p>
+<p id="n107" class="pln"><a href="#n107">107</a></p>
+<p id="n108" class="pln"><a href="#n108">108</a></p>
+<p id="n109" class="stm mis"><a href="#n109">109</a></p>
+<p id="n110" class="stm mis"><a href="#n110">110</a></p>
+<p id="n111" class="stm mis"><a href="#n111">111</a></p>
+<p id="n112" class="stm mis"><a href="#n112">112</a></p>
+<p id="n113" class="stm mis"><a href="#n113">113</a></p>
+<p id="n114" class="stm mis"><a href="#n114">114</a></p>
+<p id="n115" class="stm mis"><a href="#n115">115</a></p>
+<p id="n116" class="stm mis"><a href="#n116">116</a></p>
+<p id="n117" class="pln"><a href="#n117">117</a></p>
+<p id="n118" class="stm mis"><a href="#n118">118</a></p>
+<p id="n119" class="stm mis"><a href="#n119">119</a></p>
+<p id="n120" class="stm mis"><a href="#n120">120</a></p>
+<p id="n121" class="stm mis"><a href="#n121">121</a></p>
+<p id="n122" class="stm mis"><a href="#n122">122</a></p>
+<p id="n123" class="stm mis"><a href="#n123">123</a></p>
+<p id="n124" class="stm mis"><a href="#n124">124</a></p>
+<p id="n125" class="pln"><a href="#n125">125</a></p>
+<p id="n126" class="pln"><a href="#n126">126</a></p>
+<p id="n127" class="pln"><a href="#n127">127</a></p>
+<p id="n128" class="pln"><a href="#n128">128</a></p>
+<p id="n129" class="stm mis"><a href="#n129">129</a></p>
+
+ </td>
+ <td class="text">
+<p id="t1" class="pln"><span class="str">"""</span><span class="strut"> </span></p>
+<p id="t2" class="pln"><span class="str">"""</span><span class="strut"> </span></p>
+<p id="t3" class="stm run hide_run"><span class="key">import</span> <span class="nam">matplotlib</span><span class="op">.</span><span class="nam">pyplot</span> <span class="key">as</span> <span class="nam">plt</span><span class="strut"> </span></p>
+<p id="t4" class="stm run hide_run"><span class="key">from</span> <span class="nam">matplotlib</span><span class="op">.</span><span class="nam">patches</span> <span class="key">import</span> <span class="nam">FancyArrowPatch</span><span class="strut"> </span></p>
+<p id="t5" class="stm run hide_run"><span class="key">from</span> <span class="nam">mpl_toolkits</span><span class="op">.</span><span class="nam">mplot3d</span> <span class="key">import</span> <span class="nam">proj3d</span><span class="strut"> </span></p>
+<p id="t6" class="stm run hide_run"><span class="key">import</span> <span class="nam">numpy</span> <span class="key">as</span> <span class="nam">np</span><span class="strut"> </span></p>
+<p id="t7" class="stm run hide_run"><span class="key">import</span> <span class="nam">pandas</span> <span class="key">as</span> <span class="nam">pd</span><span class="strut"> </span></p>
+<p id="t8" class="pln"><span class="strut"> </span></p>
+<p id="t9" class="pln"><span class="strut"> </span></p>
+<p id="t10" class="stm run hide_run"><span class="key">def</span> <span class="nam">get_color_frame_dataframe</span><span class="op">(</span><span class="nam">frame_range</span><span class="op">=</span><span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="num">100</span><span class="op">]</span><span class="op">,</span> <span class="nam">cmap</span><span class="op">=</span><span class="nam">plt</span><span class="op">.</span><span class="nam">get_cmap</span><span class="op">(</span><span class="str">'jet'</span><span class="op">)</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t11" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t12" class="pln"><span class="strut"> </span></p>
+<p id="t13" class="pln"><span class="str">Get a colorframe from a range</span><span class="strut"> </span></p>
+<p id="t14" class="pln"><span class="strut"> </span></p>
+<p id="t15" class="pln"><span class="strut"> </span></p>
+<p id="t16" class="pln"><span class="str">Return a pandas dataframe indexed by frame number,here colors are \</span><span class="strut"> </span></p>
+<p id="t17" class="pln"><span class="str">calculated from a matplotlib cmap generates a pandas data frame \</span><span class="strut"> </span></p>
+<p id="t18" class="pln"><span class="str">representing the data frames specified in frame_range, where all \</span><span class="strut"> </span></p>
+<p id="t19" class="pln"><span class="str">frames with an index between the maximum and minimum number given \</span><span class="strut"> </span></p>
+<p id="t20" class="pln"><span class="str">in frame_range is considered. This pandas data frame is then used \</span><span class="strut"> </span></p>
+<p id="t21" class="pln"><span class="str">to call get_color_dataframe()</span><span class="strut"> </span></p>
+<p id="t22" class="pln"><span class="strut"> </span></p>
+<p id="t23" class="pln"><span class="str">calls get_color_dataframe()</span><span class="strut"> </span></p>
+<p id="t24" class="pln"><span class="strut"> </span></p>
+<p id="t25" class="pln"><span class="str">Arguments</span><span class="strut"> </span></p>
+<p id="t26" class="pln"><span class="strut"> </span></p>
+<p id="t27" class="pln"><span class="str"> - Input:</span><span class="strut"> </span></p>
+<p id="t28" class="pln"><span class="str"> - frame_range: (default: 0 to 100), 1 dimensional \</span><span class="strut"> </span></p>
+<p id="t29" class="pln"><span class="str">array of integers</span><span class="strut"> </span></p>
+<p id="t30" class="pln"><span class="str"> - cmap: (default: jet colormap) colormap to be used</span><span class="strut"> </span></p>
+<p id="t31" class="pln"><span class="strut"> </span></p>
+<p id="t32" class="pln"><span class="str"> - Output:</span><span class="strut"> </span></p>
+<p id="t33" class="pln"><span class="str"> - a color dataframe (pandas table) and the \</span><span class="strut"> </span></p>
+<p id="t34" class="pln"><span class="str">corresponding color-map (scalar mappable)</span><span class="strut"> </span></p>
+<p id="t35" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t36" class="pln"><span class="strut"> </span></p>
+<p id="t37" class="stm mis"> <span class="nam">frame_series</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">Series</span><span class="op">(</span><span class="nam">index</span><span class="op">=</span><span class="nam">np</span><span class="op">.</span><span class="nam">arange</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t38" class="pln"> <span class="nam">min</span><span class="op">(</span><span class="nam">frame_range</span><span class="op">)</span><span class="op">,</span> <span class="nam">max</span><span class="op">(</span><span class="nam">frame_range</span><span class="op">)</span> <span class="op">+</span> <span class="num">1</span><span class="op">)</span><span class="op">)</span> <span class="com"># +1 include the last frame</span><span class="strut"> </span></p>
+<p id="t39" class="stm mis"> <span class="nam">frame_series</span><span class="op">[</span><span class="op">:</span><span class="op">]</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">linspace</span><span class="op">(</span><span class="num">0</span><span class="op">,</span> <span class="num">1</span><span class="op">,</span> <span class="nam">frame_series</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t40" class="stm mis"> <span class="key">return</span> <span class="nam">get_color_dataframe</span><span class="op">(</span><span class="nam">frame_series</span><span class="op">,</span> <span class="nam">cmap</span><span class="op">=</span><span class="nam">cmap</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t41" class="pln"><span class="strut"> </span></p>
+<p id="t42" class="pln"><span class="strut"> </span></p>
+<p id="t43" class="stm run hide_run"><span class="key">def</span> <span class="nam">get_color_dataframe</span><span class="op">(</span><span class="nam">series</span><span class="op">,</span> <span class="nam">cmap</span><span class="op">=</span><span class="nam">plt</span><span class="op">.</span><span class="nam">get_cmap</span><span class="op">(</span><span class="str">'jet'</span><span class="op">)</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t44" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t45" class="pln"><span class="str">Get a color Frame from a series</span><span class="strut"> </span></p>
+<p id="t46" class="pln"><span class="strut"> </span></p>
+<p id="t47" class="pln"><span class="str">Return a color dataframe from a series. Each value in the series \</span><span class="strut"> </span></p>
+<p id="t48" class="pln"><span class="str">table gets a corresponding rbga color value in the returned color \</span><span class="strut"> </span></p>
+<p id="t49" class="pln"><span class="str">dataframe with the same index.</span><span class="strut"> </span></p>
+<p id="t50" class="pln"><span class="strut"> </span></p>
+<p id="t51" class="pln"><span class="str">>>> df_colors,sm = get_color_dataframe(series,cmap=plt.get_cmap('jet'))</span><span class="strut"> </span></p>
+<p id="t52" class="pln"><span class="strut"> </span></p>
+<p id="t53" class="pln"><span class="str">Arguments</span><span class="strut"> </span></p>
+<p id="t54" class="pln"><span class="str">---------</span><span class="strut"> </span></p>
+<p id="t55" class="pln"><span class="strut"> </span></p>
+<p id="t56" class="pln"><span class="str">Input:</span><span class="strut"> </span></p>
+<p id="t57" class="pln"><span class="str"> - series: pandas frame that contains indexed values; \</span><span class="strut"> </span></p>
+<p id="t58" class="pln"><span class="str">indices do not need to be in order values in in series is used \</span><span class="strut"> </span></p>
+<p id="t59" class="pln"><span class="str">to generate the color map</span><span class="strut"> </span></p>
+<p id="t60" class="pln"><span class="str">Output:</span><span class="strut"> </span></p>
+<p id="t61" class="pln"><span class="str"> - df_colors: pandas data-frame that contains the colormap; \</span><span class="strut"> </span></p>
+<p id="t62" class="pln"><span class="str">the color that corresponds to the value in series has the same \</span><span class="strut"> </span></p>
+<p id="t63" class="pln"><span class="str">index as in series.</span><span class="strut"> </span></p>
+<p id="t64" class="pln"><span class="str"> - sm: the actual color map</span><span class="strut"> </span></p>
+<p id="t65" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t66" class="pln"><span class="strut"> </span></p>
+<p id="t67" class="pln"> <span class="com"># The values in the serie need to be normalized between 0 and 1 first</span><span class="strut"> </span></p>
+<p id="t68" class="pln"> <span class="com"># We do not want to affect the series</span><span class="strut"> </span></p>
+<p id="t69" class="stm mis"> <span class="nam">normalised_values</span> <span class="op">=</span> <span class="nam">series</span><span class="op">.</span><span class="nam">values</span><span class="op">.</span><span class="nam">copy</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t70" class="pln"> <span class="com"># substract offset from values, so the smalles one is zero</span><span class="strut"> </span></p>
+<p id="t71" class="stm mis"> <span class="nam">normalised_values</span> <span class="op">-=</span> <span class="nam">normalised_values</span><span class="op">.</span><span class="nam">min</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t72" class="pln"> <span class="com"># all values are zero and have the same value</span><span class="strut"> </span></p>
+<p id="t73" class="stm mis"> <span class="key">if</span> <span class="nam">normalised_values</span><span class="op">.</span><span class="nam">max</span><span class="op">(</span><span class="op">)</span> <span class="op">==</span> <span class="num">0</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t74" class="stm mis"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="str">'series.values are constant'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t75" class="pln"> <span class="com"># actually normalize the values</span><span class="strut"> </span></p>
+<p id="t76" class="stm mis"> <span class="nam">normalised_values</span> <span class="op">=</span> <span class="nam">normalised_values</span> <span class="op">/</span> <span class="nam">normalised_values</span><span class="op">.</span><span class="nam">max</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t77" class="stm mis"> <span class="nam">colors</span> <span class="op">=</span> <span class="nam">cmap</span><span class="op">(</span><span class="nam">normalised_values</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t78" class="pln"> <span class="com"># create the dataframe from color</span><span class="strut"> </span></p>
+<p id="t79" class="stm mis"> <span class="nam">df_colors</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">DataFrame</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t80" class="pln"> <span class="nam">data</span><span class="op">=</span><span class="nam">colors</span><span class="op">,</span> <span class="nam">index</span><span class="op">=</span><span class="nam">series</span><span class="op">.</span><span class="nam">index</span><span class="op">,</span> <span class="nam">columns</span><span class="op">=</span><span class="op">[</span><span class="str">'r'</span><span class="op">,</span> <span class="str">'g'</span><span class="op">,</span> <span class="str">'b'</span><span class="op">,</span> <span class="str">'a'</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t81" class="pln"><span class="strut"> </span></p>
+<p id="t82" class="pln"> <span class="com"># Create data for colorbar</span><span class="strut"> </span></p>
+<p id="t83" class="stm mis"> <span class="nam">sm</span> <span class="op">=</span> <span class="nam">plt</span><span class="op">.</span><span class="nam">cm</span><span class="op">.</span><span class="nam">ScalarMappable</span><span class="op">(</span><span class="nam">cmap</span><span class="op">=</span><span class="nam">cmap</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t84" class="pln"> <span class="nam">norm</span><span class="op">=</span><span class="nam">plt</span><span class="op">.</span><span class="nam">Normalize</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t85" class="pln"> <span class="nam">vmin</span><span class="op">=</span><span class="nam">series</span><span class="op">.</span><span class="nam">values</span><span class="op">.</span><span class="nam">min</span><span class="op">(</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t86" class="pln"> <span class="nam">vmax</span><span class="op">=</span><span class="nam">series</span><span class="op">.</span><span class="nam">values</span><span class="op">.</span><span class="nam">max</span><span class="op">(</span><span class="op">)</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t87" class="pln"> <span class="com"># fake up the array of the scalar mappable. Urgh...</span><span class="strut"> </span></p>
+<p id="t88" class="stm mis"> <span class="nam">sm</span><span class="op">.</span><span class="nam">_A</span> <span class="op">=</span> <span class="op">[</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t89" class="pln"><span class="strut"> </span></p>
+<p id="t90" class="stm mis"> <span class="key">return</span> <span class="nam">df_colors</span><span class="op">,</span> <span class="nam">sm</span><span class="strut"> </span></p>
+<p id="t91" class="pln"><span class="strut"> </span></p>
+<p id="t92" class="pln"><span class="strut"> </span></p>
+<p id="t93" class="stm run hide_run"><span class="key">class</span> <span class="nam">Arrow3D</span><span class="op">(</span><span class="nam">FancyArrowPatch</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t94" class="stm run hide_run"> <span class="key">def</span> <span class="nam">__init__</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span> <span class="nam">xs</span><span class="op">,</span> <span class="nam">ys</span><span class="op">,</span> <span class="nam">zs</span><span class="op">,</span> <span class="op">*</span><span class="nam">args</span><span class="op">,</span> <span class="op">**</span><span class="nam">kwargs</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t95" class="stm mis"> <span class="nam">FancyArrowPatch</span><span class="op">.</span><span class="nam">__init__</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span> <span class="op">(</span><span class="num">0</span><span class="op">,</span> <span class="num">0</span><span class="op">)</span><span class="op">,</span> <span class="op">(</span><span class="num">0</span><span class="op">,</span> <span class="num">0</span><span class="op">)</span><span class="op">,</span> <span class="op">*</span><span class="nam">args</span><span class="op">,</span> <span class="op">**</span><span class="nam">kwargs</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t96" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">_verts3d</span> <span class="op">=</span> <span class="nam">xs</span><span class="op">,</span> <span class="nam">ys</span><span class="op">,</span> <span class="nam">zs</span><span class="strut"> </span></p>
+<p id="t97" class="pln"><span class="strut"> </span></p>
+<p id="t98" class="stm run hide_run"> <span class="key">def</span> <span class="nam">draw</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span> <span class="nam">renderer</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t99" class="stm mis"> <span class="nam">xs3d</span><span class="op">,</span> <span class="nam">ys3d</span><span class="op">,</span> <span class="nam">zs3d</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">_verts3d</span><span class="strut"> </span></p>
+<p id="t100" class="stm mis"> <span class="nam">xs</span><span class="op">,</span> <span class="nam">ys</span><span class="op">,</span> <span class="nam">zs</span> <span class="op">=</span> <span class="nam">proj3d</span><span class="op">.</span><span class="nam">proj_transform</span><span class="op">(</span><span class="nam">xs3d</span><span class="op">,</span> <span class="nam">ys3d</span><span class="op">,</span> <span class="nam">zs3d</span><span class="op">,</span> <span class="nam">renderer</span><span class="op">.</span><span class="nam">M</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t101" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">set_positions</span><span class="op">(</span><span class="op">(</span><span class="nam">xs</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">,</span> <span class="nam">ys</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">)</span><span class="op">,</span> <span class="op">(</span><span class="nam">xs</span><span class="op">[</span><span class="num">1</span><span class="op">]</span><span class="op">,</span> <span class="nam">ys</span><span class="op">[</span><span class="num">1</span><span class="op">]</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t102" class="stm mis"> <span class="nam">FancyArrowPatch</span><span class="op">.</span><span class="nam">draw</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span> <span class="nam">renderer</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t103" class="pln"><span class="strut"> </span></p>
+<p id="t104" class="pln"><span class="strut"> </span></p>
+<p id="t105" class="stm run hide_run"><span class="key">def</span> <span class="nam">draw_frame</span><span class="op">(</span><span class="nam">frame</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t106" class="pln"> <span class="nam">ax</span><span class="op">=</span><span class="nam">plt</span><span class="op">.</span><span class="nam">gca</span><span class="op">(</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t107" class="pln"> <span class="nam">mutation_scale</span><span class="op">=</span><span class="num">20</span><span class="op">,</span> <span class="nam">lw</span><span class="op">=</span><span class="num">3</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t108" class="pln"> <span class="nam">arrowstyle</span><span class="op">=</span><span class="str">"-|>"</span><span class="op">,</span> <span class="nam">colors</span><span class="op">=</span><span class="op">[</span><span class="str">'r'</span><span class="op">,</span> <span class="str">'g'</span><span class="op">,</span> <span class="str">'b'</span><span class="op">]</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t109" class="stm mis"> <span class="key">if</span> <span class="key">not</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">frame</span><span class="op">,</span> <span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">ndarray</span><span class="op">,</span> <span class="nam">np</span><span class="op">.</span><span class="nam">generic</span><span class="op">)</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t110" class="stm mis"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="str">'frame should be a numpy array'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t111" class="stm mis"> <span class="key">if</span> <span class="nam">len</span><span class="op">(</span><span class="nam">frame</span><span class="op">.</span><span class="nam">shape</span><span class="op">)</span> <span class="op">!=</span> <span class="num">2</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t112" class="stm mis"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="str">'frame should have 2 dimensions'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t113" class="stm mis"> <span class="key">if</span> <span class="key">not</span> <span class="nam">np</span><span class="op">.</span><span class="nam">all</span><span class="op">(</span><span class="nam">frame</span><span class="op">.</span><span class="nam">shape</span> <span class="op">==</span> <span class="op">[</span><span class="num">4</span><span class="op">,</span> <span class="num">4</span><span class="op">]</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t114" class="stm mis"> <span class="nam">frame</span> <span class="op">=</span> <span class="nam">frame</span><span class="op">[</span><span class="op">:</span><span class="num">3</span><span class="op">,</span> <span class="op">:</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t115" class="stm mis"> <span class="key">if</span> <span class="key">not</span> <span class="nam">np</span><span class="op">.</span><span class="nam">all</span><span class="op">(</span><span class="nam">frame</span><span class="op">.</span><span class="nam">shape</span> <span class="op">!=</span> <span class="op">[</span><span class="num">3</span><span class="op">,</span> <span class="num">4</span><span class="op">]</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t116" class="stm mis"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="str">'frame should be a 3x4 or 4x4 matrix'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t117" class="pln"><span class="strut"> </span></p>
+<p id="t118" class="stm mis"> <span class="nam">origin</span> <span class="op">=</span> <span class="nam">frame</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="num">3</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t119" class="stm mis"> <span class="key">for</span> <span class="op">(</span><span class="nam">i</span><span class="op">,</span> <span class="nam">color</span><span class="op">)</span> <span class="key">in</span> <span class="nam">enumerate</span><span class="op">(</span><span class="nam">colors</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t120" class="stm mis"> <span class="nam">v</span> <span class="op">=</span> <span class="nam">frame</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="nam">i</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t121" class="stm mis"> <span class="nam">xs</span> <span class="op">=</span> <span class="op">[</span><span class="nam">origin</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">,</span> <span class="nam">origin</span><span class="op">[</span><span class="num">0</span><span class="op">]</span> <span class="op">+</span> <span class="nam">v</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t122" class="stm mis"> <span class="nam">ys</span> <span class="op">=</span> <span class="op">[</span><span class="nam">origin</span><span class="op">[</span><span class="num">1</span><span class="op">]</span><span class="op">,</span> <span class="nam">origin</span><span class="op">[</span><span class="num">1</span><span class="op">]</span> <span class="op">+</span> <span class="nam">v</span><span class="op">[</span><span class="num">1</span><span class="op">]</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t123" class="stm mis"> <span class="nam">zs</span> <span class="op">=</span> <span class="op">[</span><span class="nam">origin</span><span class="op">[</span><span class="num">2</span><span class="op">]</span><span class="op">,</span> <span class="nam">origin</span><span class="op">[</span><span class="num">2</span><span class="op">]</span> <span class="op">+</span> <span class="nam">v</span><span class="op">[</span><span class="num">2</span><span class="op">]</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t124" class="stm mis"> <span class="nam">a</span> <span class="op">=</span> <span class="nam">Arrow3D</span><span class="op">(</span><span class="nam">xs</span><span class="op">,</span> <span class="nam">ys</span><span class="op">,</span> <span class="nam">zs</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t125" class="pln"> <span class="nam">mutation_scale</span><span class="op">=</span><span class="nam">mutation_scale</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t126" class="pln"> <span class="nam">lw</span><span class="op">=</span><span class="nam">lw</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t127" class="pln"> <span class="nam">arrowstyle</span><span class="op">=</span><span class="nam">arrowstyle</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t128" class="pln"> <span class="nam">color</span><span class="op">=</span><span class="nam">color</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t129" class="stm mis"> <span class="nam">ax</span><span class="op">.</span><span class="nam">add_artist</span><span class="op">(</span><span class="nam">a</span><span class="op">)</span><span class="strut"> </span></p>
+
+ </td>
+ </tr>
+ </table>
+</div>
+
+<div id="footer">
+ <div class="content">
+ <p>
+ <a class="nav" href="index.html">« index</a> <a class="nav" href="https://coverage.readthedocs.io">coverage.py v4.5.2</a>,
+ created at 2019-01-13 14:34
+ </p>
+ </div>
+</div>
+
+</body>
+</html>
diff --git a/coverage_html_report/navipy_trajectories___init___py.html b/coverage_html_report/navipy_trajectories___init___py.html
new file mode 100644
index 0000000000000000000000000000000000000000..fffd5d109842ff2bd6b9218d7966cdd9b0b5b9bd
--- /dev/null
+++ b/coverage_html_report/navipy_trajectories___init___py.html
@@ -0,0 +1,1931 @@
+
+
+
+<!DOCTYPE html>
+<html>
+<head>
+ <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
+
+
+ <meta http-equiv="X-UA-Compatible" content="IE=emulateIE7" />
+ <title>Coverage for navipy/trajectories/__init__.py: 34%</title>
+ <link rel="stylesheet" href="style.css" type="text/css">
+
+ <script type="text/javascript" src="jquery.min.js"></script>
+ <script type="text/javascript" src="jquery.hotkeys.js"></script>
+ <script type="text/javascript" src="jquery.isonscreen.js"></script>
+ <script type="text/javascript" src="coverage_html.js"></script>
+ <script type="text/javascript">
+ jQuery(document).ready(coverage.pyfile_ready);
+ </script>
+</head>
+<body class="pyfile">
+
+<div id="header">
+ <div class="content">
+ <h1>Coverage for <b>navipy/trajectories/__init__.py</b> :
+ <span class="pc_cov">34%</span>
+ </h1>
+
+ <img id="keyboard_icon" src="keybd_closed.png" alt="Show keyboard shortcuts" />
+
+ <h2 class="stats">
+ 511 statements
+ <span class="run hide_run shortkey_r button_toggle_run">172 run</span>
+ <span class="mis shortkey_m button_toggle_mis">339 missing</span>
+ <span class="exc shortkey_x button_toggle_exc">0 excluded</span>
+
+
+ </h2>
+ </div>
+</div>
+
+<div class="help_panel">
+ <img id="panel_icon" src="keybd_open.png" alt="Hide keyboard shortcuts" />
+ <p class="legend">Hot-keys on this page</p>
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+ <p class="keyhelp">
+ <span class="key">1</span> (one) first highlighted chunk
+ </p>
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+</div>
+
+<div id="source">
+ <table>
+ <tr>
+ <td class="linenos">
+<p id="n1" class="pln"><a href="#n1">1</a></p>
+<p id="n2" class="pln"><a href="#n2">2</a></p>
+<p id="n3" class="pln"><a href="#n3">3</a></p>
+<p id="n4" class="stm run hide_run"><a href="#n4">4</a></p>
+<p id="n5" class="stm run hide_run"><a href="#n5">5</a></p>
+<p id="n6" class="stm run hide_run"><a href="#n6">6</a></p>
+<p id="n7" class="stm run hide_run"><a href="#n7">7</a></p>
+<p id="n8" class="stm run hide_run"><a href="#n8">8</a></p>
+<p id="n9" class="stm run hide_run"><a href="#n9">9</a></p>
+<p id="n10" class="stm run hide_run"><a href="#n10">10</a></p>
+<p id="n11" class="stm run hide_run"><a href="#n11">11</a></p>
+<p id="n12" class="stm run hide_run"><a href="#n12">12</a></p>
+<p id="n13" class="stm run hide_run"><a href="#n13">13</a></p>
+<p id="n14" class="stm run hide_run"><a href="#n14">14</a></p>
+<p id="n15" class="stm run hide_run"><a href="#n15">15</a></p>
+<p id="n16" class="stm run hide_run"><a href="#n16">16</a></p>
+<p id="n17" class="stm run hide_run"><a href="#n17">17</a></p>
+<p id="n18" class="stm run hide_run"><a href="#n18">18</a></p>
+<p id="n19" class="stm run hide_run"><a href="#n19">19</a></p>
+<p id="n20" class="stm run hide_run"><a href="#n20">20</a></p>
+<p id="n21" class="pln"><a href="#n21">21</a></p>
+<p id="n22" class="pln"><a href="#n22">22</a></p>
+<p id="n23" class="stm run hide_run"><a href="#n23">23</a></p>
+<p id="n24" class="stm run hide_run"><a href="#n24">24</a></p>
+<p id="n25" class="stm run hide_run"><a href="#n25">25</a></p>
+<p id="n26" class="stm run hide_run"><a href="#n26">26</a></p>
+<p id="n27" class="stm run hide_run"><a href="#n27">27</a></p>
+<p id="n28" class="stm run hide_run"><a href="#n28">28</a></p>
+<p id="n29" class="stm run hide_run"><a href="#n29">29</a></p>
+<p id="n30" class="pln"><a href="#n30">30</a></p>
+<p id="n31" class="pln"><a href="#n31">31</a></p>
+<p id="n32" class="pln"><a href="#n32">32</a></p>
+<p id="n33" class="stm run hide_run"><a href="#n33">33</a></p>
+<p id="n34" class="stm run hide_run"><a href="#n34">34</a></p>
+<p id="n35" class="stm run hide_run"><a href="#n35">35</a></p>
+<p id="n36" class="stm run hide_run"><a href="#n36">36</a></p>
+<p id="n37" class="stm run hide_run"><a href="#n37">37</a></p>
+<p id="n38" class="stm run hide_run"><a href="#n38">38</a></p>
+<p id="n39" class="stm run hide_run"><a href="#n39">39</a></p>
+<p id="n40" class="pln"><a href="#n40">40</a></p>
+<p id="n41" class="pln"><a href="#n41">41</a></p>
+<p id="n42" class="pln"><a href="#n42">42</a></p>
+<p id="n43" class="stm run hide_run"><a href="#n43">43</a></p>
+<p id="n44" class="pln"><a href="#n44">44</a></p>
+<p id="n45" class="stm mis"><a href="#n45">45</a></p>
+<p id="n46" class="stm mis"><a href="#n46">46</a></p>
+<p id="n47" class="stm mis"><a href="#n47">47</a></p>
+<p id="n48" class="stm mis"><a href="#n48">48</a></p>
+<p id="n49" class="pln"><a href="#n49">49</a></p>
+<p id="n50" class="pln"><a href="#n50">50</a></p>
+<p id="n51" class="stm mis"><a href="#n51">51</a></p>
+<p id="n52" class="stm mis"><a href="#n52">52</a></p>
+<p id="n53" class="pln"><a href="#n53">53</a></p>
+<p id="n54" class="pln"><a href="#n54">54</a></p>
+<p id="n55" class="pln"><a href="#n55">55</a></p>
+<p id="n56" class="stm mis"><a href="#n56">56</a></p>
+<p id="n57" class="stm mis"><a href="#n57">57</a></p>
+<p id="n58" class="stm mis"><a href="#n58">58</a></p>
+<p id="n59" class="pln"><a href="#n59">59</a></p>
+<p id="n60" class="pln"><a href="#n60">60</a></p>
+<p id="n61" class="stm run hide_run"><a href="#n61">61</a></p>
+<p id="n62" class="pln"><a href="#n62">62</a></p>
+<p id="n63" class="stm mis"><a href="#n63">63</a></p>
+<p id="n64" class="stm mis"><a href="#n64">64</a></p>
+<p id="n65" class="stm mis"><a href="#n65">65</a></p>
+<p id="n66" class="stm mis"><a href="#n66">66</a></p>
+<p id="n67" class="pln"><a href="#n67">67</a></p>
+<p id="n68" class="pln"><a href="#n68">68</a></p>
+<p id="n69" class="stm mis"><a href="#n69">69</a></p>
+<p id="n70" class="stm mis"><a href="#n70">70</a></p>
+<p id="n71" class="pln"><a href="#n71">71</a></p>
+<p id="n72" class="pln"><a href="#n72">72</a></p>
+<p id="n73" class="pln"><a href="#n73">73</a></p>
+<p id="n74" class="stm mis"><a href="#n74">74</a></p>
+<p id="n75" class="stm mis"><a href="#n75">75</a></p>
+<p id="n76" class="stm mis"><a href="#n76">76</a></p>
+<p id="n77" class="pln"><a href="#n77">77</a></p>
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+<p id="n80" class="stm run hide_run"><a href="#n80">80</a></p>
+<p id="n81" class="stm run hide_run"><a href="#n81">81</a></p>
+<p id="n82" class="stm run hide_run"><a href="#n82">82</a></p>
+<p id="n83" class="stm run hide_run"><a href="#n83">83</a></p>
+<p id="n84" class="stm run hide_run"><a href="#n84">84</a></p>
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+<p id="n86" class="stm run hide_run"><a href="#n86">86</a></p>
+<p id="n87" class="stm run hide_run"><a href="#n87">87</a></p>
+<p id="n88" class="stm mis"><a href="#n88">88</a></p>
+<p id="n89" class="pln"><a href="#n89">89</a></p>
+<p id="n90" class="pln"><a href="#n90">90</a></p>
+<p id="n91" class="pln"><a href="#n91">91</a></p>
+<p id="n92" class="pln"><a href="#n92">92</a></p>
+<p id="n93" class="stm run hide_run"><a href="#n93">93</a></p>
+<p id="n94" class="stm run hide_run"><a href="#n94">94</a></p>
+<p id="n95" class="pln"><a href="#n95">95</a></p>
+<p id="n96" class="pln"><a href="#n96">96</a></p>
+<p id="n97" class="pln"><a href="#n97">97</a></p>
+<p id="n98" class="pln"><a href="#n98">98</a></p>
+<p id="n99" class="stm mis"><a href="#n99">99</a></p>
+<p id="n100" class="stm mis"><a href="#n100">100</a></p>
+<p id="n101" class="stm mis"><a href="#n101">101</a></p>
+<p id="n102" class="stm mis"><a href="#n102">102</a></p>
+<p id="n103" class="stm mis"><a href="#n103">103</a></p>
+<p id="n104" class="stm mis"><a href="#n104">104</a></p>
+<p id="n105" class="stm mis"><a href="#n105">105</a></p>
+<p id="n106" class="stm run hide_run"><a href="#n106">106</a></p>
+<p id="n107" class="pln"><a href="#n107">107</a></p>
+<p id="n108" class="stm run hide_run"><a href="#n108">108</a></p>
+<p id="n109" class="pln"><a href="#n109">109</a></p>
+<p id="n110" class="stm run hide_run"><a href="#n110">110</a></p>
+<p id="n111" class="pln"><a href="#n111">111</a></p>
+<p id="n112" class="stm run hide_run"><a href="#n112">112</a></p>
+<p id="n113" class="pln"><a href="#n113">113</a></p>
+<p id="n114" class="pln"><a href="#n114">114</a></p>
+<p id="n115" class="pln"><a href="#n115">115</a></p>
+<p id="n116" class="pln"><a href="#n116">116</a></p>
+<p id="n117" class="pln"><a href="#n117">117</a></p>
+<p id="n118" class="stm run hide_run"><a href="#n118">118</a></p>
+<p id="n119" class="stm run hide_run"><a href="#n119">119</a></p>
+<p id="n120" class="pln"><a href="#n120">120</a></p>
+<p id="n121" class="pln"><a href="#n121">121</a></p>
+<p id="n122" class="stm run hide_run"><a href="#n122">122</a></p>
+<p id="n123" class="stm run hide_run"><a href="#n123">123</a></p>
+<p id="n124" class="stm run hide_run"><a href="#n124">124</a></p>
+<p id="n125" class="stm mis"><a href="#n125">125</a></p>
+<p id="n126" class="pln"><a href="#n126">126</a></p>
+<p id="n127" class="pln"><a href="#n127">127</a></p>
+<p id="n128" class="pln"><a href="#n128">128</a></p>
+<p id="n129" class="pln"><a href="#n129">129</a></p>
+<p id="n130" class="stm run hide_run"><a href="#n130">130</a></p>
+<p id="n131" class="pln"><a href="#n131">131</a></p>
+<p id="n132" class="pln"><a href="#n132">132</a></p>
+<p id="n133" class="pln"><a href="#n133">133</a></p>
+<p id="n134" class="stm run hide_run"><a href="#n134">134</a></p>
+<p id="n135" class="stm run hide_run"><a href="#n135">135</a></p>
+<p id="n136" class="stm run hide_run"><a href="#n136">136</a></p>
+<p id="n137" class="stm run hide_run"><a href="#n137">137</a></p>
+<p id="n138" class="stm run hide_run"><a href="#n138">138</a></p>
+<p id="n139" class="stm run hide_run"><a href="#n139">139</a></p>
+<p id="n140" class="pln"><a href="#n140">140</a></p>
+<p id="n141" class="stm run hide_run"><a href="#n141">141</a></p>
+<p id="n142" class="pln"><a href="#n142">142</a></p>
+<p id="n143" class="pln"><a href="#n143">143</a></p>
+<p id="n144" class="pln"><a href="#n144">144</a></p>
+<p id="n145" class="stm mis"><a href="#n145">145</a></p>
+<p id="n146" class="pln"><a href="#n146">146</a></p>
+<p id="n147" class="pln"><a href="#n147">147</a></p>
+<p id="n148" class="stm mis"><a href="#n148">148</a></p>
+<p id="n149" class="stm mis"><a href="#n149">149</a></p>
+<p id="n150" class="stm mis"><a href="#n150">150</a></p>
+<p id="n151" class="pln"><a href="#n151">151</a></p>
+<p id="n152" class="stm mis"><a href="#n152">152</a></p>
+<p id="n153" class="pln"><a href="#n153">153</a></p>
+<p id="n154" class="pln"><a href="#n154">154</a></p>
+<p id="n155" class="pln"><a href="#n155">155</a></p>
+<p id="n156" class="stm mis"><a href="#n156">156</a></p>
+<p id="n157" class="pln"><a href="#n157">157</a></p>
+<p id="n158" class="stm mis"><a href="#n158">158</a></p>
+<p id="n159" class="stm mis"><a href="#n159">159</a></p>
+<p id="n160" class="pln"><a href="#n160">160</a></p>
+<p id="n161" class="stm run hide_run"><a href="#n161">161</a></p>
+<p id="n162" class="pln"><a href="#n162">162</a></p>
+<p id="n163" class="stm run hide_run"><a href="#n163">163</a></p>
+<p id="n164" class="pln"><a href="#n164">164</a></p>
+<p id="n165" class="stm run hide_run"><a href="#n165">165</a></p>
+<p id="n166" class="pln"><a href="#n166">166</a></p>
+<p id="n167" class="stm run hide_run"><a href="#n167">167</a></p>
+<p id="n168" class="pln"><a href="#n168">168</a></p>
+<p id="n169" class="stm run hide_run"><a href="#n169">169</a></p>
+<p id="n170" class="pln"><a href="#n170">170</a></p>
+<p id="n171" class="stm run hide_run"><a href="#n171">171</a></p>
+<p id="n172" class="pln"><a href="#n172">172</a></p>
+<p id="n173" class="stm run hide_run"><a href="#n173">173</a></p>
+<p id="n174" class="pln"><a href="#n174">174</a></p>
+<p id="n175" class="stm run hide_run"><a href="#n175">175</a></p>
+<p id="n176" class="pln"><a href="#n176">176</a></p>
+<p id="n177" class="stm run hide_run"><a href="#n177">177</a></p>
+<p id="n178" class="pln"><a href="#n178">178</a></p>
+<p id="n179" class="stm run hide_run"><a href="#n179">179</a></p>
+<p id="n180" class="pln"><a href="#n180">180</a></p>
+<p id="n181" class="stm run hide_run"><a href="#n181">181</a></p>
+<p id="n182" class="pln"><a href="#n182">182</a></p>
+<p id="n183" class="stm run hide_run"><a href="#n183">183</a></p>
+<p id="n184" class="pln"><a href="#n184">184</a></p>
+<p id="n185" class="stm run hide_run"><a href="#n185">185</a></p>
+<p id="n186" class="pln"><a href="#n186">186</a></p>
+<p id="n187" class="stm run hide_run"><a href="#n187">187</a></p>
+<p id="n188" class="pln"><a href="#n188">188</a></p>
+<p id="n189" class="stm run hide_run"><a href="#n189">189</a></p>
+<p id="n190" class="pln"><a href="#n190">190</a></p>
+<p id="n191" class="stm run hide_run"><a href="#n191">191</a></p>
+<p id="n192" class="pln"><a href="#n192">192</a></p>
+<p id="n193" class="stm run hide_run"><a href="#n193">193</a></p>
+<p id="n194" class="stm run hide_run"><a href="#n194">194</a></p>
+<p id="n195" class="stm run hide_run"><a href="#n195">195</a></p>
+<p id="n196" class="pln"><a href="#n196">196</a></p>
+<p id="n197" class="stm mis"><a href="#n197">197</a></p>
+<p id="n198" class="stm mis"><a href="#n198">198</a></p>
+<p id="n199" class="pln"><a href="#n199">199</a></p>
+<p id="n200" class="stm run hide_run"><a href="#n200">200</a></p>
+<p id="n201" class="stm run hide_run"><a href="#n201">201</a></p>
+<p id="n202" class="stm run hide_run"><a href="#n202">202</a></p>
+<p id="n203" class="pln"><a href="#n203">203</a></p>
+<p id="n204" class="stm mis"><a href="#n204">204</a></p>
+<p id="n205" class="stm mis"><a href="#n205">205</a></p>
+<p id="n206" class="pln"><a href="#n206">206</a></p>
+<p id="n207" class="stm run hide_run"><a href="#n207">207</a></p>
+<p id="n208" class="pln"><a href="#n208">208</a></p>
+<p id="n209" class="stm run hide_run"><a href="#n209">209</a></p>
+<p id="n210" class="pln"><a href="#n210">210</a></p>
+<p id="n211" class="stm run hide_run"><a href="#n211">211</a></p>
+<p id="n212" class="pln"><a href="#n212">212</a></p>
+<p id="n213" class="stm run hide_run"><a href="#n213">213</a></p>
+<p id="n214" class="pln"><a href="#n214">214</a></p>
+<p id="n215" class="stm run hide_run"><a href="#n215">215</a></p>
+<p id="n216" class="pln"><a href="#n216">216</a></p>
+<p id="n217" class="stm run hide_run"><a href="#n217">217</a></p>
+<p id="n218" class="pln"><a href="#n218">218</a></p>
+<p id="n219" class="stm run hide_run"><a href="#n219">219</a></p>
+<p id="n220" class="pln"><a href="#n220">220</a></p>
+<p id="n221" class="stm run hide_run"><a href="#n221">221</a></p>
+<p id="n222" class="pln"><a href="#n222">222</a></p>
+<p id="n223" class="stm run hide_run"><a href="#n223">223</a></p>
+<p id="n224" class="pln"><a href="#n224">224</a></p>
+<p id="n225" class="stm run hide_run"><a href="#n225">225</a></p>
+<p id="n226" class="pln"><a href="#n226">226</a></p>
+<p id="n227" class="stm run hide_run"><a href="#n227">227</a></p>
+<p id="n228" class="pln"><a href="#n228">228</a></p>
+<p id="n229" class="stm run hide_run"><a href="#n229">229</a></p>
+<p id="n230" class="pln"><a href="#n230">230</a></p>
+<p id="n231" class="stm run hide_run"><a href="#n231">231</a></p>
+<p id="n232" class="stm mis"><a href="#n232">232</a></p>
+<p id="n233" class="stm mis"><a href="#n233">233</a></p>
+<p id="n234" class="pln"><a href="#n234">234</a></p>
+<p id="n235" class="stm mis"><a href="#n235">235</a></p>
+<p id="n236" class="stm mis"><a href="#n236">236</a></p>
+<p id="n237" class="pln"><a href="#n237">237</a></p>
+<p id="n238" class="stm run hide_run"><a href="#n238">238</a></p>
+<p id="n239" class="stm mis"><a href="#n239">239</a></p>
+<p id="n240" class="stm mis"><a href="#n240">240</a></p>
+<p id="n241" class="pln"><a href="#n241">241</a></p>
+<p id="n242" class="stm mis"><a href="#n242">242</a></p>
+<p id="n243" class="stm mis"><a href="#n243">243</a></p>
+<p id="n244" class="pln"><a href="#n244">244</a></p>
+<p id="n245" class="stm run hide_run"><a href="#n245">245</a></p>
+<p id="n246" class="pln"><a href="#n246">246</a></p>
+<p id="n247" class="stm mis"><a href="#n247">247</a></p>
+<p id="n248" class="pln"><a href="#n248">248</a></p>
+<p id="n249" class="stm run hide_run"><a href="#n249">249</a></p>
+<p id="n250" class="pln"><a href="#n250">250</a></p>
+<p id="n251" class="stm mis"><a href="#n251">251</a></p>
+<p id="n252" class="pln"><a href="#n252">252</a></p>
+<p id="n253" class="stm run hide_run"><a href="#n253">253</a></p>
+<p id="n254" class="pln"><a href="#n254">254</a></p>
+<p id="n255" class="stm mis"><a href="#n255">255</a></p>
+<p id="n256" class="pln"><a href="#n256">256</a></p>
+<p id="n257" class="stm run hide_run"><a href="#n257">257</a></p>
+<p id="n258" class="pln"><a href="#n258">258</a></p>
+<p id="n259" class="stm mis"><a href="#n259">259</a></p>
+<p id="n260" class="pln"><a href="#n260">260</a></p>
+<p id="n261" class="stm run hide_run"><a href="#n261">261</a></p>
+<p id="n262" class="pln"><a href="#n262">262</a></p>
+<p id="n263" class="stm mis"><a href="#n263">263</a></p>
+<p id="n264" class="pln"><a href="#n264">264</a></p>
+<p id="n265" class="stm run hide_run"><a href="#n265">265</a></p>
+<p id="n266" class="pln"><a href="#n266">266</a></p>
+<p id="n267" class="stm mis"><a href="#n267">267</a></p>
+<p id="n268" class="pln"><a href="#n268">268</a></p>
+<p id="n269" class="stm run hide_run"><a href="#n269">269</a></p>
+<p id="n270" class="pln"><a href="#n270">270</a></p>
+<p id="n271" class="stm mis"><a href="#n271">271</a></p>
+<p id="n272" class="pln"><a href="#n272">272</a></p>
+<p id="n273" class="stm run hide_run"><a href="#n273">273</a></p>
+<p id="n274" class="pln"><a href="#n274">274</a></p>
+<p id="n275" class="stm mis"><a href="#n275">275</a></p>
+<p id="n276" class="pln"><a href="#n276">276</a></p>
+<p id="n277" class="pln"><a href="#n277">277</a></p>
+<p id="n278" class="pln"><a href="#n278">278</a></p>
+<p id="n279" class="pln"><a href="#n279">279</a></p>
+<p id="n280" class="stm run hide_run"><a href="#n280">280</a></p>
+<p id="n281" class="pln"><a href="#n281">281</a></p>
+<p id="n282" class="pln"><a href="#n282">282</a></p>
+<p id="n283" class="stm mis"><a href="#n283">283</a></p>
+<p id="n284" class="pln"><a href="#n284">284</a></p>
+<p id="n285" class="stm mis"><a href="#n285">285</a></p>
+<p id="n286" class="stm mis"><a href="#n286">286</a></p>
+<p id="n287" class="pln"><a href="#n287">287</a></p>
+<p id="n288" class="stm run hide_run"><a href="#n288">288</a></p>
+<p id="n289" class="stm mis"><a href="#n289">289</a></p>
+<p id="n290" class="stm mis"><a href="#n290">290</a></p>
+<p id="n291" class="stm mis"><a href="#n291">291</a></p>
+<p id="n292" class="pln"><a href="#n292">292</a></p>
+<p id="n293" class="stm run hide_run"><a href="#n293">293</a></p>
+<p id="n294" class="stm mis"><a href="#n294">294</a></p>
+<p id="n295" class="stm mis"><a href="#n295">295</a></p>
+<p id="n296" class="pln"><a href="#n296">296</a></p>
+<p id="n297" class="stm run hide_run"><a href="#n297">297</a></p>
+<p id="n298" class="stm mis"><a href="#n298">298</a></p>
+<p id="n299" class="stm mis"><a href="#n299">299</a></p>
+<p id="n300" class="pln"><a href="#n300">300</a></p>
+<p id="n301" class="pln"><a href="#n301">301</a></p>
+<p id="n302" class="pln"><a href="#n302">302</a></p>
+<p id="n303" class="pln"><a href="#n303">303</a></p>
+<p id="n304" class="stm run hide_run"><a href="#n304">304</a></p>
+<p id="n305" class="pln"><a href="#n305">305</a></p>
+<p id="n306" class="pln"><a href="#n306">306</a></p>
+<p id="n307" class="pln"><a href="#n307">307</a></p>
+<p id="n308" class="pln"><a href="#n308">308</a></p>
+<p id="n309" class="pln"><a href="#n309">309</a></p>
+<p id="n310" class="stm mis"><a href="#n310">310</a></p>
+<p id="n311" class="stm mis"><a href="#n311">311</a></p>
+<p id="n312" class="stm mis"><a href="#n312">312</a></p>
+<p id="n313" class="stm mis"><a href="#n313">313</a></p>
+<p id="n314" class="stm mis"><a href="#n314">314</a></p>
+<p id="n315" class="stm mis"><a href="#n315">315</a></p>
+<p id="n316" class="stm mis"><a href="#n316">316</a></p>
+<p id="n317" class="stm mis"><a href="#n317">317</a></p>
+<p id="n318" class="stm mis"><a href="#n318">318</a></p>
+<p id="n319" class="stm mis"><a href="#n319">319</a></p>
+<p id="n320" class="stm mis"><a href="#n320">320</a></p>
+<p id="n321" class="stm mis"><a href="#n321">321</a></p>
+<p id="n322" class="stm mis"><a href="#n322">322</a></p>
+<p id="n323" class="stm mis"><a href="#n323">323</a></p>
+<p id="n324" class="stm mis"><a href="#n324">324</a></p>
+<p id="n325" class="stm mis"><a href="#n325">325</a></p>
+<p id="n326" class="stm mis"><a href="#n326">326</a></p>
+<p id="n327" class="stm mis"><a href="#n327">327</a></p>
+<p id="n328" class="stm mis"><a href="#n328">328</a></p>
+<p id="n329" class="stm mis"><a href="#n329">329</a></p>
+<p id="n330" class="stm mis"><a href="#n330">330</a></p>
+<p id="n331" class="stm mis"><a href="#n331">331</a></p>
+<p id="n332" class="stm mis"><a href="#n332">332</a></p>
+<p id="n333" class="stm mis"><a href="#n333">333</a></p>
+<p id="n334" class="stm mis"><a href="#n334">334</a></p>
+<p id="n335" class="stm mis"><a href="#n335">335</a></p>
+<p id="n336" class="stm mis"><a href="#n336">336</a></p>
+<p id="n337" class="stm mis"><a href="#n337">337</a></p>
+<p id="n338" class="pln"><a href="#n338">338</a></p>
+<p id="n339" class="stm mis"><a href="#n339">339</a></p>
+<p id="n340" class="stm mis"><a href="#n340">340</a></p>
+<p id="n341" class="stm mis"><a href="#n341">341</a></p>
+<p id="n342" class="pln"><a href="#n342">342</a></p>
+<p id="n343" class="stm mis"><a href="#n343">343</a></p>
+<p id="n344" class="stm mis"><a href="#n344">344</a></p>
+<p id="n345" class="stm mis"><a href="#n345">345</a></p>
+<p id="n346" class="stm mis"><a href="#n346">346</a></p>
+<p id="n347" class="stm mis"><a href="#n347">347</a></p>
+<p id="n348" class="pln"><a href="#n348">348</a></p>
+<p id="n349" class="stm mis"><a href="#n349">349</a></p>
+<p id="n350" class="stm mis"><a href="#n350">350</a></p>
+<p id="n351" class="stm mis"><a href="#n351">351</a></p>
+<p id="n352" class="stm mis"><a href="#n352">352</a></p>
+<p id="n353" class="pln"><a href="#n353">353</a></p>
+<p id="n354" class="stm run hide_run"><a href="#n354">354</a></p>
+<p id="n355" class="pln"><a href="#n355">355</a></p>
+<p id="n356" class="pln"><a href="#n356">356</a></p>
+<p id="n357" class="stm run hide_run"><a href="#n357">357</a></p>
+<p id="n358" class="stm run hide_run"><a href="#n358">358</a></p>
+<p id="n359" class="stm run hide_run"><a href="#n359">359</a></p>
+<p id="n360" class="stm mis"><a href="#n360">360</a></p>
+<p id="n361" class="stm run hide_run"><a href="#n361">361</a></p>
+<p id="n362" class="stm mis"><a href="#n362">362</a></p>
+<p id="n363" class="stm mis"><a href="#n363">363</a></p>
+<p id="n364" class="stm mis"><a href="#n364">364</a></p>
+<p id="n365" class="stm mis"><a href="#n365">365</a></p>
+<p id="n366" class="stm mis"><a href="#n366">366</a></p>
+<p id="n367" class="pln"><a href="#n367">367</a></p>
+<p id="n368" class="stm mis"><a href="#n368">368</a></p>
+<p id="n369" class="stm mis"><a href="#n369">369</a></p>
+<p id="n370" class="stm mis"><a href="#n370">370</a></p>
+<p id="n371" class="pln"><a href="#n371">371</a></p>
+<p id="n372" class="stm mis"><a href="#n372">372</a></p>
+<p id="n373" class="stm mis"><a href="#n373">373</a></p>
+<p id="n374" class="stm mis"><a href="#n374">374</a></p>
+<p id="n375" class="pln"><a href="#n375">375</a></p>
+<p id="n376" class="stm mis"><a href="#n376">376</a></p>
+<p id="n377" class="stm mis"><a href="#n377">377</a></p>
+<p id="n378" class="stm mis"><a href="#n378">378</a></p>
+<p id="n379" class="stm mis"><a href="#n379">379</a></p>
+<p id="n380" class="pln"><a href="#n380">380</a></p>
+<p id="n381" class="stm run hide_run"><a href="#n381">381</a></p>
+<p id="n382" class="stm run hide_run"><a href="#n382">382</a></p>
+<p id="n383" class="stm run hide_run"><a href="#n383">383</a></p>
+<p id="n384" class="stm run hide_run"><a href="#n384">384</a></p>
+<p id="n385" class="pln"><a href="#n385">385</a></p>
+<p id="n386" class="stm run hide_run"><a href="#n386">386</a></p>
+<p id="n387" class="stm mis"><a href="#n387">387</a></p>
+<p id="n388" class="stm mis"><a href="#n388">388</a></p>
+<p id="n389" class="stm mis"><a href="#n389">389</a></p>
+<p id="n390" class="pln"><a href="#n390">390</a></p>
+<p id="n391" class="stm run hide_run"><a href="#n391">391</a></p>
+<p id="n392" class="stm run hide_run"><a href="#n392">392</a></p>
+<p id="n393" class="stm run hide_run"><a href="#n393">393</a></p>
+<p id="n394" class="pln"><a href="#n394">394</a></p>
+<p id="n395" class="stm run hide_run"><a href="#n395">395</a></p>
+<p id="n396" class="stm mis"><a href="#n396">396</a></p>
+<p id="n397" class="stm mis"><a href="#n397">397</a></p>
+<p id="n398" class="stm mis"><a href="#n398">398</a></p>
+<p id="n399" class="stm mis"><a href="#n399">399</a></p>
+<p id="n400" class="stm mis"><a href="#n400">400</a></p>
+<p id="n401" class="pln"><a href="#n401">401</a></p>
+<p id="n402" class="stm mis"><a href="#n402">402</a></p>
+<p id="n403" class="stm mis"><a href="#n403">403</a></p>
+<p id="n404" class="stm mis"><a href="#n404">404</a></p>
+<p id="n405" class="stm mis"><a href="#n405">405</a></p>
+<p id="n406" class="pln"><a href="#n406">406</a></p>
+<p id="n407" class="stm run hide_run"><a href="#n407">407</a></p>
+<p id="n408" class="stm run hide_run"><a href="#n408">408</a></p>
+<p id="n409" class="stm mis"><a href="#n409">409</a></p>
+<p id="n410" class="stm mis"><a href="#n410">410</a></p>
+<p id="n411" class="stm mis"><a href="#n411">411</a></p>
+<p id="n412" class="stm mis"><a href="#n412">412</a></p>
+<p id="n413" class="stm mis"><a href="#n413">413</a></p>
+<p id="n414" class="stm mis"><a href="#n414">414</a></p>
+<p id="n415" class="stm mis"><a href="#n415">415</a></p>
+<p id="n416" class="pln"><a href="#n416">416</a></p>
+<p id="n417" class="stm mis"><a href="#n417">417</a></p>
+<p id="n418" class="stm mis"><a href="#n418">418</a></p>
+<p id="n419" class="stm mis"><a href="#n419">419</a></p>
+<p id="n420" class="pln"><a href="#n420">420</a></p>
+<p id="n421" class="stm mis"><a href="#n421">421</a></p>
+<p id="n422" class="pln"><a href="#n422">422</a></p>
+<p id="n423" class="stm run hide_run"><a href="#n423">423</a></p>
+<p id="n424" class="stm run hide_run"><a href="#n424">424</a></p>
+<p id="n425" class="stm mis"><a href="#n425">425</a></p>
+<p id="n426" class="stm mis"><a href="#n426">426</a></p>
+<p id="n427" class="stm mis"><a href="#n427">427</a></p>
+<p id="n428" class="stm mis"><a href="#n428">428</a></p>
+<p id="n429" class="stm mis"><a href="#n429">429</a></p>
+<p id="n430" class="stm mis"><a href="#n430">430</a></p>
+<p id="n431" class="stm mis"><a href="#n431">431</a></p>
+<p id="n432" class="pln"><a href="#n432">432</a></p>
+<p id="n433" class="stm mis"><a href="#n433">433</a></p>
+<p id="n434" class="stm mis"><a href="#n434">434</a></p>
+<p id="n435" class="stm mis"><a href="#n435">435</a></p>
+<p id="n436" class="pln"><a href="#n436">436</a></p>
+<p id="n437" class="stm mis"><a href="#n437">437</a></p>
+<p id="n438" class="pln"><a href="#n438">438</a></p>
+<p id="n439" class="stm run hide_run"><a href="#n439">439</a></p>
+<p id="n440" class="stm run hide_run"><a href="#n440">440</a></p>
+<p id="n441" class="stm mis"><a href="#n441">441</a></p>
+<p id="n442" class="stm mis"><a href="#n442">442</a></p>
+<p id="n443" class="stm mis"><a href="#n443">443</a></p>
+<p id="n444" class="stm mis"><a href="#n444">444</a></p>
+<p id="n445" class="stm mis"><a href="#n445">445</a></p>
+<p id="n446" class="stm mis"><a href="#n446">446</a></p>
+<p id="n447" class="stm mis"><a href="#n447">447</a></p>
+<p id="n448" class="pln"><a href="#n448">448</a></p>
+<p id="n449" class="stm mis"><a href="#n449">449</a></p>
+<p id="n450" class="stm mis"><a href="#n450">450</a></p>
+<p id="n451" class="stm mis"><a href="#n451">451</a></p>
+<p id="n452" class="pln"><a href="#n452">452</a></p>
+<p id="n453" class="stm mis"><a href="#n453">453</a></p>
+<p id="n454" class="stm run hide_run"><a href="#n454">454</a></p>
+<p id="n455" class="pln"><a href="#n455">455</a></p>
+<p id="n456" class="stm run hide_run"><a href="#n456">456</a></p>
+<p id="n457" class="pln"><a href="#n457">457</a></p>
+<p id="n458" class="stm run hide_run"><a href="#n458">458</a></p>
+<p id="n459" class="pln"><a href="#n459">459</a></p>
+<p id="n460" class="pln"><a href="#n460">460</a></p>
+<p id="n461" class="stm run hide_run"><a href="#n461">461</a></p>
+<p id="n462" class="pln"><a href="#n462">462</a></p>
+<p id="n463" class="stm run hide_run"><a href="#n463">463</a></p>
+<p id="n464" class="stm mis"><a href="#n464">464</a></p>
+<p id="n465" class="pln"><a href="#n465">465</a></p>
+<p id="n466" class="pln"><a href="#n466">466</a></p>
+<p id="n467" class="stm run hide_run"><a href="#n467">467</a></p>
+<p id="n468" class="stm run hide_run"><a href="#n468">468</a></p>
+<p id="n469" class="stm run hide_run"><a href="#n469">469</a></p>
+<p id="n470" class="stm run hide_run"><a href="#n470">470</a></p>
+<p id="n471" class="stm run hide_run"><a href="#n471">471</a></p>
+<p id="n472" class="stm run hide_run"><a href="#n472">472</a></p>
+<p id="n473" class="stm run hide_run"><a href="#n473">473</a></p>
+<p id="n474" class="pln"><a href="#n474">474</a></p>
+<p id="n475" class="stm run hide_run"><a href="#n475">475</a></p>
+<p id="n476" class="pln"><a href="#n476">476</a></p>
+<p id="n477" class="stm run hide_run"><a href="#n477">477</a></p>
+<p id="n478" class="stm run hide_run"><a href="#n478">478</a></p>
+<p id="n479" class="stm run hide_run"><a href="#n479">479</a></p>
+<p id="n480" class="pln"><a href="#n480">480</a></p>
+<p id="n481" class="stm run hide_run"><a href="#n481">481</a></p>
+<p id="n482" class="stm run hide_run"><a href="#n482">482</a></p>
+<p id="n483" class="pln"><a href="#n483">483</a></p>
+<p id="n484" class="stm run hide_run"><a href="#n484">484</a></p>
+<p id="n485" class="stm mis"><a href="#n485">485</a></p>
+<p id="n486" class="stm mis"><a href="#n486">486</a></p>
+<p id="n487" class="stm mis"><a href="#n487">487</a></p>
+<p id="n488" class="stm mis"><a href="#n488">488</a></p>
+<p id="n489" class="pln"><a href="#n489">489</a></p>
+<p id="n490" class="pln"><a href="#n490">490</a></p>
+<p id="n491" class="pln"><a href="#n491">491</a></p>
+<p id="n492" class="stm mis"><a href="#n492">492</a></p>
+<p id="n493" class="pln"><a href="#n493">493</a></p>
+<p id="n494" class="pln"><a href="#n494">494</a></p>
+<p id="n495" class="stm mis"><a href="#n495">495</a></p>
+<p id="n496" class="pln"><a href="#n496">496</a></p>
+<p id="n497" class="stm mis"><a href="#n497">497</a></p>
+<p id="n498" class="pln"><a href="#n498">498</a></p>
+<p id="n499" class="pln"><a href="#n499">499</a></p>
+<p id="n500" class="stm run hide_run"><a href="#n500">500</a></p>
+<p id="n501" class="stm run hide_run"><a href="#n501">501</a></p>
+<p id="n502" class="stm run hide_run"><a href="#n502">502</a></p>
+<p id="n503" class="pln"><a href="#n503">503</a></p>
+<p id="n504" class="pln"><a href="#n504">504</a></p>
+<p id="n505" class="pln"><a href="#n505">505</a></p>
+<p id="n506" class="pln"><a href="#n506">506</a></p>
+<p id="n507" class="stm run hide_run"><a href="#n507">507</a></p>
+<p id="n508" class="pln"><a href="#n508">508</a></p>
+<p id="n509" class="pln"><a href="#n509">509</a></p>
+<p id="n510" class="stm run hide_run"><a href="#n510">510</a></p>
+<p id="n511" class="stm mis"><a href="#n511">511</a></p>
+<p id="n512" class="stm mis"><a href="#n512">512</a></p>
+<p id="n513" class="stm mis"><a href="#n513">513</a></p>
+<p id="n514" class="stm run hide_run"><a href="#n514">514</a></p>
+<p id="n515" class="stm mis"><a href="#n515">515</a></p>
+<p id="n516" class="stm mis"><a href="#n516">516</a></p>
+<p id="n517" class="stm mis"><a href="#n517">517</a></p>
+<p id="n518" class="stm mis"><a href="#n518">518</a></p>
+<p id="n519" class="stm run hide_run"><a href="#n519">519</a></p>
+<p id="n520" class="pln"><a href="#n520">520</a></p>
+<p id="n521" class="stm run hide_run"><a href="#n521">521</a></p>
+<p id="n522" class="pln"><a href="#n522">522</a></p>
+<p id="n523" class="pln"><a href="#n523">523</a></p>
+<p id="n524" class="stm run hide_run"><a href="#n524">524</a></p>
+<p id="n525" class="stm run hide_run"><a href="#n525">525</a></p>
+<p id="n526" class="pln"><a href="#n526">526</a></p>
+<p id="n527" class="stm run hide_run"><a href="#n527">527</a></p>
+<p id="n528" class="pln"><a href="#n528">528</a></p>
+<p id="n529" class="pln"><a href="#n529">529</a></p>
+<p id="n530" class="pln"><a href="#n530">530</a></p>
+<p id="n531" class="stm run hide_run"><a href="#n531">531</a></p>
+<p id="n532" class="pln"><a href="#n532">532</a></p>
+<p id="n533" class="pln"><a href="#n533">533</a></p>
+<p id="n534" class="pln"><a href="#n534">534</a></p>
+<p id="n535" class="stm run hide_run"><a href="#n535">535</a></p>
+<p id="n536" class="stm run hide_run"><a href="#n536">536</a></p>
+<p id="n537" class="pln"><a href="#n537">537</a></p>
+<p id="n538" class="pln"><a href="#n538">538</a></p>
+<p id="n539" class="pln"><a href="#n539">539</a></p>
+<p id="n540" class="pln"><a href="#n540">540</a></p>
+<p id="n541" class="pln"><a href="#n541">541</a></p>
+<p id="n542" class="pln"><a href="#n542">542</a></p>
+<p id="n543" class="stm run hide_run"><a href="#n543">543</a></p>
+<p id="n544" class="stm run hide_run"><a href="#n544">544</a></p>
+<p id="n545" class="pln"><a href="#n545">545</a></p>
+<p id="n546" class="pln"><a href="#n546">546</a></p>
+<p id="n547" class="pln"><a href="#n547">547</a></p>
+<p id="n548" class="stm run hide_run"><a href="#n548">548</a></p>
+<p id="n549" class="pln"><a href="#n549">549</a></p>
+<p id="n550" class="stm run hide_run"><a href="#n550">550</a></p>
+<p id="n551" class="pln"><a href="#n551">551</a></p>
+<p id="n552" class="pln"><a href="#n552">552</a></p>
+<p id="n553" class="stm mis"><a href="#n553">553</a></p>
+<p id="n554" class="stm mis"><a href="#n554">554</a></p>
+<p id="n555" class="stm mis"><a href="#n555">555</a></p>
+<p id="n556" class="stm mis"><a href="#n556">556</a></p>
+<p id="n557" class="stm mis"><a href="#n557">557</a></p>
+<p id="n558" class="stm mis"><a href="#n558">558</a></p>
+<p id="n559" class="stm mis"><a href="#n559">559</a></p>
+<p id="n560" class="stm mis"><a href="#n560">560</a></p>
+<p id="n561" class="stm mis"><a href="#n561">561</a></p>
+<p id="n562" class="stm mis"><a href="#n562">562</a></p>
+<p id="n563" class="stm mis"><a href="#n563">563</a></p>
+<p id="n564" class="stm mis"><a href="#n564">564</a></p>
+<p id="n565" class="stm mis"><a href="#n565">565</a></p>
+<p id="n566" class="stm mis"><a href="#n566">566</a></p>
+<p id="n567" class="pln"><a href="#n567">567</a></p>
+<p id="n568" class="stm mis"><a href="#n568">568</a></p>
+<p id="n569" class="pln"><a href="#n569">569</a></p>
+<p id="n570" class="pln"><a href="#n570">570</a></p>
+<p id="n571" class="stm mis"><a href="#n571">571</a></p>
+<p id="n572" class="stm mis"><a href="#n572">572</a></p>
+<p id="n573" class="pln"><a href="#n573">573</a></p>
+<p id="n574" class="stm mis"><a href="#n574">574</a></p>
+<p id="n575" class="pln"><a href="#n575">575</a></p>
+<p id="n576" class="pln"><a href="#n576">576</a></p>
+<p id="n577" class="pln"><a href="#n577">577</a></p>
+<p id="n578" class="stm mis"><a href="#n578">578</a></p>
+<p id="n579" class="pln"><a href="#n579">579</a></p>
+<p id="n580" class="pln"><a href="#n580">580</a></p>
+<p id="n581" class="pln"><a href="#n581">581</a></p>
+<p id="n582" class="stm mis"><a href="#n582">582</a></p>
+<p id="n583" class="stm mis"><a href="#n583">583</a></p>
+<p id="n584" class="pln"><a href="#n584">584</a></p>
+<p id="n585" class="pln"><a href="#n585">585</a></p>
+<p id="n586" class="pln"><a href="#n586">586</a></p>
+<p id="n587" class="pln"><a href="#n587">587</a></p>
+<p id="n588" class="pln"><a href="#n588">588</a></p>
+<p id="n589" class="pln"><a href="#n589">589</a></p>
+<p id="n590" class="stm mis"><a href="#n590">590</a></p>
+<p id="n591" class="stm mis"><a href="#n591">591</a></p>
+<p id="n592" class="pln"><a href="#n592">592</a></p>
+<p id="n593" class="pln"><a href="#n593">593</a></p>
+<p id="n594" class="pln"><a href="#n594">594</a></p>
+<p id="n595" class="stm mis"><a href="#n595">595</a></p>
+<p id="n596" class="pln"><a href="#n596">596</a></p>
+<p id="n597" class="stm run hide_run"><a href="#n597">597</a></p>
+<p id="n598" class="pln"><a href="#n598">598</a></p>
+<p id="n599" class="pln"><a href="#n599">599</a></p>
+<p id="n600" class="pln"><a href="#n600">600</a></p>
+<p id="n601" class="pln"><a href="#n601">601</a></p>
+<p id="n602" class="pln"><a href="#n602">602</a></p>
+<p id="n603" class="pln"><a href="#n603">603</a></p>
+<p id="n604" class="pln"><a href="#n604">604</a></p>
+<p id="n605" class="stm mis"><a href="#n605">605</a></p>
+<p id="n606" class="stm mis"><a href="#n606">606</a></p>
+<p id="n607" class="pln"><a href="#n607">607</a></p>
+<p id="n608" class="stm mis"><a href="#n608">608</a></p>
+<p id="n609" class="stm mis"><a href="#n609">609</a></p>
+<p id="n610" class="stm mis"><a href="#n610">610</a></p>
+<p id="n611" class="pln"><a href="#n611">611</a></p>
+<p id="n612" class="stm run hide_run"><a href="#n612">612</a></p>
+<p id="n613" class="pln"><a href="#n613">613</a></p>
+<p id="n614" class="pln"><a href="#n614">614</a></p>
+<p id="n615" class="stm mis"><a href="#n615">615</a></p>
+<p id="n616" class="pln"><a href="#n616">616</a></p>
+<p id="n617" class="pln"><a href="#n617">617</a></p>
+<p id="n618" class="pln"><a href="#n618">618</a></p>
+<p id="n619" class="pln"><a href="#n619">619</a></p>
+<p id="n620" class="pln"><a href="#n620">620</a></p>
+<p id="n621" class="stm mis"><a href="#n621">621</a></p>
+<p id="n622" class="stm mis"><a href="#n622">622</a></p>
+<p id="n623" class="stm mis"><a href="#n623">623</a></p>
+<p id="n624" class="stm mis"><a href="#n624">624</a></p>
+<p id="n625" class="stm mis"><a href="#n625">625</a></p>
+<p id="n626" class="pln"><a href="#n626">626</a></p>
+<p id="n627" class="stm mis"><a href="#n627">627</a></p>
+<p id="n628" class="pln"><a href="#n628">628</a></p>
+<p id="n629" class="pln"><a href="#n629">629</a></p>
+<p id="n630" class="pln"><a href="#n630">630</a></p>
+<p id="n631" class="pln"><a href="#n631">631</a></p>
+<p id="n632" class="pln"><a href="#n632">632</a></p>
+<p id="n633" class="pln"><a href="#n633">633</a></p>
+<p id="n634" class="pln"><a href="#n634">634</a></p>
+<p id="n635" class="pln"><a href="#n635">635</a></p>
+<p id="n636" class="pln"><a href="#n636">636</a></p>
+<p id="n637" class="pln"><a href="#n637">637</a></p>
+<p id="n638" class="stm mis"><a href="#n638">638</a></p>
+<p id="n639" class="pln"><a href="#n639">639</a></p>
+<p id="n640" class="pln"><a href="#n640">640</a></p>
+<p id="n641" class="stm mis"><a href="#n641">641</a></p>
+<p id="n642" class="pln"><a href="#n642">642</a></p>
+<p id="n643" class="pln"><a href="#n643">643</a></p>
+<p id="n644" class="pln"><a href="#n644">644</a></p>
+<p id="n645" class="pln"><a href="#n645">645</a></p>
+<p id="n646" class="stm run hide_run"><a href="#n646">646</a></p>
+<p id="n647" class="pln"><a href="#n647">647</a></p>
+<p id="n648" class="pln"><a href="#n648">648</a></p>
+<p id="n649" class="pln"><a href="#n649">649</a></p>
+<p id="n650" class="pln"><a href="#n650">650</a></p>
+<p id="n651" class="pln"><a href="#n651">651</a></p>
+<p id="n652" class="pln"><a href="#n652">652</a></p>
+<p id="n653" class="pln"><a href="#n653">653</a></p>
+<p id="n654" class="pln"><a href="#n654">654</a></p>
+<p id="n655" class="pln"><a href="#n655">655</a></p>
+<p id="n656" class="pln"><a href="#n656">656</a></p>
+<p id="n657" class="pln"><a href="#n657">657</a></p>
+<p id="n658" class="pln"><a href="#n658">658</a></p>
+<p id="n659" class="stm mis"><a href="#n659">659</a></p>
+<p id="n660" class="stm mis"><a href="#n660">660</a></p>
+<p id="n661" class="stm mis"><a href="#n661">661</a></p>
+<p id="n662" class="stm mis"><a href="#n662">662</a></p>
+<p id="n663" class="stm mis"><a href="#n663">663</a></p>
+<p id="n664" class="stm mis"><a href="#n664">664</a></p>
+<p id="n665" class="stm mis"><a href="#n665">665</a></p>
+<p id="n666" class="stm mis"><a href="#n666">666</a></p>
+<p id="n667" class="stm mis"><a href="#n667">667</a></p>
+<p id="n668" class="stm mis"><a href="#n668">668</a></p>
+<p id="n669" class="stm mis"><a href="#n669">669</a></p>
+<p id="n670" class="stm mis"><a href="#n670">670</a></p>
+<p id="n671" class="stm mis"><a href="#n671">671</a></p>
+<p id="n672" class="stm mis"><a href="#n672">672</a></p>
+<p id="n673" class="stm mis"><a href="#n673">673</a></p>
+<p id="n674" class="stm mis"><a href="#n674">674</a></p>
+<p id="n675" class="pln"><a href="#n675">675</a></p>
+<p id="n676" class="stm mis"><a href="#n676">676</a></p>
+<p id="n677" class="stm mis"><a href="#n677">677</a></p>
+<p id="n678" class="pln"><a href="#n678">678</a></p>
+<p id="n679" class="pln"><a href="#n679">679</a></p>
+<p id="n680" class="pln"><a href="#n680">680</a></p>
+<p id="n681" class="pln"><a href="#n681">681</a></p>
+<p id="n682" class="stm mis"><a href="#n682">682</a></p>
+<p id="n683" class="pln"><a href="#n683">683</a></p>
+<p id="n684" class="pln"><a href="#n684">684</a></p>
+<p id="n685" class="pln"><a href="#n685">685</a></p>
+<p id="n686" class="pln"><a href="#n686">686</a></p>
+<p id="n687" class="stm run hide_run"><a href="#n687">687</a></p>
+<p id="n688" class="pln"><a href="#n688">688</a></p>
+<p id="n689" class="pln"><a href="#n689">689</a></p>
+<p id="n690" class="stm mis"><a href="#n690">690</a></p>
+<p id="n691" class="stm mis"><a href="#n691">691</a></p>
+<p id="n692" class="pln"><a href="#n692">692</a></p>
+<p id="n693" class="stm mis"><a href="#n693">693</a></p>
+<p id="n694" class="pln"><a href="#n694">694</a></p>
+<p id="n695" class="stm mis"><a href="#n695">695</a></p>
+<p id="n696" class="stm mis"><a href="#n696">696</a></p>
+<p id="n697" class="stm mis"><a href="#n697">697</a></p>
+<p id="n698" class="stm mis"><a href="#n698">698</a></p>
+<p id="n699" class="stm mis"><a href="#n699">699</a></p>
+<p id="n700" class="stm mis"><a href="#n700">700</a></p>
+<p id="n701" class="stm mis"><a href="#n701">701</a></p>
+<p id="n702" class="stm mis"><a href="#n702">702</a></p>
+<p id="n703" class="pln"><a href="#n703">703</a></p>
+<p id="n704" class="pln"><a href="#n704">704</a></p>
+<p id="n705" class="stm mis"><a href="#n705">705</a></p>
+<p id="n706" class="stm mis"><a href="#n706">706</a></p>
+<p id="n707" class="stm mis"><a href="#n707">707</a></p>
+<p id="n708" class="stm mis"><a href="#n708">708</a></p>
+<p id="n709" class="stm mis"><a href="#n709">709</a></p>
+<p id="n710" class="stm mis"><a href="#n710">710</a></p>
+<p id="n711" class="stm mis"><a href="#n711">711</a></p>
+<p id="n712" class="stm mis"><a href="#n712">712</a></p>
+<p id="n713" class="stm mis"><a href="#n713">713</a></p>
+<p id="n714" class="stm mis"><a href="#n714">714</a></p>
+<p id="n715" class="pln"><a href="#n715">715</a></p>
+<p id="n716" class="pln"><a href="#n716">716</a></p>
+<p id="n717" class="stm mis"><a href="#n717">717</a></p>
+<p id="n718" class="stm mis"><a href="#n718">718</a></p>
+<p id="n719" class="stm mis"><a href="#n719">719</a></p>
+<p id="n720" class="stm mis"><a href="#n720">720</a></p>
+<p id="n721" class="stm mis"><a href="#n721">721</a></p>
+<p id="n722" class="pln"><a href="#n722">722</a></p>
+<p id="n723" class="pln"><a href="#n723">723</a></p>
+<p id="n724" class="pln"><a href="#n724">724</a></p>
+<p id="n725" class="pln"><a href="#n725">725</a></p>
+<p id="n726" class="pln"><a href="#n726">726</a></p>
+<p id="n727" class="stm run hide_run"><a href="#n727">727</a></p>
+<p id="n728" class="pln"><a href="#n728">728</a></p>
+<p id="n729" class="pln"><a href="#n729">729</a></p>
+<p id="n730" class="pln"><a href="#n730">730</a></p>
+<p id="n731" class="pln"><a href="#n731">731</a></p>
+<p id="n732" class="stm mis"><a href="#n732">732</a></p>
+<p id="n733" class="stm mis"><a href="#n733">733</a></p>
+<p id="n734" class="pln"><a href="#n734">734</a></p>
+<p id="n735" class="stm mis"><a href="#n735">735</a></p>
+<p id="n736" class="pln"><a href="#n736">736</a></p>
+<p id="n737" class="stm mis"><a href="#n737">737</a></p>
+<p id="n738" class="pln"><a href="#n738">738</a></p>
+<p id="n739" class="pln"><a href="#n739">739</a></p>
+<p id="n740" class="stm mis"><a href="#n740">740</a></p>
+<p id="n741" class="pln"><a href="#n741">741</a></p>
+<p id="n742" class="pln"><a href="#n742">742</a></p>
+<p id="n743" class="stm mis"><a href="#n743">743</a></p>
+<p id="n744" class="pln"><a href="#n744">744</a></p>
+<p id="n745" class="stm mis"><a href="#n745">745</a></p>
+<p id="n746" class="pln"><a href="#n746">746</a></p>
+<p id="n747" class="pln"><a href="#n747">747</a></p>
+<p id="n748" class="pln"><a href="#n748">748</a></p>
+<p id="n749" class="pln"><a href="#n749">749</a></p>
+<p id="n750" class="stm run hide_run"><a href="#n750">750</a></p>
+<p id="n751" class="pln"><a href="#n751">751</a></p>
+<p id="n752" class="pln"><a href="#n752">752</a></p>
+<p id="n753" class="pln"><a href="#n753">753</a></p>
+<p id="n754" class="pln"><a href="#n754">754</a></p>
+<p id="n755" class="pln"><a href="#n755">755</a></p>
+<p id="n756" class="pln"><a href="#n756">756</a></p>
+<p id="n757" class="pln"><a href="#n757">757</a></p>
+<p id="n758" class="pln"><a href="#n758">758</a></p>
+<p id="n759" class="pln"><a href="#n759">759</a></p>
+<p id="n760" class="pln"><a href="#n760">760</a></p>
+<p id="n761" class="pln"><a href="#n761">761</a></p>
+<p id="n762" class="pln"><a href="#n762">762</a></p>
+<p id="n763" class="pln"><a href="#n763">763</a></p>
+<p id="n764" class="pln"><a href="#n764">764</a></p>
+<p id="n765" class="pln"><a href="#n765">765</a></p>
+<p id="n766" class="pln"><a href="#n766">766</a></p>
+<p id="n767" class="pln"><a href="#n767">767</a></p>
+<p id="n768" class="pln"><a href="#n768">768</a></p>
+<p id="n769" class="pln"><a href="#n769">769</a></p>
+<p id="n770" class="pln"><a href="#n770">770</a></p>
+<p id="n771" class="pln"><a href="#n771">771</a></p>
+<p id="n772" class="pln"><a href="#n772">772</a></p>
+<p id="n773" class="pln"><a href="#n773">773</a></p>
+<p id="n774" class="pln"><a href="#n774">774</a></p>
+<p id="n775" class="pln"><a href="#n775">775</a></p>
+<p id="n776" class="pln"><a href="#n776">776</a></p>
+<p id="n777" class="pln"><a href="#n777">777</a></p>
+<p id="n778" class="pln"><a href="#n778">778</a></p>
+<p id="n779" class="pln"><a href="#n779">779</a></p>
+<p id="n780" class="pln"><a href="#n780">780</a></p>
+<p id="n781" class="pln"><a href="#n781">781</a></p>
+<p id="n782" class="pln"><a href="#n782">782</a></p>
+<p id="n783" class="pln"><a href="#n783">783</a></p>
+<p id="n784" class="pln"><a href="#n784">784</a></p>
+<p id="n785" class="pln"><a href="#n785">785</a></p>
+<p id="n786" class="pln"><a href="#n786">786</a></p>
+<p id="n787" class="pln"><a href="#n787">787</a></p>
+<p id="n788" class="pln"><a href="#n788">788</a></p>
+<p id="n789" class="stm mis"><a href="#n789">789</a></p>
+<p id="n790" class="stm mis"><a href="#n790">790</a></p>
+<p id="n791" class="stm mis"><a href="#n791">791</a></p>
+<p id="n792" class="stm mis"><a href="#n792">792</a></p>
+<p id="n793" class="stm mis"><a href="#n793">793</a></p>
+<p id="n794" class="stm mis"><a href="#n794">794</a></p>
+<p id="n795" class="stm mis"><a href="#n795">795</a></p>
+<p id="n796" class="stm mis"><a href="#n796">796</a></p>
+<p id="n797" class="stm mis"><a href="#n797">797</a></p>
+<p id="n798" class="stm mis"><a href="#n798">798</a></p>
+<p id="n799" class="stm mis"><a href="#n799">799</a></p>
+<p id="n800" class="stm mis"><a href="#n800">800</a></p>
+<p id="n801" class="stm mis"><a href="#n801">801</a></p>
+<p id="n802" class="stm mis"><a href="#n802">802</a></p>
+<p id="n803" class="stm mis"><a href="#n803">803</a></p>
+<p id="n804" class="stm mis"><a href="#n804">804</a></p>
+<p id="n805" class="pln"><a href="#n805">805</a></p>
+<p id="n806" class="pln"><a href="#n806">806</a></p>
+<p id="n807" class="stm mis"><a href="#n807">807</a></p>
+<p id="n808" class="stm mis"><a href="#n808">808</a></p>
+<p id="n809" class="stm mis"><a href="#n809">809</a></p>
+<p id="n810" class="pln"><a href="#n810">810</a></p>
+<p id="n811" class="stm mis"><a href="#n811">811</a></p>
+<p id="n812" class="pln"><a href="#n812">812</a></p>
+<p id="n813" class="stm mis"><a href="#n813">813</a></p>
+<p id="n814" class="pln"><a href="#n814">814</a></p>
+<p id="n815" class="stm mis"><a href="#n815">815</a></p>
+<p id="n816" class="pln"><a href="#n816">816</a></p>
+<p id="n817" class="pln"><a href="#n817">817</a></p>
+<p id="n818" class="stm mis"><a href="#n818">818</a></p>
+<p id="n819" class="pln"><a href="#n819">819</a></p>
+<p id="n820" class="pln"><a href="#n820">820</a></p>
+<p id="n821" class="pln"><a href="#n821">821</a></p>
+<p id="n822" class="stm mis"><a href="#n822">822</a></p>
+<p id="n823" class="stm mis"><a href="#n823">823</a></p>
+<p id="n824" class="pln"><a href="#n824">824</a></p>
+<p id="n825" class="stm mis"><a href="#n825">825</a></p>
+<p id="n826" class="stm mis"><a href="#n826">826</a></p>
+<p id="n827" class="stm mis"><a href="#n827">827</a></p>
+<p id="n828" class="pln"><a href="#n828">828</a></p>
+<p id="n829" class="pln"><a href="#n829">829</a></p>
+<p id="n830" class="pln"><a href="#n830">830</a></p>
+<p id="n831" class="pln"><a href="#n831">831</a></p>
+<p id="n832" class="stm mis"><a href="#n832">832</a></p>
+<p id="n833" class="stm mis"><a href="#n833">833</a></p>
+<p id="n834" class="stm mis"><a href="#n834">834</a></p>
+<p id="n835" class="stm mis"><a href="#n835">835</a></p>
+<p id="n836" class="stm mis"><a href="#n836">836</a></p>
+<p id="n837" class="stm mis"><a href="#n837">837</a></p>
+<p id="n838" class="stm mis"><a href="#n838">838</a></p>
+<p id="n839" class="stm mis"><a href="#n839">839</a></p>
+<p id="n840" class="stm mis"><a href="#n840">840</a></p>
+<p id="n841" class="stm mis"><a href="#n841">841</a></p>
+<p id="n842" class="pln"><a href="#n842">842</a></p>
+<p id="n843" class="pln"><a href="#n843">843</a></p>
+<p id="n844" class="pln"><a href="#n844">844</a></p>
+<p id="n845" class="stm mis"><a href="#n845">845</a></p>
+<p id="n846" class="pln"><a href="#n846">846</a></p>
+<p id="n847" class="pln"><a href="#n847">847</a></p>
+<p id="n848" class="stm mis"><a href="#n848">848</a></p>
+<p id="n849" class="pln"><a href="#n849">849</a></p>
+<p id="n850" class="pln"><a href="#n850">850</a></p>
+<p id="n851" class="stm mis"><a href="#n851">851</a></p>
+<p id="n852" class="pln"><a href="#n852">852</a></p>
+<p id="n853" class="pln"><a href="#n853">853</a></p>
+<p id="n854" class="stm mis"><a href="#n854">854</a></p>
+<p id="n855" class="stm mis"><a href="#n855">855</a></p>
+<p id="n856" class="stm mis"><a href="#n856">856</a></p>
+<p id="n857" class="pln"><a href="#n857">857</a></p>
+<p id="n858" class="stm mis"><a href="#n858">858</a></p>
+<p id="n859" class="stm mis"><a href="#n859">859</a></p>
+<p id="n860" class="pln"><a href="#n860">860</a></p>
+<p id="n861" class="pln"><a href="#n861">861</a></p>
+<p id="n862" class="pln"><a href="#n862">862</a></p>
+<p id="n863" class="stm mis"><a href="#n863">863</a></p>
+<p id="n864" class="pln"><a href="#n864">864</a></p>
+<p id="n865" class="pln"><a href="#n865">865</a></p>
+<p id="n866" class="pln"><a href="#n866">866</a></p>
+<p id="n867" class="pln"><a href="#n867">867</a></p>
+<p id="n868" class="stm mis"><a href="#n868">868</a></p>
+<p id="n869" class="stm mis"><a href="#n869">869</a></p>
+<p id="n870" class="pln"><a href="#n870">870</a></p>
+<p id="n871" class="pln"><a href="#n871">871</a></p>
+<p id="n872" class="pln"><a href="#n872">872</a></p>
+<p id="n873" class="stm mis"><a href="#n873">873</a></p>
+<p id="n874" class="pln"><a href="#n874">874</a></p>
+<p id="n875" class="stm mis"><a href="#n875">875</a></p>
+<p id="n876" class="stm mis"><a href="#n876">876</a></p>
+<p id="n877" class="pln"><a href="#n877">877</a></p>
+<p id="n878" class="pln"><a href="#n878">878</a></p>
+<p id="n879" class="pln"><a href="#n879">879</a></p>
+<p id="n880" class="pln"><a href="#n880">880</a></p>
+<p id="n881" class="pln"><a href="#n881">881</a></p>
+<p id="n882" class="pln"><a href="#n882">882</a></p>
+<p id="n883" class="stm mis"><a href="#n883">883</a></p>
+<p id="n884" class="pln"><a href="#n884">884</a></p>
+<p id="n885" class="pln"><a href="#n885">885</a></p>
+<p id="n886" class="stm mis"><a href="#n886">886</a></p>
+<p id="n887" class="pln"><a href="#n887">887</a></p>
+<p id="n888" class="stm mis"><a href="#n888">888</a></p>
+<p id="n889" class="stm mis"><a href="#n889">889</a></p>
+<p id="n890" class="stm mis"><a href="#n890">890</a></p>
+<p id="n891" class="stm mis"><a href="#n891">891</a></p>
+<p id="n892" class="pln"><a href="#n892">892</a></p>
+<p id="n893" class="pln"><a href="#n893">893</a></p>
+<p id="n894" class="stm mis"><a href="#n894">894</a></p>
+<p id="n895" class="pln"><a href="#n895">895</a></p>
+<p id="n896" class="stm mis"><a href="#n896">896</a></p>
+<p id="n897" class="pln"><a href="#n897">897</a></p>
+<p id="n898" class="stm mis"><a href="#n898">898</a></p>
+<p id="n899" class="pln"><a href="#n899">899</a></p>
+<p id="n900" class="stm mis"><a href="#n900">900</a></p>
+<p id="n901" class="pln"><a href="#n901">901</a></p>
+<p id="n902" class="pln"><a href="#n902">902</a></p>
+<p id="n903" class="stm mis"><a href="#n903">903</a></p>
+<p id="n904" class="stm mis"><a href="#n904">904</a></p>
+<p id="n905" class="pln"><a href="#n905">905</a></p>
+<p id="n906" class="stm mis"><a href="#n906">906</a></p>
+<p id="n907" class="pln"><a href="#n907">907</a></p>
+<p id="n908" class="pln"><a href="#n908">908</a></p>
+<p id="n909" class="pln"><a href="#n909">909</a></p>
+<p id="n910" class="pln"><a href="#n910">910</a></p>
+<p id="n911" class="pln"><a href="#n911">911</a></p>
+<p id="n912" class="pln"><a href="#n912">912</a></p>
+<p id="n913" class="pln"><a href="#n913">913</a></p>
+<p id="n914" class="stm mis"><a href="#n914">914</a></p>
+<p id="n915" class="pln"><a href="#n915">915</a></p>
+<p id="n916" class="stm mis"><a href="#n916">916</a></p>
+<p id="n917" class="pln"><a href="#n917">917</a></p>
+<p id="n918" class="pln"><a href="#n918">918</a></p>
+<p id="n919" class="pln"><a href="#n919">919</a></p>
+<p id="n920" class="pln"><a href="#n920">920</a></p>
+<p id="n921" class="stm mis"><a href="#n921">921</a></p>
+
+ </td>
+ <td class="text">
+<p id="t1" class="pln"><span class="str">"""</span><span class="strut"> </span></p>
+<p id="t2" class="pln"><span class="str"> Trajectory in navipy</span><span class="strut"> </span></p>
+<p id="t3" class="pln"><span class="str">"""</span><span class="strut"> </span></p>
+<p id="t4" class="stm run hide_run"><span class="key">import</span> <span class="nam">pandas</span> <span class="key">as</span> <span class="nam">pd</span><span class="strut"> </span></p>
+<p id="t5" class="stm run hide_run"><span class="key">import</span> <span class="nam">numpy</span> <span class="key">as</span> <span class="nam">np</span><span class="strut"> </span></p>
+<p id="t6" class="stm run hide_run"><span class="key">from</span> <span class="nam">navipy</span><span class="op">.</span><span class="nam">maths</span> <span class="key">import</span> <span class="nam">constants</span> <span class="key">as</span> <span class="nam">mconst</span><span class="strut"> </span></p>
+<p id="t7" class="stm run hide_run"><span class="key">from</span> <span class="nam">navipy</span><span class="op">.</span><span class="nam">maths</span> <span class="key">import</span> <span class="nam">quaternion</span> <span class="key">as</span> <span class="nam">htq</span><span class="strut"> </span></p>
+<p id="t8" class="stm run hide_run"><span class="key">from</span> <span class="nam">navipy</span><span class="op">.</span><span class="nam">maths</span> <span class="key">import</span> <span class="nam">euler</span> <span class="key">as</span> <span class="nam">hte</span><span class="strut"> </span></p>
+<p id="t9" class="stm run hide_run"><span class="key">from</span> <span class="nam">navipy</span><span class="op">.</span><span class="nam">maths</span> <span class="key">import</span> <span class="nam">homogeneous_transformations</span> <span class="key">as</span> <span class="nam">htf</span><span class="strut"> </span></p>
+<p id="t10" class="stm run hide_run"><span class="key">from</span> <span class="nam">navipy</span><span class="op">.</span><span class="nam">errorprop</span> <span class="key">import</span> <span class="nam">propagate_error</span><span class="strut"> </span></p>
+<p id="t11" class="stm run hide_run"><span class="key">from</span> <span class="op">.</span><span class="nam">transformations</span> <span class="key">import</span> <span class="nam">markers2translate</span><span class="op">,</span> <span class="nam">markers2euler</span><span class="strut"> </span></p>
+<p id="t12" class="stm run hide_run"><span class="key">from</span> <span class="nam">navipy</span><span class="op">.</span><span class="nam">tools</span><span class="op">.</span><span class="nam">plots</span> <span class="key">import</span> <span class="nam">get_color_dataframe</span><span class="strut"> </span></p>
+<p id="t13" class="stm run hide_run"><span class="key">import</span> <span class="nam">matplotlib</span><span class="op">.</span><span class="nam">pyplot</span> <span class="key">as</span> <span class="nam">plt</span><span class="strut"> </span></p>
+<p id="t14" class="stm run hide_run"><span class="key">from</span> <span class="nam">mpl_toolkits</span><span class="op">.</span><span class="nam">mplot3d</span> <span class="key">import</span> <span class="nam">Axes3D</span> <span class="com"># noqa F401</span><span class="strut"> </span></p>
+<p id="t15" class="stm run hide_run"><span class="key">from</span> <span class="nam">multiprocessing</span> <span class="key">import</span> <span class="nam">Pool</span><span class="strut"> </span></p>
+<p id="t16" class="stm run hide_run"><span class="key">from</span> <span class="nam">functools</span> <span class="key">import</span> <span class="nam">partial</span><span class="strut"> </span></p>
+<p id="t17" class="stm run hide_run"><span class="key">import</span> <span class="nam">time</span><span class="strut"> </span></p>
+<p id="t18" class="stm run hide_run"><span class="key">from</span> <span class="nam">scipy</span> <span class="key">import</span> <span class="nam">signal</span><span class="strut"> </span></p>
+<p id="t19" class="stm run hide_run"><span class="key">from</span> <span class="nam">scipy</span><span class="op">.</span><span class="nam">interpolate</span> <span class="key">import</span> <span class="nam">CubicSpline</span><span class="strut"> </span></p>
+<p id="t20" class="stm run hide_run"><span class="key">import</span> <span class="nam">warnings</span><span class="strut"> </span></p>
+<p id="t21" class="pln"><span class="strut"> </span></p>
+<p id="t22" class="pln"><span class="strut"> </span></p>
+<p id="t23" class="stm run hide_run"><span class="key">def</span> <span class="nam">_markers2position</span><span class="op">(</span><span class="nam">x</span><span class="op">,</span> <span class="nam">kwargs</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t24" class="stm run hide_run"> <span class="nam">mark0</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">Series</span><span class="op">(</span><span class="nam">x</span><span class="op">[</span><span class="op">:</span><span class="num">3</span><span class="op">]</span><span class="op">,</span> <span class="nam">index</span><span class="op">=</span><span class="op">[</span><span class="str">'x'</span><span class="op">,</span> <span class="str">'y'</span><span class="op">,</span> <span class="str">'z'</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t25" class="stm run hide_run"> <span class="nam">mark1</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">Series</span><span class="op">(</span><span class="nam">x</span><span class="op">[</span><span class="num">3</span><span class="op">:</span><span class="num">6</span><span class="op">]</span><span class="op">,</span> <span class="nam">index</span><span class="op">=</span><span class="op">[</span><span class="str">'x'</span><span class="op">,</span> <span class="str">'y'</span><span class="op">,</span> <span class="str">'z'</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t26" class="stm run hide_run"> <span class="nam">mark2</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">Series</span><span class="op">(</span><span class="nam">x</span><span class="op">[</span><span class="num">6</span><span class="op">:</span><span class="op">]</span><span class="op">,</span> <span class="nam">index</span><span class="op">=</span><span class="op">[</span><span class="str">'x'</span><span class="op">,</span> <span class="str">'y'</span><span class="op">,</span> <span class="str">'z'</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t27" class="stm run hide_run"> <span class="nam">triangle_mode</span> <span class="op">=</span> <span class="nam">kwargs</span><span class="op">[</span><span class="str">'triangle_mode'</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t28" class="stm run hide_run"> <span class="nam">euler_axes</span> <span class="op">=</span> <span class="nam">kwargs</span><span class="op">[</span><span class="str">'euler_axes'</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t29" class="stm run hide_run"> <span class="key">return</span> <span class="nam">markers2translate</span><span class="op">(</span><span class="nam">mark0</span><span class="op">,</span> <span class="nam">mark1</span><span class="op">,</span> <span class="nam">mark2</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t30" class="pln"> <span class="nam">triangle_mode</span><span class="op">,</span> <span class="nam">euler_axes</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t31" class="pln"><span class="strut"> </span></p>
+<p id="t32" class="pln"><span class="strut"> </span></p>
+<p id="t33" class="stm run hide_run"><span class="key">def</span> <span class="nam">_markers2angles</span><span class="op">(</span><span class="nam">x</span><span class="op">,</span> <span class="nam">kwargs</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t34" class="stm run hide_run"> <span class="nam">mark0</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">Series</span><span class="op">(</span><span class="nam">x</span><span class="op">[</span><span class="op">:</span><span class="num">3</span><span class="op">]</span><span class="op">,</span> <span class="nam">index</span><span class="op">=</span><span class="op">[</span><span class="str">'x'</span><span class="op">,</span> <span class="str">'y'</span><span class="op">,</span> <span class="str">'z'</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t35" class="stm run hide_run"> <span class="nam">mark1</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">Series</span><span class="op">(</span><span class="nam">x</span><span class="op">[</span><span class="num">3</span><span class="op">:</span><span class="num">6</span><span class="op">]</span><span class="op">,</span> <span class="nam">index</span><span class="op">=</span><span class="op">[</span><span class="str">'x'</span><span class="op">,</span> <span class="str">'y'</span><span class="op">,</span> <span class="str">'z'</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t36" class="stm run hide_run"> <span class="nam">mark2</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">Series</span><span class="op">(</span><span class="nam">x</span><span class="op">[</span><span class="num">6</span><span class="op">:</span><span class="op">]</span><span class="op">,</span> <span class="nam">index</span><span class="op">=</span><span class="op">[</span><span class="str">'x'</span><span class="op">,</span> <span class="str">'y'</span><span class="op">,</span> <span class="str">'z'</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t37" class="stm run hide_run"> <span class="nam">triangle_mode</span> <span class="op">=</span> <span class="nam">kwargs</span><span class="op">[</span><span class="str">'triangle_mode'</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t38" class="stm run hide_run"> <span class="nam">euler_axes</span> <span class="op">=</span> <span class="nam">kwargs</span><span class="op">[</span><span class="str">'euler_axes'</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t39" class="stm run hide_run"> <span class="key">return</span> <span class="nam">markers2euler</span><span class="op">(</span><span class="nam">mark0</span><span class="op">,</span> <span class="nam">mark1</span><span class="op">,</span> <span class="nam">mark2</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t40" class="pln"> <span class="nam">triangle_mode</span><span class="op">,</span> <span class="nam">euler_axes</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t41" class="pln"><span class="strut"> </span></p>
+<p id="t42" class="pln"><span class="strut"> </span></p>
+<p id="t43" class="stm run hide_run"><span class="key">def</span> <span class="nam">_markerstransform</span><span class="op">(</span><span class="nam">index_i</span><span class="op">,</span> <span class="nam">trajectory</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t44" class="pln"> <span class="nam">homogeneous_markers</span><span class="op">,</span> <span class="nam">rotation_mode</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t45" class="stm mis"> <span class="nam">row</span> <span class="op">=</span> <span class="nam">trajectory</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="nam">index_i</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t46" class="stm mis"> <span class="nam">angles</span> <span class="op">=</span> <span class="nam">row</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="nam">rotation_mode</span><span class="op">]</span><span class="op">.</span><span class="nam">values</span><span class="strut"> </span></p>
+<p id="t47" class="stm mis"> <span class="nam">translate</span> <span class="op">=</span> <span class="nam">row</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="str">'location'</span><span class="op">]</span><span class="op">.</span><span class="nam">values</span><span class="strut"> </span></p>
+<p id="t48" class="stm mis"> <span class="nam">trans_mat</span> <span class="op">=</span> <span class="nam">htf</span><span class="op">.</span><span class="nam">compose_matrix</span><span class="op">(</span><span class="nam">angles</span><span class="op">=</span><span class="nam">angles</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t49" class="pln"> <span class="nam">translate</span><span class="op">=</span><span class="nam">translate</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t50" class="pln"> <span class="nam">axes</span><span class="op">=</span><span class="nam">rotation_mode</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t51" class="stm mis"> <span class="nam">tmarker</span> <span class="op">=</span> <span class="nam">trans_mat</span><span class="op">.</span><span class="nam">dot</span><span class="op">(</span><span class="nam">homogeneous_markers</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t52" class="stm mis"> <span class="nam">tmarker</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">DataFrame</span><span class="op">(</span><span class="nam">data</span><span class="op">=</span><span class="nam">tmarker</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t53" class="pln"> <span class="nam">index</span><span class="op">=</span><span class="nam">homogeneous_markers</span><span class="op">.</span><span class="nam">index</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t54" class="pln"> <span class="nam">columns</span><span class="op">=</span><span class="nam">homogeneous_markers</span><span class="op">.</span><span class="nam">columns</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t55" class="pln"> <span class="com"># We do not need w</span><span class="strut"> </span></p>
+<p id="t56" class="stm mis"> <span class="nam">tmarker</span> <span class="op">=</span> <span class="nam">tmarker</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="op">[</span><span class="str">'x'</span><span class="op">,</span> <span class="str">'y'</span><span class="op">,</span> <span class="str">'z'</span><span class="op">]</span><span class="op">,</span> <span class="op">:</span><span class="op">]</span><span class="op">.</span><span class="nam">unstack</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t57" class="stm mis"> <span class="nam">tmarker</span><span class="op">.</span><span class="nam">name</span> <span class="op">=</span> <span class="nam">index_i</span><span class="strut"> </span></p>
+<p id="t58" class="stm mis"> <span class="key">return</span> <span class="nam">tmarker</span><span class="strut"> </span></p>
+<p id="t59" class="pln"><span class="strut"> </span></p>
+<p id="t60" class="pln"><span class="strut"> </span></p>
+<p id="t61" class="stm run hide_run"><span class="key">def</span> <span class="nam">_invmarkerstransform</span><span class="op">(</span><span class="nam">index_i</span><span class="op">,</span> <span class="nam">trajectory</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t62" class="pln"> <span class="nam">homogeneous_markers</span><span class="op">,</span> <span class="nam">rotation_mode</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t63" class="stm mis"> <span class="nam">row</span> <span class="op">=</span> <span class="nam">trajectory</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="nam">index_i</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t64" class="stm mis"> <span class="nam">angles</span> <span class="op">=</span> <span class="nam">row</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="nam">rotation_mode</span><span class="op">]</span><span class="op">.</span><span class="nam">values</span><span class="strut"> </span></p>
+<p id="t65" class="stm mis"> <span class="nam">translate</span> <span class="op">=</span> <span class="nam">row</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="str">'location'</span><span class="op">]</span><span class="op">.</span><span class="nam">values</span><span class="strut"> </span></p>
+<p id="t66" class="stm mis"> <span class="nam">trans_mat</span> <span class="op">=</span> <span class="nam">htf</span><span class="op">.</span><span class="nam">compose_matrix</span><span class="op">(</span><span class="nam">angles</span><span class="op">=</span><span class="nam">angles</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t67" class="pln"> <span class="nam">translate</span><span class="op">=</span><span class="nam">translate</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t68" class="pln"> <span class="nam">axes</span><span class="op">=</span><span class="nam">rotation_mode</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t69" class="stm mis"> <span class="nam">tmarker</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">linalg</span><span class="op">.</span><span class="nam">inv</span><span class="op">(</span><span class="nam">trans_mat</span><span class="op">)</span><span class="op">.</span><span class="nam">dot</span><span class="op">(</span><span class="nam">homogeneous_markers</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t70" class="stm mis"> <span class="nam">tmarker</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">DataFrame</span><span class="op">(</span><span class="nam">data</span><span class="op">=</span><span class="nam">tmarker</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t71" class="pln"> <span class="nam">index</span><span class="op">=</span><span class="nam">homogeneous_markers</span><span class="op">.</span><span class="nam">index</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t72" class="pln"> <span class="nam">columns</span><span class="op">=</span><span class="nam">homogeneous_markers</span><span class="op">.</span><span class="nam">columns</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t73" class="pln"> <span class="com"># We do not need w</span><span class="strut"> </span></p>
+<p id="t74" class="stm mis"> <span class="nam">tmarker</span> <span class="op">=</span> <span class="nam">tmarker</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="op">[</span><span class="str">'x'</span><span class="op">,</span> <span class="str">'y'</span><span class="op">,</span> <span class="str">'z'</span><span class="op">]</span><span class="op">,</span> <span class="op">:</span><span class="op">]</span><span class="op">.</span><span class="nam">unstack</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t75" class="stm mis"> <span class="nam">tmarker</span><span class="op">.</span><span class="nam">name</span> <span class="op">=</span> <span class="nam">index_i</span><span class="strut"> </span></p>
+<p id="t76" class="stm mis"> <span class="key">return</span> <span class="nam">tmarker</span><span class="strut"> </span></p>
+<p id="t77" class="pln"><span class="strut"> </span></p>
+<p id="t78" class="pln"><span class="strut"> </span></p>
+<p id="t79" class="stm run hide_run"><span class="key">class</span> <span class="nam">Trajectory</span><span class="op">(</span><span class="nam">pd</span><span class="op">.</span><span class="nam">DataFrame</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t80" class="stm run hide_run"> <span class="key">def</span> <span class="nam">__init__</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span> <span class="nam">rotconv</span><span class="op">=</span><span class="str">'zyx'</span><span class="op">,</span> <span class="nam">indeces</span><span class="op">=</span><span class="nam">np</span><span class="op">.</span><span class="nam">arange</span><span class="op">(</span><span class="num">1</span><span class="op">)</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t81" class="stm run hide_run"> <span class="nam">columns</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">__build_columns</span><span class="op">(</span><span class="nam">rotconv</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t82" class="stm run hide_run"> <span class="nam">super</span><span class="op">(</span><span class="op">)</span><span class="op">.</span><span class="nam">__init__</span><span class="op">(</span><span class="nam">index</span><span class="op">=</span><span class="nam">indeces</span><span class="op">,</span> <span class="nam">columns</span><span class="op">=</span><span class="nam">columns</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t83" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">__rotconv</span> <span class="op">=</span> <span class="nam">rotconv</span><span class="strut"> </span></p>
+<p id="t84" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">sampling_rate</span> <span class="op">=</span> <span class="num">0</span><span class="strut"> </span></p>
+<p id="t85" class="pln"><span class="strut"> </span></p>
+<p id="t86" class="stm run hide_run"> <span class="key">def</span> <span class="nam">__build_columns</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span> <span class="nam">rotconv</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t87" class="stm run hide_run"> <span class="key">if</span> <span class="nam">rotconv</span> <span class="op">==</span> <span class="str">'quaternion'</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t88" class="stm mis"> <span class="nam">index</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">MultiIndex</span><span class="op">.</span><span class="nam">from_tuples</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t89" class="pln"> <span class="op">[</span><span class="op">(</span><span class="str">'location'</span><span class="op">,</span> <span class="str">'x'</span><span class="op">)</span><span class="op">,</span> <span class="op">(</span><span class="str">'location'</span><span class="op">,</span> <span class="str">'y'</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t90" class="pln"> <span class="op">(</span><span class="str">'location'</span><span class="op">,</span> <span class="str">'z'</span><span class="op">)</span><span class="op">,</span> <span class="op">(</span><span class="nam">rotconv</span><span class="op">,</span> <span class="str">'q_0'</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t91" class="pln"> <span class="op">(</span><span class="nam">rotconv</span><span class="op">,</span> <span class="str">'q_1'</span><span class="op">)</span><span class="op">,</span> <span class="op">(</span><span class="nam">rotconv</span><span class="op">,</span> <span class="str">'q_2'</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t92" class="pln"> <span class="op">(</span><span class="nam">rotconv</span><span class="op">,</span> <span class="str">'q_3'</span><span class="op">)</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t93" class="stm run hide_run"> <span class="key">elif</span> <span class="nam">rotconv</span> <span class="key">in</span> <span class="nam">mconst</span><span class="op">.</span><span class="nam">_AXES2TUPLE</span><span class="op">.</span><span class="nam">keys</span><span class="op">(</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t94" class="stm run hide_run"> <span class="nam">index</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">MultiIndex</span><span class="op">.</span><span class="nam">from_tuples</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t95" class="pln"> <span class="op">[</span><span class="op">(</span><span class="str">'location'</span><span class="op">,</span> <span class="str">'x'</span><span class="op">)</span><span class="op">,</span> <span class="op">(</span><span class="str">'location'</span><span class="op">,</span> <span class="str">'y'</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t96" class="pln"> <span class="op">(</span><span class="str">'location'</span><span class="op">,</span> <span class="str">'z'</span><span class="op">)</span><span class="op">,</span> <span class="op">(</span><span class="nam">rotconv</span><span class="op">,</span> <span class="str">'alpha_0'</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t97" class="pln"> <span class="op">(</span><span class="nam">rotconv</span><span class="op">,</span> <span class="str">'alpha_1'</span><span class="op">)</span><span class="op">,</span> <span class="op">(</span><span class="nam">rotconv</span><span class="op">,</span> <span class="str">'alpha_2'</span><span class="op">)</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t98" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t99" class="stm mis"> <span class="nam">msg</span> <span class="op">=</span> <span class="str">'convention for rotation {} is not suppored\n'</span><span class="strut"> </span></p>
+<p id="t100" class="stm mis"> <span class="nam">msg</span> <span class="op">+=</span> <span class="nam">msg</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">rotconv</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t101" class="stm mis"> <span class="nam">msg</span> <span class="op">+=</span> <span class="str">'the following convention are supported\n:'</span><span class="strut"> </span></p>
+<p id="t102" class="stm mis"> <span class="key">for</span> <span class="nam">rconv</span> <span class="key">in</span> <span class="nam">mconst</span><span class="op">.</span><span class="nam">_AXES2TUPLE</span><span class="op">.</span><span class="nam">keys</span><span class="op">(</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t103" class="stm mis"> <span class="nam">msg</span> <span class="op">+=</span> <span class="str">'{}\n'</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">rconv</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t104" class="stm mis"> <span class="nam">msg</span> <span class="op">+=</span> <span class="str">'quaternion\n'</span><span class="strut"> </span></p>
+<p id="t105" class="stm mis"> <span class="key">raise</span> <span class="nam">KeyError</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t106" class="stm run hide_run"> <span class="key">return</span> <span class="nam">index</span><span class="strut"> </span></p>
+<p id="t107" class="pln"><span class="strut"> </span></p>
+<p id="t108" class="stm run hide_run"> <span class="op">@</span><span class="nam">property</span><span class="strut"> </span></p>
+<p id="t109" class="pln"> <span class="key">def</span> <span class="nam">rotation_mode</span><span class="op">(</span><span class="nam">self</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t110" class="stm run hide_run"> <span class="key">return</span> <span class="nam">self</span><span class="op">.</span><span class="nam">__rotconv</span><span class="strut"> </span></p>
+<p id="t111" class="pln"><span class="strut"> </span></p>
+<p id="t112" class="stm run hide_run"> <span class="op">@</span><span class="nam">rotation_mode</span><span class="op">.</span><span class="nam">setter</span><span class="strut"> </span></p>
+<p id="t113" class="pln"> <span class="key">def</span> <span class="nam">rotation_mode</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span> <span class="nam">rotation_mode</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t114" class="pln"> <span class="str">"""Convert current rotation_mode to a different one</span><span class="strut"> </span></p>
+<p id="t115" class="pln"><span class="strut"> </span></p>
+<p id="t116" class="pln"><span class="str"> :param rotation_mode: the new rotation mode to be assigned</span><span class="strut"> </span></p>
+<p id="t117" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t118" class="stm run hide_run"> <span class="nam">oldrotmod</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">rotation_mode</span><span class="strut"> </span></p>
+<p id="t119" class="stm run hide_run"> <span class="nam">neworient</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">DataFrame</span><span class="op">(</span><span class="nam">index</span><span class="op">=</span><span class="nam">self</span><span class="op">.</span><span class="nam">index</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t120" class="pln"> <span class="nam">columns</span><span class="op">=</span><span class="nam">self</span><span class="op">.</span><span class="nam">__build_columns</span><span class="op">(</span><span class="nam">rotation_mode</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t121" class="pln"> <span class="nam">dtype</span><span class="op">=</span><span class="nam">float</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t122" class="stm run hide_run"> <span class="nam">neworient</span><span class="op">.</span><span class="nam">drop</span><span class="op">(</span><span class="nam">inplace</span><span class="op">=</span><span class="key">True</span><span class="op">,</span> <span class="nam">labels</span><span class="op">=</span><span class="str">'location'</span><span class="op">,</span> <span class="nam">level</span><span class="op">=</span><span class="num">0</span><span class="op">,</span> <span class="nam">axis</span><span class="op">=</span><span class="num">1</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t123" class="stm run hide_run"> <span class="key">for</span> <span class="nam">index_i</span><span class="op">,</span> <span class="nam">row</span> <span class="key">in</span> <span class="nam">self</span><span class="op">.</span><span class="nam">iterrows</span><span class="op">(</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t124" class="stm run hide_run"> <span class="key">if</span> <span class="nam">rotation_mode</span> <span class="op">==</span> <span class="str">'quaternion'</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t125" class="stm mis"> <span class="nam">orient</span> <span class="op">=</span> <span class="nam">htq</span><span class="op">.</span><span class="nam">from_euler</span><span class="op">(</span><span class="nam">row</span><span class="op">.</span><span class="nam">angle_0</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t126" class="pln"> <span class="nam">row</span><span class="op">.</span><span class="nam">angle_1</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t127" class="pln"> <span class="nam">row</span><span class="op">.</span><span class="nam">angle_2</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t128" class="pln"> <span class="nam">axes</span><span class="op">=</span><span class="nam">oldrotmod</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t129" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t130" class="stm run hide_run"> <span class="nam">m</span> <span class="op">=</span> <span class="nam">hte</span><span class="op">.</span><span class="nam">matrix</span><span class="op">(</span><span class="nam">ai</span><span class="op">=</span><span class="nam">row</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="op">(</span><span class="nam">self</span><span class="op">.</span><span class="nam">rotation_mode</span><span class="op">,</span> <span class="str">'alpha_0'</span><span class="op">)</span><span class="op">]</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t131" class="pln"> <span class="nam">aj</span><span class="op">=</span><span class="nam">row</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="op">(</span><span class="nam">self</span><span class="op">.</span><span class="nam">rotation_mode</span><span class="op">,</span> <span class="str">'alpha_1'</span><span class="op">)</span><span class="op">]</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t132" class="pln"> <span class="nam">ak</span><span class="op">=</span><span class="nam">row</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="op">(</span><span class="nam">self</span><span class="op">.</span><span class="nam">rotation_mode</span><span class="op">,</span> <span class="str">'alpha_2'</span><span class="op">)</span><span class="op">]</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t133" class="pln"> <span class="nam">axes</span><span class="op">=</span><span class="nam">oldrotmod</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t134" class="stm run hide_run"> <span class="nam">orient</span> <span class="op">=</span> <span class="nam">hte</span><span class="op">.</span><span class="nam">from_matrix</span><span class="op">(</span><span class="nam">m</span><span class="op">,</span> <span class="nam">axes</span><span class="op">=</span><span class="nam">rotation_mode</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t135" class="stm run hide_run"> <span class="nam">neworient</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="nam">index_i</span><span class="op">,</span> <span class="nam">rotation_mode</span><span class="op">]</span> <span class="op">=</span> <span class="nam">orient</span><span class="strut"> </span></p>
+<p id="t136" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">drop</span><span class="op">(</span><span class="nam">inplace</span><span class="op">=</span><span class="key">True</span><span class="op">,</span> <span class="nam">labels</span><span class="op">=</span><span class="nam">oldrotmod</span><span class="op">,</span> <span class="nam">level</span><span class="op">=</span><span class="num">0</span><span class="op">,</span> <span class="nam">axis</span><span class="op">=</span><span class="num">1</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t137" class="stm run hide_run"> <span class="key">for</span> <span class="nam">col</span> <span class="key">in</span> <span class="nam">neworient</span><span class="op">.</span><span class="nam">columns</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t138" class="stm run hide_run"> <span class="nam">self</span><span class="op">[</span><span class="nam">col</span><span class="op">]</span> <span class="op">=</span> <span class="nam">neworient</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="nam">col</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t139" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">__rotconv</span> <span class="op">=</span> <span class="nam">rotation_mode</span><span class="strut"> </span></p>
+<p id="t140" class="pln"><span class="strut"> </span></p>
+<p id="t141" class="stm run hide_run"> <span class="key">def</span> <span class="nam">facing_direction</span><span class="op">(</span><span class="nam">self</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t142" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t143" class="pln"><span class="str"> Return facing vector</span><span class="strut"> </span></p>
+<p id="t144" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t145" class="stm mis"> <span class="nam">facing</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">DataFrame</span><span class="op">(</span><span class="nam">index</span><span class="op">=</span><span class="nam">self</span><span class="op">.</span><span class="nam">index</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t146" class="pln"> <span class="nam">columns</span><span class="op">=</span><span class="op">[</span><span class="str">'x'</span><span class="op">,</span> <span class="str">'y'</span><span class="op">,</span> <span class="str">'z'</span><span class="op">]</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t147" class="pln"> <span class="nam">dtype</span><span class="op">=</span><span class="nam">float</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t148" class="stm mis"> <span class="key">for</span> <span class="nam">i</span><span class="op">,</span> <span class="nam">row</span> <span class="key">in</span> <span class="nam">self</span><span class="op">.</span><span class="nam">iterrows</span><span class="op">(</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t149" class="stm mis"> <span class="key">if</span> <span class="nam">self</span><span class="op">.</span><span class="nam">rotation_mode</span> <span class="op">==</span> <span class="str">'quaternion'</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t150" class="stm mis"> <span class="nam">mat</span> <span class="op">=</span> <span class="nam">htq</span><span class="op">.</span><span class="nam">matrix</span><span class="op">(</span><span class="nam">row</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="nam">self</span><span class="op">.</span><span class="nam">rotation_mode</span><span class="op">]</span><span class="op">.</span><span class="nam">values</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t151" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t152" class="stm mis"> <span class="nam">mat</span> <span class="op">=</span> <span class="nam">hte</span><span class="op">.</span><span class="nam">matrix</span><span class="op">(</span><span class="nam">row</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="op">(</span><span class="nam">self</span><span class="op">.</span><span class="nam">rotation_mode</span><span class="op">,</span> <span class="str">'alpha_0'</span><span class="op">)</span><span class="op">]</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t153" class="pln"> <span class="nam">row</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="op">(</span><span class="nam">self</span><span class="op">.</span><span class="nam">rotation_mode</span><span class="op">,</span> <span class="str">'alpha_1'</span><span class="op">)</span><span class="op">]</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t154" class="pln"> <span class="nam">row</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="op">(</span><span class="nam">self</span><span class="op">.</span><span class="nam">rotation_mode</span><span class="op">,</span> <span class="str">'alpha_2'</span><span class="op">)</span><span class="op">]</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t155" class="pln"> <span class="nam">axes</span><span class="op">=</span><span class="nam">self</span><span class="op">.</span><span class="nam">rotation_mode</span><span class="op">)</span><span class="op">[</span><span class="op">:</span><span class="num">3</span><span class="op">,</span> <span class="op">:</span><span class="num">3</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t156" class="stm mis"> <span class="nam">orient</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">dot</span><span class="op">(</span><span class="nam">mat</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t157" class="pln"> <span class="nam">np</span><span class="op">.</span><span class="nam">array</span><span class="op">(</span><span class="op">[</span><span class="op">[</span><span class="num">1</span><span class="op">]</span><span class="op">,</span> <span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">,</span> <span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">]</span><span class="op">)</span><span class="op">)</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t158" class="stm mis"> <span class="nam">facing</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="nam">i</span><span class="op">,</span> <span class="op">[</span><span class="str">'x'</span><span class="op">,</span> <span class="str">'y'</span><span class="op">,</span> <span class="str">'z'</span><span class="op">]</span><span class="op">]</span> <span class="op">=</span> <span class="nam">orient</span><span class="strut"> </span></p>
+<p id="t159" class="stm mis"> <span class="key">return</span> <span class="nam">facing</span><span class="strut"> </span></p>
+<p id="t160" class="pln"><span class="strut"> </span></p>
+<p id="t161" class="stm run hide_run"> <span class="op">@</span><span class="nam">property</span><span class="strut"> </span></p>
+<p id="t162" class="pln"> <span class="key">def</span> <span class="nam">sampling_rate</span><span class="op">(</span><span class="nam">self</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t163" class="stm run hide_run"> <span class="key">return</span> <span class="nam">self</span><span class="op">.</span><span class="nam">__sampling_rate</span><span class="strut"> </span></p>
+<p id="t164" class="pln"><span class="strut"> </span></p>
+<p id="t165" class="stm run hide_run"> <span class="op">@</span><span class="nam">sampling_rate</span><span class="op">.</span><span class="nam">setter</span><span class="strut"> </span></p>
+<p id="t166" class="pln"> <span class="key">def</span> <span class="nam">sampling_rate</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span> <span class="nam">sampling_rate</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t167" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">__sampling_rate</span> <span class="op">=</span> <span class="nam">sampling_rate</span><span class="strut"> </span></p>
+<p id="t168" class="pln"><span class="strut"> </span></p>
+<p id="t169" class="stm run hide_run"> <span class="op">@</span><span class="nam">property</span><span class="strut"> </span></p>
+<p id="t170" class="pln"> <span class="key">def</span> <span class="nam">x</span><span class="op">(</span><span class="nam">self</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t171" class="stm run hide_run"> <span class="key">return</span> <span class="nam">self</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="op">(</span><span class="str">'location'</span><span class="op">,</span> <span class="str">'x'</span><span class="op">)</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t172" class="pln"><span class="strut"> </span></p>
+<p id="t173" class="stm run hide_run"> <span class="op">@</span><span class="nam">x</span><span class="op">.</span><span class="nam">setter</span><span class="strut"> </span></p>
+<p id="t174" class="pln"> <span class="key">def</span> <span class="nam">x</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span> <span class="nam">x</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t175" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="op">(</span><span class="str">'location'</span><span class="op">,</span> <span class="str">'x'</span><span class="op">)</span><span class="op">]</span> <span class="op">=</span> <span class="nam">x</span><span class="strut"> </span></p>
+<p id="t176" class="pln"><span class="strut"> </span></p>
+<p id="t177" class="stm run hide_run"> <span class="op">@</span><span class="nam">property</span><span class="strut"> </span></p>
+<p id="t178" class="pln"> <span class="key">def</span> <span class="nam">y</span><span class="op">(</span><span class="nam">self</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t179" class="stm run hide_run"> <span class="key">return</span> <span class="nam">self</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="op">(</span><span class="str">'location'</span><span class="op">,</span> <span class="str">'y'</span><span class="op">)</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t180" class="pln"><span class="strut"> </span></p>
+<p id="t181" class="stm run hide_run"> <span class="op">@</span><span class="nam">y</span><span class="op">.</span><span class="nam">setter</span><span class="strut"> </span></p>
+<p id="t182" class="pln"> <span class="key">def</span> <span class="nam">y</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span> <span class="nam">y</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t183" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="op">(</span><span class="str">'location'</span><span class="op">,</span> <span class="str">'y'</span><span class="op">)</span><span class="op">]</span> <span class="op">=</span> <span class="nam">y</span><span class="strut"> </span></p>
+<p id="t184" class="pln"><span class="strut"> </span></p>
+<p id="t185" class="stm run hide_run"> <span class="op">@</span><span class="nam">property</span><span class="strut"> </span></p>
+<p id="t186" class="pln"> <span class="key">def</span> <span class="nam">z</span><span class="op">(</span><span class="nam">self</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t187" class="stm run hide_run"> <span class="key">return</span> <span class="nam">self</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="op">(</span><span class="str">'location'</span><span class="op">,</span> <span class="str">'z'</span><span class="op">)</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t188" class="pln"><span class="strut"> </span></p>
+<p id="t189" class="stm run hide_run"> <span class="op">@</span><span class="nam">z</span><span class="op">.</span><span class="nam">setter</span><span class="strut"> </span></p>
+<p id="t190" class="pln"> <span class="key">def</span> <span class="nam">z</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span> <span class="nam">z</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t191" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="op">(</span><span class="str">'location'</span><span class="op">,</span> <span class="str">'z'</span><span class="op">)</span><span class="op">]</span> <span class="op">=</span> <span class="nam">z</span><span class="strut"> </span></p>
+<p id="t192" class="pln"><span class="strut"> </span></p>
+<p id="t193" class="stm run hide_run"> <span class="key">def</span> <span class="nam">__get_alpha_i</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span> <span class="nam">alphai</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t194" class="stm run hide_run"> <span class="key">if</span> <span class="nam">self</span><span class="op">.</span><span class="nam">__rotconv</span> <span class="op">!=</span> <span class="str">'quaternion'</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t195" class="stm run hide_run"> <span class="key">return</span> <span class="nam">self</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="op">(</span><span class="nam">self</span><span class="op">.</span><span class="nam">__rotconv</span><span class="op">,</span> <span class="str">'alpha_{}'</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">alphai</span><span class="op">)</span><span class="op">)</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t196" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t197" class="stm mis"> <span class="nam">msg</span> <span class="op">=</span> <span class="str">'alpha_{0:} does not exist for quaternion (try q_{0:})'</span><span class="strut"> </span></p>
+<p id="t198" class="stm mis"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="nam">msg</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">alphai</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t199" class="pln"><span class="strut"> </span></p>
+<p id="t200" class="stm run hide_run"> <span class="key">def</span> <span class="nam">__set_alpha_i</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span> <span class="nam">alphai</span><span class="op">,</span> <span class="nam">val</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t201" class="stm run hide_run"> <span class="key">if</span> <span class="nam">self</span><span class="op">.</span><span class="nam">__rotconv</span> <span class="op">!=</span> <span class="str">'quaternion'</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t202" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="op">(</span><span class="nam">self</span><span class="op">.</span><span class="nam">__rotconv</span><span class="op">,</span> <span class="str">'alpha_{}'</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">alphai</span><span class="op">)</span><span class="op">)</span><span class="op">]</span> <span class="op">=</span> <span class="nam">val</span><span class="strut"> </span></p>
+<p id="t203" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t204" class="stm mis"> <span class="nam">msg</span> <span class="op">=</span> <span class="str">'alpha_{0:} does not exist for quaternion (try q_{0:})'</span><span class="strut"> </span></p>
+<p id="t205" class="stm mis"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="nam">msg</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">alphai</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t206" class="pln"><span class="strut"> </span></p>
+<p id="t207" class="stm run hide_run"> <span class="op">@</span><span class="nam">property</span><span class="strut"> </span></p>
+<p id="t208" class="pln"> <span class="key">def</span> <span class="nam">alpha_0</span><span class="op">(</span><span class="nam">self</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t209" class="stm run hide_run"> <span class="key">return</span> <span class="nam">self</span><span class="op">.</span><span class="nam">__get_alpha_i</span><span class="op">(</span><span class="num">0</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t210" class="pln"><span class="strut"> </span></p>
+<p id="t211" class="stm run hide_run"> <span class="op">@</span><span class="nam">alpha_0</span><span class="op">.</span><span class="nam">setter</span><span class="strut"> </span></p>
+<p id="t212" class="pln"> <span class="key">def</span> <span class="nam">alpha_0</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span> <span class="nam">alpha_0</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t213" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">__set_alpha_i</span><span class="op">(</span><span class="num">0</span><span class="op">,</span> <span class="nam">alpha_0</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t214" class="pln"><span class="strut"> </span></p>
+<p id="t215" class="stm run hide_run"> <span class="op">@</span><span class="nam">property</span><span class="strut"> </span></p>
+<p id="t216" class="pln"> <span class="key">def</span> <span class="nam">alpha_1</span><span class="op">(</span><span class="nam">self</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t217" class="stm run hide_run"> <span class="key">return</span> <span class="nam">self</span><span class="op">.</span><span class="nam">__get_alpha_i</span><span class="op">(</span><span class="num">1</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t218" class="pln"><span class="strut"> </span></p>
+<p id="t219" class="stm run hide_run"> <span class="op">@</span><span class="nam">alpha_1</span><span class="op">.</span><span class="nam">setter</span><span class="strut"> </span></p>
+<p id="t220" class="pln"> <span class="key">def</span> <span class="nam">alpha_1</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span> <span class="nam">alpha_1</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t221" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">__set_alpha_i</span><span class="op">(</span><span class="num">1</span><span class="op">,</span> <span class="nam">alpha_1</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t222" class="pln"><span class="strut"> </span></p>
+<p id="t223" class="stm run hide_run"> <span class="op">@</span><span class="nam">property</span><span class="strut"> </span></p>
+<p id="t224" class="pln"> <span class="key">def</span> <span class="nam">alpha_2</span><span class="op">(</span><span class="nam">self</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t225" class="stm run hide_run"> <span class="key">return</span> <span class="nam">self</span><span class="op">.</span><span class="nam">__get_alpha_i</span><span class="op">(</span><span class="num">2</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t226" class="pln"><span class="strut"> </span></p>
+<p id="t227" class="stm run hide_run"> <span class="op">@</span><span class="nam">alpha_2</span><span class="op">.</span><span class="nam">setter</span><span class="strut"> </span></p>
+<p id="t228" class="pln"> <span class="key">def</span> <span class="nam">alpha_2</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span> <span class="nam">alpha_2</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t229" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">__set_alpha_i</span><span class="op">(</span><span class="num">2</span><span class="op">,</span> <span class="nam">alpha_2</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t230" class="pln"><span class="strut"> </span></p>
+<p id="t231" class="stm run hide_run"> <span class="key">def</span> <span class="nam">__get_q_i</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span> <span class="nam">qi</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t232" class="stm mis"> <span class="key">if</span> <span class="nam">self</span><span class="op">.</span><span class="nam">__rotconv</span> <span class="op">==</span> <span class="str">'quaternion'</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t233" class="stm mis"> <span class="key">return</span> <span class="nam">self</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="op">(</span><span class="nam">self</span><span class="op">.</span><span class="nam">__rotconv</span><span class="op">,</span> <span class="str">'q_{}'</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">qi</span><span class="op">)</span><span class="op">)</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t234" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t235" class="stm mis"> <span class="nam">msg</span> <span class="op">=</span> <span class="str">'q_{0:} does not exist for none quaternion (try alpha_{0:})'</span><span class="strut"> </span></p>
+<p id="t236" class="stm mis"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="nam">msg</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">qi</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t237" class="pln"><span class="strut"> </span></p>
+<p id="t238" class="stm run hide_run"> <span class="key">def</span> <span class="nam">__set_q_i</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span> <span class="nam">qi</span><span class="op">,</span> <span class="nam">val</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t239" class="stm mis"> <span class="key">if</span> <span class="nam">self</span><span class="op">.</span><span class="nam">__rotconv</span> <span class="op">!=</span> <span class="str">'quaternion'</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t240" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="op">(</span><span class="nam">self</span><span class="op">.</span><span class="nam">__rotconv</span><span class="op">,</span> <span class="str">'q_{}'</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">qi</span><span class="op">)</span><span class="op">)</span><span class="op">]</span> <span class="op">=</span> <span class="nam">val</span><span class="strut"> </span></p>
+<p id="t241" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t242" class="stm mis"> <span class="nam">msg</span> <span class="op">=</span> <span class="str">'q_{0:} does not exist for none quaternion (try alpha_{0:})'</span><span class="strut"> </span></p>
+<p id="t243" class="stm mis"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="nam">msg</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">qi</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t244" class="pln"><span class="strut"> </span></p>
+<p id="t245" class="stm run hide_run"> <span class="op">@</span><span class="nam">property</span><span class="strut"> </span></p>
+<p id="t246" class="pln"> <span class="key">def</span> <span class="nam">q_0</span><span class="op">(</span><span class="nam">self</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t247" class="stm mis"> <span class="key">return</span> <span class="nam">self</span><span class="op">.</span><span class="nam">__get_q_i</span><span class="op">(</span><span class="num">0</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t248" class="pln"><span class="strut"> </span></p>
+<p id="t249" class="stm run hide_run"> <span class="op">@</span><span class="nam">q_0</span><span class="op">.</span><span class="nam">setter</span><span class="strut"> </span></p>
+<p id="t250" class="pln"> <span class="key">def</span> <span class="nam">q_0</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span> <span class="nam">q_0</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t251" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">__set_q_i</span><span class="op">(</span><span class="num">0</span><span class="op">,</span> <span class="nam">q_0</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t252" class="pln"><span class="strut"> </span></p>
+<p id="t253" class="stm run hide_run"> <span class="op">@</span><span class="nam">property</span><span class="strut"> </span></p>
+<p id="t254" class="pln"> <span class="key">def</span> <span class="nam">q_1</span><span class="op">(</span><span class="nam">self</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t255" class="stm mis"> <span class="key">return</span> <span class="nam">self</span><span class="op">.</span><span class="nam">__get_q_i</span><span class="op">(</span><span class="num">1</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t256" class="pln"><span class="strut"> </span></p>
+<p id="t257" class="stm run hide_run"> <span class="op">@</span><span class="nam">q_1</span><span class="op">.</span><span class="nam">setter</span><span class="strut"> </span></p>
+<p id="t258" class="pln"> <span class="key">def</span> <span class="nam">q_1</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span> <span class="nam">q_1</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t259" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">__set_q_i</span><span class="op">(</span><span class="num">1</span><span class="op">,</span> <span class="nam">q_1</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t260" class="pln"><span class="strut"> </span></p>
+<p id="t261" class="stm run hide_run"> <span class="op">@</span><span class="nam">property</span><span class="strut"> </span></p>
+<p id="t262" class="pln"> <span class="key">def</span> <span class="nam">q_2</span><span class="op">(</span><span class="nam">self</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t263" class="stm mis"> <span class="key">return</span> <span class="nam">self</span><span class="op">.</span><span class="nam">__get_q_i</span><span class="op">(</span><span class="num">2</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t264" class="pln"><span class="strut"> </span></p>
+<p id="t265" class="stm run hide_run"> <span class="op">@</span><span class="nam">q_2</span><span class="op">.</span><span class="nam">setter</span><span class="strut"> </span></p>
+<p id="t266" class="pln"> <span class="key">def</span> <span class="nam">q_2</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span> <span class="nam">q_2</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t267" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">__set_q_i</span><span class="op">(</span><span class="num">2</span><span class="op">,</span> <span class="nam">q_2</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t268" class="pln"><span class="strut"> </span></p>
+<p id="t269" class="stm run hide_run"> <span class="op">@</span><span class="nam">property</span><span class="strut"> </span></p>
+<p id="t270" class="pln"> <span class="key">def</span> <span class="nam">q_3</span><span class="op">(</span><span class="nam">self</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t271" class="stm mis"> <span class="key">return</span> <span class="nam">self</span><span class="op">.</span><span class="nam">__get_q_i</span><span class="op">(</span><span class="num">3</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t272" class="pln"><span class="strut"> </span></p>
+<p id="t273" class="stm run hide_run"> <span class="op">@</span><span class="nam">q_3</span><span class="op">.</span><span class="nam">setter</span><span class="strut"> </span></p>
+<p id="t274" class="pln"> <span class="key">def</span> <span class="nam">q_3</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span> <span class="nam">q_3</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t275" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">__set_q_i</span><span class="op">(</span><span class="num">3</span><span class="op">,</span> <span class="nam">q_3</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t276" class="pln"><span class="strut"> </span></p>
+<p id="t277" class="pln"> <span class="com"># -------------------------------------------</span><span class="strut"> </span></p>
+<p id="t278" class="pln"> <span class="com"># ---------------- IO -----------------------</span><span class="strut"> </span></p>
+<p id="t279" class="pln"> <span class="com"># -------------------------------------------</span><span class="strut"> </span></p>
+<p id="t280" class="stm run hide_run"> <span class="key">def</span> <span class="nam">read_csv</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span> <span class="nam">filename</span><span class="op">,</span> <span class="nam">sep</span><span class="op">=</span><span class="str">','</span><span class="op">,</span> <span class="nam">header</span><span class="op">=</span><span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="num">1</span><span class="op">]</span><span class="op">,</span> <span class="nam">index_col</span><span class="op">=</span><span class="num">0</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t281" class="pln"> <span class="str">""" Load from a hdf file</span><span class="strut"> </span></p>
+<p id="t282" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t283" class="stm mis"> <span class="nam">df</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">read_csv</span><span class="op">(</span><span class="nam">filename</span><span class="op">,</span> <span class="nam">sep</span><span class="op">=</span><span class="nam">sep</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t284" class="pln"> <span class="nam">header</span><span class="op">=</span><span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="num">1</span><span class="op">]</span><span class="op">,</span> <span class="nam">index_col</span><span class="op">=</span><span class="num">0</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t285" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">from_dataframe</span><span class="op">(</span><span class="nam">df</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t286" class="stm mis"> <span class="key">return</span> <span class="nam">self</span><span class="strut"> </span></p>
+<p id="t287" class="pln"><span class="strut"> </span></p>
+<p id="t288" class="stm run hide_run"> <span class="key">def</span> <span class="nam">read_hdf</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span> <span class="nam">filename</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t289" class="stm mis"> <span class="nam">df</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">read_hdf</span><span class="op">(</span><span class="nam">filename</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t290" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">from_dataframe</span><span class="op">(</span><span class="nam">df</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t291" class="stm mis"> <span class="key">return</span> <span class="nam">self</span><span class="strut"> </span></p>
+<p id="t292" class="pln"><span class="strut"> </span></p>
+<p id="t293" class="stm run hide_run"> <span class="key">def</span> <span class="nam">to_hdf</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span> <span class="nam">filename</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t294" class="stm mis"> <span class="nam">df</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">DataFrame</span><span class="op">(</span><span class="nam">self</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t295" class="stm mis"> <span class="nam">df</span><span class="op">.</span><span class="nam">to_hdf</span><span class="op">(</span><span class="nam">filename</span><span class="op">,</span> <span class="nam">key</span><span class="op">=</span><span class="str">'posorients'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t296" class="pln"><span class="strut"> </span></p>
+<p id="t297" class="stm run hide_run"> <span class="key">def</span> <span class="nam">to_csv</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span> <span class="nam">filename</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t298" class="stm mis"> <span class="nam">df</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">DataFrame</span><span class="op">(</span><span class="nam">self</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t299" class="stm mis"> <span class="nam">df</span><span class="op">.</span><span class="nam">to_csv</span><span class="op">(</span><span class="nam">filename</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t300" class="pln"><span class="strut"> </span></p>
+<p id="t301" class="pln"> <span class="com"># -------------------------------------------</span><span class="strut"> </span></p>
+<p id="t302" class="pln"> <span class="com"># ---------------- INITS FROM VAR------------</span><span class="strut"> </span></p>
+<p id="t303" class="pln"> <span class="com"># -------------------------------------------</span><span class="strut"> </span></p>
+<p id="t304" class="stm run hide_run"> <span class="key">def</span> <span class="nam">from_array</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span> <span class="nam">nparray</span><span class="op">,</span> <span class="nam">rotconv</span><span class="op">,</span> <span class="nam">indeces</span><span class="op">=</span><span class="key">None</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t305" class="pln"> <span class="str">""" Assign trajectory from a numpy array</span><span class="strut"> </span></p>
+<p id="t306" class="pln"><span class="str"> N x 6 (rotconv = Euler angles)</span><span class="strut"> </span></p>
+<p id="t307" class="pln"><span class="str"> N x 7 (rotconv = quaternion)</span><span class="strut"> </span></p>
+<p id="t308" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t309" class="pln"> <span class="com"># Check user input</span><span class="strut"> </span></p>
+<p id="t310" class="stm mis"> <span class="key">if</span> <span class="key">not</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">nparray</span><span class="op">,</span> <span class="nam">np</span><span class="op">.</span><span class="nam">ndarray</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t311" class="stm mis"> <span class="nam">msg</span> <span class="op">=</span> <span class="str">'nparray should be a np.ndarray and not {}'</span><span class="strut"> </span></p>
+<p id="t312" class="stm mis"> <span class="nam">msg</span> <span class="op">=</span> <span class="nam">msg</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">type</span><span class="op">(</span><span class="nam">nparray</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t313" class="stm mis"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t314" class="stm mis"> <span class="key">if</span> <span class="nam">indeces</span> <span class="key">is</span> <span class="key">None</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t315" class="stm mis"> <span class="nam">indeces</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">arange</span><span class="op">(</span><span class="num">0</span><span class="op">,</span> <span class="nam">nparray</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t316" class="stm mis"> <span class="key">if</span> <span class="key">not</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">indeces</span><span class="op">,</span> <span class="nam">np</span><span class="op">.</span><span class="nam">ndarray</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t317" class="stm mis"> <span class="nam">msg</span> <span class="op">=</span> <span class="str">'indeces should be a np.ndarray and not {}'</span><span class="strut"> </span></p>
+<p id="t318" class="stm mis"> <span class="nam">msg</span> <span class="op">=</span> <span class="nam">msg</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">type</span><span class="op">(</span><span class="nam">indeces</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t319" class="stm mis"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t320" class="stm mis"> <span class="key">if</span> <span class="nam">indeces</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">0</span><span class="op">]</span> <span class="op">!=</span> <span class="nam">nparray</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t321" class="stm mis"> <span class="nam">msg</span> <span class="op">=</span> <span class="str">'indeces and nparray should have same number of rows'</span><span class="strut"> </span></p>
+<p id="t322" class="stm mis"> <span class="nam">msg</span> <span class="op">+=</span> <span class="str">'{}!={}'</span><span class="strut"> </span></p>
+<p id="t323" class="stm mis"> <span class="nam">msg</span> <span class="op">=</span> <span class="nam">msg</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">indeces</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">,</span> <span class="nam">nparray</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t324" class="stm mis"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t325" class="stm mis"> <span class="key">if</span> <span class="nam">rotconv</span> <span class="op">==</span> <span class="str">'quaternion'</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t326" class="stm mis"> <span class="key">if</span> <span class="nam">nparray</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">1</span><span class="op">]</span> <span class="op">!=</span> <span class="num">7</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t327" class="stm mis"> <span class="nam">msg</span> <span class="op">=</span> <span class="str">'nparray should have size Nx7 and not {}'</span><span class="strut"> </span></p>
+<p id="t328" class="stm mis"> <span class="nam">msg</span> <span class="op">=</span> <span class="nam">msg</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">nparray</span><span class="op">.</span><span class="nam">shape</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t329" class="stm mis"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t330" class="stm mis"> <span class="key">elif</span> <span class="nam">rotconv</span> <span class="key">in</span> <span class="nam">mconst</span><span class="op">.</span><span class="nam">_AXES2TUPLE</span><span class="op">.</span><span class="nam">keys</span><span class="op">(</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t331" class="stm mis"> <span class="key">if</span> <span class="nam">nparray</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">1</span><span class="op">]</span> <span class="op">!=</span> <span class="num">6</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t332" class="stm mis"> <span class="nam">msg</span> <span class="op">=</span> <span class="str">'nparray should have size Nx6 and not {}'</span><span class="strut"> </span></p>
+<p id="t333" class="stm mis"> <span class="nam">msg</span> <span class="op">=</span> <span class="nam">msg</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">nparray</span><span class="op">.</span><span class="nam">shape</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t334" class="stm mis"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t335" class="stm mis"> <span class="nam">columns</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">__build_columns</span><span class="op">(</span><span class="nam">rotconv</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t336" class="stm mis"> <span class="nam">super</span><span class="op">(</span><span class="op">)</span><span class="op">.</span><span class="nam">__init__</span><span class="op">(</span><span class="nam">index</span><span class="op">=</span><span class="nam">indeces</span><span class="op">,</span> <span class="nam">columns</span><span class="op">=</span><span class="nam">columns</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t337" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">__rotconv</span> <span class="op">=</span> <span class="nam">rotconv</span><span class="strut"> </span></p>
+<p id="t338" class="pln"> <span class="com"># Position</span><span class="strut"> </span></p>
+<p id="t339" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">x</span> <span class="op">=</span> <span class="nam">nparray</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t340" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">y</span> <span class="op">=</span> <span class="nam">nparray</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="num">1</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t341" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">z</span> <span class="op">=</span> <span class="nam">nparray</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="num">2</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t342" class="pln"> <span class="com"># Orientation</span><span class="strut"> </span></p>
+<p id="t343" class="stm mis"> <span class="key">if</span> <span class="nam">self</span><span class="op">.</span><span class="nam">__rotconv</span> <span class="op">==</span> <span class="str">'quaternion'</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t344" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">q_0</span> <span class="op">=</span> <span class="nam">nparray</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="num">3</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t345" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">q_1</span> <span class="op">=</span> <span class="nam">nparray</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="num">4</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t346" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">q_2</span> <span class="op">=</span> <span class="nam">nparray</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="num">5</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t347" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">q_3</span> <span class="op">=</span> <span class="nam">nparray</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="num">6</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t348" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t349" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">alpha_0</span> <span class="op">=</span> <span class="nam">nparray</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="num">3</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t350" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">alpha_1</span> <span class="op">=</span> <span class="nam">nparray</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="num">4</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t351" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">alpha_2</span> <span class="op">=</span> <span class="nam">nparray</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="num">5</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t352" class="stm mis"> <span class="key">return</span> <span class="nam">self</span><span class="strut"> </span></p>
+<p id="t353" class="pln"><span class="strut"> </span></p>
+<p id="t354" class="stm run hide_run"> <span class="key">def</span> <span class="nam">from_dataframe</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span> <span class="nam">df</span><span class="op">,</span> <span class="nam">rotconv</span><span class="op">=</span><span class="key">None</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t355" class="pln"> <span class="str">""" Assign trajectory from a dataframe</span><span class="strut"> </span></p>
+<p id="t356" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t357" class="stm run hide_run"> <span class="key">if</span> <span class="str">'rotconv_id'</span> <span class="key">in</span> <span class="nam">df</span><span class="op">.</span><span class="nam">columns</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t358" class="stm run hide_run"> <span class="nam">rotconv</span> <span class="op">=</span> <span class="nam">df</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="str">'rotconv_id'</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t359" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="nam">np</span><span class="op">.</span><span class="nam">all</span><span class="op">(</span><span class="nam">rotconv</span> <span class="op">==</span> <span class="nam">rotconv</span><span class="op">.</span><span class="nam">iloc</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t360" class="stm mis"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="str">'More than one rotconv detected'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t361" class="stm run hide_run"> <span class="nam">rotconv</span> <span class="op">=</span> <span class="nam">rotconv</span><span class="op">.</span><span class="nam">iloc</span><span class="op">[</span><span class="num">0</span><span class="op">]</span> <span class="com"># They are all the same :)</span><span class="strut"> </span></p>
+<p id="t362" class="stm mis"> <span class="key">elif</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">df</span><span class="op">.</span><span class="nam">columns</span><span class="op">,</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">MultiIndex</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t363" class="stm mis"> <span class="key">if</span> <span class="str">'location'</span> <span class="key">in</span> <span class="nam">df</span><span class="op">.</span><span class="nam">columns</span><span class="op">.</span><span class="nam">levels</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t364" class="stm mis"> <span class="nam">rotconv</span> <span class="op">=</span> <span class="nam">df</span><span class="op">.</span><span class="nam">columns</span><span class="op">.</span><span class="nam">levels</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">.</span><span class="nam">drop</span><span class="op">(</span><span class="str">'location'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t365" class="stm mis"> <span class="key">if</span> <span class="nam">len</span><span class="op">(</span><span class="nam">rotconv</span><span class="op">)</span> <span class="op">==</span> <span class="num">1</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t366" class="stm mis"> <span class="nam">rotconv</span> <span class="op">=</span> <span class="nam">rotconv</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t367" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t368" class="stm mis"> <span class="nam">msg</span> <span class="op">=</span> <span class="str">'Could not determine rotconv from columns header'</span><span class="strut"> </span></p>
+<p id="t369" class="stm mis"> <span class="nam">msg</span> <span class="op">+=</span> <span class="str">'\n{}'</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">df</span><span class="op">.</span><span class="nam">columns</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t370" class="stm mis"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t371" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t372" class="stm mis"> <span class="nam">msg</span> <span class="op">=</span> <span class="str">'Could not determine rotconv from columns header'</span><span class="strut"> </span></p>
+<p id="t373" class="stm mis"> <span class="nam">msg</span> <span class="op">+=</span> <span class="str">'\n{}'</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">df</span><span class="op">.</span><span class="nam">columns</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t374" class="stm mis"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t375" class="pln"><span class="strut"> </span></p>
+<p id="t376" class="stm mis"> <span class="key">elif</span> <span class="nam">rotconv</span> <span class="key">is</span> <span class="key">None</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t377" class="stm mis"> <span class="nam">msg</span> <span class="op">=</span> <span class="str">'When dataframe does not contains rotconv_id,'</span><span class="strut"> </span></p>
+<p id="t378" class="stm mis"> <span class="nam">msg</span> <span class="op">+=</span> <span class="str">'a convention should be given'</span><span class="strut"> </span></p>
+<p id="t379" class="stm mis"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t380" class="pln"><span class="strut"> </span></p>
+<p id="t381" class="stm run hide_run"> <span class="nam">indeces</span> <span class="op">=</span> <span class="nam">df</span><span class="op">.</span><span class="nam">index</span><span class="strut"> </span></p>
+<p id="t382" class="stm run hide_run"> <span class="nam">columns</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">__build_columns</span><span class="op">(</span><span class="nam">rotconv</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t383" class="stm run hide_run"> <span class="nam">super</span><span class="op">(</span><span class="op">)</span><span class="op">.</span><span class="nam">__init__</span><span class="op">(</span><span class="nam">index</span><span class="op">=</span><span class="nam">indeces</span><span class="op">,</span> <span class="nam">columns</span><span class="op">=</span><span class="nam">columns</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t384" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">__rotconv</span> <span class="op">=</span> <span class="nam">rotconv</span><span class="strut"> </span></p>
+<p id="t385" class="pln"> <span class="com"># Position</span><span class="strut"> </span></p>
+<p id="t386" class="stm run hide_run"> <span class="key">if</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">df</span><span class="op">.</span><span class="nam">columns</span><span class="op">,</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">MultiIndex</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t387" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">x</span> <span class="op">=</span> <span class="nam">df</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="op">(</span><span class="str">'location'</span><span class="op">,</span> <span class="str">'x'</span><span class="op">)</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t388" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">y</span> <span class="op">=</span> <span class="nam">df</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="op">(</span><span class="str">'location'</span><span class="op">,</span> <span class="str">'y'</span><span class="op">)</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t389" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">z</span> <span class="op">=</span> <span class="nam">df</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="op">(</span><span class="str">'location'</span><span class="op">,</span> <span class="str">'z'</span><span class="op">)</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t390" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t391" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">x</span> <span class="op">=</span> <span class="nam">df</span><span class="op">.</span><span class="nam">x</span><span class="strut"> </span></p>
+<p id="t392" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">y</span> <span class="op">=</span> <span class="nam">df</span><span class="op">.</span><span class="nam">y</span><span class="strut"> </span></p>
+<p id="t393" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">z</span> <span class="op">=</span> <span class="nam">df</span><span class="op">.</span><span class="nam">z</span><span class="strut"> </span></p>
+<p id="t394" class="pln"> <span class="com"># Orientation</span><span class="strut"> </span></p>
+<p id="t395" class="stm run hide_run"> <span class="key">if</span> <span class="nam">self</span><span class="op">.</span><span class="nam">__rotconv</span> <span class="op">==</span> <span class="str">'quaternion'</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t396" class="stm mis"> <span class="key">if</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">df</span><span class="op">.</span><span class="nam">columns</span><span class="op">,</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">MultiIndex</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t397" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">q_0</span> <span class="op">=</span> <span class="nam">df</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="op">(</span><span class="nam">rotconv</span><span class="op">,</span> <span class="str">'q_0'</span><span class="op">)</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t398" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">q_1</span> <span class="op">=</span> <span class="nam">df</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="op">(</span><span class="nam">rotconv</span><span class="op">,</span> <span class="str">'q_1'</span><span class="op">)</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t399" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">q_2</span> <span class="op">=</span> <span class="nam">df</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="op">(</span><span class="nam">rotconv</span><span class="op">,</span> <span class="str">'q_2'</span><span class="op">)</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t400" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">q_3</span> <span class="op">=</span> <span class="nam">df</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="op">(</span><span class="nam">rotconv</span><span class="op">,</span> <span class="str">'q_3'</span><span class="op">)</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t401" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t402" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">q_0</span> <span class="op">=</span> <span class="nam">df</span><span class="op">.</span><span class="nam">q_0</span><span class="strut"> </span></p>
+<p id="t403" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">q_1</span> <span class="op">=</span> <span class="nam">df</span><span class="op">.</span><span class="nam">q_1</span><span class="strut"> </span></p>
+<p id="t404" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">q_2</span> <span class="op">=</span> <span class="nam">df</span><span class="op">.</span><span class="nam">q_2</span><span class="strut"> </span></p>
+<p id="t405" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">q_3</span> <span class="op">=</span> <span class="nam">df</span><span class="op">.</span><span class="nam">q_3</span><span class="strut"> </span></p>
+<p id="t406" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t407" class="stm run hide_run"> <span class="key">if</span> <span class="str">'q_0'</span> <span class="key">in</span> <span class="nam">df</span><span class="op">.</span><span class="nam">columns</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t408" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">alpha_0</span> <span class="op">=</span> <span class="nam">df</span><span class="op">.</span><span class="nam">q_0</span><span class="strut"> </span></p>
+<p id="t409" class="stm mis"> <span class="key">elif</span> <span class="str">'alpha_0'</span> <span class="key">in</span> <span class="nam">df</span><span class="op">.</span><span class="nam">columns</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t410" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">alpha_0</span> <span class="op">=</span> <span class="nam">df</span><span class="op">.</span><span class="nam">alpha_0</span><span class="strut"> </span></p>
+<p id="t411" class="stm mis"> <span class="key">elif</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">df</span><span class="op">.</span><span class="nam">columns</span><span class="op">,</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">MultiIndex</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t412" class="stm mis"> <span class="key">if</span> <span class="str">'q_0'</span> <span class="key">in</span> <span class="nam">df</span><span class="op">.</span><span class="nam">columns</span><span class="op">.</span><span class="nam">levels</span><span class="op">[</span><span class="num">1</span><span class="op">]</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t413" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">alpha_0</span> <span class="op">=</span> <span class="nam">df</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="op">(</span><span class="nam">rotconv</span><span class="op">,</span> <span class="str">'q_0'</span><span class="op">)</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t414" class="stm mis"> <span class="key">elif</span> <span class="str">'alpha_0'</span> <span class="key">in</span> <span class="nam">df</span><span class="op">.</span><span class="nam">columns</span><span class="op">.</span><span class="nam">levels</span><span class="op">[</span><span class="num">1</span><span class="op">]</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t415" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">alpha_0</span> <span class="op">=</span> <span class="nam">df</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="op">(</span><span class="nam">rotconv</span><span class="op">,</span> <span class="str">'alpha_0'</span><span class="op">)</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t416" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t417" class="stm mis"> <span class="nam">msg</span> <span class="op">=</span> <span class="str">'df should contains q_0 or alpha_0'</span><span class="strut"> </span></p>
+<p id="t418" class="stm mis"> <span class="nam">msg</span> <span class="op">+=</span> <span class="str">'columns are:\n{}'</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">df</span><span class="op">.</span><span class="nam">columns</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t419" class="stm mis"> <span class="key">raise</span> <span class="nam">KeyError</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t420" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t421" class="stm mis"> <span class="key">raise</span> <span class="nam">KeyError</span><span class="op">(</span><span class="str">'df should contains q_0 or alpha_0'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t422" class="pln"><span class="strut"> </span></p>
+<p id="t423" class="stm run hide_run"> <span class="key">if</span> <span class="str">'q_1'</span> <span class="key">in</span> <span class="nam">df</span><span class="op">.</span><span class="nam">columns</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t424" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">alpha_1</span> <span class="op">=</span> <span class="nam">df</span><span class="op">.</span><span class="nam">q_1</span><span class="strut"> </span></p>
+<p id="t425" class="stm mis"> <span class="key">elif</span> <span class="str">'alpha_1'</span> <span class="key">in</span> <span class="nam">df</span><span class="op">.</span><span class="nam">columns</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t426" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">alpha_1</span> <span class="op">=</span> <span class="nam">df</span><span class="op">.</span><span class="nam">alpha_1</span><span class="strut"> </span></p>
+<p id="t427" class="stm mis"> <span class="key">elif</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">df</span><span class="op">.</span><span class="nam">columns</span><span class="op">,</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">MultiIndex</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t428" class="stm mis"> <span class="key">if</span> <span class="str">'q_1'</span> <span class="key">in</span> <span class="nam">df</span><span class="op">.</span><span class="nam">columns</span><span class="op">.</span><span class="nam">levels</span><span class="op">[</span><span class="num">1</span><span class="op">]</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t429" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">alpha_1</span> <span class="op">=</span> <span class="nam">df</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="op">(</span><span class="nam">rotconv</span><span class="op">,</span> <span class="str">'q_1'</span><span class="op">)</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t430" class="stm mis"> <span class="key">elif</span> <span class="str">'alpha_1'</span> <span class="key">in</span> <span class="nam">df</span><span class="op">.</span><span class="nam">columns</span><span class="op">.</span><span class="nam">levels</span><span class="op">[</span><span class="num">1</span><span class="op">]</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t431" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">alpha_1</span> <span class="op">=</span> <span class="nam">df</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="op">(</span><span class="nam">rotconv</span><span class="op">,</span> <span class="str">'alpha_1'</span><span class="op">)</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t432" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t433" class="stm mis"> <span class="nam">msg</span> <span class="op">=</span> <span class="str">'df should contains q_1 or alpha_1'</span><span class="strut"> </span></p>
+<p id="t434" class="stm mis"> <span class="nam">msg</span> <span class="op">+=</span> <span class="str">'columns are:\n{}'</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">df</span><span class="op">.</span><span class="nam">columns</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t435" class="stm mis"> <span class="key">raise</span> <span class="nam">KeyError</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t436" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t437" class="stm mis"> <span class="key">raise</span> <span class="nam">KeyError</span><span class="op">(</span><span class="str">'df should contains q_1 or alpha_1'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t438" class="pln"><span class="strut"> </span></p>
+<p id="t439" class="stm run hide_run"> <span class="key">if</span> <span class="str">'q_2'</span> <span class="key">in</span> <span class="nam">df</span><span class="op">.</span><span class="nam">columns</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t440" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">alpha_2</span> <span class="op">=</span> <span class="nam">df</span><span class="op">.</span><span class="nam">q_2</span><span class="strut"> </span></p>
+<p id="t441" class="stm mis"> <span class="key">elif</span> <span class="str">'alpha_2'</span> <span class="key">in</span> <span class="nam">df</span><span class="op">.</span><span class="nam">columns</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t442" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">alpha_2</span> <span class="op">=</span> <span class="nam">df</span><span class="op">.</span><span class="nam">alpha_2</span><span class="strut"> </span></p>
+<p id="t443" class="stm mis"> <span class="key">elif</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">df</span><span class="op">.</span><span class="nam">columns</span><span class="op">,</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">MultiIndex</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t444" class="stm mis"> <span class="key">if</span> <span class="str">'q_2'</span> <span class="key">in</span> <span class="nam">df</span><span class="op">.</span><span class="nam">columns</span><span class="op">.</span><span class="nam">levels</span><span class="op">[</span><span class="num">1</span><span class="op">]</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t445" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">alpha_2</span> <span class="op">=</span> <span class="nam">df</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="op">(</span><span class="nam">rotconv</span><span class="op">,</span> <span class="str">'q_2'</span><span class="op">)</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t446" class="stm mis"> <span class="key">elif</span> <span class="str">'alpha_2'</span> <span class="key">in</span> <span class="nam">df</span><span class="op">.</span><span class="nam">columns</span><span class="op">.</span><span class="nam">levels</span><span class="op">[</span><span class="num">1</span><span class="op">]</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t447" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">alpha_2</span> <span class="op">=</span> <span class="nam">df</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="op">(</span><span class="nam">rotconv</span><span class="op">,</span> <span class="str">'alpha_2'</span><span class="op">)</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t448" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t449" class="stm mis"> <span class="nam">msg</span> <span class="op">=</span> <span class="str">'df should contains q_2 or alpha_2'</span><span class="strut"> </span></p>
+<p id="t450" class="stm mis"> <span class="nam">msg</span> <span class="op">+=</span> <span class="str">'columns are:\n{}'</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">df</span><span class="op">.</span><span class="nam">columns</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t451" class="stm mis"> <span class="key">raise</span> <span class="nam">KeyError</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t452" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t453" class="stm mis"> <span class="key">raise</span> <span class="nam">KeyError</span><span class="op">(</span><span class="str">'df should contains q_2 or alpha_2'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t454" class="stm run hide_run"> <span class="key">return</span> <span class="nam">self</span><span class="strut"> </span></p>
+<p id="t455" class="pln"><span class="strut"> </span></p>
+<p id="t456" class="stm run hide_run"> <span class="key">def</span> <span class="nam">from_markers</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span> <span class="nam">markers</span><span class="op">,</span> <span class="nam">triangle_mode</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t457" class="pln"> <span class="nam">error</span><span class="op">=</span><span class="key">None</span><span class="op">,</span> <span class="nam">markers_labels</span><span class="op">=</span><span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="num">1</span><span class="op">,</span> <span class="num">2</span><span class="op">]</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t458" class="stm run hide_run"> <span class="nam">indeces</span> <span class="op">=</span> <span class="nam">markers</span><span class="op">.</span><span class="nam">index</span><span class="strut"> </span></p>
+<p id="t459" class="pln"> <span class="com"># Reinit the pandas dataframe super class</span><span class="strut"> </span></p>
+<p id="t460" class="pln"> <span class="com"># because we now know the indeces</span><span class="strut"> </span></p>
+<p id="t461" class="stm run hide_run"> <span class="nam">super</span><span class="op">(</span><span class="op">)</span><span class="op">.</span><span class="nam">__init__</span><span class="op">(</span><span class="nam">index</span><span class="op">=</span><span class="nam">indeces</span><span class="op">,</span> <span class="nam">columns</span><span class="op">=</span><span class="nam">self</span><span class="op">.</span><span class="nam">columns</span><span class="op">,</span> <span class="nam">dtype</span><span class="op">=</span><span class="nam">float</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t462" class="pln"> <span class="com"># If error is provided, we can propagate the error</span><span class="strut"> </span></p>
+<p id="t463" class="stm run hide_run"> <span class="key">if</span> <span class="nam">error</span> <span class="key">is</span> <span class="key">not</span> <span class="key">None</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t464" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">trajectory_error</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">DataFrame</span><span class="op">(</span><span class="nam">data</span><span class="op">=</span><span class="nam">np</span><span class="op">.</span><span class="nam">nan</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t465" class="pln"> <span class="nam">index</span><span class="op">=</span><span class="nam">self</span><span class="op">.</span><span class="nam">index</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t466" class="pln"> <span class="nam">columns</span><span class="op">=</span><span class="nam">self</span><span class="op">.</span><span class="nam">columns</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t467" class="stm run hide_run"> <span class="nam">markers2use</span> <span class="op">=</span> <span class="nam">markers</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="nam">markers_labels</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t468" class="stm run hide_run"> <span class="nam">markers2use</span> <span class="op">=</span> <span class="nam">markers2use</span><span class="op">.</span><span class="nam">dropna</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t469" class="stm run hide_run"> <span class="nam">mark0</span> <span class="op">=</span> <span class="nam">markers2use</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="nam">markers_labels</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t470" class="stm run hide_run"> <span class="nam">mark1</span> <span class="op">=</span> <span class="nam">markers2use</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="nam">markers_labels</span><span class="op">[</span><span class="num">1</span><span class="op">]</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t471" class="stm run hide_run"> <span class="nam">mark2</span> <span class="op">=</span> <span class="nam">markers2use</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="nam">markers_labels</span><span class="op">[</span><span class="num">2</span><span class="op">]</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t472" class="stm run hide_run"> <span class="nam">x</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">zeros</span><span class="op">(</span><span class="num">9</span><span class="op">)</span> <span class="com"># 3points with x,y,z</span><span class="strut"> </span></p>
+<p id="t473" class="stm run hide_run"> <span class="nam">kwargs</span> <span class="op">=</span> <span class="op">{</span><span class="str">'triangle_mode'</span><span class="op">:</span> <span class="nam">triangle_mode</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t474" class="pln"> <span class="str">'euler_axes'</span><span class="op">:</span> <span class="nam">self</span><span class="op">.</span><span class="nam">rotation_mode</span><span class="op">}</span><span class="strut"> </span></p>
+<p id="t475" class="stm run hide_run"> <span class="key">for</span> <span class="nam">index_i</span> <span class="key">in</span> <span class="nam">markers2use</span><span class="op">.</span><span class="nam">index</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t476" class="pln"> <span class="com"># Assign mark to pos</span><span class="strut"> </span></p>
+<p id="t477" class="stm run hide_run"> <span class="nam">x</span><span class="op">[</span><span class="num">0</span><span class="op">:</span><span class="num">3</span><span class="op">]</span> <span class="op">=</span> <span class="nam">mark0</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="nam">index_i</span><span class="op">,</span> <span class="op">[</span><span class="str">'x'</span><span class="op">,</span> <span class="str">'y'</span><span class="op">,</span> <span class="str">'z'</span><span class="op">]</span><span class="op">]</span><span class="op">.</span><span class="nam">values</span><span class="strut"> </span></p>
+<p id="t478" class="stm run hide_run"> <span class="nam">x</span><span class="op">[</span><span class="num">3</span><span class="op">:</span><span class="num">6</span><span class="op">]</span> <span class="op">=</span> <span class="nam">mark1</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="nam">index_i</span><span class="op">,</span> <span class="op">[</span><span class="str">'x'</span><span class="op">,</span> <span class="str">'y'</span><span class="op">,</span> <span class="str">'z'</span><span class="op">]</span><span class="op">]</span><span class="op">.</span><span class="nam">values</span><span class="strut"> </span></p>
+<p id="t479" class="stm run hide_run"> <span class="nam">x</span><span class="op">[</span><span class="num">6</span><span class="op">:</span><span class="op">]</span> <span class="op">=</span> <span class="nam">mark2</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="nam">index_i</span><span class="op">,</span> <span class="op">[</span><span class="str">'x'</span><span class="op">,</span> <span class="str">'y'</span><span class="op">,</span> <span class="str">'z'</span><span class="op">]</span><span class="op">]</span><span class="op">.</span><span class="nam">values</span><span class="strut"> </span></p>
+<p id="t480" class="pln"> <span class="com"># Calculate position and orientation</span><span class="strut"> </span></p>
+<p id="t481" class="stm run hide_run"> <span class="nam">position</span> <span class="op">=</span> <span class="nam">_markers2position</span><span class="op">(</span><span class="nam">x</span><span class="op">,</span> <span class="nam">kwargs</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t482" class="stm run hide_run"> <span class="nam">orientation</span> <span class="op">=</span> <span class="nam">_markers2angles</span><span class="op">(</span><span class="nam">x</span><span class="op">,</span> <span class="nam">kwargs</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t483" class="pln"> <span class="com"># propagate error</span><span class="strut"> </span></p>
+<p id="t484" class="stm run hide_run"> <span class="key">if</span> <span class="nam">error</span> <span class="key">is</span> <span class="key">not</span> <span class="key">None</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t485" class="stm mis"> <span class="nam">euclidian_error</span> <span class="op">=</span> <span class="nam">error</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="nam">index_i</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t486" class="stm mis"> <span class="key">if</span> <span class="key">not</span> <span class="nam">np</span><span class="op">.</span><span class="nam">isnan</span><span class="op">(</span><span class="nam">euclidian_error</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t487" class="stm mis"> <span class="nam">covar</span> <span class="op">=</span> <span class="nam">euclidian_error</span> <span class="op">*</span> <span class="nam">np</span><span class="op">.</span><span class="nam">eye</span><span class="op">(</span><span class="num">9</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t488" class="stm mis"> <span class="nam">err_pos</span> <span class="op">=</span> <span class="nam">propagate_error</span><span class="op">(</span><span class="nam">_markers2position</span><span class="op">,</span> <span class="nam">x</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t489" class="pln"> <span class="nam">covar</span><span class="op">,</span> <span class="nam">args</span><span class="op">=</span><span class="nam">kwargs</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t490" class="pln"> <span class="nam">epsilon</span><span class="op">=</span><span class="nam">euclidian_error</span> <span class="op">/</span> <span class="num">10</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t491" class="pln"><span class="strut"> </span></p>
+<p id="t492" class="stm mis"> <span class="nam">err_angle</span> <span class="op">=</span> <span class="nam">propagate_error</span><span class="op">(</span><span class="nam">_markers2angles</span><span class="op">,</span> <span class="nam">x</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t493" class="pln"> <span class="nam">covar</span><span class="op">,</span> <span class="nam">args</span><span class="op">=</span><span class="nam">kwargs</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t494" class="pln"> <span class="nam">epsilon</span><span class="op">=</span><span class="nam">euclidian_error</span> <span class="op">/</span> <span class="num">10</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t495" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">trajectory_error</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="nam">index_i</span><span class="op">,</span> <span class="str">'location'</span><span class="op">]</span> <span class="op">=</span> <span class="xx">\</span><span class="strut"> </span></p>
+<p id="t496" class="pln"> <span class="nam">np</span><span class="op">.</span><span class="nam">diagonal</span><span class="op">(</span><span class="nam">err_pos</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t497" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">trajectory_error</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="nam">index_i</span><span class="op">,</span> <span class="nam">self</span><span class="op">.</span><span class="nam">rotation_mode</span><span class="op">]</span> <span class="xx">\</span><span class="strut"> </span></p>
+<p id="t498" class="pln"> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">diagonal</span><span class="op">(</span><span class="nam">err_angle</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t499" class="pln"><span class="strut"> </span></p>
+<p id="t500" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="nam">index_i</span><span class="op">,</span> <span class="str">'location'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">position</span><span class="strut"> </span></p>
+<p id="t501" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="nam">index_i</span><span class="op">,</span> <span class="nam">self</span><span class="op">.</span><span class="nam">rotation_mode</span><span class="op">]</span> <span class="op">=</span> <span class="nam">orientation</span><span class="strut"> </span></p>
+<p id="t502" class="stm run hide_run"> <span class="key">return</span> <span class="nam">self</span><span class="strut"> </span></p>
+<p id="t503" class="pln"><span class="strut"> </span></p>
+<p id="t504" class="pln"> <span class="com"># -----------------------------------------------</span><span class="strut"> </span></p>
+<p id="t505" class="pln"> <span class="com"># ---------------- TRANSFORM --------------------</span><span class="strut"> </span></p>
+<p id="t506" class="pln"> <span class="com"># -----------------------------------------------</span><span class="strut"> </span></p>
+<p id="t507" class="stm run hide_run"> <span class="key">def</span> <span class="nam">body2world</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span> <span class="nam">markers</span><span class="op">,</span> <span class="nam">indeces</span><span class="op">=</span><span class="key">None</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t508" class="pln"> <span class="str">""" Transform markers in body coordinate to world coordinate</span><span class="strut"> </span></p>
+<p id="t509" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t510" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">markers</span><span class="op">,</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">Series</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t511" class="stm mis"> <span class="nam">msg</span> <span class="op">=</span> <span class="str">'markers should be of type pd.Series and not'</span><span class="strut"> </span></p>
+<p id="t512" class="stm mis"> <span class="nam">msg</span> <span class="op">+=</span> <span class="str">' {}'</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">type</span><span class="op">(</span><span class="nam">markers</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t513" class="stm mis"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t514" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">markers</span><span class="op">.</span><span class="nam">index</span><span class="op">,</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">MultiIndex</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t515" class="stm mis"> <span class="nam">msg</span> <span class="op">=</span> <span class="str">'markers should have a multiIndex index \n'</span><span class="strut"> </span></p>
+<p id="t516" class="stm mis"> <span class="nam">msg</span> <span class="op">+=</span> <span class="str">' (i,"x"), (i,"y"),(i,"z")\n'</span><span class="strut"> </span></p>
+<p id="t517" class="stm mis"> <span class="nam">msg</span> <span class="op">+=</span> <span class="str">'here i is the index of the marker'</span><span class="strut"> </span></p>
+<p id="t518" class="stm mis"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t519" class="stm run hide_run"> <span class="key">if</span> <span class="nam">indeces</span> <span class="key">is</span> <span class="key">None</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t520" class="pln"> <span class="com"># Looping through each time point along the trajectory</span><span class="strut"> </span></p>
+<p id="t521" class="stm run hide_run"> <span class="nam">indeces</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">index</span><span class="strut"> </span></p>
+<p id="t522" class="pln"> <span class="com"># More than one marker may be transformed</span><span class="strut"> </span></p>
+<p id="t523" class="pln"> <span class="com"># The marker are assume to be a multiIndex dataframe</span><span class="strut"> </span></p>
+<p id="t524" class="stm run hide_run"> <span class="nam">homogeneous_markers</span> <span class="op">=</span> <span class="nam">markers</span><span class="op">.</span><span class="nam">unstack</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t525" class="stm run hide_run"> <span class="nam">homogeneous_markers</span><span class="op">[</span><span class="str">'w'</span><span class="op">]</span> <span class="op">=</span> <span class="num">1</span><span class="strut"> </span></p>
+<p id="t526" class="pln"> <span class="com"># Make sure that columns are correctly ordered</span><span class="strut"> </span></p>
+<p id="t527" class="stm run hide_run"> <span class="nam">homogeneous_markers</span> <span class="op">=</span> <span class="nam">homogeneous_markers</span><span class="op">[</span><span class="op">[</span><span class="str">'x'</span><span class="op">,</span> <span class="str">'y'</span><span class="op">,</span> <span class="str">'z'</span><span class="op">,</span> <span class="str">'w'</span><span class="op">]</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t528" class="pln"> <span class="com"># Transpose because we apply homogeneous transformation</span><span class="strut"> </span></p>
+<p id="t529" class="pln"> <span class="com"># on the marker, and thus a 4x4 matrix on a 4xN matrix</span><span class="strut"> </span></p>
+<p id="t530" class="pln"> <span class="com"># here N is the number of markers</span><span class="strut"> </span></p>
+<p id="t531" class="stm run hide_run"> <span class="nam">homogeneous_markers</span> <span class="op">=</span> <span class="nam">homogeneous_markers</span><span class="op">.</span><span class="nam">transpose</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t532" class="pln"> <span class="com"># Looping throught the indeces</span><span class="strut"> </span></p>
+<p id="t533" class="pln"> <span class="com"># to get the homogeneous transformation from the position orientation</span><span class="strut"> </span></p>
+<p id="t534" class="pln"> <span class="com"># and then apply the transformed to the marker position</span><span class="strut"> </span></p>
+<p id="t535" class="stm run hide_run"> <span class="key">with</span> <span class="nam">Pool</span><span class="op">(</span><span class="op">)</span> <span class="key">as</span> <span class="nam">p</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t536" class="stm run hide_run"> <span class="nam">result</span> <span class="op">=</span> <span class="nam">p</span><span class="op">.</span><span class="nam">map</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t537" class="pln"> <span class="nam">partial</span><span class="op">(</span><span class="nam">_markerstransform</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t538" class="pln"> <span class="nam">trajectory</span><span class="op">=</span><span class="nam">self</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t539" class="pln"> <span class="nam">homogeneous_markers</span><span class="op">=</span><span class="nam">homogeneous_markers</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t540" class="pln"> <span class="nam">rotation_mode</span><span class="op">=</span><span class="nam">self</span><span class="op">.</span><span class="nam">rotation_mode</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t541" class="pln"> <span class="nam">indeces</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t542" class="pln"> <span class="com"># unwrap results</span><span class="strut"> </span></p>
+<p id="t543" class="stm run hide_run"> <span class="nam">indeces</span> <span class="op">=</span> <span class="op">[</span><span class="nam">res</span><span class="op">.</span><span class="nam">name</span> <span class="key">for</span> <span class="nam">res</span> <span class="key">in</span> <span class="nam">result</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t544" class="stm run hide_run"> <span class="nam">transformed_markers</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">DataFrame</span><span class="op">(</span><span class="nam">data</span><span class="op">=</span><span class="nam">result</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t545" class="pln"> <span class="nam">index</span><span class="op">=</span><span class="nam">indeces</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t546" class="pln"> <span class="nam">columns</span><span class="op">=</span><span class="nam">markers</span><span class="op">.</span><span class="nam">index</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t547" class="pln"> <span class="nam">dtype</span><span class="op">=</span><span class="nam">float</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t548" class="stm run hide_run"> <span class="key">return</span> <span class="nam">transformed_markers</span><span class="strut"> </span></p>
+<p id="t549" class="pln"><span class="strut"> </span></p>
+<p id="t550" class="stm run hide_run"> <span class="key">def</span> <span class="nam">world2body</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span> <span class="nam">markers</span><span class="op">,</span> <span class="nam">indeces</span><span class="op">=</span><span class="key">None</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t551" class="pln"> <span class="str">""" Transform markers in world coordinate to body coordinate</span><span class="strut"> </span></p>
+<p id="t552" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t553" class="stm mis"> <span class="nam">msg</span> <span class="op">=</span> <span class="str">'Prior to 12/09/2018:\n'</span><span class="strut"> </span></p>
+<p id="t554" class="stm mis"> <span class="nam">msg</span> <span class="op">+=</span> <span class="str">'world2body was doing a reverse transformed\n'</span><span class="strut"> </span></p>
+<p id="t555" class="stm mis"> <span class="nam">msg</span> <span class="op">+=</span> <span class="str">'Please use body2world instead'</span><span class="strut"> </span></p>
+<p id="t556" class="stm mis"> <span class="nam">warnings</span><span class="op">.</span><span class="nam">warn</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t557" class="stm mis"> <span class="key">if</span> <span class="key">not</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">markers</span><span class="op">,</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">Series</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t558" class="stm mis"> <span class="nam">msg</span> <span class="op">=</span> <span class="str">'markers should be of type pd.Series and not'</span><span class="strut"> </span></p>
+<p id="t559" class="stm mis"> <span class="nam">msg</span> <span class="op">+=</span> <span class="str">' {}'</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">type</span><span class="op">(</span><span class="nam">markers</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t560" class="stm mis"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t561" class="stm mis"> <span class="key">if</span> <span class="key">not</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">markers</span><span class="op">.</span><span class="nam">index</span><span class="op">,</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">MultiIndex</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t562" class="stm mis"> <span class="nam">msg</span> <span class="op">=</span> <span class="str">'markers should have a multiIndex index \n'</span><span class="strut"> </span></p>
+<p id="t563" class="stm mis"> <span class="nam">msg</span> <span class="op">+=</span> <span class="str">' (i,"x"), (i,"y"),(i,"z")\n'</span><span class="strut"> </span></p>
+<p id="t564" class="stm mis"> <span class="nam">msg</span> <span class="op">+=</span> <span class="str">'here i is the index of the marker'</span><span class="strut"> </span></p>
+<p id="t565" class="stm mis"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t566" class="stm mis"> <span class="key">if</span> <span class="nam">indeces</span> <span class="key">is</span> <span class="key">None</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t567" class="pln"> <span class="com"># Looping through each time point along the trajectory</span><span class="strut"> </span></p>
+<p id="t568" class="stm mis"> <span class="nam">indeces</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">index</span><span class="strut"> </span></p>
+<p id="t569" class="pln"> <span class="com"># More than one marker may be transformed</span><span class="strut"> </span></p>
+<p id="t570" class="pln"> <span class="com"># The marker are assume to be a multiIndex dataframe</span><span class="strut"> </span></p>
+<p id="t571" class="stm mis"> <span class="nam">homogeneous_markers</span> <span class="op">=</span> <span class="nam">markers</span><span class="op">.</span><span class="nam">unstack</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t572" class="stm mis"> <span class="nam">homogeneous_markers</span><span class="op">[</span><span class="str">'w'</span><span class="op">]</span> <span class="op">=</span> <span class="num">1</span><span class="strut"> </span></p>
+<p id="t573" class="pln"> <span class="com"># Make sure that columns are correctly ordered</span><span class="strut"> </span></p>
+<p id="t574" class="stm mis"> <span class="nam">homogeneous_markers</span> <span class="op">=</span> <span class="nam">homogeneous_markers</span><span class="op">[</span><span class="op">[</span><span class="str">'x'</span><span class="op">,</span> <span class="str">'y'</span><span class="op">,</span> <span class="str">'z'</span><span class="op">,</span> <span class="str">'w'</span><span class="op">]</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t575" class="pln"> <span class="com"># Transpose because we apply homogeneous transformation</span><span class="strut"> </span></p>
+<p id="t576" class="pln"> <span class="com"># on the marker, and thus a 4x4 matrix on a 4xN matrix</span><span class="strut"> </span></p>
+<p id="t577" class="pln"> <span class="com"># here N is the number of markers</span><span class="strut"> </span></p>
+<p id="t578" class="stm mis"> <span class="nam">homogeneous_markers</span> <span class="op">=</span> <span class="nam">homogeneous_markers</span><span class="op">.</span><span class="nam">transpose</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t579" class="pln"> <span class="com"># Looping throught the indeces</span><span class="strut"> </span></p>
+<p id="t580" class="pln"> <span class="com"># to get the homogeneous transformation from the position orientation</span><span class="strut"> </span></p>
+<p id="t581" class="pln"> <span class="com"># and then apply the transformed to the marker position</span><span class="strut"> </span></p>
+<p id="t582" class="stm mis"> <span class="key">with</span> <span class="nam">Pool</span><span class="op">(</span><span class="op">)</span> <span class="key">as</span> <span class="nam">p</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t583" class="stm mis"> <span class="nam">result</span> <span class="op">=</span> <span class="nam">p</span><span class="op">.</span><span class="nam">map</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t584" class="pln"> <span class="nam">partial</span><span class="op">(</span><span class="nam">_invmarkerstransform</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t585" class="pln"> <span class="nam">trajectory</span><span class="op">=</span><span class="nam">self</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t586" class="pln"> <span class="nam">homogeneous_markers</span><span class="op">=</span><span class="nam">homogeneous_markers</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t587" class="pln"> <span class="nam">rotation_mode</span><span class="op">=</span><span class="nam">self</span><span class="op">.</span><span class="nam">rotation_mode</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t588" class="pln"> <span class="nam">indeces</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t589" class="pln"> <span class="com"># unwrap results</span><span class="strut"> </span></p>
+<p id="t590" class="stm mis"> <span class="nam">indeces</span> <span class="op">=</span> <span class="op">[</span><span class="nam">res</span><span class="op">.</span><span class="nam">name</span> <span class="key">for</span> <span class="nam">res</span> <span class="key">in</span> <span class="nam">result</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t591" class="stm mis"> <span class="nam">transformed_markers</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">DataFrame</span><span class="op">(</span><span class="nam">data</span><span class="op">=</span><span class="nam">result</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t592" class="pln"> <span class="nam">index</span><span class="op">=</span><span class="nam">indeces</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t593" class="pln"> <span class="nam">columns</span><span class="op">=</span><span class="nam">markers</span><span class="op">.</span><span class="nam">index</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t594" class="pln"> <span class="nam">dtype</span><span class="op">=</span><span class="nam">float</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t595" class="stm mis"> <span class="key">return</span> <span class="nam">transformed_markers</span><span class="strut"> </span></p>
+<p id="t596" class="pln"><span class="strut"> </span></p>
+<p id="t597" class="stm run hide_run"> <span class="key">def</span> <span class="nam">differentiate</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span> <span class="nam">periods</span><span class="op">=</span><span class="num">1</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t598" class="pln"> <span class="str">"""differentiate the trajectory and rename columns as d+col</span><span class="strut"> </span></p>
+<p id="t599" class="pln"><span class="strut"> </span></p>
+<p id="t600" class="pln"><span class="str"> :param periods: periods as in pd.diff()</span><span class="strut"> </span></p>
+<p id="t601" class="pln"><span class="str"> :returns: Diff of the trajectory</span><span class="strut"> </span></p>
+<p id="t602" class="pln"><span class="str"> :rtype: pd.DataFrame with MultiIndex</span><span class="strut"> </span></p>
+<p id="t603" class="pln"><span class="strut"> </span></p>
+<p id="t604" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t605" class="stm mis"> <span class="nam">mytrajdiff</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">diff</span><span class="op">(</span><span class="nam">periods</span><span class="op">=</span><span class="num">1</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t606" class="stm mis"> <span class="nam">d</span> <span class="op">=</span> <span class="nam">dict</span><span class="op">(</span><span class="nam">zip</span><span class="op">(</span><span class="nam">mytrajdiff</span><span class="op">.</span><span class="nam">columns</span><span class="op">.</span><span class="nam">levels</span><span class="op">[</span><span class="num">1</span><span class="op">]</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t607" class="pln"> <span class="op">[</span><span class="str">'d'</span> <span class="op">+</span> <span class="nam">col</span> <span class="key">for</span> <span class="nam">col</span> <span class="key">in</span> <span class="nam">mytrajdiff</span><span class="op">.</span><span class="nam">columns</span><span class="op">.</span><span class="nam">levels</span><span class="op">[</span><span class="num">1</span><span class="op">]</span><span class="op">]</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t608" class="stm mis"> <span class="nam">mytrajdiff</span> <span class="op">=</span> <span class="nam">mytrajdiff</span><span class="op">.</span><span class="nam">rename</span><span class="op">(</span><span class="nam">columns</span><span class="op">=</span><span class="nam">d</span><span class="op">,</span> <span class="nam">level</span><span class="op">=</span><span class="num">1</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t609" class="stm mis"> <span class="nam">mytrajdiff</span><span class="op">.</span><span class="nam">dropna</span><span class="op">(</span><span class="op">)</span><span class="op">.</span><span class="nam">head</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t610" class="stm mis"> <span class="key">return</span> <span class="nam">mytrajdiff</span><span class="strut"> </span></p>
+<p id="t611" class="pln"><span class="strut"> </span></p>
+<p id="t612" class="stm run hide_run"> <span class="key">def</span> <span class="nam">velocity</span><span class="op">(</span><span class="nam">self</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t613" class="pln"> <span class="str">""" Calculate the velocity on a trajectory</span><span class="strut"> </span></p>
+<p id="t614" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t615" class="stm mis"> <span class="nam">velocity</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">DataFrame</span><span class="op">(</span><span class="nam">index</span><span class="op">=</span><span class="nam">self</span><span class="op">.</span><span class="nam">index</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t616" class="pln"> <span class="nam">columns</span><span class="op">=</span><span class="op">[</span><span class="str">'dx'</span><span class="op">,</span> <span class="str">'dy'</span><span class="op">,</span> <span class="str">'dz'</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t617" class="pln"> <span class="str">'dalpha_0'</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t618" class="pln"> <span class="str">'dalpha_1'</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t619" class="pln"> <span class="str">'dalpha_2'</span><span class="op">]</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t620" class="pln"> <span class="nam">dtype</span><span class="op">=</span><span class="nam">float</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t621" class="stm mis"> <span class="nam">diffrow</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">diff</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t622" class="stm mis"> <span class="nam">velocity</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="op">[</span><span class="str">'dx'</span><span class="op">,</span> <span class="str">'dy'</span><span class="op">,</span> <span class="str">'dz'</span><span class="op">]</span><span class="op">]</span> <span class="op">=</span> <span class="nam">diffrow</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="str">'location'</span><span class="op">]</span><span class="op">.</span><span class="nam">values</span><span class="strut"> </span></p>
+<p id="t623" class="stm mis"> <span class="key">for</span> <span class="nam">index_i</span><span class="op">,</span> <span class="nam">row</span> <span class="key">in</span> <span class="nam">self</span><span class="op">.</span><span class="nam">iterrows</span><span class="op">(</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t624" class="stm mis"> <span class="key">if</span> <span class="nam">self</span><span class="op">.</span><span class="nam">rotation_mode</span> <span class="op">==</span> <span class="str">'quaternion'</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t625" class="stm mis"> <span class="key">raise</span> <span class="nam">NameError</span><span class="op">(</span><span class="str">'Not implemented'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t626" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t627" class="stm mis"> <span class="nam">rot</span> <span class="op">=</span> <span class="nam">hte</span><span class="op">.</span><span class="nam">angular_velocity</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t628" class="pln"> <span class="nam">ai</span><span class="op">=</span><span class="nam">row</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="op">(</span><span class="nam">self</span><span class="op">.</span><span class="nam">rotation_mode</span><span class="op">,</span> <span class="str">'alpha_0'</span><span class="op">)</span><span class="op">]</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t629" class="pln"> <span class="nam">aj</span><span class="op">=</span><span class="nam">row</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="op">(</span><span class="nam">self</span><span class="op">.</span><span class="nam">rotation_mode</span><span class="op">,</span> <span class="str">'alpha_1'</span><span class="op">)</span><span class="op">]</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t630" class="pln"> <span class="nam">ak</span><span class="op">=</span><span class="nam">row</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="op">(</span><span class="nam">self</span><span class="op">.</span><span class="nam">rotation_mode</span><span class="op">,</span> <span class="str">'alpha_2'</span><span class="op">)</span><span class="op">]</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t631" class="pln"> <span class="nam">dai</span><span class="op">=</span><span class="nam">diffrow</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="nam">index_i</span><span class="op">,</span> <span class="op">(</span><span class="nam">self</span><span class="op">.</span><span class="nam">rotation_mode</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t632" class="pln"> <span class="str">'alpha_0'</span><span class="op">)</span><span class="op">]</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t633" class="pln"> <span class="nam">daj</span><span class="op">=</span><span class="nam">diffrow</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="nam">index_i</span><span class="op">,</span> <span class="op">(</span><span class="nam">self</span><span class="op">.</span><span class="nam">rotation_mode</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t634" class="pln"> <span class="str">'alpha_1'</span><span class="op">)</span><span class="op">]</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t635" class="pln"> <span class="nam">dak</span><span class="op">=</span><span class="nam">diffrow</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="nam">index_i</span><span class="op">,</span> <span class="op">(</span><span class="nam">self</span><span class="op">.</span><span class="nam">rotation_mode</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t636" class="pln"> <span class="str">'alpha_2'</span><span class="op">)</span><span class="op">]</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t637" class="pln"> <span class="nam">axes</span><span class="op">=</span><span class="nam">self</span><span class="op">.</span><span class="nam">rotation_mode</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t638" class="stm mis"> <span class="nam">velocity</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="nam">index_i</span><span class="op">,</span> <span class="op">[</span><span class="str">'dalpha_0'</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t639" class="pln"> <span class="str">'dalpha_1'</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t640" class="pln"> <span class="str">'dalpha_2'</span><span class="op">]</span><span class="op">]</span> <span class="op">=</span> <span class="nam">rot</span><span class="op">.</span><span class="nam">squeeze</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t641" class="stm mis"> <span class="key">return</span> <span class="nam">velocity</span><span class="strut"> </span></p>
+<p id="t642" class="pln"><span class="strut"> </span></p>
+<p id="t643" class="pln"> <span class="com"># --------------------------------------------</span><span class="strut"> </span></p>
+<p id="t644" class="pln"> <span class="com"># ---------------- FILTER --------------------</span><span class="strut"> </span></p>
+<p id="t645" class="pln"> <span class="com"># --------------------------------------------</span><span class="strut"> </span></p>
+<p id="t646" class="stm run hide_run"> <span class="key">def</span> <span class="nam">filtfilt</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span> <span class="nam">order</span><span class="op">,</span> <span class="nam">cutoff</span><span class="op">,</span> <span class="nam">padlen</span><span class="op">=</span><span class="key">None</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t647" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t648" class="pln"><span class="str"> Filter the trajectory with order and cutoff by</span><span class="strut"> </span></p>
+<p id="t649" class="pln"><span class="str"> using a lowpass filter twice (forward and backward)</span><span class="strut"> </span></p>
+<p id="t650" class="pln"><span class="str"> to correct for phase shift</span><span class="strut"> </span></p>
+<p id="t651" class="pln"><span class="strut"> </span></p>
+<p id="t652" class="pln"><span class="str"> :param order: the order of the lowpass filter. Either a number \</span><span class="strut"> </span></p>
+<p id="t653" class="pln"><span class="str">or a pandas series. The series should be multiindexed as the columns of \</span><span class="strut"> </span></p>
+<p id="t654" class="pln"><span class="str">the trajectory.</span><span class="strut"> </span></p>
+<p id="t655" class="pln"><span class="str"> :param cutoff: cut off frequency in Hz if sampling rate is known\</span><span class="strut"> </span></p>
+<p id="t656" class="pln"><span class="str">otherwise relative to the Nyquist frequency. Either a number or a pandas \</span><span class="strut"> </span></p>
+<p id="t657" class="pln"><span class="str">series.</span><span class="strut"> </span></p>
+<p id="t658" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t659" class="stm mis"> <span class="key">if</span> <span class="nam">self</span><span class="op">.</span><span class="nam">sampling_rate</span> <span class="op">></span> <span class="num">0</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t660" class="stm mis"> <span class="nam">nyquist</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">__sampling_rate</span> <span class="op">/</span> <span class="num">2</span><span class="strut"> </span></p>
+<p id="t661" class="stm mis"> <span class="nam">cutoff</span> <span class="op">/=</span> <span class="nam">nyquist</span><span class="strut"> </span></p>
+<p id="t662" class="stm mis"> <span class="key">if</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">order</span><span class="op">,</span> <span class="op">(</span><span class="nam">int</span><span class="op">,</span> <span class="nam">float</span><span class="op">)</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t663" class="stm mis"> <span class="nam">order</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">Series</span><span class="op">(</span><span class="nam">data</span><span class="op">=</span><span class="nam">order</span><span class="op">,</span> <span class="nam">index</span><span class="op">=</span><span class="nam">self</span><span class="op">.</span><span class="nam">columns</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t664" class="stm mis"> <span class="key">if</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">cutoff</span><span class="op">,</span> <span class="op">(</span><span class="nam">int</span><span class="op">,</span> <span class="nam">float</span><span class="op">)</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t665" class="stm mis"> <span class="nam">cutoff</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">Series</span><span class="op">(</span><span class="nam">data</span><span class="op">=</span><span class="nam">cutoff</span><span class="op">,</span> <span class="nam">index</span><span class="op">=</span><span class="nam">self</span><span class="op">.</span><span class="nam">columns</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t666" class="stm mis"> <span class="nam">subtraj</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">consecutive_blocks</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t667" class="stm mis"> <span class="key">for</span> <span class="nam">trajno_nan</span> <span class="key">in</span> <span class="nam">subtraj</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t668" class="stm mis"> <span class="nam">indeces</span> <span class="op">=</span> <span class="nam">trajno_nan</span><span class="op">.</span><span class="nam">index</span><span class="strut"> </span></p>
+<p id="t669" class="stm mis"> <span class="key">for</span> <span class="nam">col</span> <span class="key">in</span> <span class="nam">self</span><span class="op">.</span><span class="nam">columns</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t670" class="stm mis"> <span class="nam">b</span><span class="op">,</span> <span class="nam">a</span> <span class="op">=</span> <span class="nam">signal</span><span class="op">.</span><span class="nam">butter</span><span class="op">(</span><span class="nam">order</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="nam">col</span><span class="op">]</span><span class="op">,</span> <span class="nam">cutoff</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="nam">col</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t671" class="stm mis"> <span class="key">if</span> <span class="nam">padlen</span> <span class="key">is</span> <span class="key">None</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t672" class="stm mis"> <span class="nam">padlen</span> <span class="op">=</span> <span class="num">3</span> <span class="op">*</span> <span class="nam">max</span><span class="op">(</span><span class="nam">len</span><span class="op">(</span><span class="nam">a</span><span class="op">)</span><span class="op">,</span> <span class="nam">len</span><span class="op">(</span><span class="nam">b</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t673" class="stm mis"> <span class="key">if</span> <span class="nam">trajno_nan</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">0</span><span class="op">]</span> <span class="op"><=</span> <span class="nam">padlen</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t674" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="nam">indeces</span><span class="op">,</span> <span class="nam">col</span><span class="op">]</span> <span class="op">*=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">nan</span><span class="strut"> </span></p>
+<p id="t675" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t676" class="stm mis"> <span class="key">if</span> <span class="nam">col</span><span class="op">[</span><span class="num">0</span><span class="op">]</span> <span class="op">==</span> <span class="str">'location'</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t677" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="nam">indeces</span><span class="op">,</span> <span class="nam">col</span><span class="op">]</span> <span class="op">=</span> <span class="nam">signal</span><span class="op">.</span><span class="nam">filtfilt</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t678" class="pln"> <span class="nam">b</span><span class="op">,</span> <span class="nam">a</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t679" class="pln"> <span class="nam">trajno_nan</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="nam">col</span><span class="op">]</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t680" class="pln"> <span class="nam">padlen</span><span class="op">=</span><span class="nam">padlen</span><span class="op">)</span><span class="op">.</span><span class="nam">astype</span><span class="op">(</span><span class="nam">float</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t681" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t682" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="nam">indeces</span><span class="op">,</span> <span class="nam">col</span><span class="op">]</span> <span class="op">=</span> <span class="nam">signal</span><span class="op">.</span><span class="nam">filtfilt</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t683" class="pln"> <span class="nam">b</span><span class="op">,</span> <span class="nam">a</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t684" class="pln"> <span class="nam">np</span><span class="op">.</span><span class="nam">unwrap</span><span class="op">(</span><span class="nam">trajno_nan</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="nam">col</span><span class="op">]</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t685" class="pln"> <span class="nam">padlen</span><span class="op">=</span><span class="nam">padlen</span><span class="op">)</span><span class="op">.</span><span class="nam">astype</span><span class="op">(</span><span class="nam">float</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t686" class="pln"><span class="strut"> </span></p>
+<p id="t687" class="stm run hide_run"> <span class="key">def</span> <span class="nam">fillna</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span> <span class="nam">method</span><span class="op">=</span><span class="str">'Cubic'</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t688" class="pln"> <span class="str">""" fillna with a given method</span><span class="strut"> </span></p>
+<p id="t689" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t690" class="stm mis"> <span class="nam">customs_method</span> <span class="op">=</span> <span class="op">[</span><span class="str">'Cubic'</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t691" class="stm mis"> <span class="key">if</span> <span class="key">not</span> <span class="op">(</span><span class="nam">method</span> <span class="key">in</span> <span class="nam">customs_method</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t692" class="pln"> <span class="com"># fall back to pandas fillna function</span><span class="strut"> </span></p>
+<p id="t693" class="stm mis"> <span class="key">return</span> <span class="nam">self</span><span class="op">.</span><span class="nam">fillna</span><span class="op">(</span><span class="nam">method</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t694" class="pln"> <span class="com"># Start implementing customs_method</span><span class="strut"> </span></p>
+<p id="t695" class="stm mis"> <span class="key">if</span> <span class="nam">method</span> <span class="op">==</span> <span class="str">'Cubic'</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t696" class="stm mis"> <span class="key">for</span> <span class="nam">col</span> <span class="key">in</span> <span class="nam">self</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="str">'location'</span><span class="op">]</span><span class="op">.</span><span class="nam">columns</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t697" class="stm mis"> <span class="nam">values</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="op">(</span><span class="str">'location'</span><span class="op">,</span> <span class="nam">col</span><span class="op">)</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t698" class="stm mis"> <span class="nam">validtime</span> <span class="op">=</span> <span class="nam">values</span><span class="op">.</span><span class="nam">dropna</span><span class="op">(</span><span class="op">)</span><span class="op">.</span><span class="nam">index</span><span class="strut"> </span></p>
+<p id="t699" class="stm mis"> <span class="nam">validvalues</span> <span class="op">=</span> <span class="nam">values</span><span class="op">.</span><span class="nam">dropna</span><span class="op">(</span><span class="op">)</span><span class="op">.</span><span class="nam">values</span><span class="strut"> </span></p>
+<p id="t700" class="stm mis"> <span class="nam">cs</span> <span class="op">=</span> <span class="nam">CubicSpline</span><span class="op">(</span><span class="nam">validtime</span><span class="op">,</span> <span class="nam">validvalues</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t701" class="stm mis"> <span class="nam">time</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">index</span><span class="strut"> </span></p>
+<p id="t702" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="op">(</span><span class="str">'location'</span><span class="op">,</span> <span class="nam">col</span><span class="op">)</span><span class="op">]</span> <span class="op">=</span> <span class="nam">cs</span><span class="op">(</span><span class="nam">time</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t703" class="pln"> <span class="com"># for the angles we first do a ffill and then</span><span class="strut"> </span></p>
+<p id="t704" class="pln"> <span class="com"># unwrap and interpolate on the unwrap angles</span><span class="strut"> </span></p>
+<p id="t705" class="stm mis"> <span class="nam">rotconv</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">rotation_mode</span><span class="strut"> </span></p>
+<p id="t706" class="stm mis"> <span class="key">for</span> <span class="nam">col</span> <span class="key">in</span> <span class="nam">self</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="nam">rotconv</span><span class="op">]</span><span class="op">.</span><span class="nam">columns</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t707" class="stm mis"> <span class="nam">values</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="op">(</span><span class="nam">rotconv</span><span class="op">,</span> <span class="nam">col</span><span class="op">)</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t708" class="stm mis"> <span class="nam">validtime</span> <span class="op">=</span> <span class="nam">values</span><span class="op">.</span><span class="nam">dropna</span><span class="op">(</span><span class="op">)</span><span class="op">.</span><span class="nam">index</span><span class="strut"> </span></p>
+<p id="t709" class="stm mis"> <span class="nam">unwrapvalues</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">unwrap</span><span class="op">(</span><span class="nam">values</span><span class="op">.</span><span class="nam">fillna</span><span class="op">(</span><span class="nam">method</span><span class="op">=</span><span class="str">'ffill'</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t710" class="stm mis"> <span class="nam">validvalues</span> <span class="op">=</span> <span class="nam">unwrapvalues</span><span class="op">[</span><span class="nam">validtime</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t711" class="stm mis"> <span class="nam">cs</span> <span class="op">=</span> <span class="nam">CubicSpline</span><span class="op">(</span><span class="nam">validtime</span><span class="op">,</span> <span class="nam">validvalues</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t712" class="stm mis"> <span class="nam">time</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">index</span><span class="strut"> </span></p>
+<p id="t713" class="stm mis"> <span class="nam">self</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="op">(</span><span class="nam">rotconv</span><span class="op">,</span> <span class="nam">col</span><span class="op">)</span><span class="op">]</span> <span class="op">=</span> <span class="nam">cs</span><span class="op">(</span><span class="nam">time</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t714" class="stm mis"> <span class="key">return</span> <span class="nam">self</span><span class="strut"> </span></p>
+<p id="t715" class="pln"><span class="strut"> </span></p>
+<p id="t716" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t717" class="stm mis"> <span class="nam">msg</span> <span class="op">=</span> <span class="str">'Method {} is not supported.'</span><span class="strut"> </span></p>
+<p id="t718" class="stm mis"> <span class="nam">msg</span> <span class="op">+=</span> <span class="str">'please use method supported by pd.fillna'</span><span class="strut"> </span></p>
+<p id="t719" class="stm mis"> <span class="nam">msg</span> <span class="op">+=</span> <span class="str">' or one of the following methods {}'</span><span class="strut"> </span></p>
+<p id="t720" class="stm mis"> <span class="nam">msg</span> <span class="op">=</span> <span class="nam">msg</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">method</span><span class="op">,</span> <span class="nam">customs_method</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t721" class="stm mis"> <span class="key">raise</span> <span class="nam">NameError</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t722" class="pln"><span class="strut"> </span></p>
+<p id="t723" class="pln"> <span class="com"># --------------------------------------------</span><span class="strut"> </span></p>
+<p id="t724" class="pln"> <span class="com"># ---------------- EXTRACT -------------------</span><span class="strut"> </span></p>
+<p id="t725" class="pln"> <span class="com"># --------------------------------------------</span><span class="strut"> </span></p>
+<p id="t726" class="pln"><span class="strut"> </span></p>
+<p id="t727" class="stm run hide_run"> <span class="key">def</span> <span class="nam">consecutive_blocks</span><span class="op">(</span><span class="nam">self</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t728" class="pln"> <span class="str">""" Return a list of subtrajectory withtout nans</span><span class="strut"> </span></p>
+<p id="t729" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t730" class="pln"> <span class="com"># get a numpy array from the trajectory,</span><span class="strut"> </span></p>
+<p id="t731" class="pln"> <span class="com"># because we are using numpy arrays later</span><span class="strut"> </span></p>
+<p id="t732" class="stm mis"> <span class="nam">np_traj</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">values</span><span class="strut"> </span></p>
+<p id="t733" class="stm mis"> <span class="nam">np_traj</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">hstack</span><span class="op">(</span><span class="op">[</span><span class="nam">self</span><span class="op">.</span><span class="nam">index</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="nam">np</span><span class="op">.</span><span class="nam">newaxis</span><span class="op">]</span><span class="op">,</span> <span class="nam">np_traj</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t734" class="pln"> <span class="com"># Look for row containing at least one nan</span><span class="strut"> </span></p>
+<p id="t735" class="stm mis"> <span class="nam">nonans</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">any</span><span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">isnan</span><span class="op">(</span><span class="nam">np_traj</span><span class="op">)</span><span class="op">,</span> <span class="nam">axis</span><span class="op">=</span><span class="num">1</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t736" class="pln"> <span class="com"># spliting the trajectory according to nan location</span><span class="strut"> </span></p>
+<p id="t737" class="stm mis"> <span class="nam">events</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">split</span><span class="op">(</span><span class="nam">np_traj</span><span class="op">,</span> <span class="nam">np</span><span class="op">.</span><span class="nam">where</span><span class="op">(</span><span class="nam">nonans</span><span class="op">)</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t738" class="pln"><span class="strut"> </span></p>
+<p id="t739" class="pln"> <span class="com"># removing NaN entries</span><span class="strut"> </span></p>
+<p id="t740" class="stm mis"> <span class="nam">events</span> <span class="op">=</span> <span class="op">[</span><span class="nam">ev</span><span class="op">[</span><span class="op">~</span><span class="nam">np</span><span class="op">.</span><span class="nam">any</span><span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">isnan</span><span class="op">(</span><span class="nam">ev</span><span class="op">)</span><span class="op">,</span> <span class="nam">axis</span><span class="op">=</span><span class="num">1</span><span class="op">)</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t741" class="pln"> <span class="key">for</span> <span class="nam">ev</span> <span class="key">in</span> <span class="nam">events</span> <span class="key">if</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">ev</span><span class="op">,</span> <span class="nam">np</span><span class="op">.</span><span class="nam">ndarray</span><span class="op">)</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t742" class="pln"> <span class="com"># removing empty DataFrames</span><span class="strut"> </span></p>
+<p id="t743" class="stm mis"> <span class="nam">subtraj</span> <span class="op">=</span> <span class="op">[</span><span class="nam">Trajectory</span><span class="op">(</span><span class="op">)</span><span class="op">.</span><span class="nam">from_dataframe</span><span class="op">(</span><span class="nam">self</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="nam">ev</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t744" class="pln"> <span class="key">for</span> <span class="nam">ev</span> <span class="key">in</span> <span class="nam">events</span> <span class="key">if</span> <span class="nam">ev</span><span class="op">.</span><span class="nam">size</span> <span class="op">></span> <span class="num">0</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t745" class="stm mis"> <span class="key">return</span> <span class="nam">subtraj</span><span class="strut"> </span></p>
+<p id="t746" class="pln"> <span class="com"># -------------------------------------------</span><span class="strut"> </span></p>
+<p id="t747" class="pln"> <span class="com"># ---------------- PLOTS --------------------</span><span class="strut"> </span></p>
+<p id="t748" class="pln"> <span class="com"># -------------------------------------------</span><span class="strut"> </span></p>
+<p id="t749" class="pln"><span class="strut"> </span></p>
+<p id="t750" class="stm run hide_run"> <span class="key">def</span> <span class="nam">lollipops</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span> <span class="nam">ax</span><span class="op">=</span><span class="key">None</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t751" class="pln"> <span class="nam">colors</span><span class="op">=</span><span class="key">None</span><span class="op">,</span> <span class="nam">step_lollipop</span><span class="op">=</span><span class="num">1</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t752" class="pln"> <span class="nam">offset_lollipop</span><span class="op">=</span><span class="num">0</span><span class="op">,</span> <span class="nam">lollipop_marker</span><span class="op">=</span><span class="str">'o'</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t753" class="pln"> <span class="nam">linewidth</span><span class="op">=</span><span class="num">1</span><span class="op">,</span> <span class="nam">lollipop_tail_width</span><span class="op">=</span><span class="num">1</span><span class="op">,</span> <span class="nam">lollipop_tail_length</span><span class="op">=</span><span class="num">1</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t754" class="pln"> <span class="nam">lollipop_head_size</span><span class="op">=</span><span class="num">1</span><span class="op">,</span> <span class="nam">stickdir</span><span class="op">=</span><span class="str">'backward'</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t755" class="pln"> <span class="nam">plotcoords</span><span class="op">=</span><span class="op">[</span><span class="str">'x'</span><span class="op">,</span> <span class="str">'y'</span><span class="op">,</span> <span class="str">'z'</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t756" class="pln"> <span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t757" class="pln"> <span class="str">""" lollipops plot</span><span class="strut"> </span></p>
+<p id="t758" class="pln"><span class="strut"> </span></p>
+<p id="t759" class="pln"><span class="str"> create a lollipop plot for the trajectory with its associated \</span><span class="strut"> </span></p>
+<p id="t760" class="pln"><span class="str"> direction. Handels missing frames by leaving</span><span class="strut"> </span></p>
+<p id="t761" class="pln"><span class="str"> gaps in the lollipop plot. However indices of the colors, trajectory</span><span class="strut"> </span></p>
+<p id="t762" class="pln"><span class="strut"> </span></p>
+<p id="t763" class="pln"><span class="str"> **Note** Gap in the index of the trajectory dataframe, will \</span><span class="strut"> </span></p>
+<p id="t764" class="pln"><span class="str"> lead to gap in the plotted trajectory and the color bar will \</span><span class="strut"> </span></p>
+<p id="t765" class="pln"><span class="str"> therefore miss some values (otherwise the color-coded frames \</span><span class="strut"> </span></p>
+<p id="t766" class="pln"><span class="str"> will not be linear)</span><span class="strut"> </span></p>
+<p id="t767" class="pln"><span class="strut"> </span></p>
+<p id="t768" class="pln"><span class="str"> :param ax: is a matplotlib axes with 3d projection</span><span class="strut"> </span></p>
+<p id="t769" class="pln"><span class="str"> :param trajectory: is a pandas dataframe with columns \</span><span class="strut"> </span></p>
+<p id="t770" class="pln"><span class="str"> ['x','y','z', 'euler_0','euler_1','euler_2']</span><span class="strut"> </span></p>
+<p id="t771" class="pln"><span class="str"> :param euler_axes: the axes rotation convention \</span><span class="strut"> </span></p>
+<p id="t772" class="pln"><span class="str"> (see homogenous.transformations for details)</span><span class="strut"> </span></p>
+<p id="t773" class="pln"><span class="str"> :param colors: is a pandas dataframe with columns \</span><span class="strut"> </span></p>
+<p id="t774" class="pln"><span class="str"> ['r','g','b','a'] and indexed as trajectory. \</span><span class="strut"> </span></p>
+<p id="t775" class="pln"><span class="str"> (default: time is color coded)</span><span class="strut"> </span></p>
+<p id="t776" class="pln"><span class="str"> :param step_lollipop: number of frames between two lollipops</span><span class="strut"> </span></p>
+<p id="t777" class="pln"><span class="str"> :param offset_lollipop: the first lollipop to be plotted</span><span class="strut"> </span></p>
+<p id="t778" class="pln"><span class="str"> :param lollipop_marker: the head of the lollipop</span><span class="strut"> </span></p>
+<p id="t779" class="pln"><span class="str"> :param linewidth: The width of the line connecting lollipops</span><span class="strut"> </span></p>
+<p id="t780" class="pln"><span class="str"> :param lollipop_tail_width: The width of the lollipop stick</span><span class="strut"> </span></p>
+<p id="t781" class="pln"><span class="str"> :param lollipop_tail_length: The length of the lollipop stick</span><span class="strut"> </span></p>
+<p id="t782" class="pln"><span class="str"> :param lollipop_head_size: The size of the lollipop</span><span class="strut"> </span></p>
+<p id="t783" class="pln"><span class="str"> :param stickdir: The direction of the stick of the animal \</span><span class="strut"> </span></p>
+<p id="t784" class="pln"><span class="str">(backward or forward)</span><span class="strut"> </span></p>
+<p id="t785" class="pln"><span class="str"> :param plotcoords: the dimension to plots, e.g. ['x','y','z'] for 3d plots \</span><span class="strut"> </span></p>
+<p id="t786" class="pln"><span class="str">['x','y'] for a 2d plot</span><span class="strut"> </span></p>
+<p id="t787" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t788" class="pln"> <span class="com"># import time</span><span class="strut"> </span></p>
+<p id="t789" class="stm mis"> <span class="nam">t_start</span> <span class="op">=</span> <span class="nam">time</span><span class="op">.</span><span class="nam">time</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t790" class="stm mis"> <span class="key">if</span> <span class="nam">ax</span> <span class="key">is</span> <span class="key">None</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t791" class="stm mis"> <span class="key">if</span> <span class="nam">len</span><span class="op">(</span><span class="nam">plotcoords</span><span class="op">)</span> <span class="op">==</span> <span class="num">3</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t792" class="stm mis"> <span class="nam">fig</span> <span class="op">=</span> <span class="nam">plt</span><span class="op">.</span><span class="nam">figure</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t793" class="stm mis"> <span class="nam">ax</span> <span class="op">=</span> <span class="nam">fig</span><span class="op">.</span><span class="nam">add_subplot</span><span class="op">(</span><span class="num">111</span><span class="op">,</span> <span class="nam">projection</span><span class="op">=</span><span class="str">'3d'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t794" class="stm mis"> <span class="key">elif</span> <span class="nam">len</span><span class="op">(</span><span class="nam">plotcoords</span><span class="op">)</span> <span class="op">==</span> <span class="num">2</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t795" class="stm mis"> <span class="nam">fig</span> <span class="op">=</span> <span class="nam">plt</span><span class="op">.</span><span class="nam">figure</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t796" class="stm mis"> <span class="nam">ax</span> <span class="op">=</span> <span class="nam">fig</span><span class="op">.</span><span class="nam">add_subplot</span><span class="op">(</span><span class="num">111</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t797" class="stm mis"> <span class="key">if</span> <span class="op">(</span><span class="nam">len</span><span class="op">(</span><span class="nam">plotcoords</span><span class="op">)</span> <span class="op">!=</span> <span class="num">2</span><span class="op">)</span> <span class="key">and</span> <span class="op">(</span><span class="nam">len</span><span class="op">(</span><span class="nam">plotcoords</span><span class="op">)</span> <span class="op">!=</span> <span class="num">3</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t798" class="stm mis"> <span class="nam">msg</span> <span class="op">=</span> <span class="str">'plotcoords need to contains 2 or 3 elements'</span><span class="strut"> </span></p>
+<p id="t799" class="stm mis"> <span class="nam">msg</span> <span class="op">+=</span> <span class="str">' for 2d and 3d plots respectively'</span><span class="strut"> </span></p>
+<p id="t800" class="stm mis"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t801" class="stm mis"> <span class="key">if</span> <span class="nam">ax</span><span class="op">.</span><span class="nam">name</span> <span class="op">==</span> <span class="str">'3d'</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t802" class="stm mis"> <span class="nam">plotcoords</span> <span class="op">=</span> <span class="op">[</span><span class="str">'x'</span><span class="op">,</span> <span class="str">'y'</span><span class="op">,</span> <span class="str">'z'</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t803" class="stm mis"> <span class="key">elif</span> <span class="nam">len</span><span class="op">(</span><span class="nam">plotcoords</span><span class="op">)</span> <span class="op">></span> <span class="num">2</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t804" class="stm mis"> <span class="nam">plotcoords</span> <span class="op">=</span> <span class="nam">plotcoords</span><span class="op">[</span><span class="op">:</span><span class="num">2</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t805" class="pln"><span class="strut"> </span></p>
+<p id="t806" class="pln"> <span class="com"># Start computing for direction</span><span class="strut"> </span></p>
+<p id="t807" class="stm mis"> <span class="nam">direction</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">facing_direction</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t808" class="stm mis"> <span class="key">if</span> <span class="nam">colors</span> <span class="key">is</span> <span class="key">None</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t809" class="stm mis"> <span class="nam">timeseries</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">Series</span><span class="op">(</span><span class="nam">data</span><span class="op">=</span><span class="nam">self</span><span class="op">.</span><span class="nam">index</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t810" class="pln"> <span class="nam">index</span><span class="op">=</span><span class="nam">self</span><span class="op">.</span><span class="nam">index</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t811" class="stm mis"> <span class="nam">colors</span><span class="op">,</span> <span class="nam">sm</span> <span class="op">=</span> <span class="nam">get_color_dataframe</span><span class="op">(</span><span class="nam">timeseries</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t812" class="pln"> <span class="com"># Create a continuous index from trajectory</span><span class="strut"> </span></p>
+<p id="t813" class="stm mis"> <span class="nam">frames</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">arange</span><span class="op">(</span><span class="nam">self</span><span class="op">.</span><span class="nam">index</span><span class="op">.</span><span class="nam">min</span><span class="op">(</span><span class="op">)</span><span class="op">,</span> <span class="nam">self</span><span class="op">.</span><span class="nam">index</span><span class="op">.</span><span class="nam">max</span><span class="op">(</span><span class="op">)</span> <span class="op">+</span> <span class="num">1</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t814" class="pln"> <span class="com"># Select indeces to save time</span><span class="strut"> </span></p>
+<p id="t815" class="stm mis"> <span class="nam">indeces</span> <span class="op">=</span> <span class="nam">frames</span><span class="op">[</span><span class="nam">offset_lollipop</span><span class="op">:</span><span class="op">:</span><span class="nam">step_lollipop</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t816" class="pln"> <span class="com"># Calculate agent tail direction</span><span class="strut"> </span></p>
+<p id="t817" class="pln"> <span class="com"># use function in trajectory to get any point bodyref to worldref</span><span class="strut"> </span></p>
+<p id="t818" class="stm mis"> <span class="nam">tailmarker</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">Series</span><span class="op">(</span><span class="nam">data</span><span class="op">=</span><span class="num">0</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t819" class="pln"> <span class="nam">index</span><span class="op">=</span><span class="nam">pd</span><span class="op">.</span><span class="nam">MultiIndex</span><span class="op">.</span><span class="nam">from_product</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t820" class="pln"> <span class="op">[</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t821" class="pln"> <span class="op">[</span><span class="str">'x'</span><span class="op">,</span> <span class="str">'y'</span><span class="op">,</span> <span class="str">'z'</span><span class="op">]</span><span class="op">]</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t822" class="stm mis"> <span class="key">if</span> <span class="nam">stickdir</span> <span class="op">==</span> <span class="str">'forward'</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t823" class="stm mis"> <span class="nam">tailmarker</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="str">'x'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">lollipop_tail_length</span><span class="strut"> </span></p>
+<p id="t824" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t825" class="stm mis"> <span class="nam">tailmarker</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="str">'x'</span><span class="op">]</span> <span class="op">=</span> <span class="op">-</span><span class="nam">lollipop_tail_length</span><span class="strut"> </span></p>
+<p id="t826" class="stm mis"> <span class="nam">tail</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">body2world</span><span class="op">(</span><span class="nam">tailmarker</span><span class="op">,</span> <span class="nam">indeces</span><span class="op">=</span><span class="nam">indeces</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t827" class="stm mis"> <span class="nam">tail</span> <span class="op">=</span> <span class="nam">tail</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t828" class="pln"> <span class="com"># Plot the agent trajectory</span><span class="strut"> </span></p>
+<p id="t829" class="pln"> <span class="com"># - loop through consecutive point</span><span class="strut"> </span></p>
+<p id="t830" class="pln"> <span class="com"># - Two consecutive point are associated with the color</span><span class="strut"> </span></p>
+<p id="t831" class="pln"> <span class="com"># of the first point</span><span class="strut"> </span></p>
+<p id="t832" class="stm mis"> <span class="nam">x</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="op">(</span><span class="str">'location'</span><span class="op">,</span> <span class="str">'x'</span><span class="op">)</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t833" class="stm mis"> <span class="nam">y</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="op">(</span><span class="str">'location'</span><span class="op">,</span> <span class="str">'y'</span><span class="op">)</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t834" class="stm mis"> <span class="nam">z</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="op">(</span><span class="str">'location'</span><span class="op">,</span> <span class="str">'z'</span><span class="op">)</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t835" class="stm mis"> <span class="nam">print</span><span class="op">(</span><span class="nam">time</span><span class="op">.</span><span class="nam">time</span><span class="op">(</span><span class="op">)</span> <span class="op">-</span> <span class="nam">t_start</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t836" class="stm mis"> <span class="nam">t_start</span> <span class="op">=</span> <span class="nam">time</span><span class="op">.</span><span class="nam">time</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t837" class="stm mis"> <span class="nam">line</span> <span class="op">=</span> <span class="nam">dict</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t838" class="stm mis"> <span class="nam">line</span><span class="op">[</span><span class="str">'x'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">x</span><span class="strut"> </span></p>
+<p id="t839" class="stm mis"> <span class="nam">line</span><span class="op">[</span><span class="str">'y'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">y</span><span class="strut"> </span></p>
+<p id="t840" class="stm mis"> <span class="nam">line</span><span class="op">[</span><span class="str">'z'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">z</span><span class="strut"> </span></p>
+<p id="t841" class="stm mis"> <span class="key">if</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">colors</span><span class="op">,</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">DataFrame</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t842" class="pln"> <span class="com"># Each segment will be plotted with a different color</span><span class="strut"> </span></p>
+<p id="t843" class="pln"> <span class="com"># we therefore need to loop through all points</span><span class="strut"> </span></p>
+<p id="t844" class="pln"> <span class="com"># in the trajectory, a rather long process</span><span class="strut"> </span></p>
+<p id="t845" class="stm mis"> <span class="key">for</span> <span class="nam">frame_i</span><span class="op">,</span> <span class="nam">frame_j</span> <span class="key">in</span> <span class="nam">zip</span><span class="op">(</span><span class="nam">frames</span><span class="op">[</span><span class="op">:</span><span class="op">-</span><span class="num">1</span><span class="op">]</span><span class="op">,</span> <span class="nam">frames</span><span class="op">[</span><span class="num">1</span><span class="op">:</span><span class="op">]</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t846" class="pln"> <span class="com"># Frames may be missing in trajectory,</span><span class="strut"> </span></p>
+<p id="t847" class="pln"> <span class="com"># and therefore can not be plotted</span><span class="strut"> </span></p>
+<p id="t848" class="stm mis"> <span class="key">if</span> <span class="op">(</span><span class="nam">frame_i</span> <span class="key">in</span> <span class="nam">self</span><span class="op">.</span><span class="nam">index</span><span class="op">)</span> <span class="key">and</span> <span class="xx">\</span><span class="strut"> </span></p>
+<p id="t849" class="pln"> <span class="op">(</span><span class="nam">frame_j</span> <span class="key">in</span> <span class="nam">self</span><span class="op">.</span><span class="nam">index</span><span class="op">)</span> <span class="key">and</span> <span class="xx">\</span><span class="strut"> </span></p>
+<p id="t850" class="pln"> <span class="op">(</span><span class="nam">frame_i</span> <span class="key">in</span> <span class="nam">self</span><span class="op">.</span><span class="nam">index</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t851" class="stm mis"> <span class="nam">color</span> <span class="op">=</span> <span class="op">[</span><span class="nam">colors</span><span class="op">.</span><span class="nam">r</span><span class="op">[</span><span class="nam">frame_i</span><span class="op">]</span><span class="op">,</span> <span class="nam">colors</span><span class="op">.</span><span class="nam">g</span><span class="op">[</span><span class="nam">frame_i</span><span class="op">]</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t852" class="pln"> <span class="nam">colors</span><span class="op">.</span><span class="nam">b</span><span class="op">[</span><span class="nam">frame_i</span><span class="op">]</span><span class="op">,</span> <span class="nam">colors</span><span class="op">.</span><span class="nam">a</span><span class="op">[</span><span class="nam">frame_i</span><span class="op">]</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t853" class="pln"> <span class="com"># Create the line to plot</span><span class="strut"> </span></p>
+<p id="t854" class="stm mis"> <span class="nam">line</span><span class="op">[</span><span class="str">'x'</span><span class="op">]</span> <span class="op">=</span> <span class="op">[</span><span class="nam">x</span><span class="op">[</span><span class="nam">frame_i</span><span class="op">]</span><span class="op">,</span> <span class="nam">x</span><span class="op">[</span><span class="nam">frame_j</span><span class="op">]</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t855" class="stm mis"> <span class="nam">line</span><span class="op">[</span><span class="str">'y'</span><span class="op">]</span> <span class="op">=</span> <span class="op">[</span><span class="nam">y</span><span class="op">[</span><span class="nam">frame_i</span><span class="op">]</span><span class="op">,</span> <span class="nam">y</span><span class="op">[</span><span class="nam">frame_j</span><span class="op">]</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t856" class="stm mis"> <span class="nam">line</span><span class="op">[</span><span class="str">'z'</span><span class="op">]</span> <span class="op">=</span> <span class="op">[</span><span class="nam">z</span><span class="op">[</span><span class="nam">frame_i</span><span class="op">]</span><span class="op">,</span> <span class="nam">z</span><span class="op">[</span><span class="nam">frame_j</span><span class="op">]</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t857" class="pln"> <span class="com"># Actual plot command</span><span class="strut"> </span></p>
+<p id="t858" class="stm mis"> <span class="key">if</span> <span class="nam">len</span><span class="op">(</span><span class="nam">plotcoords</span><span class="op">)</span> <span class="op">==</span> <span class="num">3</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t859" class="stm mis"> <span class="nam">ax</span><span class="op">.</span><span class="nam">plot</span><span class="op">(</span><span class="nam">xs</span><span class="op">=</span><span class="nam">line</span><span class="op">[</span><span class="str">'x'</span><span class="op">]</span><span class="op">,</span> <span class="nam">ys</span><span class="op">=</span><span class="nam">line</span><span class="op">[</span><span class="str">'y'</span><span class="op">]</span><span class="op">,</span> <span class="nam">zs</span><span class="op">=</span><span class="nam">line</span><span class="op">[</span><span class="str">'z'</span><span class="op">]</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t860" class="pln"> <span class="nam">color</span><span class="op">=</span><span class="nam">color</span><span class="op">,</span> <span class="nam">linewidth</span><span class="op">=</span><span class="nam">linewidth</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t861" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t862" class="pln"> <span class="com"># len(plotcoords) == 2 because check earlier</span><span class="strut"> </span></p>
+<p id="t863" class="stm mis"> <span class="nam">ax</span><span class="op">.</span><span class="nam">plot</span><span class="op">(</span><span class="nam">line</span><span class="op">[</span><span class="nam">plotcoords</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">]</span><span class="op">,</span> <span class="nam">line</span><span class="op">[</span><span class="nam">plotcoords</span><span class="op">[</span><span class="num">1</span><span class="op">]</span><span class="op">]</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t864" class="pln"> <span class="nam">color</span><span class="op">=</span><span class="nam">color</span><span class="op">,</span> <span class="nam">linewidth</span><span class="op">=</span><span class="nam">linewidth</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t865" class="pln"><span class="strut"> </span></p>
+<p id="t866" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t867" class="pln"> <span class="com"># Actual plot command</span><span class="strut"> </span></p>
+<p id="t868" class="stm mis"> <span class="key">if</span> <span class="nam">len</span><span class="op">(</span><span class="nam">plotcoords</span><span class="op">)</span> <span class="op">==</span> <span class="num">3</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t869" class="stm mis"> <span class="nam">ax</span><span class="op">.</span><span class="nam">plot</span><span class="op">(</span><span class="nam">xs</span><span class="op">=</span><span class="nam">line</span><span class="op">[</span><span class="str">'x'</span><span class="op">]</span><span class="op">,</span> <span class="nam">ys</span><span class="op">=</span><span class="nam">line</span><span class="op">[</span><span class="str">'y'</span><span class="op">]</span><span class="op">,</span> <span class="nam">zs</span><span class="op">=</span><span class="nam">line</span><span class="op">[</span><span class="str">'z'</span><span class="op">]</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t870" class="pln"> <span class="nam">color</span><span class="op">=</span><span class="nam">colors</span><span class="op">,</span> <span class="nam">linewidth</span><span class="op">=</span><span class="nam">linewidth</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t871" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t872" class="pln"> <span class="com"># len(plotcoords) == 2 because check earlier</span><span class="strut"> </span></p>
+<p id="t873" class="stm mis"> <span class="nam">ax</span><span class="op">.</span><span class="nam">plot</span><span class="op">(</span><span class="nam">line</span><span class="op">[</span><span class="nam">plotcoords</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">]</span><span class="op">,</span> <span class="nam">line</span><span class="op">[</span><span class="nam">plotcoords</span><span class="op">[</span><span class="num">1</span><span class="op">]</span><span class="op">]</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t874" class="pln"> <span class="nam">color</span><span class="op">=</span><span class="nam">colors</span><span class="op">,</span> <span class="nam">linewidth</span><span class="op">=</span><span class="nam">linewidth</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t875" class="stm mis"> <span class="nam">print</span><span class="op">(</span><span class="nam">time</span><span class="op">.</span><span class="nam">time</span><span class="op">(</span><span class="op">)</span> <span class="op">-</span> <span class="nam">t_start</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t876" class="stm mis"> <span class="nam">t_start</span> <span class="op">=</span> <span class="nam">time</span><span class="op">.</span><span class="nam">time</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t877" class="pln"> <span class="com"># Plot the lollipop</span><span class="strut"> </span></p>
+<p id="t878" class="pln"> <span class="com"># - loop through the frames with a step of step_lollipop</span><span class="strut"> </span></p>
+<p id="t879" class="pln"> <span class="com"># - The lollipop is colored with the color of this frame</span><span class="strut"> </span></p>
+<p id="t880" class="pln"> <span class="com"># - Each lollipop is composed of a marker,</span><span class="strut"> </span></p>
+<p id="t881" class="pln"> <span class="com"># a point on the agent trajectory</span><span class="strut"> </span></p>
+<p id="t882" class="pln"> <span class="com"># and a line representing the body (anti facing direction)</span><span class="strut"> </span></p>
+<p id="t883" class="stm mis"> <span class="key">for</span> <span class="nam">frame_i</span> <span class="key">in</span> <span class="nam">indeces</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t884" class="pln"> <span class="com"># Frames may be missing in trajectory,</span><span class="strut"> </span></p>
+<p id="t885" class="pln"> <span class="com"># and therefore can not be plotted</span><span class="strut"> </span></p>
+<p id="t886" class="stm mis"> <span class="key">if</span> <span class="op">(</span><span class="nam">frame_i</span> <span class="key">in</span> <span class="nam">self</span><span class="op">.</span><span class="nam">index</span><span class="op">)</span> <span class="key">and</span> <span class="xx">\</span><span class="strut"> </span></p>
+<p id="t887" class="pln"> <span class="op">(</span><span class="nam">frame_i</span> <span class="key">in</span> <span class="nam">direction</span><span class="op">.</span><span class="nam">index</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t888" class="stm mis"> <span class="key">if</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">colors</span><span class="op">,</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">DataFrame</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t889" class="stm mis"> <span class="key">if</span> <span class="nam">frame_i</span> <span class="key">not</span> <span class="key">in</span> <span class="nam">colors</span><span class="op">.</span><span class="nam">index</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t890" class="stm mis"> <span class="key">continue</span><span class="strut"> </span></p>
+<p id="t891" class="stm mis"> <span class="nam">color</span> <span class="op">=</span> <span class="op">[</span><span class="nam">colors</span><span class="op">.</span><span class="nam">r</span><span class="op">[</span><span class="nam">frame_i</span><span class="op">]</span><span class="op">,</span> <span class="nam">colors</span><span class="op">.</span><span class="nam">g</span><span class="op">[</span><span class="nam">frame_i</span><span class="op">]</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t892" class="pln"> <span class="nam">colors</span><span class="op">.</span><span class="nam">b</span><span class="op">[</span><span class="nam">frame_i</span><span class="op">]</span><span class="op">,</span> <span class="nam">colors</span><span class="op">.</span><span class="nam">a</span><span class="op">[</span><span class="nam">frame_i</span><span class="op">]</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t893" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t894" class="stm mis"> <span class="nam">color</span> <span class="op">=</span> <span class="nam">colors</span><span class="strut"> </span></p>
+<p id="t895" class="pln"> <span class="com"># Create the line to plot</span><span class="strut"> </span></p>
+<p id="t896" class="stm mis"> <span class="nam">line</span><span class="op">[</span><span class="str">'x'</span><span class="op">]</span> <span class="op">=</span> <span class="op">[</span><span class="nam">self</span><span class="op">.</span><span class="nam">x</span><span class="op">[</span><span class="nam">frame_i</span><span class="op">]</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t897" class="pln"> <span class="nam">tail</span><span class="op">.</span><span class="nam">x</span><span class="op">[</span><span class="nam">frame_i</span><span class="op">]</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t898" class="stm mis"> <span class="nam">line</span><span class="op">[</span><span class="str">'y'</span><span class="op">]</span> <span class="op">=</span> <span class="op">[</span><span class="nam">self</span><span class="op">.</span><span class="nam">y</span><span class="op">[</span><span class="nam">frame_i</span><span class="op">]</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t899" class="pln"> <span class="nam">tail</span><span class="op">.</span><span class="nam">y</span><span class="op">[</span><span class="nam">frame_i</span><span class="op">]</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t900" class="stm mis"> <span class="nam">line</span><span class="op">[</span><span class="str">'z'</span><span class="op">]</span> <span class="op">=</span> <span class="op">[</span><span class="nam">self</span><span class="op">.</span><span class="nam">z</span><span class="op">[</span><span class="nam">frame_i</span><span class="op">]</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t901" class="pln"> <span class="nam">tail</span><span class="op">.</span><span class="nam">z</span><span class="op">[</span><span class="nam">frame_i</span><span class="op">]</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t902" class="pln"> <span class="com"># Actual plot command</span><span class="strut"> </span></p>
+<p id="t903" class="stm mis"> <span class="key">if</span> <span class="nam">len</span><span class="op">(</span><span class="nam">plotcoords</span><span class="op">)</span> <span class="op">==</span> <span class="num">3</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t904" class="stm mis"> <span class="nam">ax</span><span class="op">.</span><span class="nam">plot</span><span class="op">(</span><span class="nam">xs</span><span class="op">=</span><span class="nam">line</span><span class="op">[</span><span class="str">'x'</span><span class="op">]</span><span class="op">,</span> <span class="nam">ys</span><span class="op">=</span><span class="nam">line</span><span class="op">[</span><span class="str">'y'</span><span class="op">]</span><span class="op">,</span> <span class="nam">zs</span><span class="op">=</span><span class="nam">line</span><span class="op">[</span><span class="str">'z'</span><span class="op">]</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t905" class="pln"> <span class="nam">color</span><span class="op">=</span><span class="nam">color</span><span class="op">,</span> <span class="nam">linewidth</span><span class="op">=</span><span class="nam">lollipop_tail_width</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t906" class="stm mis"> <span class="nam">ax</span><span class="op">.</span><span class="nam">plot</span><span class="op">(</span><span class="nam">xs</span><span class="op">=</span><span class="op">[</span><span class="nam">line</span><span class="op">[</span><span class="str">'x'</span><span class="op">]</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">]</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t907" class="pln"> <span class="nam">ys</span><span class="op">=</span><span class="op">[</span><span class="nam">line</span><span class="op">[</span><span class="str">'y'</span><span class="op">]</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">]</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t908" class="pln"> <span class="nam">zs</span><span class="op">=</span><span class="op">[</span><span class="nam">line</span><span class="op">[</span><span class="str">'z'</span><span class="op">]</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">]</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t909" class="pln"> <span class="nam">color</span><span class="op">=</span><span class="nam">color</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t910" class="pln"> <span class="nam">marker</span><span class="op">=</span><span class="nam">lollipop_marker</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t911" class="pln"> <span class="nam">markersize</span><span class="op">=</span><span class="nam">lollipop_head_size</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t912" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t913" class="pln"> <span class="com"># len(plotcoords) == 2 because check earlier</span><span class="strut"> </span></p>
+<p id="t914" class="stm mis"> <span class="nam">ax</span><span class="op">.</span><span class="nam">plot</span><span class="op">(</span><span class="nam">line</span><span class="op">[</span><span class="nam">plotcoords</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">]</span><span class="op">,</span> <span class="nam">line</span><span class="op">[</span><span class="nam">plotcoords</span><span class="op">[</span><span class="num">1</span><span class="op">]</span><span class="op">]</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t915" class="pln"> <span class="nam">color</span><span class="op">=</span><span class="nam">color</span><span class="op">,</span> <span class="nam">linewidth</span><span class="op">=</span><span class="nam">lollipop_tail_width</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t916" class="stm mis"> <span class="nam">ax</span><span class="op">.</span><span class="nam">plot</span><span class="op">(</span><span class="op">[</span><span class="nam">line</span><span class="op">[</span><span class="nam">plotcoords</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">]</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">]</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t917" class="pln"> <span class="op">[</span><span class="nam">line</span><span class="op">[</span><span class="nam">plotcoords</span><span class="op">[</span><span class="num">1</span><span class="op">]</span><span class="op">]</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">]</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t918" class="pln"> <span class="nam">color</span><span class="op">=</span><span class="nam">color</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t919" class="pln"> <span class="nam">marker</span><span class="op">=</span><span class="nam">lollipop_marker</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t920" class="pln"> <span class="nam">markersize</span><span class="op">=</span><span class="nam">lollipop_head_size</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t921" class="stm mis"> <span class="nam">print</span><span class="op">(</span><span class="nam">time</span><span class="op">.</span><span class="nam">time</span><span class="op">(</span><span class="op">)</span> <span class="op">-</span> <span class="nam">t_start</span><span class="op">)</span><span class="strut"> </span></p>
+
+ </td>
+ </tr>
+ </table>
+</div>
+
+<div id="footer">
+ <div class="content">
+ <p>
+ <a class="nav" href="index.html">« index</a> <a class="nav" href="https://coverage.readthedocs.io">coverage.py v4.5.2</a>,
+ created at 2019-01-13 14:34
+ </p>
+ </div>
+</div>
+
+</body>
+</html>
diff --git a/coverage_html_report/navipy_trajectories_random_py.html b/coverage_html_report/navipy_trajectories_random_py.html
new file mode 100644
index 0000000000000000000000000000000000000000..3b3a1c0886116bf9f97872fd1299a7e8386f8d55
--- /dev/null
+++ b/coverage_html_report/navipy_trajectories_random_py.html
@@ -0,0 +1,527 @@
+
+
+
+<!DOCTYPE html>
+<html>
+<head>
+ <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
+
+
+ <meta http-equiv="X-UA-Compatible" content="IE=emulateIE7" />
+ <title>Coverage for navipy/trajectories/random.py: 0%</title>
+ <link rel="stylesheet" href="style.css" type="text/css">
+
+ <script type="text/javascript" src="jquery.min.js"></script>
+ <script type="text/javascript" src="jquery.hotkeys.js"></script>
+ <script type="text/javascript" src="jquery.isonscreen.js"></script>
+ <script type="text/javascript" src="coverage_html.js"></script>
+ <script type="text/javascript">
+ jQuery(document).ready(coverage.pyfile_ready);
+ </script>
+</head>
+<body class="pyfile">
+
+<div id="header">
+ <div class="content">
+ <h1>Coverage for <b>navipy/trajectories/random.py</b> :
+ <span class="pc_cov">0%</span>
+ </h1>
+
+ <img id="keyboard_icon" src="keybd_closed.png" alt="Show keyboard shortcuts" />
+
+ <h2 class="stats">
+ 71 statements
+ <span class="run hide_run shortkey_r button_toggle_run">0 run</span>
+ <span class="mis shortkey_m button_toggle_mis">71 missing</span>
+ <span class="exc shortkey_x button_toggle_exc">0 excluded</span>
+
+
+ </h2>
+ </div>
+</div>
+
+<div class="help_panel">
+ <img id="panel_icon" src="keybd_open.png" alt="Hide keyboard shortcuts" />
+ <p class="legend">Hot-keys on this page</p>
+ <div>
+ <p class="keyhelp">
+ <span class="key">r</span>
+ <span class="key">m</span>
+ <span class="key">x</span>
+ <span class="key">p</span> toggle line displays
+ </p>
+ <p class="keyhelp">
+ <span class="key">j</span>
+ <span class="key">k</span> next/prev highlighted chunk
+ </p>
+ <p class="keyhelp">
+ <span class="key">0</span> (zero) top of page
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+ <p class="keyhelp">
+ <span class="key">1</span> (one) first highlighted chunk
+ </p>
+ </div>
+</div>
+
+<div id="source">
+ <table>
+ <tr>
+ <td class="linenos">
+<p id="n1" class="pln"><a href="#n1">1</a></p>
+<p id="n2" class="pln"><a href="#n2">2</a></p>
+<p id="n3" class="pln"><a href="#n3">3</a></p>
+<p id="n4" class="pln"><a href="#n4">4</a></p>
+<p id="n5" class="pln"><a href="#n5">5</a></p>
+<p id="n6" class="pln"><a href="#n6">6</a></p>
+<p id="n7" class="pln"><a href="#n7">7</a></p>
+<p id="n8" class="pln"><a href="#n8">8</a></p>
+<p id="n9" class="pln"><a href="#n9">9</a></p>
+<p id="n10" class="pln"><a href="#n10">10</a></p>
+<p id="n11" class="pln"><a href="#n11">11</a></p>
+<p id="n12" class="pln"><a href="#n12">12</a></p>
+<p id="n13" class="pln"><a href="#n13">13</a></p>
+<p id="n14" class="pln"><a href="#n14">14</a></p>
+<p id="n15" class="pln"><a href="#n15">15</a></p>
+<p id="n16" class="pln"><a href="#n16">16</a></p>
+<p id="n17" class="pln"><a href="#n17">17</a></p>
+<p id="n18" class="pln"><a href="#n18">18</a></p>
+<p id="n19" class="pln"><a href="#n19">19</a></p>
+<p id="n20" class="pln"><a href="#n20">20</a></p>
+<p id="n21" class="pln"><a href="#n21">21</a></p>
+<p id="n22" class="pln"><a href="#n22">22</a></p>
+<p id="n23" class="pln"><a href="#n23">23</a></p>
+<p id="n24" class="stm mis"><a href="#n24">24</a></p>
+<p id="n25" class="stm mis"><a href="#n25">25</a></p>
+<p id="n26" class="stm mis"><a href="#n26">26</a></p>
+<p id="n27" class="stm mis"><a href="#n27">27</a></p>
+<p id="n28" class="stm mis"><a href="#n28">28</a></p>
+<p id="n29" class="pln"><a href="#n29">29</a></p>
+<p id="n30" class="pln"><a href="#n30">30</a></p>
+<p id="n31" class="stm mis"><a href="#n31">31</a></p>
+<p id="n32" class="stm mis"><a href="#n32">32</a></p>
+<p id="n33" class="pln"><a href="#n33">33</a></p>
+<p id="n34" class="pln"><a href="#n34">34</a></p>
+<p id="n35" class="stm mis"><a href="#n35">35</a></p>
+<p id="n36" class="pln"><a href="#n36">36</a></p>
+<p id="n37" class="pln"><a href="#n37">37</a></p>
+<p id="n38" class="pln"><a href="#n38">38</a></p>
+<p id="n39" class="pln"><a href="#n39">39</a></p>
+<p id="n40" class="pln"><a href="#n40">40</a></p>
+<p id="n41" class="pln"><a href="#n41">41</a></p>
+<p id="n42" class="pln"><a href="#n42">42</a></p>
+<p id="n43" class="pln"><a href="#n43">43</a></p>
+<p id="n44" class="pln"><a href="#n44">44</a></p>
+<p id="n45" class="pln"><a href="#n45">45</a></p>
+<p id="n46" class="pln"><a href="#n46">46</a></p>
+<p id="n47" class="pln"><a href="#n47">47</a></p>
+<p id="n48" class="pln"><a href="#n48">48</a></p>
+<p id="n49" class="stm mis"><a href="#n49">49</a></p>
+<p id="n50" class="pln"><a href="#n50">50</a></p>
+<p id="n51" class="stm mis"><a href="#n51">51</a></p>
+<p id="n52" class="pln"><a href="#n52">52</a></p>
+<p id="n53" class="stm mis"><a href="#n53">53</a></p>
+<p id="n54" class="pln"><a href="#n54">54</a></p>
+<p id="n55" class="stm mis"><a href="#n55">55</a></p>
+<p id="n56" class="pln"><a href="#n56">56</a></p>
+<p id="n57" class="pln"><a href="#n57">57</a></p>
+<p id="n58" class="stm mis"><a href="#n58">58</a></p>
+<p id="n59" class="pln"><a href="#n59">59</a></p>
+<p id="n60" class="stm mis"><a href="#n60">60</a></p>
+<p id="n61" class="stm mis"><a href="#n61">61</a></p>
+<p id="n62" class="stm mis"><a href="#n62">62</a></p>
+<p id="n63" class="pln"><a href="#n63">63</a></p>
+<p id="n64" class="pln"><a href="#n64">64</a></p>
+<p id="n65" class="stm mis"><a href="#n65">65</a></p>
+<p id="n66" class="stm mis"><a href="#n66">66</a></p>
+<p id="n67" class="pln"><a href="#n67">67</a></p>
+<p id="n68" class="pln"><a href="#n68">68</a></p>
+<p id="n69" class="stm mis"><a href="#n69">69</a></p>
+<p id="n70" class="stm mis"><a href="#n70">70</a></p>
+<p id="n71" class="stm mis"><a href="#n71">71</a></p>
+<p id="n72" class="stm mis"><a href="#n72">72</a></p>
+<p id="n73" class="pln"><a href="#n73">73</a></p>
+<p id="n74" class="pln"><a href="#n74">74</a></p>
+<p id="n75" class="stm mis"><a href="#n75">75</a></p>
+<p id="n76" class="pln"><a href="#n76">76</a></p>
+<p id="n77" class="pln"><a href="#n77">77</a></p>
+<p id="n78" class="pln"><a href="#n78">78</a></p>
+<p id="n79" class="pln"><a href="#n79">79</a></p>
+<p id="n80" class="pln"><a href="#n80">80</a></p>
+<p id="n81" class="pln"><a href="#n81">81</a></p>
+<p id="n82" class="pln"><a href="#n82">82</a></p>
+<p id="n83" class="pln"><a href="#n83">83</a></p>
+<p id="n84" class="pln"><a href="#n84">84</a></p>
+<p id="n85" class="pln"><a href="#n85">85</a></p>
+<p id="n86" class="stm mis"><a href="#n86">86</a></p>
+<p id="n87" class="pln"><a href="#n87">87</a></p>
+<p id="n88" class="pln"><a href="#n88">88</a></p>
+<p id="n89" class="pln"><a href="#n89">89</a></p>
+<p id="n90" class="stm mis"><a href="#n90">90</a></p>
+<p id="n91" class="pln"><a href="#n91">91</a></p>
+<p id="n92" class="stm mis"><a href="#n92">92</a></p>
+<p id="n93" class="pln"><a href="#n93">93</a></p>
+<p id="n94" class="stm mis"><a href="#n94">94</a></p>
+<p id="n95" class="pln"><a href="#n95">95</a></p>
+<p id="n96" class="pln"><a href="#n96">96</a></p>
+<p id="n97" class="stm mis"><a href="#n97">97</a></p>
+<p id="n98" class="pln"><a href="#n98">98</a></p>
+<p id="n99" class="pln"><a href="#n99">99</a></p>
+<p id="n100" class="pln"><a href="#n100">100</a></p>
+<p id="n101" class="pln"><a href="#n101">101</a></p>
+<p id="n102" class="pln"><a href="#n102">102</a></p>
+<p id="n103" class="pln"><a href="#n103">103</a></p>
+<p id="n104" class="pln"><a href="#n104">104</a></p>
+<p id="n105" class="pln"><a href="#n105">105</a></p>
+<p id="n106" class="pln"><a href="#n106">106</a></p>
+<p id="n107" class="pln"><a href="#n107">107</a></p>
+<p id="n108" class="pln"><a href="#n108">108</a></p>
+<p id="n109" class="pln"><a href="#n109">109</a></p>
+<p id="n110" class="pln"><a href="#n110">110</a></p>
+<p id="n111" class="pln"><a href="#n111">111</a></p>
+<p id="n112" class="pln"><a href="#n112">112</a></p>
+<p id="n113" class="pln"><a href="#n113">113</a></p>
+<p id="n114" class="pln"><a href="#n114">114</a></p>
+<p id="n115" class="pln"><a href="#n115">115</a></p>
+<p id="n116" class="pln"><a href="#n116">116</a></p>
+<p id="n117" class="pln"><a href="#n117">117</a></p>
+<p id="n118" class="pln"><a href="#n118">118</a></p>
+<p id="n119" class="pln"><a href="#n119">119</a></p>
+<p id="n120" class="pln"><a href="#n120">120</a></p>
+<p id="n121" class="pln"><a href="#n121">121</a></p>
+<p id="n122" class="pln"><a href="#n122">122</a></p>
+<p id="n123" class="pln"><a href="#n123">123</a></p>
+<p id="n124" class="pln"><a href="#n124">124</a></p>
+<p id="n125" class="pln"><a href="#n125">125</a></p>
+<p id="n126" class="stm mis"><a href="#n126">126</a></p>
+<p id="n127" class="pln"><a href="#n127">127</a></p>
+<p id="n128" class="pln"><a href="#n128">128</a></p>
+<p id="n129" class="pln"><a href="#n129">129</a></p>
+<p id="n130" class="pln"><a href="#n130">130</a></p>
+<p id="n131" class="pln"><a href="#n131">131</a></p>
+<p id="n132" class="pln"><a href="#n132">132</a></p>
+<p id="n133" class="pln"><a href="#n133">133</a></p>
+<p id="n134" class="pln"><a href="#n134">134</a></p>
+<p id="n135" class="stm mis"><a href="#n135">135</a></p>
+<p id="n136" class="pln"><a href="#n136">136</a></p>
+<p id="n137" class="stm mis"><a href="#n137">137</a></p>
+<p id="n138" class="stm mis"><a href="#n138">138</a></p>
+<p id="n139" class="stm mis"><a href="#n139">139</a></p>
+<p id="n140" class="pln"><a href="#n140">140</a></p>
+<p id="n141" class="stm mis"><a href="#n141">141</a></p>
+<p id="n142" class="stm mis"><a href="#n142">142</a></p>
+<p id="n143" class="stm mis"><a href="#n143">143</a></p>
+<p id="n144" class="pln"><a href="#n144">144</a></p>
+<p id="n145" class="stm mis"><a href="#n145">145</a></p>
+<p id="n146" class="stm mis"><a href="#n146">146</a></p>
+<p id="n147" class="stm mis"><a href="#n147">147</a></p>
+<p id="n148" class="pln"><a href="#n148">148</a></p>
+<p id="n149" class="stm mis"><a href="#n149">149</a></p>
+<p id="n150" class="pln"><a href="#n150">150</a></p>
+<p id="n151" class="stm mis"><a href="#n151">151</a></p>
+<p id="n152" class="stm mis"><a href="#n152">152</a></p>
+<p id="n153" class="pln"><a href="#n153">153</a></p>
+<p id="n154" class="stm mis"><a href="#n154">154</a></p>
+<p id="n155" class="pln"><a href="#n155">155</a></p>
+<p id="n156" class="stm mis"><a href="#n156">156</a></p>
+<p id="n157" class="stm mis"><a href="#n157">157</a></p>
+<p id="n158" class="stm mis"><a href="#n158">158</a></p>
+<p id="n159" class="pln"><a href="#n159">159</a></p>
+<p id="n160" class="stm mis"><a href="#n160">160</a></p>
+<p id="n161" class="stm mis"><a href="#n161">161</a></p>
+<p id="n162" class="stm mis"><a href="#n162">162</a></p>
+<p id="n163" class="pln"><a href="#n163">163</a></p>
+<p id="n164" class="stm mis"><a href="#n164">164</a></p>
+<p id="n165" class="pln"><a href="#n165">165</a></p>
+<p id="n166" class="pln"><a href="#n166">166</a></p>
+<p id="n167" class="stm mis"><a href="#n167">167</a></p>
+<p id="n168" class="stm mis"><a href="#n168">168</a></p>
+<p id="n169" class="stm mis"><a href="#n169">169</a></p>
+<p id="n170" class="pln"><a href="#n170">170</a></p>
+<p id="n171" class="pln"><a href="#n171">171</a></p>
+<p id="n172" class="stm mis"><a href="#n172">172</a></p>
+<p id="n173" class="stm mis"><a href="#n173">173</a></p>
+<p id="n174" class="stm mis"><a href="#n174">174</a></p>
+<p id="n175" class="pln"><a href="#n175">175</a></p>
+<p id="n176" class="pln"><a href="#n176">176</a></p>
+<p id="n177" class="stm mis"><a href="#n177">177</a></p>
+<p id="n178" class="stm mis"><a href="#n178">178</a></p>
+<p id="n179" class="pln"><a href="#n179">179</a></p>
+<p id="n180" class="stm mis"><a href="#n180">180</a></p>
+<p id="n181" class="stm mis"><a href="#n181">181</a></p>
+<p id="n182" class="stm mis"><a href="#n182">182</a></p>
+<p id="n183" class="pln"><a href="#n183">183</a></p>
+<p id="n184" class="stm mis"><a href="#n184">184</a></p>
+<p id="n185" class="stm mis"><a href="#n185">185</a></p>
+<p id="n186" class="stm mis"><a href="#n186">186</a></p>
+<p id="n187" class="pln"><a href="#n187">187</a></p>
+<p id="n188" class="stm mis"><a href="#n188">188</a></p>
+<p id="n189" class="pln"><a href="#n189">189</a></p>
+<p id="n190" class="pln"><a href="#n190">190</a></p>
+<p id="n191" class="stm mis"><a href="#n191">191</a></p>
+<p id="n192" class="pln"><a href="#n192">192</a></p>
+<p id="n193" class="pln"><a href="#n193">193</a></p>
+<p id="n194" class="pln"><a href="#n194">194</a></p>
+<p id="n195" class="pln"><a href="#n195">195</a></p>
+<p id="n196" class="pln"><a href="#n196">196</a></p>
+<p id="n197" class="pln"><a href="#n197">197</a></p>
+<p id="n198" class="pln"><a href="#n198">198</a></p>
+<p id="n199" class="pln"><a href="#n199">199</a></p>
+<p id="n200" class="pln"><a href="#n200">200</a></p>
+<p id="n201" class="pln"><a href="#n201">201</a></p>
+<p id="n202" class="pln"><a href="#n202">202</a></p>
+<p id="n203" class="pln"><a href="#n203">203</a></p>
+<p id="n204" class="pln"><a href="#n204">204</a></p>
+<p id="n205" class="pln"><a href="#n205">205</a></p>
+<p id="n206" class="pln"><a href="#n206">206</a></p>
+<p id="n207" class="stm mis"><a href="#n207">207</a></p>
+<p id="n208" class="pln"><a href="#n208">208</a></p>
+<p id="n209" class="pln"><a href="#n209">209</a></p>
+<p id="n210" class="pln"><a href="#n210">210</a></p>
+<p id="n211" class="pln"><a href="#n211">211</a></p>
+<p id="n212" class="pln"><a href="#n212">212</a></p>
+<p id="n213" class="pln"><a href="#n213">213</a></p>
+<p id="n214" class="stm mis"><a href="#n214">214</a></p>
+<p id="n215" class="stm mis"><a href="#n215">215</a></p>
+<p id="n216" class="pln"><a href="#n216">216</a></p>
+<p id="n217" class="stm mis"><a href="#n217">217</a></p>
+<p id="n218" class="pln"><a href="#n218">218</a></p>
+<p id="n219" class="stm mis"><a href="#n219">219</a></p>
+
+ </td>
+ <td class="text">
+<p id="t1" class="pln"><span class="str">"""</span><span class="strut"> </span></p>
+<p id="t2" class="pln"><span class="str">Generate a trajectory</span><span class="strut"> </span></p>
+<p id="t3" class="pln"><span class="strut"> </span></p>
+<p id="t4" class="pln"><span class="str"># An agent trajectory is defined by the position and orientation of \</span><span class="strut"> </span></p>
+<p id="t5" class="pln"><span class="str">the agent along the time t. The agent is flying in the direction of \</span><span class="strut"> </span></p>
+<p id="t6" class="pln"><span class="str">its orientation at a given speed</span><span class="strut"> </span></p>
+<p id="t7" class="pln"><span class="strut"> </span></p>
+<p id="t8" class="pln"><span class="str">The trajectory can then be used to test:</span><span class="strut"> </span></p>
+<p id="t9" class="pln"><span class="strut"> </span></p>
+<p id="t10" class="pln"><span class="str">* saccade extraction</span><span class="strut"> </span></p>
+<p id="t11" class="pln"><span class="str">* optic-flow calculation</span><span class="strut"> </span></p>
+<p id="t12" class="pln"><span class="str">* point of pivoting, ...</span><span class="strut"> </span></p>
+<p id="t13" class="pln"><span class="strut"> </span></p>
+<p id="t14" class="pln"><span class="str">For practical purposes, the trajectory will stored in a pandas \</span><span class="strut"> </span></p>
+<p id="t15" class="pln"><span class="str">DataFrame, index by frame number (equivalent to time), and \</span><span class="strut"> </span></p>
+<p id="t16" class="pln"><span class="str">having for columns:</span><span class="strut"> </span></p>
+<p id="t17" class="pln"><span class="strut"> </span></p>
+<p id="t18" class="pln"><span class="str">* 'x','y','z', representating the agent position</span><span class="strut"> </span></p>
+<p id="t19" class="pln"><span class="str">* 'alpha_0','alpha_1','alpha_2', the three euler angles</span><span class="strut"> </span></p>
+<p id="t20" class="pln"><span class="str">* 'facing_x','facing_x','facing_y', the facing direction of the agent</span><span class="strut"> </span></p>
+<p id="t21" class="pln"><span class="strut"> </span></p>
+<p id="t22" class="pln"><span class="str">"""</span><span class="strut"> </span></p>
+<p id="t23" class="pln"><span class="strut"> </span></p>
+<p id="t24" class="stm mis"><span class="key">from</span> <span class="nam">navipy</span><span class="op">.</span><span class="nam">maths</span><span class="op">.</span><span class="nam">euler</span> <span class="key">import</span> <span class="nam">matrix</span><span class="strut"> </span></p>
+<p id="t25" class="stm mis"><span class="key">from</span> <span class="nam">scipy</span><span class="op">.</span><span class="nam">stats</span> <span class="key">import</span> <span class="nam">norm</span><span class="strut"> </span></p>
+<p id="t26" class="stm mis"><span class="key">import</span> <span class="nam">numpy</span> <span class="key">as</span> <span class="nam">np</span><span class="strut"> </span></p>
+<p id="t27" class="stm mis"><span class="key">import</span> <span class="nam">pandas</span> <span class="key">as</span> <span class="nam">pd</span><span class="strut"> </span></p>
+<p id="t28" class="stm mis"><span class="key">from</span> <span class="nam">navipy</span><span class="op">.</span><span class="nam">trajectories</span> <span class="key">import</span> <span class="nam">Trajectory</span><span class="strut"> </span></p>
+<p id="t29" class="pln"><span class="strut"> </span></p>
+<p id="t30" class="pln"><span class="strut"> </span></p>
+<p id="t31" class="stm mis"><span class="key">def</span> <span class="nam">yawpitchroll</span><span class="op">(</span><span class="nam">yaw</span><span class="op">,</span> <span class="nam">pitch</span><span class="op">,</span> <span class="nam">roll</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t32" class="stm mis"> <span class="key">return</span> <span class="nam">matrix</span><span class="op">(</span><span class="nam">yaw</span><span class="op">,</span> <span class="nam">pitch</span><span class="op">,</span> <span class="nam">roll</span><span class="op">,</span> <span class="nam">axes</span><span class="op">=</span><span class="str">'zyx'</span><span class="op">)</span><span class="op">[</span><span class="op">:</span><span class="num">3</span><span class="op">,</span> <span class="op">:</span><span class="num">3</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t33" class="pln"><span class="strut"> </span></p>
+<p id="t34" class="pln"><span class="strut"> </span></p>
+<p id="t35" class="stm mis"><span class="key">def</span> <span class="nam">generate_trajectory</span><span class="op">(</span><span class="nam">starting_point</span><span class="op">,</span> <span class="nam">speed</span><span class="op">,</span> <span class="nam">yaw</span><span class="op">,</span> <span class="nam">pitch</span><span class="op">,</span> <span class="nam">roll</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t36" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t37" class="pln"><span class="str"> generate a trajectory starting from the starting_point, and \</span><span class="strut"> </span></p>
+<p id="t38" class="pln"><span class="str">flying at speed (plausibly changing over time),</span><span class="strut"> </span></p>
+<p id="t39" class="pln"><span class="str"> and rotating in the world according to yaw,pitch,roll</span><span class="strut"> </span></p>
+<p id="t40" class="pln"><span class="strut"> </span></p>
+<p id="t41" class="pln"><span class="str"> starting_point is 1x3 vector</span><span class="strut"> </span></p>
+<p id="t42" class="pln"><span class="str"> speed is a Nx1 vector</span><span class="strut"> </span></p>
+<p id="t43" class="pln"><span class="str"> yaw is a Nx1 vector</span><span class="strut"> </span></p>
+<p id="t44" class="pln"><span class="str"> pitch is a Nx1 vector</span><span class="strut"> </span></p>
+<p id="t45" class="pln"><span class="str"> roll is a Nx1 vector</span><span class="strut"> </span></p>
+<p id="t46" class="pln"><span class="strut"> </span></p>
+<p id="t47" class="pln"><span class="str"> here N is the number of time point</span><span class="strut"> </span></p>
+<p id="t48" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t49" class="stm mis"> <span class="key">assert</span> <span class="nam">starting_point</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">0</span><span class="op">]</span> <span class="op">==</span> <span class="num">3</span><span class="op">,</span> <span class="xx">\</span><span class="strut"> </span></p>
+<p id="t50" class="pln"> <span class="str">'starting_point should have a size of 3'</span><span class="strut"> </span></p>
+<p id="t51" class="stm mis"> <span class="key">assert</span> <span class="nam">speed</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">0</span><span class="op">]</span> <span class="op">==</span> <span class="nam">yaw</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">,</span> <span class="xx">\</span><span class="strut"> </span></p>
+<p id="t52" class="pln"> <span class="str">'speed and yaw should have the same number of point'</span><span class="strut"> </span></p>
+<p id="t53" class="stm mis"> <span class="key">assert</span> <span class="nam">speed</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">0</span><span class="op">]</span> <span class="op">==</span> <span class="nam">pitch</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">,</span> <span class="xx">\</span><span class="strut"> </span></p>
+<p id="t54" class="pln"> <span class="str">'speed and pitch should have the same number of point'</span><span class="strut"> </span></p>
+<p id="t55" class="stm mis"> <span class="key">assert</span> <span class="nam">speed</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">0</span><span class="op">]</span> <span class="op">==</span> <span class="nam">roll</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">,</span> <span class="xx">\</span><span class="strut"> </span></p>
+<p id="t56" class="pln"> <span class="str">'speed and roll should have the same number of point'</span><span class="strut"> </span></p>
+<p id="t57" class="pln"><span class="strut"> </span></p>
+<p id="t58" class="stm mis"> <span class="nam">trajectory</span> <span class="op">=</span> <span class="nam">Trajectory</span><span class="op">(</span><span class="nam">indeces</span><span class="op">=</span><span class="nam">np</span><span class="op">.</span><span class="nam">arange</span><span class="op">(</span><span class="nam">speed</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t59" class="pln"> <span class="nam">rotconv</span><span class="op">=</span><span class="str">'zyx'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t60" class="stm mis"> <span class="nam">trajectory</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="str">'location'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">starting_point</span><span class="strut"> </span></p>
+<p id="t61" class="stm mis"> <span class="key">for</span> <span class="nam">i</span> <span class="key">in</span> <span class="nam">trajectory</span><span class="op">.</span><span class="nam">index</span><span class="op">[</span><span class="num">1</span><span class="op">:</span><span class="op">]</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t62" class="stm mis"> <span class="nam">speed_orient</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">dot</span><span class="op">(</span><span class="nam">yawpitchroll</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t63" class="pln"> <span class="nam">yaw</span><span class="op">[</span><span class="nam">i</span> <span class="op">-</span> <span class="num">1</span><span class="op">]</span><span class="op">,</span> <span class="nam">pitch</span><span class="op">[</span><span class="nam">i</span> <span class="op">-</span> <span class="num">1</span><span class="op">]</span><span class="op">,</span> <span class="nam">roll</span><span class="op">[</span><span class="nam">i</span> <span class="op">-</span> <span class="num">1</span><span class="op">]</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t64" class="pln"> <span class="nam">np</span><span class="op">.</span><span class="nam">array</span><span class="op">(</span><span class="op">[</span><span class="op">[</span><span class="nam">speed</span><span class="op">[</span><span class="nam">i</span> <span class="op">-</span> <span class="num">1</span><span class="op">]</span><span class="op">]</span><span class="op">,</span> <span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">,</span> <span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">]</span><span class="op">)</span><span class="op">)</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t65" class="stm mis"> <span class="key">for</span> <span class="nam">ii</span><span class="op">,</span> <span class="nam">col</span> <span class="key">in</span> <span class="nam">enumerate</span><span class="op">(</span><span class="op">[</span><span class="str">'x'</span><span class="op">,</span> <span class="str">'y'</span><span class="op">,</span> <span class="str">'z'</span><span class="op">]</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t66" class="stm mis"> <span class="nam">trajectory</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="nam">i</span><span class="op">,</span> <span class="op">(</span><span class="str">'location'</span><span class="op">,</span> <span class="nam">col</span><span class="op">)</span><span class="op">]</span> <span class="op">=</span> <span class="xx">\</span><span class="strut"> </span></p>
+<p id="t67" class="pln"> <span class="nam">trajectory</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="nam">i</span> <span class="op">-</span> <span class="num">1</span><span class="op">,</span> <span class="op">(</span><span class="str">'location'</span><span class="op">,</span> <span class="nam">col</span><span class="op">)</span><span class="op">]</span> <span class="xx">\</span><span class="strut"> </span></p>
+<p id="t68" class="pln"> <span class="op">+</span> <span class="nam">speed_orient</span><span class="op">[</span><span class="nam">ii</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t69" class="stm mis"> <span class="nam">trajectory</span><span class="op">.</span><span class="nam">alpha_0</span> <span class="op">=</span> <span class="nam">yaw</span><span class="strut"> </span></p>
+<p id="t70" class="stm mis"> <span class="nam">trajectory</span><span class="op">.</span><span class="nam">alpha_1</span> <span class="op">=</span> <span class="nam">pitch</span><span class="strut"> </span></p>
+<p id="t71" class="stm mis"> <span class="nam">trajectory</span><span class="op">.</span><span class="nam">alpha_2</span> <span class="op">=</span> <span class="nam">roll</span><span class="strut"> </span></p>
+<p id="t72" class="stm mis"> <span class="key">return</span> <span class="nam">trajectory</span><span class="strut"> </span></p>
+<p id="t73" class="pln"><span class="strut"> </span></p>
+<p id="t74" class="pln"><span class="strut"> </span></p>
+<p id="t75" class="stm mis"><span class="key">def</span> <span class="nam">generate_saccade</span><span class="op">(</span><span class="nam">sac_amplitude</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t76" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t77" class="pln"><span class="str"> return a list of angle, here the sum is the saccade amplitude</span><span class="strut"> </span></p>
+<p id="t78" class="pln"><span class="strut"> </span></p>
+<p id="t79" class="pln"><span class="str"> % original cyberfly uses 8 templates derived from behavioural data.</span><span class="strut"> </span></p>
+<p id="t80" class="pln"><span class="str"> width of the template: linear regression on the sacc templates used</span><span class="strut"> </span></p>
+<p id="t81" class="pln"><span class="str"> in original cyberfly</span><span class="strut"> </span></p>
+<p id="t82" class="pln"><span class="strut"> </span></p>
+<p id="t83" class="pln"><span class="str"> see Jens Lindemann 2005</span><span class="strut"> </span></p>
+<p id="t84" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t85" class="pln"> <span class="com"># Calculate the saccade length</span><span class="strut"> </span></p>
+<p id="t86" class="stm mis"> <span class="nam">sac_len</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">abs</span><span class="op">(</span><span class="nam">sac_amplitude</span><span class="op">)</span> <span class="op">*</span> <span class="num">28.6</span> <span class="op">+</span> <span class="num">23.4</span><span class="strut"> </span></p>
+<p id="t87" class="pln"><span class="strut"> </span></p>
+<p id="t88" class="pln"> <span class="com"># create a gaussian velocity profile. sigma=0.35 fits the original</span><span class="strut"> </span></p>
+<p id="t89" class="pln"> <span class="com"># templates</span><span class="strut"> </span></p>
+<p id="t90" class="stm mis"> <span class="nam">gw</span> <span class="op">=</span> <span class="nam">norm</span><span class="op">.</span><span class="nam">pdf</span><span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">linspace</span><span class="op">(</span><span class="op">-</span><span class="num">1</span><span class="op">,</span> <span class="num">1</span><span class="op">,</span> <span class="nam">sac_len</span><span class="op">)</span><span class="op">,</span> <span class="num">0</span><span class="op">,</span> <span class="num">0.35</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t91" class="pln"> <span class="com"># scale to the angular amplitude</span><span class="strut"> </span></p>
+<p id="t92" class="stm mis"> <span class="nam">saccade_seq</span> <span class="op">=</span> <span class="op">(</span><span class="nam">gw</span> <span class="op">/</span> <span class="nam">np</span><span class="op">.</span><span class="nam">sum</span><span class="op">(</span><span class="nam">gw</span><span class="op">)</span><span class="op">)</span> <span class="op">*</span> <span class="nam">sac_amplitude</span><span class="strut"> </span></p>
+<p id="t93" class="pln"><span class="strut"> </span></p>
+<p id="t94" class="stm mis"> <span class="key">return</span> <span class="nam">saccade_seq</span><span class="strut"> </span></p>
+<p id="t95" class="pln"><span class="strut"> </span></p>
+<p id="t96" class="pln"><span class="strut"> </span></p>
+<p id="t97" class="stm mis"><span class="key">def</span> <span class="nam">saccadic_data</span><span class="op">(</span><span class="nam">intersac_length_f</span><span class="op">=</span><span class="key">lambda</span> <span class="nam">n</span><span class="op">:</span> <span class="num">50</span> <span class="op">+</span> <span class="nam">np</span><span class="op">.</span><span class="nam">floor</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t98" class="pln"> <span class="num">10</span> <span class="op">*</span> <span class="nam">np</span><span class="op">.</span><span class="nam">random</span><span class="op">.</span><span class="nam">rand</span><span class="op">(</span><span class="nam">n</span><span class="op">)</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t99" class="pln"> <span class="nam">intersac_drifty_f</span><span class="op">=</span><span class="key">lambda</span> <span class="nam">n</span><span class="op">:</span> <span class="op">(</span><span class="strut"> </span></p>
+<p id="t100" class="pln"> <span class="num">3</span> <span class="op">*</span> <span class="nam">np</span><span class="op">.</span><span class="nam">pi</span> <span class="op">/</span> <span class="num">180</span><span class="op">)</span> <span class="op">*</span> <span class="op">(</span><span class="num">2</span> <span class="op">*</span> <span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">random</span><span class="op">.</span><span class="nam">rand</span><span class="op">(</span><span class="nam">n</span><span class="op">)</span> <span class="op">-</span> <span class="num">0.5</span><span class="op">)</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t101" class="pln"> <span class="nam">intersac_driftp_f</span><span class="op">=</span><span class="key">lambda</span> <span class="nam">n</span><span class="op">:</span> <span class="op">(</span><span class="strut"> </span></p>
+<p id="t102" class="pln"> <span class="num">0</span> <span class="op">*</span> <span class="nam">np</span><span class="op">.</span><span class="nam">pi</span> <span class="op">/</span> <span class="num">180</span><span class="op">)</span> <span class="op">*</span> <span class="op">(</span><span class="num">2</span> <span class="op">*</span> <span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">random</span><span class="op">.</span><span class="nam">rand</span><span class="op">(</span><span class="nam">n</span><span class="op">)</span> <span class="op">-</span> <span class="num">0.5</span><span class="op">)</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t103" class="pln"> <span class="nam">intersac_driftr_f</span><span class="op">=</span><span class="key">lambda</span> <span class="nam">n</span><span class="op">:</span> <span class="op">(</span><span class="strut"> </span></p>
+<p id="t104" class="pln"> <span class="num">0</span> <span class="op">*</span> <span class="nam">np</span><span class="op">.</span><span class="nam">pi</span> <span class="op">/</span> <span class="num">180</span><span class="op">)</span> <span class="op">*</span> <span class="op">(</span><span class="num">2</span> <span class="op">*</span> <span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">random</span><span class="op">.</span><span class="nam">rand</span><span class="op">(</span><span class="nam">n</span><span class="op">)</span> <span class="op">-</span> <span class="num">0.5</span><span class="op">)</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t105" class="pln"> <span class="nam">sac_y_f</span><span class="op">=</span><span class="key">lambda</span> <span class="nam">n</span><span class="op">:</span> <span class="op">(</span><span class="strut"> </span></p>
+<p id="t106" class="pln"> <span class="nam">np</span><span class="op">.</span><span class="nam">pi</span> <span class="op">/</span> <span class="num">2</span><span class="op">)</span> <span class="op">*</span> <span class="op">(</span><span class="num">2</span> <span class="op">*</span> <span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">random</span><span class="op">.</span><span class="nam">rand</span><span class="op">(</span><span class="nam">n</span><span class="op">)</span> <span class="op">-</span> <span class="num">0.5</span><span class="op">)</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t107" class="pln"> <span class="nam">sac_p_f</span><span class="op">=</span><span class="key">lambda</span> <span class="nam">n</span><span class="op">:</span> <span class="op">(</span><span class="strut"> </span></p>
+<p id="t108" class="pln"> <span class="nam">np</span><span class="op">.</span><span class="nam">pi</span> <span class="op">/</span> <span class="num">2</span><span class="op">)</span> <span class="op">*</span> <span class="op">(</span><span class="num">2</span> <span class="op">*</span> <span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">random</span><span class="op">.</span><span class="nam">rand</span><span class="op">(</span><span class="nam">n</span><span class="op">)</span> <span class="op">-</span> <span class="num">0.5</span><span class="op">)</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t109" class="pln"> <span class="nam">sac_r_f</span><span class="op">=</span><span class="key">lambda</span> <span class="nam">n</span><span class="op">:</span> <span class="op">(</span><span class="strut"> </span></p>
+<p id="t110" class="pln"> <span class="nam">np</span><span class="op">.</span><span class="nam">pi</span> <span class="op">/</span> <span class="num">2</span><span class="op">)</span> <span class="op">*</span> <span class="op">(</span><span class="num">2</span> <span class="op">*</span> <span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">random</span><span class="op">.</span><span class="nam">rand</span><span class="op">(</span><span class="nam">n</span><span class="op">)</span> <span class="op">-</span> <span class="num">0.5</span><span class="op">)</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t111" class="pln"> <span class="nam">number_sac</span><span class="op">=</span><span class="num">10</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t112" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t113" class="pln"><span class="str"> generate a yaw pitch, roll from random saccadic input</span><span class="strut"> </span></p>
+<p id="t114" class="pln"><span class="strut"> </span></p>
+<p id="t115" class="pln"><span class="str"> intersac_length_f a function of n (number of saccade), \</span><span class="strut"> </span></p>
+<p id="t116" class="pln"><span class="str">being the length of the intersaccade</span><span class="strut"> </span></p>
+<p id="t117" class="pln"><span class="str"> intersac_drifty_f a function of n, being the residual yaw-rotation</span><span class="strut"> </span></p>
+<p id="t118" class="pln"><span class="str"> intersac_driftp_f a function of n, being the residual pitch-rotation</span><span class="strut"> </span></p>
+<p id="t119" class="pln"><span class="str"> intersac_driftr_f a function of n, being the residual roll-rotation</span><span class="strut"> </span></p>
+<p id="t120" class="pln"><span class="strut"> </span></p>
+<p id="t121" class="pln"><span class="str"> sac_y_f a function of n, being the yaw amplitude of the saccade</span><span class="strut"> </span></p>
+<p id="t122" class="pln"><span class="str"> sac_p_f a function of n, being the pitch amplitude of the saccade</span><span class="strut"> </span></p>
+<p id="t123" class="pln"><span class="str"> sac_r_f a function of n, being the rol amplitude of the saccade</span><span class="strut"> </span></p>
+<p id="t124" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t125" class="pln"> <span class="com"># create data frame sumarising saccadic data</span><span class="strut"> </span></p>
+<p id="t126" class="stm mis"> <span class="nam">saccade_df</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">DataFrame</span><span class="op">(</span><span class="nam">index</span><span class="op">=</span><span class="nam">np</span><span class="op">.</span><span class="nam">arange</span><span class="op">(</span><span class="nam">number_sac</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t127" class="pln"> <span class="nam">columns</span><span class="op">=</span><span class="op">[</span><span class="str">'intersac_length'</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t128" class="pln"> <span class="str">'intersac_drifty_f'</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t129" class="pln"> <span class="str">'intersac_driftp_f'</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t130" class="pln"> <span class="str">'intersac_driftr_f'</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t131" class="pln"> <span class="str">'sac_y_f'</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t132" class="pln"> <span class="str">'sac_p_f'</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t133" class="pln"> <span class="str">'sac_r_f'</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t134" class="pln"> <span class="com"># populate intersaccadic length</span><span class="strut"> </span></p>
+<p id="t135" class="stm mis"> <span class="nam">saccade_df</span><span class="op">.</span><span class="nam">intersac_length</span> <span class="op">=</span> <span class="nam">intersac_length_f</span><span class="op">(</span><span class="nam">number_sac</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t136" class="pln"> <span class="com"># populate intersaccadic residual rotation</span><span class="strut"> </span></p>
+<p id="t137" class="stm mis"> <span class="nam">saccade_df</span><span class="op">.</span><span class="nam">intersac_drifty_f</span> <span class="op">=</span> <span class="nam">intersac_drifty_f</span><span class="op">(</span><span class="nam">number_sac</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t138" class="stm mis"> <span class="nam">saccade_df</span><span class="op">.</span><span class="nam">intersac_driftp_f</span> <span class="op">=</span> <span class="nam">intersac_driftp_f</span><span class="op">(</span><span class="nam">number_sac</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t139" class="stm mis"> <span class="nam">saccade_df</span><span class="op">.</span><span class="nam">intersac_driftr_f</span> <span class="op">=</span> <span class="nam">intersac_driftr_f</span><span class="op">(</span><span class="nam">number_sac</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t140" class="pln"> <span class="com"># populate saccade properties</span><span class="strut"> </span></p>
+<p id="t141" class="stm mis"> <span class="nam">saccade_df</span><span class="op">.</span><span class="nam">sac_y_f</span> <span class="op">=</span> <span class="nam">sac_y_f</span><span class="op">(</span><span class="nam">number_sac</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t142" class="stm mis"> <span class="nam">saccade_df</span><span class="op">.</span><span class="nam">sac_p_f</span> <span class="op">=</span> <span class="nam">sac_p_f</span><span class="op">(</span><span class="nam">number_sac</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t143" class="stm mis"> <span class="nam">saccade_df</span><span class="op">.</span><span class="nam">sac_r_f</span> <span class="op">=</span> <span class="nam">sac_r_f</span><span class="op">(</span><span class="nam">number_sac</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t144" class="pln"><span class="strut"> </span></p>
+<p id="t145" class="stm mis"> <span class="nam">yaw</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">zeros</span><span class="op">(</span><span class="num">1</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t146" class="stm mis"> <span class="nam">pitch</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">zeros</span><span class="op">(</span><span class="num">1</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t147" class="stm mis"> <span class="nam">roll</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">zeros</span><span class="op">(</span><span class="num">1</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t148" class="pln"><span class="strut"> </span></p>
+<p id="t149" class="stm mis"> <span class="key">for</span> <span class="nam">i</span><span class="op">,</span> <span class="nam">row</span> <span class="key">in</span> <span class="nam">saccade_df</span><span class="op">.</span><span class="nam">iterrows</span><span class="op">(</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t150" class="pln"> <span class="com"># calculate intersaccadic residual rotation</span><span class="strut"> </span></p>
+<p id="t151" class="stm mis"> <span class="nam">yaw_inter</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">linspace</span><span class="op">(</span><span class="num">0</span><span class="op">,</span> <span class="nam">row</span><span class="op">.</span><span class="nam">intersac_drifty_f</span><span class="op">,</span> <span class="nam">row</span><span class="op">.</span><span class="nam">intersac_length</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t152" class="stm mis"> <span class="nam">pitch_inter</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">linspace</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t153" class="pln"> <span class="num">0</span><span class="op">,</span> <span class="nam">row</span><span class="op">.</span><span class="nam">intersac_driftp_f</span><span class="op">,</span> <span class="nam">row</span><span class="op">.</span><span class="nam">intersac_length</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t154" class="stm mis"> <span class="nam">roll_inter</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">linspace</span><span class="op">(</span><span class="num">0</span><span class="op">,</span> <span class="nam">row</span><span class="op">.</span><span class="nam">intersac_driftr_f</span><span class="op">,</span> <span class="nam">row</span><span class="op">.</span><span class="nam">intersac_length</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t155" class="pln"> <span class="com"># update yaw,pitch,roll</span><span class="strut"> </span></p>
+<p id="t156" class="stm mis"> <span class="nam">yaw</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">hstack</span><span class="op">(</span><span class="op">(</span><span class="nam">yaw</span><span class="op">,</span> <span class="nam">yaw</span><span class="op">[</span><span class="op">-</span><span class="num">1</span><span class="op">]</span> <span class="op">+</span> <span class="nam">yaw_inter</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t157" class="stm mis"> <span class="nam">pitch</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">hstack</span><span class="op">(</span><span class="op">(</span><span class="nam">pitch</span><span class="op">,</span> <span class="nam">pitch</span><span class="op">[</span><span class="op">-</span><span class="num">1</span><span class="op">]</span> <span class="op">+</span> <span class="nam">pitch_inter</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t158" class="stm mis"> <span class="nam">roll</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">hstack</span><span class="op">(</span><span class="op">(</span><span class="nam">roll</span><span class="op">,</span> <span class="nam">roll</span><span class="op">[</span><span class="op">-</span><span class="num">1</span><span class="op">]</span> <span class="op">+</span> <span class="nam">roll_inter</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t159" class="pln"> <span class="com"># calculate saccade</span><span class="strut"> </span></p>
+<p id="t160" class="stm mis"> <span class="nam">yaw_sac</span> <span class="op">=</span> <span class="nam">generate_saccade</span><span class="op">(</span><span class="nam">row</span><span class="op">.</span><span class="nam">sac_y_f</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t161" class="stm mis"> <span class="nam">pitch_sac</span> <span class="op">=</span> <span class="nam">generate_saccade</span><span class="op">(</span><span class="nam">row</span><span class="op">.</span><span class="nam">sac_p_f</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t162" class="stm mis"> <span class="nam">roll_sac</span> <span class="op">=</span> <span class="nam">generate_saccade</span><span class="op">(</span><span class="nam">row</span><span class="op">.</span><span class="nam">sac_r_f</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t163" class="pln"> <span class="com"># find longest</span><span class="strut"> </span></p>
+<p id="t164" class="stm mis"> <span class="key">if</span> <span class="op">(</span><span class="nam">len</span><span class="op">(</span><span class="nam">yaw_sac</span><span class="op">)</span> <span class="op">>=</span> <span class="nam">len</span><span class="op">(</span><span class="nam">pitch_sac</span><span class="op">)</span><span class="op">)</span> <span class="key">and</span><span class="xx">\</span><span class="strut"> </span></p>
+<p id="t165" class="pln"> <span class="op">(</span><span class="nam">len</span><span class="op">(</span><span class="nam">yaw_sac</span><span class="op">)</span> <span class="op">>=</span> <span class="nam">len</span><span class="op">(</span><span class="nam">roll_sac</span><span class="op">)</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t166" class="pln"> <span class="com"># yaw is longest</span><span class="strut"> </span></p>
+<p id="t167" class="stm mis"> <span class="nam">pitch_sac</span> <span class="op">=</span> <span class="nam">yaw_sac</span> <span class="op">*</span> <span class="nam">np</span><span class="op">.</span><span class="nam">sum</span><span class="op">(</span><span class="nam">pitch_sac</span><span class="op">)</span> <span class="op">/</span> <span class="nam">np</span><span class="op">.</span><span class="nam">sum</span><span class="op">(</span><span class="nam">yaw_sac</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t168" class="stm mis"> <span class="nam">roll_sac</span> <span class="op">=</span> <span class="nam">yaw_sac</span> <span class="op">*</span> <span class="nam">np</span><span class="op">.</span><span class="nam">sum</span><span class="op">(</span><span class="nam">roll_sac</span><span class="op">)</span> <span class="op">/</span> <span class="nam">np</span><span class="op">.</span><span class="nam">sum</span><span class="op">(</span><span class="nam">yaw_sac</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t169" class="stm mis"> <span class="key">elif</span> <span class="op">(</span><span class="nam">len</span><span class="op">(</span><span class="nam">pitch_sac</span><span class="op">)</span> <span class="op">>=</span> <span class="nam">len</span><span class="op">(</span><span class="nam">yaw_sac</span><span class="op">)</span><span class="op">)</span> <span class="key">and</span><span class="xx">\</span><span class="strut"> </span></p>
+<p id="t170" class="pln"> <span class="op">(</span><span class="nam">len</span><span class="op">(</span><span class="nam">pitch_sac</span><span class="op">)</span> <span class="op">>=</span> <span class="nam">len</span><span class="op">(</span><span class="nam">roll_sac</span><span class="op">)</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t171" class="pln"> <span class="com"># pitch is longest</span><span class="strut"> </span></p>
+<p id="t172" class="stm mis"> <span class="nam">yaw_sac</span> <span class="op">=</span> <span class="nam">pitch_sac</span> <span class="op">*</span> <span class="nam">np</span><span class="op">.</span><span class="nam">sum</span><span class="op">(</span><span class="nam">yaw_sac</span><span class="op">)</span> <span class="op">/</span> <span class="nam">np</span><span class="op">.</span><span class="nam">sum</span><span class="op">(</span><span class="nam">pitch_sac</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t173" class="stm mis"> <span class="nam">roll_sac</span> <span class="op">=</span> <span class="nam">pitch_sac</span> <span class="op">*</span> <span class="nam">np</span><span class="op">.</span><span class="nam">sum</span><span class="op">(</span><span class="nam">roll_sac</span><span class="op">)</span> <span class="op">/</span> <span class="nam">np</span><span class="op">.</span><span class="nam">sum</span><span class="op">(</span><span class="nam">pitch_sac</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t174" class="stm mis"> <span class="key">elif</span> <span class="op">(</span><span class="nam">len</span><span class="op">(</span><span class="nam">roll_sac</span><span class="op">)</span> <span class="op">>=</span> <span class="nam">len</span><span class="op">(</span><span class="nam">yaw_sac</span><span class="op">)</span><span class="op">)</span> <span class="key">and</span><span class="xx">\</span><span class="strut"> </span></p>
+<p id="t175" class="pln"> <span class="op">(</span><span class="nam">len</span><span class="op">(</span><span class="nam">roll_sac</span><span class="op">)</span> <span class="op">>=</span> <span class="nam">len</span><span class="op">(</span><span class="nam">pitch_sac</span><span class="op">)</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t176" class="pln"> <span class="com"># roll is longest</span><span class="strut"> </span></p>
+<p id="t177" class="stm mis"> <span class="nam">yaw_sac</span> <span class="op">=</span> <span class="nam">roll_sac</span> <span class="op">*</span> <span class="nam">np</span><span class="op">.</span><span class="nam">sum</span><span class="op">(</span><span class="nam">yaw_sac</span><span class="op">)</span> <span class="op">/</span> <span class="nam">np</span><span class="op">.</span><span class="nam">sum</span><span class="op">(</span><span class="nam">roll_sac</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t178" class="stm mis"> <span class="nam">pitch_sac</span> <span class="op">=</span> <span class="nam">roll_sac</span> <span class="op">*</span> <span class="nam">np</span><span class="op">.</span><span class="nam">sum</span><span class="op">(</span><span class="nam">pitch_sac</span><span class="op">)</span> <span class="op">/</span> <span class="nam">np</span><span class="op">.</span><span class="nam">sum</span><span class="op">(</span><span class="nam">roll_sac</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t179" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t180" class="stm mis"> <span class="nam">mgs</span> <span class="op">=</span> <span class="str">'Error in saccade generation, '</span><span class="strut"> </span></p>
+<p id="t181" class="stm mis"> <span class="nam">mgs</span> <span class="op">+=</span> <span class="str">'can not find the longest saccade'</span><span class="strut"> </span></p>
+<p id="t182" class="stm mis"> <span class="key">raise</span> <span class="nam">NameError</span><span class="op">(</span><span class="nam">mgs</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t183" class="pln"> <span class="com"># update yaw,pitch,roll</span><span class="strut"> </span></p>
+<p id="t184" class="stm mis"> <span class="nam">yaw</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">hstack</span><span class="op">(</span><span class="op">(</span><span class="nam">yaw</span><span class="op">,</span> <span class="nam">yaw</span><span class="op">[</span><span class="op">-</span><span class="num">1</span><span class="op">]</span> <span class="op">+</span> <span class="nam">np</span><span class="op">.</span><span class="nam">cumsum</span><span class="op">(</span><span class="nam">yaw_sac</span><span class="op">)</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t185" class="stm mis"> <span class="nam">pitch</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">hstack</span><span class="op">(</span><span class="op">(</span><span class="nam">pitch</span><span class="op">,</span> <span class="nam">pitch</span><span class="op">[</span><span class="op">-</span><span class="num">1</span><span class="op">]</span> <span class="op">+</span> <span class="nam">np</span><span class="op">.</span><span class="nam">cumsum</span><span class="op">(</span><span class="nam">pitch_sac</span><span class="op">)</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t186" class="stm mis"> <span class="nam">roll</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">hstack</span><span class="op">(</span><span class="op">(</span><span class="nam">roll</span><span class="op">,</span> <span class="nam">roll</span><span class="op">[</span><span class="op">-</span><span class="num">1</span><span class="op">]</span> <span class="op">+</span> <span class="nam">np</span><span class="op">.</span><span class="nam">cumsum</span><span class="op">(</span><span class="nam">roll_sac</span><span class="op">)</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t187" class="pln"><span class="strut"> </span></p>
+<p id="t188" class="stm mis"> <span class="key">return</span> <span class="nam">yaw</span><span class="op">,</span> <span class="nam">pitch</span><span class="op">,</span> <span class="nam">roll</span><span class="op">,</span> <span class="nam">saccade_df</span><span class="strut"> </span></p>
+<p id="t189" class="pln"><span class="strut"> </span></p>
+<p id="t190" class="pln"><span class="strut"> </span></p>
+<p id="t191" class="stm mis"><span class="key">def</span> <span class="nam">saccadic_traj</span><span class="op">(</span><span class="nam">intersac_length_f</span><span class="op">=</span><span class="key">lambda</span> <span class="nam">n</span><span class="op">:</span> <span class="num">50</span> <span class="op">+</span> <span class="nam">np</span><span class="op">.</span><span class="nam">floor</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t192" class="pln"> <span class="num">10</span> <span class="op">*</span> <span class="nam">np</span><span class="op">.</span><span class="nam">random</span><span class="op">.</span><span class="nam">rand</span><span class="op">(</span><span class="nam">n</span><span class="op">)</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t193" class="pln"> <span class="nam">intersac_drifty_f</span><span class="op">=</span><span class="key">lambda</span> <span class="nam">n</span><span class="op">:</span> <span class="op">(</span><span class="strut"> </span></p>
+<p id="t194" class="pln"> <span class="num">3</span> <span class="op">*</span> <span class="nam">np</span><span class="op">.</span><span class="nam">pi</span> <span class="op">/</span> <span class="num">180</span><span class="op">)</span> <span class="op">*</span> <span class="op">(</span><span class="num">2</span> <span class="op">*</span> <span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">random</span><span class="op">.</span><span class="nam">rand</span><span class="op">(</span><span class="nam">n</span><span class="op">)</span> <span class="op">-</span> <span class="num">0.5</span><span class="op">)</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t195" class="pln"> <span class="nam">intersac_driftp_f</span><span class="op">=</span><span class="key">lambda</span> <span class="nam">n</span><span class="op">:</span> <span class="op">(</span><span class="strut"> </span></p>
+<p id="t196" class="pln"> <span class="num">0</span> <span class="op">*</span> <span class="nam">np</span><span class="op">.</span><span class="nam">pi</span> <span class="op">/</span> <span class="num">180</span><span class="op">)</span> <span class="op">*</span> <span class="op">(</span><span class="num">2</span> <span class="op">*</span> <span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">random</span><span class="op">.</span><span class="nam">rand</span><span class="op">(</span><span class="nam">n</span><span class="op">)</span> <span class="op">-</span> <span class="num">0.5</span><span class="op">)</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t197" class="pln"> <span class="nam">intersac_driftr_f</span><span class="op">=</span><span class="key">lambda</span> <span class="nam">n</span><span class="op">:</span> <span class="op">(</span><span class="strut"> </span></p>
+<p id="t198" class="pln"> <span class="num">0</span> <span class="op">*</span> <span class="nam">np</span><span class="op">.</span><span class="nam">pi</span> <span class="op">/</span> <span class="num">180</span><span class="op">)</span> <span class="op">*</span> <span class="op">(</span><span class="num">2</span> <span class="op">*</span> <span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">random</span><span class="op">.</span><span class="nam">rand</span><span class="op">(</span><span class="nam">n</span><span class="op">)</span> <span class="op">-</span> <span class="num">0.5</span><span class="op">)</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t199" class="pln"> <span class="nam">sac_y_f</span><span class="op">=</span><span class="key">lambda</span> <span class="nam">n</span><span class="op">:</span> <span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">pi</span> <span class="op">/</span> <span class="num">2</span><span class="op">)</span> <span class="op">*</span><span class="strut"> </span></p>
+<p id="t200" class="pln"> <span class="op">(</span><span class="num">2</span> <span class="op">*</span> <span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">random</span><span class="op">.</span><span class="nam">rand</span><span class="op">(</span><span class="nam">n</span><span class="op">)</span> <span class="op">-</span> <span class="num">0.5</span><span class="op">)</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t201" class="pln"> <span class="nam">sac_p_f</span><span class="op">=</span><span class="key">lambda</span> <span class="nam">n</span><span class="op">:</span> <span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">pi</span> <span class="op">/</span> <span class="num">2</span><span class="op">)</span> <span class="op">*</span><span class="strut"> </span></p>
+<p id="t202" class="pln"> <span class="op">(</span><span class="num">2</span> <span class="op">*</span> <span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">random</span><span class="op">.</span><span class="nam">rand</span><span class="op">(</span><span class="nam">n</span><span class="op">)</span> <span class="op">-</span> <span class="num">0.5</span><span class="op">)</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t203" class="pln"> <span class="nam">sac_r_f</span><span class="op">=</span><span class="key">lambda</span> <span class="nam">n</span><span class="op">:</span> <span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">pi</span> <span class="op">/</span> <span class="num">2</span><span class="op">)</span> <span class="op">*</span><span class="strut"> </span></p>
+<p id="t204" class="pln"> <span class="op">(</span><span class="num">2</span> <span class="op">*</span> <span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">random</span><span class="op">.</span><span class="nam">rand</span><span class="op">(</span><span class="nam">n</span><span class="op">)</span> <span class="op">-</span> <span class="num">0.5</span><span class="op">)</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t205" class="pln"> <span class="nam">number_sac</span><span class="op">=</span><span class="num">10</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t206" class="pln"> <span class="com"># generate fake saccadic data</span><span class="strut"> </span></p>
+<p id="t207" class="stm mis"> <span class="nam">yaw</span><span class="op">,</span> <span class="nam">pitch</span><span class="op">,</span> <span class="nam">roll</span><span class="op">,</span> <span class="nam">saccade_df</span> <span class="op">=</span> <span class="nam">saccadic_data</span><span class="op">(</span><span class="nam">intersac_length_f</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t208" class="pln"> <span class="nam">intersac_drifty_f</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t209" class="pln"> <span class="nam">intersac_driftp_f</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t210" class="pln"> <span class="nam">intersac_driftr_f</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t211" class="pln"> <span class="nam">sac_y_f</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t212" class="pln"> <span class="nam">sac_p_f</span><span class="op">,</span> <span class="nam">sac_r_f</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t213" class="pln"> <span class="nam">number_sac</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t214" class="stm mis"> <span class="nam">speed</span> <span class="op">=</span> <span class="num">1</span> <span class="op">+</span> <span class="nam">np</span><span class="op">.</span><span class="nam">zeros</span><span class="op">(</span><span class="nam">len</span><span class="op">(</span><span class="nam">yaw</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t215" class="stm mis"> <span class="nam">starting_point</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">array</span><span class="op">(</span><span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="num">0</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t216" class="pln"> <span class="com"># calculate trajectory</span><span class="strut"> </span></p>
+<p id="t217" class="stm mis"> <span class="nam">trajectory</span> <span class="op">=</span> <span class="nam">generate_trajectory</span><span class="op">(</span><span class="nam">starting_point</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t218" class="pln"> <span class="nam">speed</span><span class="op">,</span> <span class="nam">yaw</span><span class="op">,</span> <span class="nam">pitch</span><span class="op">,</span> <span class="nam">roll</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t219" class="stm mis"> <span class="key">return</span> <span class="nam">trajectory</span><span class="op">,</span> <span class="nam">saccade_df</span><span class="strut"> </span></p>
+
+ </td>
+ </tr>
+ </table>
+</div>
+
+<div id="footer">
+ <div class="content">
+ <p>
+ <a class="nav" href="index.html">« index</a> <a class="nav" href="https://coverage.readthedocs.io">coverage.py v4.5.2</a>,
+ created at 2019-01-13 14:34
+ </p>
+ </div>
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+</body>
+</html>
diff --git a/coverage_html_report/navipy_trajectories_tools_py.html b/coverage_html_report/navipy_trajectories_tools_py.html
new file mode 100644
index 0000000000000000000000000000000000000000..d2a5c66d7971390d7a289efefe3f045612157c6a
--- /dev/null
+++ b/coverage_html_report/navipy_trajectories_tools_py.html
@@ -0,0 +1,403 @@
+
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+ 85 statements
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+<p id="n11" class="pln"><a href="#n11">11</a></p>
+<p id="n12" class="pln"><a href="#n12">12</a></p>
+<p id="n13" class="stm mis"><a href="#n13">13</a></p>
+<p id="n14" class="pln"><a href="#n14">14</a></p>
+<p id="n15" class="pln"><a href="#n15">15</a></p>
+<p id="n16" class="pln"><a href="#n16">16</a></p>
+<p id="n17" class="pln"><a href="#n17">17</a></p>
+<p id="n18" class="pln"><a href="#n18">18</a></p>
+<p id="n19" class="pln"><a href="#n19">19</a></p>
+<p id="n20" class="pln"><a href="#n20">20</a></p>
+<p id="n21" class="pln"><a href="#n21">21</a></p>
+<p id="n22" class="pln"><a href="#n22">22</a></p>
+<p id="n23" class="pln"><a href="#n23">23</a></p>
+<p id="n24" class="pln"><a href="#n24">24</a></p>
+<p id="n25" class="pln"><a href="#n25">25</a></p>
+<p id="n26" class="pln"><a href="#n26">26</a></p>
+<p id="n27" class="pln"><a href="#n27">27</a></p>
+<p id="n28" class="stm mis"><a href="#n28">28</a></p>
+<p id="n29" class="stm mis"><a href="#n29">29</a></p>
+<p id="n30" class="stm mis"><a href="#n30">30</a></p>
+<p id="n31" class="stm mis"><a href="#n31">31</a></p>
+<p id="n32" class="stm mis"><a href="#n32">32</a></p>
+<p id="n33" class="stm mis"><a href="#n33">33</a></p>
+<p id="n34" class="stm mis"><a href="#n34">34</a></p>
+<p id="n35" class="stm mis"><a href="#n35">35</a></p>
+<p id="n36" class="stm mis"><a href="#n36">36</a></p>
+<p id="n37" class="pln"><a href="#n37">37</a></p>
+<p id="n38" class="pln"><a href="#n38">38</a></p>
+<p id="n39" class="stm mis"><a href="#n39">39</a></p>
+<p id="n40" class="pln"><a href="#n40">40</a></p>
+<p id="n41" class="stm mis"><a href="#n41">41</a></p>
+<p id="n42" class="pln"><a href="#n42">42</a></p>
+<p id="n43" class="pln"><a href="#n43">43</a></p>
+<p id="n44" class="pln"><a href="#n44">44</a></p>
+<p id="n45" class="pln"><a href="#n45">45</a></p>
+<p id="n46" class="pln"><a href="#n46">46</a></p>
+<p id="n47" class="stm mis"><a href="#n47">47</a></p>
+<p id="n48" class="stm mis"><a href="#n48">48</a></p>
+<p id="n49" class="stm mis"><a href="#n49">49</a></p>
+<p id="n50" class="stm mis"><a href="#n50">50</a></p>
+<p id="n51" class="stm mis"><a href="#n51">51</a></p>
+<p id="n52" class="stm mis"><a href="#n52">52</a></p>
+<p id="n53" class="pln"><a href="#n53">53</a></p>
+<p id="n54" class="stm mis"><a href="#n54">54</a></p>
+<p id="n55" class="pln"><a href="#n55">55</a></p>
+<p id="n56" class="pln"><a href="#n56">56</a></p>
+<p id="n57" class="stm mis"><a href="#n57">57</a></p>
+<p id="n58" class="pln"><a href="#n58">58</a></p>
+<p id="n59" class="pln"><a href="#n59">59</a></p>
+<p id="n60" class="pln"><a href="#n60">60</a></p>
+<p id="n61" class="stm mis"><a href="#n61">61</a></p>
+<p id="n62" class="stm mis"><a href="#n62">62</a></p>
+<p id="n63" class="stm mis"><a href="#n63">63</a></p>
+<p id="n64" class="stm mis"><a href="#n64">64</a></p>
+<p id="n65" class="stm mis"><a href="#n65">65</a></p>
+<p id="n66" class="stm mis"><a href="#n66">66</a></p>
+<p id="n67" class="stm mis"><a href="#n67">67</a></p>
+<p id="n68" class="pln"><a href="#n68">68</a></p>
+<p id="n69" class="stm mis"><a href="#n69">69</a></p>
+<p id="n70" class="stm mis"><a href="#n70">70</a></p>
+<p id="n71" class="stm mis"><a href="#n71">71</a></p>
+<p id="n72" class="pln"><a href="#n72">72</a></p>
+<p id="n73" class="pln"><a href="#n73">73</a></p>
+<p id="n74" class="stm mis"><a href="#n74">74</a></p>
+<p id="n75" class="stm mis"><a href="#n75">75</a></p>
+<p id="n76" class="stm mis"><a href="#n76">76</a></p>
+<p id="n77" class="pln"><a href="#n77">77</a></p>
+<p id="n78" class="pln"><a href="#n78">78</a></p>
+<p id="n79" class="stm mis"><a href="#n79">79</a></p>
+<p id="n80" class="stm mis"><a href="#n80">80</a></p>
+<p id="n81" class="stm mis"><a href="#n81">81</a></p>
+<p id="n82" class="pln"><a href="#n82">82</a></p>
+<p id="n83" class="pln"><a href="#n83">83</a></p>
+<p id="n84" class="stm mis"><a href="#n84">84</a></p>
+<p id="n85" class="pln"><a href="#n85">85</a></p>
+<p id="n86" class="stm mis"><a href="#n86">86</a></p>
+<p id="n87" class="stm mis"><a href="#n87">87</a></p>
+<p id="n88" class="stm mis"><a href="#n88">88</a></p>
+<p id="n89" class="stm mis"><a href="#n89">89</a></p>
+<p id="n90" class="stm mis"><a href="#n90">90</a></p>
+<p id="n91" class="pln"><a href="#n91">91</a></p>
+<p id="n92" class="pln"><a href="#n92">92</a></p>
+<p id="n93" class="stm mis"><a href="#n93">93</a></p>
+<p id="n94" class="pln"><a href="#n94">94</a></p>
+<p id="n95" class="pln"><a href="#n95">95</a></p>
+<p id="n96" class="pln"><a href="#n96">96</a></p>
+<p id="n97" class="pln"><a href="#n97">97</a></p>
+<p id="n98" class="pln"><a href="#n98">98</a></p>
+<p id="n99" class="pln"><a href="#n99">99</a></p>
+<p id="n100" class="stm mis"><a href="#n100">100</a></p>
+<p id="n101" class="pln"><a href="#n101">101</a></p>
+<p id="n102" class="pln"><a href="#n102">102</a></p>
+<p id="n103" class="pln"><a href="#n103">103</a></p>
+<p id="n104" class="pln"><a href="#n104">104</a></p>
+<p id="n105" class="pln"><a href="#n105">105</a></p>
+<p id="n106" class="stm mis"><a href="#n106">106</a></p>
+<p id="n107" class="stm mis"><a href="#n107">107</a></p>
+<p id="n108" class="pln"><a href="#n108">108</a></p>
+<p id="n109" class="pln"><a href="#n109">109</a></p>
+<p id="n110" class="pln"><a href="#n110">110</a></p>
+<p id="n111" class="pln"><a href="#n111">111</a></p>
+<p id="n112" class="pln"><a href="#n112">112</a></p>
+<p id="n113" class="stm mis"><a href="#n113">113</a></p>
+<p id="n114" class="stm mis"><a href="#n114">114</a></p>
+<p id="n115" class="pln"><a href="#n115">115</a></p>
+<p id="n116" class="pln"><a href="#n116">116</a></p>
+<p id="n117" class="stm mis"><a href="#n117">117</a></p>
+<p id="n118" class="stm mis"><a href="#n118">118</a></p>
+<p id="n119" class="stm mis"><a href="#n119">119</a></p>
+<p id="n120" class="stm mis"><a href="#n120">120</a></p>
+<p id="n121" class="pln"><a href="#n121">121</a></p>
+<p id="n122" class="stm mis"><a href="#n122">122</a></p>
+<p id="n123" class="stm mis"><a href="#n123">123</a></p>
+<p id="n124" class="pln"><a href="#n124">124</a></p>
+<p id="n125" class="stm mis"><a href="#n125">125</a></p>
+<p id="n126" class="stm mis"><a href="#n126">126</a></p>
+<p id="n127" class="pln"><a href="#n127">127</a></p>
+<p id="n128" class="stm mis"><a href="#n128">128</a></p>
+<p id="n129" class="stm mis"><a href="#n129">129</a></p>
+<p id="n130" class="stm mis"><a href="#n130">130</a></p>
+<p id="n131" class="stm mis"><a href="#n131">131</a></p>
+<p id="n132" class="pln"><a href="#n132">132</a></p>
+<p id="n133" class="stm mis"><a href="#n133">133</a></p>
+<p id="n134" class="stm mis"><a href="#n134">134</a></p>
+<p id="n135" class="stm mis"><a href="#n135">135</a></p>
+<p id="n136" class="stm mis"><a href="#n136">136</a></p>
+<p id="n137" class="pln"><a href="#n137">137</a></p>
+<p id="n138" class="stm mis"><a href="#n138">138</a></p>
+<p id="n139" class="stm mis"><a href="#n139">139</a></p>
+<p id="n140" class="stm mis"><a href="#n140">140</a></p>
+<p id="n141" class="stm mis"><a href="#n141">141</a></p>
+<p id="n142" class="pln"><a href="#n142">142</a></p>
+<p id="n143" class="stm mis"><a href="#n143">143</a></p>
+<p id="n144" class="stm mis"><a href="#n144">144</a></p>
+<p id="n145" class="stm mis"><a href="#n145">145</a></p>
+<p id="n146" class="pln"><a href="#n146">146</a></p>
+<p id="n147" class="stm mis"><a href="#n147">147</a></p>
+<p id="n148" class="pln"><a href="#n148">148</a></p>
+<p id="n149" class="stm mis"><a href="#n149">149</a></p>
+<p id="n150" class="pln"><a href="#n150">150</a></p>
+<p id="n151" class="stm mis"><a href="#n151">151</a></p>
+<p id="n152" class="stm mis"><a href="#n152">152</a></p>
+<p id="n153" class="stm mis"><a href="#n153">153</a></p>
+<p id="n154" class="pln"><a href="#n154">154</a></p>
+<p id="n155" class="stm mis"><a href="#n155">155</a></p>
+<p id="n156" class="pln"><a href="#n156">156</a></p>
+<p id="n157" class="stm mis"><a href="#n157">157</a></p>
+
+ </td>
+ <td class="text">
+<p id="t1" class="pln"><span class="str">"""</span><span class="strut"> </span></p>
+<p id="t2" class="pln"><span class="str"> Tools for markers</span><span class="strut"> </span></p>
+<p id="t3" class="pln"><span class="str">"""</span><span class="strut"> </span></p>
+<p id="t4" class="stm mis"><span class="key">from</span> <span class="nam">scipy</span> <span class="key">import</span> <span class="nam">signal</span><span class="strut"> </span></p>
+<p id="t5" class="stm mis"><span class="key">from</span> <span class="nam">scipy</span><span class="op">.</span><span class="nam">interpolate</span> <span class="key">import</span> <span class="nam">interp1d</span><span class="strut"> </span></p>
+<p id="t6" class="stm mis"><span class="key">import</span> <span class="nam">pandas</span> <span class="key">as</span> <span class="nam">pd</span><span class="strut"> </span></p>
+<p id="t7" class="stm mis"><span class="key">import</span> <span class="nam">numpy</span> <span class="key">as</span> <span class="nam">np</span><span class="strut"> </span></p>
+<p id="t8" class="stm mis"><span class="key">from</span> <span class="nam">navipy</span> <span class="key">import</span> <span class="nam">tools</span> <span class="key">as</span> <span class="nam">tratools</span><span class="strut"> </span></p>
+<p id="t9" class="stm mis"><span class="key">import</span> <span class="nam">fastdtw</span><span class="strut"> </span></p>
+<p id="t10" class="stm mis"><span class="key">from</span> <span class="nam">navipy</span><span class="op">.</span><span class="nam">trajectories</span> <span class="key">import</span> <span class="nam">Trajectory</span><span class="strut"> </span></p>
+<p id="t11" class="pln"><span class="strut"> </span></p>
+<p id="t12" class="pln"><span class="strut"> </span></p>
+<p id="t13" class="stm mis"><span class="key">def</span> <span class="nam">averaged_trajectory</span><span class="op">(</span><span class="nam">alltraj</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t14" class="pln"> <span class="str">""" Calculate an average trajectory</span><span class="strut"> </span></p>
+<p id="t15" class="pln"><span class="strut"> </span></p>
+<p id="t16" class="pln"><span class="str"> Trajectories are aligned by using dynamic time wraping (dtw). \</span><span class="strut"> </span></p>
+<p id="t17" class="pln"><span class="str">The alignment is relative to the first trajectory in the list. Therefore \</span><span class="strut"> </span></p>
+<p id="t18" class="pln"><span class="str">the average trajectory will have the same length that the first trajectory.</span><span class="strut"> </span></p>
+<p id="t19" class="pln"><span class="strut"> </span></p>
+<p id="t20" class="pln"><span class="str"> Aligned trajectory are aligned as follow. The mean of average position \</span><span class="strut"> </span></p>
+<p id="t21" class="pln"><span class="str">corresponding to the time of the first trajectory devided by the number of \</span><span class="strut"> </span></p>
+<p id="t22" class="pln"><span class="str">trajectory are summed over all trajectory. For the orientation, the circular \</span><span class="strut"> </span></p>
+<p id="t23" class="pln"><span class="str">mean is used according to `Statistics on Sphere` Geoffrey S. Watson 1983.</span><span class="strut"> </span></p>
+<p id="t24" class="pln"><span class="strut"> </span></p>
+<p id="t25" class="pln"><span class="str"> :param alltraj: A list of trajectories</span><span class="strut"> </span></p>
+<p id="t26" class="pln"><span class="str"> :returns: An average trajectory</span><span class="strut"> </span></p>
+<p id="t27" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t28" class="stm mis"> <span class="nam">rotconv</span> <span class="op">=</span> <span class="nam">alltraj</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">.</span><span class="nam">rotation_mode</span><span class="strut"> </span></p>
+<p id="t29" class="stm mis"> <span class="nam">traj_1</span> <span class="op">=</span> <span class="nam">alltraj</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">.</span><span class="nam">dropna</span><span class="op">(</span><span class="op">)</span><span class="op">.</span><span class="nam">values</span><span class="strut"> </span></p>
+<p id="t30" class="stm mis"> <span class="nam">avg_traj</span> <span class="op">=</span> <span class="nam">traj_1</span><span class="op">.</span><span class="nam">copy</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t31" class="stm mis"> <span class="nam">avg_traj</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="num">0</span><span class="op">:</span><span class="num">3</span><span class="op">]</span> <span class="op">/=</span> <span class="nam">len</span><span class="op">(</span><span class="nam">alltraj</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t32" class="stm mis"> <span class="key">for</span> <span class="nam">traj_2</span> <span class="key">in</span> <span class="nam">alltraj</span><span class="op">[</span><span class="num">1</span><span class="op">:</span><span class="op">]</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t33" class="stm mis"> <span class="nam">traj_2</span> <span class="op">=</span> <span class="nam">traj_2</span><span class="op">.</span><span class="nam">dropna</span><span class="op">(</span><span class="op">)</span><span class="op">.</span><span class="nam">values</span><span class="strut"> </span></p>
+<p id="t34" class="stm mis"> <span class="nam">x</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">array</span><span class="op">(</span><span class="nam">traj_1</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="num">1</span><span class="op">,</span> <span class="num">2</span><span class="op">]</span><span class="op">]</span><span class="op">,</span> <span class="nam">dtype</span><span class="op">=</span><span class="str">'float'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t35" class="stm mis"> <span class="nam">y</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">array</span><span class="op">(</span><span class="nam">traj_2</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="num">1</span><span class="op">,</span> <span class="num">2</span><span class="op">]</span><span class="op">]</span><span class="op">,</span> <span class="nam">dtype</span><span class="op">=</span><span class="str">'float'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t36" class="stm mis"> <span class="nam">test</span> <span class="op">=</span> <span class="nam">fastdtw</span><span class="op">.</span><span class="nam">fastdtw</span><span class="op">(</span><span class="nam">x</span><span class="op">,</span> <span class="nam">y</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t37" class="pln"><span class="strut"> </span></p>
+<p id="t38" class="pln"> <span class="com"># average</span><span class="strut"> </span></p>
+<p id="t39" class="stm mis"> <span class="key">for</span> <span class="nam">ii</span><span class="op">,</span> <span class="nam">group</span> <span class="key">in</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">DataFrame</span><span class="op">(</span><span class="nam">test</span><span class="op">[</span><span class="num">1</span><span class="op">]</span><span class="op">)</span><span class="op">.</span><span class="nam">groupby</span><span class="op">(</span><span class="num">0</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t40" class="pln"> <span class="com"># average position</span><span class="strut"> </span></p>
+<p id="t41" class="stm mis"> <span class="nam">avg_traj</span><span class="op">[</span><span class="nam">ii</span><span class="op">,</span> <span class="num">0</span><span class="op">:</span><span class="num">3</span><span class="op">]</span> <span class="op">+=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">mean</span><span class="op">(</span><span class="nam">traj_2</span><span class="op">[</span><span class="nam">group</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="num">1</span><span class="op">]</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t42" class="pln"> <span class="num">0</span><span class="op">:</span><span class="num">3</span><span class="op">]</span><span class="op">,</span> <span class="nam">axis</span><span class="op">=</span><span class="num">0</span><span class="op">)</span> <span class="op">/</span> <span class="nam">len</span><span class="op">(</span><span class="nam">alltraj</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t43" class="pln"> <span class="com"># average angles</span><span class="strut"> </span></p>
+<p id="t44" class="pln"> <span class="com"># see Statistics On Spheres", Geoffrey S. Watson,</span><span class="strut"> </span></p>
+<p id="t45" class="pln"> <span class="com"># University of Arkansas Lecture Notes</span><span class="strut"> </span></p>
+<p id="t46" class="pln"> <span class="com"># in the Mathematical Sciences, 1983 John Wiley & Son</span><span class="strut"> </span></p>
+<p id="t47" class="stm mis"> <span class="key">for</span> <span class="nam">kk</span> <span class="key">in</span> <span class="nam">range</span><span class="op">(</span><span class="num">3</span><span class="op">,</span> <span class="num">6</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t48" class="stm mis"> <span class="nam">sinsum</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">sum</span><span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">sin</span><span class="op">(</span><span class="nam">traj_2</span><span class="op">[</span><span class="nam">group</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="num">1</span><span class="op">]</span><span class="op">,</span> <span class="nam">kk</span><span class="op">]</span><span class="op">)</span><span class="op">,</span> <span class="nam">axis</span><span class="op">=</span><span class="num">0</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t49" class="stm mis"> <span class="nam">cossum</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">sum</span><span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">cos</span><span class="op">(</span><span class="nam">traj_2</span><span class="op">[</span><span class="nam">group</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="num">1</span><span class="op">]</span><span class="op">,</span> <span class="nam">kk</span><span class="op">]</span><span class="op">)</span><span class="op">,</span> <span class="nam">axis</span><span class="op">=</span><span class="num">0</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t50" class="stm mis"> <span class="nam">sinsum</span> <span class="op">+=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">sin</span><span class="op">(</span><span class="nam">avg_traj</span><span class="op">[</span><span class="nam">ii</span><span class="op">,</span> <span class="nam">kk</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t51" class="stm mis"> <span class="nam">cossum</span> <span class="op">+=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">cos</span><span class="op">(</span><span class="nam">avg_traj</span><span class="op">[</span><span class="nam">ii</span><span class="op">,</span> <span class="nam">kk</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t52" class="stm mis"> <span class="nam">avg_traj</span><span class="op">[</span><span class="nam">ii</span><span class="op">,</span> <span class="nam">kk</span><span class="op">]</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">arctan2</span><span class="op">(</span><span class="nam">sinsum</span><span class="op">,</span> <span class="nam">cossum</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t53" class="pln"><span class="strut"> </span></p>
+<p id="t54" class="stm mis"> <span class="key">return</span> <span class="nam">Trajectory</span><span class="op">(</span><span class="op">)</span><span class="op">.</span><span class="nam">from_array</span><span class="op">(</span><span class="nam">avg_traj</span><span class="op">,</span> <span class="nam">rotconv</span><span class="op">=</span><span class="nam">rotconv</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t55" class="pln"><span class="strut"> </span></p>
+<p id="t56" class="pln"><span class="strut"> </span></p>
+<p id="t57" class="stm mis"><span class="key">def</span> <span class="nam">interpolate_markers</span><span class="op">(</span><span class="nam">markers</span><span class="op">,</span> <span class="nam">kind</span><span class="op">=</span><span class="str">'cubic'</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t58" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t59" class="pln"><span class="str"> Interpolate marker position where Nan are</span><span class="strut"> </span></p>
+<p id="t60" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t61" class="stm mis"> <span class="nam">columns</span> <span class="op">=</span> <span class="nam">markers</span><span class="op">.</span><span class="nam">columns</span><span class="strut"> </span></p>
+<p id="t62" class="stm mis"> <span class="nam">markers_inter</span> <span class="op">=</span> <span class="nam">markers</span><span class="op">.</span><span class="nam">copy</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t63" class="stm mis"> <span class="key">for</span> <span class="nam">col</span> <span class="key">in</span> <span class="nam">columns</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t64" class="stm mis"> <span class="nam">y</span> <span class="op">=</span> <span class="nam">markers_inter</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="nam">col</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t65" class="stm mis"> <span class="nam">valid_y</span> <span class="op">=</span> <span class="nam">y</span><span class="op">.</span><span class="nam">dropna</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t66" class="stm mis"> <span class="nam">valid_t</span> <span class="op">=</span> <span class="nam">valid_y</span><span class="op">.</span><span class="nam">index</span><span class="strut"> </span></p>
+<p id="t67" class="stm mis"> <span class="nam">nan_y</span> <span class="op">=</span> <span class="nam">y</span><span class="op">.</span><span class="nam">isnull</span><span class="op">(</span><span class="op">)</span><span class="op">.</span><span class="nam">nonzero</span><span class="op">(</span><span class="op">)</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t68" class="pln"><span class="strut"> </span></p>
+<p id="t69" class="stm mis"> <span class="nam">func</span> <span class="op">=</span> <span class="nam">interp1d</span><span class="op">(</span><span class="nam">valid_t</span><span class="op">,</span> <span class="nam">valid_y</span><span class="op">,</span> <span class="nam">kind</span><span class="op">=</span><span class="str">'cubic'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t70" class="stm mis"> <span class="nam">markers_inter</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="nam">nan_y</span><span class="op">,</span> <span class="nam">col</span><span class="op">]</span> <span class="op">=</span> <span class="nam">func</span><span class="op">(</span><span class="nam">nan_y</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t71" class="stm mis"> <span class="key">return</span> <span class="nam">markers_inter</span><span class="strut"> </span></p>
+<p id="t72" class="pln"><span class="strut"> </span></p>
+<p id="t73" class="pln"><span class="strut"> </span></p>
+<p id="t74" class="stm mis"><span class="key">def</span> <span class="nam">filter_markers</span><span class="op">(</span><span class="nam">markers</span><span class="op">,</span> <span class="nam">cutfreq</span><span class="op">,</span> <span class="nam">order</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t75" class="stm mis"> <span class="key">if</span> <span class="nam">cutfreq</span> <span class="op"><</span> <span class="nam">order</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t76" class="stm mis"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t77" class="pln"> <span class="str">'cutoffrequency {} can not be lower than order {}'</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t78" class="pln"> <span class="nam">cutfreq</span><span class="op">,</span> <span class="nam">order</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t79" class="stm mis"> <span class="nam">nyquist</span> <span class="op">=</span> <span class="nam">markers</span><span class="op">.</span><span class="nam">index</span><span class="op">.</span><span class="nam">name</span> <span class="op">/</span> <span class="num">2</span><span class="strut"> </span></p>
+<p id="t80" class="stm mis"> <span class="key">if</span> <span class="nam">cutfreq</span> <span class="op">></span> <span class="nam">nyquist</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t81" class="stm mis"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t82" class="pln"> <span class="str">'cutoffrequency {} can not be higher than Nyquist freq {}'</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t83" class="pln"> <span class="nam">cutfreq</span><span class="op">,</span> <span class="nam">nyquist</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t84" class="stm mis"> <span class="nam">b</span><span class="op">,</span> <span class="nam">a</span> <span class="op">=</span> <span class="nam">signal</span><span class="op">.</span><span class="nam">butter</span><span class="op">(</span><span class="nam">order</span><span class="op">,</span> <span class="nam">cutfreq</span> <span class="op">/</span> <span class="nam">nyquist</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t85" class="pln"><span class="strut"> </span></p>
+<p id="t86" class="stm mis"> <span class="nam">columns</span> <span class="op">=</span> <span class="nam">markers</span><span class="op">.</span><span class="nam">columns</span><span class="strut"> </span></p>
+<p id="t87" class="stm mis"> <span class="nam">markers_filt</span> <span class="op">=</span> <span class="nam">markers</span><span class="op">.</span><span class="nam">copy</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t88" class="stm mis"> <span class="key">for</span> <span class="nam">col</span> <span class="key">in</span> <span class="nam">columns</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t89" class="stm mis"> <span class="nam">markers_filt</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="nam">col</span><span class="op">]</span> <span class="op">=</span> <span class="nam">signal</span><span class="op">.</span><span class="nam">filtfilt</span><span class="op">(</span><span class="nam">b</span><span class="op">,</span> <span class="nam">a</span><span class="op">,</span> <span class="nam">markers</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="nam">col</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t90" class="stm mis"> <span class="key">return</span> <span class="nam">markers_filt</span><span class="strut"> </span></p>
+<p id="t91" class="pln"><span class="strut"> </span></p>
+<p id="t92" class="pln"><span class="strut"> </span></p>
+<p id="t93" class="stm mis"><span class="key">def</span> <span class="nam">extract_sacintersac</span><span class="op">(</span><span class="nam">trajectory</span><span class="op">,</span> <span class="nam">thresholds</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t94" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t95" class="pln"><span class="str"> add a intersaccade and saccade index the trajectory</span><span class="strut"> </span></p>
+<p id="t96" class="pln"><span class="str"> therefore intersaccade, and saccade columns will be added</span><span class="strut"> </span></p>
+<p id="t97" class="pln"><span class="str"> to the trajectory dataframe</span><span class="strut"> </span></p>
+<p id="t98" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t99" class="pln"> <span class="com"># assign</span><span class="strut"> </span></p>
+<p id="t100" class="stm mis"> <span class="nam">saccade_intersaccde</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">DataFrame</span><span class="op">(</span><span class="nam">index</span><span class="op">=</span><span class="nam">trajectory</span><span class="op">.</span><span class="nam">index</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t101" class="pln"> <span class="nam">columns</span><span class="op">=</span><span class="op">[</span><span class="str">'intersaccade'</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t102" class="pln"> <span class="str">'saccade'</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t103" class="pln"> <span class="str">'smooth_angvel'</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t104" class="pln"><span class="strut"> </span></p>
+<p id="t105" class="pln"> <span class="com"># calculate velocity</span><span class="strut"> </span></p>
+<p id="t106" class="stm mis"> <span class="nam">velocity</span> <span class="op">=</span> <span class="nam">trajectory</span><span class="op">.</span><span class="nam">velocity</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t107" class="stm mis"> <span class="nam">angvel</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">sqrt</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t108" class="pln"> <span class="nam">np</span><span class="op">.</span><span class="nam">sum</span><span class="op">(</span><span class="nam">velocity</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="op">[</span><span class="str">'dalpha_0'</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t109" class="pln"> <span class="str">'dalpha_1'</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t110" class="pln"> <span class="str">'dalpha_2'</span><span class="op">]</span><span class="op">]</span><span class="op">**</span><span class="num">2</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t111" class="pln"> <span class="nam">axis</span><span class="op">=</span><span class="num">1</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t112" class="pln"> <span class="com"># find block of nonan</span><span class="strut"> </span></p>
+<p id="t113" class="stm mis"> <span class="nam">block_nonandf</span> <span class="op">=</span> <span class="nam">tratools</span><span class="op">.</span><span class="nam">extract_block_nonans</span><span class="op">(</span><span class="nam">angvel</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t114" class="stm mis"> <span class="nam">block_nonandf</span> <span class="op">=</span> <span class="nam">block_nonandf</span><span class="op">.</span><span class="nam">astype</span><span class="op">(</span><span class="nam">int</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t115" class="pln"> <span class="com"># print(block_nonandf)</span><span class="strut"> </span></p>
+<p id="t116" class="pln"><span class="strut"> </span></p>
+<p id="t117" class="stm mis"> <span class="nam">sac_number</span> <span class="op">=</span> <span class="num">0</span><span class="strut"> </span></p>
+<p id="t118" class="stm mis"> <span class="nam">intersac_number</span> <span class="op">=</span> <span class="num">0</span><span class="strut"> </span></p>
+<p id="t119" class="stm mis"> <span class="key">for</span> <span class="nam">i</span><span class="op">,</span> <span class="nam">curr_blocknonan</span> <span class="key">in</span> <span class="nam">block_nonandf</span><span class="op">.</span><span class="nam">iterrows</span><span class="op">(</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t120" class="stm mis"> <span class="nam">current_item</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">arange</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t121" class="pln"> <span class="nam">curr_blocknonan</span><span class="op">.</span><span class="nam">start_th1</span><span class="op">,</span> <span class="nam">curr_blocknonan</span><span class="op">.</span><span class="nam">end_th1</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t122" class="stm mis"> <span class="key">if</span> <span class="nam">len</span><span class="op">(</span><span class="nam">current_item</span><span class="op">)</span> <span class="op"><</span> <span class="num">1</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t123" class="stm mis"> <span class="key">continue</span><span class="strut"> </span></p>
+<p id="t124" class="pln"> <span class="com"># extract block</span><span class="strut"> </span></p>
+<p id="t125" class="stm mis"> <span class="nam">data</span> <span class="op">=</span> <span class="nam">angvel</span><span class="op">[</span><span class="nam">current_item</span><span class="op">]</span><span class="op">.</span><span class="nam">abs</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t126" class="stm mis"> <span class="nam">block_df</span> <span class="op">=</span> <span class="nam">tratools</span><span class="op">.</span><span class="nam">extract_block</span><span class="op">(</span><span class="nam">data</span><span class="op">,</span> <span class="nam">thresholds</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t127" class="pln"><span class="strut"> </span></p>
+<p id="t128" class="stm mis"> <span class="nam">sac_e_p</span> <span class="op">=</span> <span class="nam">current_item</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t129" class="stm mis"> <span class="key">for</span> <span class="nam">_</span><span class="op">,</span> <span class="nam">row</span> <span class="key">in</span> <span class="nam">block_df</span><span class="op">.</span><span class="nam">iterrows</span><span class="op">(</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t130" class="stm mis"> <span class="nam">sac_s</span> <span class="op">=</span> <span class="nam">row</span><span class="op">.</span><span class="nam">start_th2</span><span class="strut"> </span></p>
+<p id="t131" class="stm mis"> <span class="nam">sac_e</span> <span class="op">=</span> <span class="nam">row</span><span class="op">.</span><span class="nam">end_th2</span><span class="strut"> </span></p>
+<p id="t132" class="pln"> <span class="com"># check boundary</span><span class="strut"> </span></p>
+<p id="t133" class="stm mis"> <span class="key">if</span> <span class="nam">sac_s</span> <span class="op"><</span> <span class="nam">current_item</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t134" class="stm mis"> <span class="nam">sac_s</span> <span class="op">=</span> <span class="nam">current_item</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t135" class="stm mis"> <span class="key">if</span> <span class="nam">sac_e</span> <span class="op">></span> <span class="nam">current_item</span><span class="op">[</span><span class="op">-</span><span class="num">1</span><span class="op">]</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t136" class="stm mis"> <span class="nam">sac_e</span> <span class="op">=</span> <span class="nam">current_item</span><span class="op">[</span><span class="op">-</span><span class="num">1</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t137" class="pln"><span class="strut"> </span></p>
+<p id="t138" class="stm mis"> <span class="nam">frame_s</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">arange</span><span class="op">(</span><span class="nam">sac_s</span><span class="op">,</span> <span class="nam">sac_e</span><span class="op">)</span><span class="op">.</span><span class="nam">astype</span><span class="op">(</span><span class="nam">int</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t139" class="stm mis"> <span class="nam">frame_i</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">arange</span><span class="op">(</span><span class="nam">sac_e_p</span><span class="op">,</span> <span class="nam">sac_s</span><span class="op">)</span><span class="op">.</span><span class="nam">astype</span><span class="op">(</span><span class="nam">int</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t140" class="stm mis"> <span class="key">if</span> <span class="nam">len</span><span class="op">(</span><span class="nam">frame_s</span><span class="op">)</span> <span class="op">></span> <span class="num">0</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t141" class="stm mis"> <span class="nam">saccade_intersaccde</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="nam">frame_s</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t142" class="pln"> <span class="str">'saccade'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">sac_number</span><span class="strut"> </span></p>
+<p id="t143" class="stm mis"> <span class="nam">sac_number</span> <span class="op">+=</span> <span class="num">1</span><span class="strut"> </span></p>
+<p id="t144" class="stm mis"> <span class="key">if</span> <span class="nam">len</span><span class="op">(</span><span class="nam">frame_i</span><span class="op">)</span> <span class="op">></span> <span class="num">0</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t145" class="stm mis"> <span class="nam">saccade_intersaccde</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="nam">frame_i</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t146" class="pln"> <span class="str">'intersaccade'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">intersac_number</span><span class="strut"> </span></p>
+<p id="t147" class="stm mis"> <span class="nam">intersac_number</span> <span class="op">+=</span> <span class="num">1</span><span class="strut"> </span></p>
+<p id="t148" class="pln"><span class="strut"> </span></p>
+<p id="t149" class="stm mis"> <span class="nam">sac_e_p</span> <span class="op">=</span> <span class="nam">sac_e</span><span class="strut"> </span></p>
+<p id="t150" class="pln"><span class="strut"> </span></p>
+<p id="t151" class="stm mis"> <span class="nam">frame_i</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">arange</span><span class="op">(</span><span class="nam">sac_e_p</span><span class="op">,</span> <span class="nam">current_item</span><span class="op">[</span><span class="op">-</span><span class="num">1</span><span class="op">]</span><span class="op">)</span><span class="op">.</span><span class="nam">astype</span><span class="op">(</span><span class="nam">int</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t152" class="stm mis"> <span class="key">if</span> <span class="nam">len</span><span class="op">(</span><span class="nam">frame_i</span><span class="op">)</span> <span class="op">></span> <span class="num">0</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t153" class="stm mis"> <span class="nam">saccade_intersaccde</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="nam">frame_i</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t154" class="pln"> <span class="str">'intersaccade'</span><span class="op">]</span> <span class="op">=</span> <span class="nam">intersac_number</span><span class="strut"> </span></p>
+<p id="t155" class="stm mis"> <span class="nam">intersac_number</span> <span class="op">+=</span> <span class="num">1</span><span class="strut"> </span></p>
+<p id="t156" class="pln"><span class="strut"> </span></p>
+<p id="t157" class="stm mis"> <span class="key">return</span> <span class="nam">saccade_intersaccde</span><span class="op">,</span> <span class="nam">angvel</span><span class="strut"> </span></p>
+
+ </td>
+ </tr>
+ </table>
+</div>
+
+<div id="footer">
+ <div class="content">
+ <p>
+ <a class="nav" href="index.html">« index</a> <a class="nav" href="https://coverage.readthedocs.io">coverage.py v4.5.2</a>,
+ created at 2019-01-13 14:34
+ </p>
+ </div>
+</div>
+
+</body>
+</html>
diff --git a/coverage_html_report/navipy_trajectories_transformations_py.html b/coverage_html_report/navipy_trajectories_transformations_py.html
new file mode 100644
index 0000000000000000000000000000000000000000..f94ced772706ccb0d3ee938e0c11ba65d2725554
--- /dev/null
+++ b/coverage_html_report/navipy_trajectories_transformations_py.html
@@ -0,0 +1,751 @@
+
+
+
+<!DOCTYPE html>
+<html>
+<head>
+ <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
+
+
+ <meta http-equiv="X-UA-Compatible" content="IE=emulateIE7" />
+ <title>Coverage for navipy/trajectories/transformations.py: 85%</title>
+ <link rel="stylesheet" href="style.css" type="text/css">
+
+ <script type="text/javascript" src="jquery.min.js"></script>
+ <script type="text/javascript" src="jquery.hotkeys.js"></script>
+ <script type="text/javascript" src="jquery.isonscreen.js"></script>
+ <script type="text/javascript" src="coverage_html.js"></script>
+ <script type="text/javascript">
+ jQuery(document).ready(coverage.pyfile_ready);
+ </script>
+</head>
+<body class="pyfile">
+
+<div id="header">
+ <div class="content">
+ <h1>Coverage for <b>navipy/trajectories/transformations.py</b> :
+ <span class="pc_cov">85%</span>
+ </h1>
+
+ <img id="keyboard_icon" src="keybd_closed.png" alt="Show keyboard shortcuts" />
+
+ <h2 class="stats">
+ 183 statements
+ <span class="run hide_run shortkey_r button_toggle_run">156 run</span>
+ <span class="mis shortkey_m button_toggle_mis">27 missing</span>
+ <span class="exc shortkey_x button_toggle_exc">0 excluded</span>
+
+
+ </h2>
+ </div>
+</div>
+
+<div class="help_panel">
+ <img id="panel_icon" src="keybd_open.png" alt="Hide keyboard shortcuts" />
+ <p class="legend">Hot-keys on this page</p>
+ <div>
+ <p class="keyhelp">
+ <span class="key">r</span>
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+ <span class="key">x</span>
+ <span class="key">p</span> toggle line displays
+ </p>
+ <p class="keyhelp">
+ <span class="key">j</span>
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+ </p>
+ <p class="keyhelp">
+ <span class="key">0</span> (zero) top of page
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+ <p class="keyhelp">
+ <span class="key">1</span> (one) first highlighted chunk
+ </p>
+ </div>
+</div>
+
+<div id="source">
+ <table>
+ <tr>
+ <td class="linenos">
+<p id="n1" class="pln"><a href="#n1">1</a></p>
+<p id="n2" class="pln"><a href="#n2">2</a></p>
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+<p id="n191" class="stm run hide_run"><a href="#n191">191</a></p>
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+<p id="n194" class="pln"><a href="#n194">194</a></p>
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+<p id="n207" class="stm run hide_run"><a href="#n207">207</a></p>
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+<p id="n222" class="pln"><a href="#n222">222</a></p>
+<p id="n223" class="pln"><a href="#n223">223</a></p>
+<p id="n224" class="pln"><a href="#n224">224</a></p>
+<p id="n225" class="pln"><a href="#n225">225</a></p>
+<p id="n226" class="pln"><a href="#n226">226</a></p>
+<p id="n227" class="pln"><a href="#n227">227</a></p>
+<p id="n228" class="pln"><a href="#n228">228</a></p>
+<p id="n229" class="pln"><a href="#n229">229</a></p>
+<p id="n230" class="pln"><a href="#n230">230</a></p>
+<p id="n231" class="pln"><a href="#n231">231</a></p>
+<p id="n232" class="pln"><a href="#n232">232</a></p>
+<p id="n233" class="pln"><a href="#n233">233</a></p>
+<p id="n234" class="pln"><a href="#n234">234</a></p>
+<p id="n235" class="pln"><a href="#n235">235</a></p>
+<p id="n236" class="pln"><a href="#n236">236</a></p>
+<p id="n237" class="pln"><a href="#n237">237</a></p>
+<p id="n238" class="pln"><a href="#n238">238</a></p>
+<p id="n239" class="pln"><a href="#n239">239</a></p>
+<p id="n240" class="pln"><a href="#n240">240</a></p>
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+<p id="n242" class="pln"><a href="#n242">242</a></p>
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+<p id="n264" class="stm run hide_run"><a href="#n264">264</a></p>
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+<p id="n266" class="pln"><a href="#n266">266</a></p>
+<p id="n267" class="stm mis"><a href="#n267">267</a></p>
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+<p id="n269" class="pln"><a href="#n269">269</a></p>
+<p id="n270" class="stm run hide_run"><a href="#n270">270</a></p>
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+<p id="n272" class="pln"><a href="#n272">272</a></p>
+<p id="n273" class="stm run hide_run"><a href="#n273">273</a></p>
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+<p id="n275" class="pln"><a href="#n275">275</a></p>
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+<p id="n277" class="pln"><a href="#n277">277</a></p>
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+<p id="n279" class="pln"><a href="#n279">279</a></p>
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+<p id="n283" class="pln"><a href="#n283">283</a></p>
+<p id="n284" class="stm run hide_run"><a href="#n284">284</a></p>
+<p id="n285" class="stm run hide_run"><a href="#n285">285</a></p>
+<p id="n286" class="pln"><a href="#n286">286</a></p>
+<p id="n287" class="pln"><a href="#n287">287</a></p>
+<p id="n288" class="stm run hide_run"><a href="#n288">288</a></p>
+<p id="n289" class="pln"><a href="#n289">289</a></p>
+<p id="n290" class="pln"><a href="#n290">290</a></p>
+<p id="n291" class="pln"><a href="#n291">291</a></p>
+<p id="n292" class="pln"><a href="#n292">292</a></p>
+<p id="n293" class="pln"><a href="#n293">293</a></p>
+<p id="n294" class="pln"><a href="#n294">294</a></p>
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+<p id="n296" class="pln"><a href="#n296">296</a></p>
+<p id="n297" class="stm run hide_run"><a href="#n297">297</a></p>
+<p id="n298" class="stm mis"><a href="#n298">298</a></p>
+<p id="n299" class="pln"><a href="#n299">299</a></p>
+<p id="n300" class="pln"><a href="#n300">300</a></p>
+<p id="n301" class="stm run hide_run"><a href="#n301">301</a></p>
+<p id="n302" class="pln"><a href="#n302">302</a></p>
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+<p id="n304" class="stm run hide_run"><a href="#n304">304</a></p>
+<p id="n305" class="stm mis"><a href="#n305">305</a></p>
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+<p id="n308" class="stm run hide_run"><a href="#n308">308</a></p>
+<p id="n309" class="stm mis"><a href="#n309">309</a></p>
+<p id="n310" class="stm mis"><a href="#n310">310</a></p>
+<p id="n311" class="stm mis"><a href="#n311">311</a></p>
+<p id="n312" class="stm run hide_run"><a href="#n312">312</a></p>
+<p id="n313" class="stm mis"><a href="#n313">313</a></p>
+<p id="n314" class="stm mis"><a href="#n314">314</a></p>
+<p id="n315" class="stm mis"><a href="#n315">315</a></p>
+<p id="n316" class="stm run hide_run"><a href="#n316">316</a></p>
+<p id="n317" class="stm mis"><a href="#n317">317</a></p>
+<p id="n318" class="stm mis"><a href="#n318">318</a></p>
+<p id="n319" class="stm mis"><a href="#n319">319</a></p>
+<p id="n320" class="pln"><a href="#n320">320</a></p>
+<p id="n321" class="stm run hide_run"><a href="#n321">321</a></p>
+<p id="n322" class="stm run hide_run"><a href="#n322">322</a></p>
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+<p id="n324" class="pln"><a href="#n324">324</a></p>
+<p id="n325" class="stm run hide_run"><a href="#n325">325</a></p>
+<p id="n326" class="pln"><a href="#n326">326</a></p>
+<p id="n327" class="pln"><a href="#n327">327</a></p>
+<p id="n328" class="stm run hide_run"><a href="#n328">328</a></p>
+<p id="n329" class="pln"><a href="#n329">329</a></p>
+<p id="n330" class="stm run hide_run"><a href="#n330">330</a></p>
+<p id="n331" class="stm run hide_run"><a href="#n331">331</a></p>
+
+ </td>
+ <td class="text">
+<p id="t1" class="pln"><span class="str">"""</span><span class="strut"> </span></p>
+<p id="t2" class="pln"><span class="str">"""</span><span class="strut"> </span></p>
+<p id="t3" class="stm run hide_run"><span class="key">import</span> <span class="nam">numpy</span> <span class="key">as</span> <span class="nam">np</span><span class="strut"> </span></p>
+<p id="t4" class="stm run hide_run"><span class="key">from</span> <span class="nam">navipy</span><span class="op">.</span><span class="nam">trajectories</span><span class="op">.</span><span class="nam">triangle</span> <span class="key">import</span> <span class="nam">Triangle</span><span class="strut"> </span></p>
+<p id="t5" class="stm run hide_run"><span class="key">from</span> <span class="nam">navipy</span><span class="op">.</span><span class="nam">maths</span> <span class="key">import</span> <span class="nam">homogeneous_transformations</span> <span class="key">as</span> <span class="nam">ht</span><span class="strut"> </span></p>
+<p id="t6" class="stm run hide_run"><span class="key">from</span> <span class="nam">scipy</span><span class="op">.</span><span class="nam">optimize</span> <span class="key">import</span> <span class="nam">minimize</span><span class="strut"> </span></p>
+<p id="t7" class="pln"><span class="strut"> </span></p>
+<p id="t8" class="stm run hide_run"><span class="nam">_modes</span> <span class="op">=</span> <span class="op">[</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t9" class="stm run hide_run"><span class="key">for</span> <span class="nam">axel</span> <span class="key">in</span> <span class="op">[</span><span class="str">'x-axis'</span><span class="op">,</span> <span class="str">'y-axis'</span><span class="op">,</span> <span class="str">'z-axis'</span><span class="op">]</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t10" class="stm run hide_run"> <span class="key">for</span> <span class="nam">marker</span> <span class="key">in</span> <span class="nam">range</span><span class="op">(</span><span class="num">3</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t11" class="stm run hide_run"> <span class="nam">_modes</span><span class="op">.</span><span class="nam">append</span><span class="op">(</span><span class="nam">axel</span> <span class="op">+</span> <span class="str">'=median-from-{}'</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">marker</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t12" class="pln"><span class="strut"> </span></p>
+<p id="t13" class="stm run hide_run"><span class="key">for</span> <span class="nam">axel</span> <span class="key">in</span> <span class="op">[</span><span class="str">'x-axis'</span><span class="op">,</span> <span class="str">'y-axis'</span><span class="op">,</span> <span class="str">'z-axis'</span><span class="op">]</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t14" class="stm run hide_run"> <span class="key">for</span> <span class="nam">marki</span> <span class="key">in</span> <span class="nam">range</span><span class="op">(</span><span class="num">3</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t15" class="stm run hide_run"> <span class="key">for</span> <span class="nam">markj</span> <span class="key">in</span> <span class="nam">range</span><span class="op">(</span><span class="num">3</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t16" class="stm run hide_run"> <span class="key">if</span> <span class="nam">marki</span> <span class="op">==</span> <span class="nam">markj</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t17" class="stm run hide_run"> <span class="key">continue</span><span class="strut"> </span></p>
+<p id="t18" class="stm run hide_run"> <span class="nam">_modes</span><span class="op">.</span><span class="nam">append</span><span class="op">(</span><span class="nam">axel</span> <span class="op">+</span> <span class="str">'={}-{}'</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">marki</span><span class="op">,</span> <span class="nam">markj</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t19" class="pln"><span class="strut"> </span></p>
+<p id="t20" class="pln"><span class="strut"> </span></p>
+<p id="t21" class="stm run hide_run"><span class="key">def</span> <span class="nam">determine_mode</span><span class="op">(</span><span class="nam">mode</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t22" class="stm run hide_run"> <span class="nam">cmode</span> <span class="op">=</span> <span class="nam">mode</span><span class="op">.</span><span class="nam">split</span><span class="op">(</span><span class="str">'='</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t23" class="stm run hide_run"> <span class="key">if</span> <span class="nam">len</span><span class="op">(</span><span class="nam">cmode</span><span class="op">)</span> <span class="op">!=</span> <span class="num">2</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t24" class="stm run hide_run"> <span class="key">raise</span> <span class="nam">KeyError</span><span class="op">(</span><span class="str">'mode should contain one and only one sign ='</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t25" class="stm run hide_run"> <span class="nam">axes</span> <span class="op">=</span> <span class="op">[</span><span class="str">'x-axis'</span><span class="op">,</span> <span class="str">'y-axis'</span><span class="op">,</span> <span class="str">'z-axis'</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t26" class="stm run hide_run"> <span class="key">if</span> <span class="nam">cmode</span><span class="op">[</span><span class="num">0</span><span class="op">]</span> <span class="key">not</span> <span class="key">in</span> <span class="nam">axes</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t27" class="stm mis"> <span class="key">raise</span> <span class="nam">KeyError</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t28" class="pln"> <span class="str">'left side of sign = should be {}, {}, or {}'</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t29" class="pln"> <span class="nam">axes</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">,</span> <span class="nam">axes</span><span class="op">[</span><span class="num">1</span><span class="op">]</span><span class="op">,</span> <span class="nam">axes</span><span class="op">[</span><span class="num">2</span><span class="op">]</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t30" class="stm run hide_run"> <span class="nam">axel</span> <span class="op">=</span> <span class="nam">cmode</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t31" class="stm run hide_run"> <span class="nam">cmode</span> <span class="op">=</span> <span class="nam">cmode</span><span class="op">[</span><span class="num">1</span><span class="op">]</span><span class="op">.</span><span class="nam">split</span><span class="op">(</span><span class="str">'-'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t32" class="stm run hide_run"> <span class="key">if</span> <span class="nam">len</span><span class="op">(</span><span class="nam">cmode</span><span class="op">)</span> <span class="op">==</span> <span class="num">2</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t33" class="stm run hide_run"> <span class="nam">apexes</span> <span class="op">=</span> <span class="op">(</span><span class="nam">int</span><span class="op">(</span><span class="nam">cmode</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">)</span><span class="op">,</span> <span class="nam">int</span><span class="op">(</span><span class="nam">cmode</span><span class="op">[</span><span class="num">1</span><span class="op">]</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t34" class="stm run hide_run"> <span class="nam">method</span> <span class="op">=</span> <span class="str">'aligned-with'</span><span class="strut"> </span></p>
+<p id="t35" class="stm run hide_run"> <span class="key">elif</span> <span class="nam">len</span><span class="op">(</span><span class="nam">cmode</span><span class="op">)</span> <span class="op">==</span> <span class="num">3</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t36" class="stm run hide_run"> <span class="nam">apexes</span> <span class="op">=</span> <span class="nam">int</span><span class="op">(</span><span class="nam">cmode</span><span class="op">[</span><span class="op">-</span><span class="num">1</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t37" class="stm run hide_run"> <span class="nam">method</span> <span class="op">=</span> <span class="nam">cmode</span><span class="op">[</span><span class="num">0</span><span class="op">]</span> <span class="op">+</span> <span class="str">'-'</span> <span class="op">+</span> <span class="nam">cmode</span><span class="op">[</span><span class="num">1</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t38" class="stm run hide_run"> <span class="key">return</span> <span class="nam">axel</span><span class="op">,</span> <span class="nam">apexes</span><span class="op">,</span> <span class="nam">method</span><span class="strut"> </span></p>
+<p id="t39" class="pln"><span class="strut"> </span></p>
+<p id="t40" class="pln"><span class="strut"> </span></p>
+<p id="t41" class="stm run hide_run"><span class="key">def</span> <span class="nam">normalise_vec</span><span class="op">(</span><span class="nam">vec</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t42" class="pln"> <span class="str">"""Normalise vector when its norm is >0"""</span><span class="strut"> </span></p>
+<p id="t43" class="pln"> <span class="com"># assert np.linalg.norm(vec) > 0, 'vec axis has a null norm'</span><span class="strut"> </span></p>
+<p id="t44" class="stm run hide_run"> <span class="key">if</span> <span class="nam">np</span><span class="op">.</span><span class="nam">linalg</span><span class="op">.</span><span class="nam">norm</span><span class="op">(</span><span class="nam">vec</span><span class="op">)</span> <span class="op">></span> <span class="num">0</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t45" class="stm run hide_run"> <span class="nam">vec</span> <span class="op">=</span> <span class="nam">vec</span> <span class="op">/</span> <span class="nam">np</span><span class="op">.</span><span class="nam">linalg</span><span class="op">.</span><span class="nam">norm</span><span class="op">(</span><span class="nam">vec</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t46" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t47" class="stm mis"> <span class="nam">vec</span> <span class="op">=</span> <span class="nam">vec</span> <span class="op">*</span> <span class="nam">np</span><span class="op">.</span><span class="nam">nan</span><span class="strut"> </span></p>
+<p id="t48" class="stm run hide_run"> <span class="key">return</span> <span class="nam">vec</span><span class="strut"> </span></p>
+<p id="t49" class="pln"><span class="strut"> </span></p>
+<p id="t50" class="pln"><span class="strut"> </span></p>
+<p id="t51" class="stm run hide_run"><span class="key">def</span> <span class="nam">median_from</span><span class="op">(</span><span class="nam">triangle</span><span class="op">,</span> <span class="nam">axel</span><span class="op">,</span> <span class="nam">marker</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t52" class="pln"> <span class="str">"""One axel of the body is assumed to be aligned with the median \</span><span class="strut"> </span></p>
+<p id="t53" class="pln"><span class="str"> from an apex of the triangle.</span><span class="strut"> </span></p>
+<p id="t54" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t55" class="pln"> <span class="com"># find next marker</span><span class="strut"> </span></p>
+<p id="t56" class="stm run hide_run"> <span class="nam">next_marker</span> <span class="op">=</span> <span class="nam">marker</span> <span class="op">+</span> <span class="num">1</span><span class="strut"> </span></p>
+<p id="t57" class="stm run hide_run"> <span class="key">if</span> <span class="nam">next_marker</span> <span class="op">></span> <span class="num">2</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t58" class="stm run hide_run"> <span class="nam">next_marker</span> <span class="op">=</span> <span class="num">0</span><span class="strut"> </span></p>
+<p id="t59" class="stm run hide_run"> <span class="nam">medians</span> <span class="op">=</span> <span class="nam">triangle</span><span class="op">.</span><span class="nam">medians</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t60" class="stm run hide_run"> <span class="nam">vectors</span> <span class="op">=</span> <span class="nam">triangle</span><span class="op">.</span><span class="nam">apexes2vectors</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t61" class="stm run hide_run"> <span class="nam">x_axis</span> <span class="op">=</span> <span class="nam">medians</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="nam">marker</span><span class="op">]</span> <span class="op">-</span> <span class="nam">triangle</span><span class="op">.</span><span class="nam">apexes</span><span class="op">.</span><span class="nam">apex0</span><span class="strut"> </span></p>
+<p id="t62" class="stm run hide_run"> <span class="nam">x_axis</span> <span class="op">=</span> <span class="nam">x_axis</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="op">[</span><span class="str">'x'</span><span class="op">,</span> <span class="str">'y'</span><span class="op">,</span> <span class="str">'z'</span><span class="op">]</span><span class="op">]</span><span class="op">.</span><span class="nam">values</span><span class="strut"> </span></p>
+<p id="t63" class="stm run hide_run"> <span class="key">if</span> <span class="op">(</span><span class="op">(</span><span class="nam">marker</span><span class="op">,</span> <span class="nam">next_marker</span><span class="op">)</span> <span class="op">==</span> <span class="op">(</span><span class="num">0</span><span class="op">,</span> <span class="num">1</span><span class="op">)</span><span class="op">)</span> <span class="key">or</span> <span class="xx">\</span><span class="strut"> </span></p>
+<p id="t64" class="pln"> <span class="op">(</span><span class="op">(</span><span class="nam">marker</span><span class="op">,</span> <span class="nam">next_marker</span><span class="op">)</span> <span class="op">==</span> <span class="op">(</span><span class="num">1</span><span class="op">,</span> <span class="num">2</span><span class="op">)</span><span class="op">)</span> <span class="key">or</span> <span class="xx">\</span><span class="strut"> </span></p>
+<p id="t65" class="pln"> <span class="op">(</span><span class="op">(</span><span class="nam">marker</span><span class="op">,</span> <span class="nam">next_marker</span><span class="op">)</span> <span class="op">==</span> <span class="op">(</span><span class="num">2</span><span class="op">,</span> <span class="num">0</span><span class="op">)</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t66" class="stm run hide_run"> <span class="nam">vector</span> <span class="op">=</span> <span class="nam">vectors</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="op">[</span><span class="str">'x'</span><span class="op">,</span> <span class="str">'y'</span><span class="op">,</span> <span class="str">'z'</span><span class="op">]</span><span class="op">,</span> <span class="op">(</span><span class="nam">marker</span><span class="op">,</span> <span class="nam">next_marker</span><span class="op">)</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t67" class="stm mis"> <span class="key">elif</span> <span class="op">(</span><span class="op">(</span><span class="nam">next_marker</span><span class="op">,</span> <span class="nam">marker</span><span class="op">)</span> <span class="op">==</span> <span class="op">(</span><span class="num">0</span><span class="op">,</span> <span class="num">1</span><span class="op">)</span><span class="op">)</span> <span class="key">or</span> <span class="xx">\</span><span class="strut"> </span></p>
+<p id="t68" class="pln"> <span class="op">(</span><span class="op">(</span><span class="nam">next_marker</span><span class="op">,</span> <span class="nam">marker</span><span class="op">)</span> <span class="op">==</span> <span class="op">(</span><span class="num">1</span><span class="op">,</span> <span class="num">2</span><span class="op">)</span><span class="op">)</span> <span class="key">or</span> <span class="xx">\</span><span class="strut"> </span></p>
+<p id="t69" class="pln"> <span class="op">(</span><span class="op">(</span><span class="nam">next_marker</span><span class="op">,</span> <span class="nam">marker</span><span class="op">)</span> <span class="op">==</span> <span class="op">(</span><span class="num">2</span><span class="op">,</span> <span class="num">0</span><span class="op">)</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t70" class="stm mis"> <span class="nam">vector</span> <span class="op">=</span> <span class="op">-</span><span class="nam">vectors</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="op">[</span><span class="str">'x'</span><span class="op">,</span> <span class="str">'y'</span><span class="op">,</span> <span class="str">'z'</span><span class="op">]</span><span class="op">,</span> <span class="op">(</span><span class="nam">next_marker</span><span class="op">,</span> <span class="nam">marker</span><span class="op">)</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t71" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t72" class="stm mis"> <span class="key">raise</span> <span class="nam">KeyError</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t73" class="pln"> <span class="str">'Can not compute median from with apexes {}'</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">marker</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t74" class="stm run hide_run"> <span class="nam">z_axis</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">cross</span><span class="op">(</span><span class="nam">vector</span><span class="op">.</span><span class="nam">values</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t75" class="pln"> <span class="nam">x_axis</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t76" class="stm run hide_run"> <span class="nam">y_axis</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">cross</span><span class="op">(</span><span class="nam">z_axis</span><span class="op">,</span> <span class="nam">x_axis</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t77" class="stm run hide_run"> <span class="nam">x_axis</span> <span class="op">=</span> <span class="nam">normalise_vec</span><span class="op">(</span><span class="nam">x_axis</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t78" class="stm run hide_run"> <span class="nam">y_axis</span> <span class="op">=</span> <span class="nam">normalise_vec</span><span class="op">(</span><span class="nam">y_axis</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t79" class="stm run hide_run"> <span class="nam">z_axis</span> <span class="op">=</span> <span class="nam">normalise_vec</span><span class="op">(</span><span class="nam">z_axis</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t80" class="stm run hide_run"> <span class="key">if</span> <span class="nam">axel</span> <span class="op">==</span> <span class="str">'x-axis'</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t81" class="stm run hide_run"> <span class="key">return</span> <span class="nam">x_axis</span><span class="op">,</span> <span class="nam">y_axis</span><span class="op">,</span> <span class="nam">z_axis</span><span class="strut"> </span></p>
+<p id="t82" class="stm run hide_run"> <span class="key">elif</span> <span class="nam">axel</span> <span class="op">==</span> <span class="str">'y-axis'</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t83" class="stm run hide_run"> <span class="key">return</span> <span class="nam">y_axis</span><span class="op">,</span> <span class="nam">z_axis</span><span class="op">,</span> <span class="nam">x_axis</span><span class="strut"> </span></p>
+<p id="t84" class="stm run hide_run"> <span class="key">elif</span> <span class="nam">axel</span> <span class="op">==</span> <span class="str">'z-axis'</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t85" class="stm run hide_run"> <span class="key">return</span> <span class="nam">z_axis</span><span class="op">,</span> <span class="nam">x_axis</span><span class="op">,</span> <span class="nam">y_axis</span><span class="strut"> </span></p>
+<p id="t86" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t87" class="stm mis"> <span class="key">raise</span> <span class="nam">KeyError</span><span class="op">(</span><span class="str">'{} axis is not supported'</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">axel</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t88" class="pln"><span class="strut"> </span></p>
+<p id="t89" class="stm mis"> <span class="key">return</span> <span class="nam">x_axis</span><span class="op">,</span> <span class="nam">y_axis</span><span class="op">,</span> <span class="nam">z_axis</span><span class="strut"> </span></p>
+<p id="t90" class="pln"><span class="strut"> </span></p>
+<p id="t91" class="pln"><span class="strut"> </span></p>
+<p id="t92" class="stm run hide_run"><span class="key">def</span> <span class="nam">aligned_with</span><span class="op">(</span><span class="nam">triangle</span><span class="op">,</span> <span class="nam">axel</span><span class="op">,</span> <span class="nam">markers</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t93" class="pln"> <span class="str">"""One axel of the body is assumed to be aligned with one edge of the triangle.</span><span class="strut"> </span></p>
+<p id="t94" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t95" class="pln"> <span class="com"># find third marker</span><span class="strut"> </span></p>
+<p id="t96" class="stm run hide_run"> <span class="nam">third_marker</span> <span class="op">=</span> <span class="key">None</span><span class="strut"> </span></p>
+<p id="t97" class="stm run hide_run"> <span class="key">for</span> <span class="nam">mark</span> <span class="key">in</span> <span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="num">1</span><span class="op">,</span> <span class="num">2</span><span class="op">]</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t98" class="stm run hide_run"> <span class="key">if</span> <span class="nam">mark</span> <span class="key">not</span> <span class="key">in</span> <span class="nam">markers</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t99" class="stm run hide_run"> <span class="nam">third_marker</span> <span class="op">=</span> <span class="nam">mark</span><span class="strut"> </span></p>
+<p id="t100" class="stm run hide_run"> <span class="key">break</span><span class="strut"> </span></p>
+<p id="t101" class="pln"><span class="strut"> </span></p>
+<p id="t102" class="stm run hide_run"> <span class="nam">vectors</span> <span class="op">=</span> <span class="nam">triangle</span><span class="op">.</span><span class="nam">apexes2vectors</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t103" class="stm run hide_run"> <span class="key">if</span> <span class="op">(</span><span class="nam">markers</span> <span class="op">==</span> <span class="op">(</span><span class="num">0</span><span class="op">,</span> <span class="num">1</span><span class="op">)</span><span class="op">)</span> <span class="key">or</span> <span class="xx">\</span><span class="strut"> </span></p>
+<p id="t104" class="pln"> <span class="op">(</span><span class="nam">markers</span> <span class="op">==</span> <span class="op">(</span><span class="num">1</span><span class="op">,</span> <span class="num">2</span><span class="op">)</span><span class="op">)</span> <span class="key">or</span> <span class="xx">\</span><span class="strut"> </span></p>
+<p id="t105" class="pln"> <span class="op">(</span><span class="nam">markers</span> <span class="op">==</span> <span class="op">(</span><span class="num">2</span><span class="op">,</span> <span class="num">0</span><span class="op">)</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t106" class="stm run hide_run"> <span class="nam">y_axis</span> <span class="op">=</span> <span class="nam">vectors</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="op">(</span><span class="nam">markers</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">,</span> <span class="nam">markers</span><span class="op">[</span><span class="num">1</span><span class="op">]</span><span class="op">)</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t107" class="stm run hide_run"> <span class="key">elif</span> <span class="op">(</span><span class="nam">markers</span><span class="op">[</span><span class="op">:</span><span class="op">:</span><span class="op">-</span><span class="num">1</span><span class="op">]</span> <span class="op">==</span> <span class="op">(</span><span class="num">0</span><span class="op">,</span> <span class="num">1</span><span class="op">)</span><span class="op">)</span> <span class="key">or</span> <span class="xx">\</span><span class="strut"> </span></p>
+<p id="t108" class="pln"> <span class="op">(</span><span class="nam">markers</span><span class="op">[</span><span class="op">:</span><span class="op">:</span><span class="op">-</span><span class="num">1</span><span class="op">]</span> <span class="op">==</span> <span class="op">(</span><span class="num">1</span><span class="op">,</span> <span class="num">2</span><span class="op">)</span><span class="op">)</span> <span class="key">or</span> <span class="xx">\</span><span class="strut"> </span></p>
+<p id="t109" class="pln"> <span class="op">(</span><span class="nam">markers</span><span class="op">[</span><span class="op">:</span><span class="op">:</span><span class="op">-</span><span class="num">1</span><span class="op">]</span> <span class="op">==</span> <span class="op">(</span><span class="num">2</span><span class="op">,</span> <span class="num">0</span><span class="op">)</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t110" class="stm run hide_run"> <span class="nam">y_axis</span> <span class="op">=</span> <span class="op">-</span> <span class="nam">vectors</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="op">[</span><span class="str">'x'</span><span class="op">,</span> <span class="str">'y'</span><span class="op">,</span> <span class="str">'z'</span><span class="op">]</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t111" class="pln"> <span class="op">(</span><span class="nam">markers</span><span class="op">[</span><span class="num">1</span><span class="op">]</span><span class="op">,</span> <span class="nam">markers</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">)</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t112" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t113" class="stm mis"> <span class="key">raise</span> <span class="nam">KeyError</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t114" class="pln"> <span class="str">'Can not compute aligned-with with apexes {}, {}'</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t115" class="pln"> <span class="nam">markers</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">,</span> <span class="nam">markers</span><span class="op">[</span><span class="num">1</span><span class="op">]</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t116" class="pln"><span class="strut"> </span></p>
+<p id="t117" class="stm run hide_run"> <span class="nam">y_axis</span> <span class="op">=</span> <span class="nam">y_axis</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="op">[</span><span class="str">'x'</span><span class="op">,</span> <span class="str">'y'</span><span class="op">,</span> <span class="str">'z'</span><span class="op">]</span><span class="op">]</span><span class="op">.</span><span class="nam">values</span><span class="strut"> </span></p>
+<p id="t118" class="stm run hide_run"> <span class="key">if</span> <span class="op">(</span><span class="op">(</span><span class="nam">markers</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">,</span> <span class="nam">third_marker</span><span class="op">)</span> <span class="op">==</span> <span class="op">(</span><span class="num">0</span><span class="op">,</span> <span class="num">1</span><span class="op">)</span><span class="op">)</span> <span class="key">or</span> <span class="xx">\</span><span class="strut"> </span></p>
+<p id="t119" class="pln"> <span class="op">(</span><span class="op">(</span><span class="nam">markers</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">,</span> <span class="nam">third_marker</span><span class="op">)</span> <span class="op">==</span> <span class="op">(</span><span class="num">1</span><span class="op">,</span> <span class="num">2</span><span class="op">)</span><span class="op">)</span> <span class="key">or</span> <span class="xx">\</span><span class="strut"> </span></p>
+<p id="t120" class="pln"> <span class="op">(</span><span class="op">(</span><span class="nam">markers</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">,</span> <span class="nam">third_marker</span><span class="op">)</span> <span class="op">==</span> <span class="op">(</span><span class="num">2</span><span class="op">,</span> <span class="num">0</span><span class="op">)</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t121" class="stm run hide_run"> <span class="nam">vector</span> <span class="op">=</span> <span class="op">-</span> <span class="nam">vectors</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="op">[</span><span class="str">'x'</span><span class="op">,</span> <span class="str">'y'</span><span class="op">,</span> <span class="str">'z'</span><span class="op">]</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t122" class="pln"> <span class="op">(</span><span class="nam">markers</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">,</span> <span class="nam">third_marker</span><span class="op">)</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t123" class="stm run hide_run"> <span class="key">elif</span> <span class="op">(</span><span class="op">(</span><span class="nam">third_marker</span><span class="op">,</span> <span class="nam">markers</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">)</span> <span class="op">==</span> <span class="op">(</span><span class="num">0</span><span class="op">,</span> <span class="num">1</span><span class="op">)</span><span class="op">)</span> <span class="key">or</span> <span class="xx">\</span><span class="strut"> </span></p>
+<p id="t124" class="pln"> <span class="op">(</span><span class="op">(</span><span class="nam">third_marker</span><span class="op">,</span> <span class="nam">markers</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">)</span> <span class="op">==</span> <span class="op">(</span><span class="num">1</span><span class="op">,</span> <span class="num">2</span><span class="op">)</span><span class="op">)</span> <span class="key">or</span> <span class="xx">\</span><span class="strut"> </span></p>
+<p id="t125" class="pln"> <span class="op">(</span><span class="op">(</span><span class="nam">third_marker</span><span class="op">,</span> <span class="nam">markers</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">)</span> <span class="op">==</span> <span class="op">(</span><span class="num">2</span><span class="op">,</span> <span class="num">0</span><span class="op">)</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t126" class="stm run hide_run"> <span class="nam">vector</span> <span class="op">=</span> <span class="nam">vectors</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="op">[</span><span class="str">'x'</span><span class="op">,</span> <span class="str">'y'</span><span class="op">,</span> <span class="str">'z'</span><span class="op">]</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t127" class="pln"> <span class="op">(</span><span class="nam">third_marker</span><span class="op">,</span> <span class="nam">markers</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">)</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t128" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t129" class="stm mis"> <span class="key">raise</span> <span class="nam">KeyError</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t130" class="pln"> <span class="str">'Can not compute aligned-with with apexes {}, {}'</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t131" class="pln"> <span class="nam">markers</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">,</span> <span class="nam">markers</span><span class="op">[</span><span class="num">1</span><span class="op">]</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t132" class="pln"><span class="strut"> </span></p>
+<p id="t133" class="stm run hide_run"> <span class="nam">z_axis</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">cross</span><span class="op">(</span><span class="nam">vector</span><span class="op">,</span> <span class="nam">y_axis</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t134" class="stm run hide_run"> <span class="nam">x_axis</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">cross</span><span class="op">(</span><span class="nam">y_axis</span><span class="op">,</span> <span class="nam">z_axis</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t135" class="pln"><span class="strut"> </span></p>
+<p id="t136" class="stm run hide_run"> <span class="nam">x_axis</span> <span class="op">=</span> <span class="nam">normalise_vec</span><span class="op">(</span><span class="nam">x_axis</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t137" class="stm run hide_run"> <span class="nam">y_axis</span> <span class="op">=</span> <span class="nam">normalise_vec</span><span class="op">(</span><span class="nam">y_axis</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t138" class="stm run hide_run"> <span class="nam">z_axis</span> <span class="op">=</span> <span class="nam">normalise_vec</span><span class="op">(</span><span class="nam">z_axis</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t139" class="pln"><span class="strut"> </span></p>
+<p id="t140" class="stm run hide_run"> <span class="key">if</span> <span class="nam">axel</span> <span class="op">==</span> <span class="str">'y-axis'</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t141" class="stm run hide_run"> <span class="key">return</span> <span class="nam">x_axis</span><span class="op">,</span> <span class="nam">y_axis</span><span class="op">,</span> <span class="nam">z_axis</span><span class="strut"> </span></p>
+<p id="t142" class="stm run hide_run"> <span class="key">elif</span> <span class="nam">axel</span> <span class="op">==</span> <span class="str">'x-axis'</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t143" class="stm run hide_run"> <span class="key">return</span> <span class="nam">y_axis</span><span class="op">,</span> <span class="nam">z_axis</span><span class="op">,</span> <span class="nam">x_axis</span><span class="strut"> </span></p>
+<p id="t144" class="stm run hide_run"> <span class="key">elif</span> <span class="nam">axel</span> <span class="op">==</span> <span class="str">'z-axis'</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t145" class="stm run hide_run"> <span class="key">return</span> <span class="nam">z_axis</span><span class="op">,</span> <span class="nam">x_axis</span><span class="op">,</span> <span class="nam">y_axis</span><span class="strut"> </span></p>
+<p id="t146" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t147" class="stm mis"> <span class="key">raise</span> <span class="nam">KeyError</span><span class="op">(</span><span class="str">'{} axis is not supported'</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">axel</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t148" class="pln"><span class="strut"> </span></p>
+<p id="t149" class="pln"><span class="strut"> </span></p>
+<p id="t150" class="stm run hide_run"><span class="key">def</span> <span class="nam">triangle2bodyaxis</span><span class="op">(</span><span class="nam">triangle</span><span class="op">,</span> <span class="nam">mode</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t151" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t152" class="pln"><span class="str"> The center of mass of the triangle is the center of all axis of the body.</span><span class="strut"> </span></p>
+<p id="t153" class="pln"><span class="str"> The triangle may not be always placed in the same relative to \</span><span class="strut"> </span></p>
+<p id="t154" class="pln"><span class="str">the body axis. Therefore several methods can be used to compute \</span><span class="strut"> </span></p>
+<p id="t155" class="pln"><span class="str">the body axis from a three points placed on a body. Those methods \</span><span class="strut"> </span></p>
+<p id="t156" class="pln"><span class="str">are accesible via the mode.</span><span class="strut"> </span></p>
+<p id="t157" class="pln"><span class="strut"> </span></p>
+<p id="t158" class="pln"><span class="str"> modes:</span><span class="strut"> </span></p>
+<p id="t159" class="pln"><span class="str"> - 'x-axis=median-from-0'</span><span class="strut"> </span></p>
+<p id="t160" class="pln"><span class="str"> - 'y-axis=1-2'</span><span class="strut"> </span></p>
+<p id="t161" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t162" class="stm run hide_run"> <span class="nam">axel</span><span class="op">,</span> <span class="nam">markers</span><span class="op">,</span> <span class="nam">method</span> <span class="op">=</span> <span class="nam">determine_mode</span><span class="op">(</span><span class="nam">mode</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t163" class="stm run hide_run"> <span class="nam">origin</span> <span class="op">=</span> <span class="nam">triangle</span><span class="op">.</span><span class="nam">center_of_mass</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t164" class="stm run hide_run"> <span class="key">if</span> <span class="nam">method</span> <span class="op">==</span> <span class="str">'median-from'</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t165" class="stm run hide_run"> <span class="nam">x_axis</span><span class="op">,</span> <span class="nam">y_axis</span><span class="op">,</span> <span class="nam">z_axis</span> <span class="op">=</span> <span class="nam">median_from</span><span class="op">(</span><span class="nam">triangle</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t166" class="pln"> <span class="nam">axel</span><span class="op">,</span> <span class="nam">markers</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t167" class="stm run hide_run"> <span class="key">elif</span> <span class="nam">method</span> <span class="op">==</span> <span class="str">'aligned-with'</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t168" class="stm run hide_run"> <span class="nam">x_axis</span><span class="op">,</span> <span class="nam">y_axis</span><span class="op">,</span> <span class="nam">z_axis</span> <span class="op">=</span> <span class="nam">aligned_with</span><span class="op">(</span><span class="nam">triangle</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t169" class="pln"> <span class="nam">axel</span><span class="op">,</span> <span class="nam">markers</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t170" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t171" class="stm mis"> <span class="nam">print</span><span class="op">(</span><span class="str">'supported modes'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t172" class="stm mis"> <span class="nam">print</span><span class="op">(</span><span class="str">'---------------'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t173" class="stm mis"> <span class="key">for</span> <span class="nam">m</span> <span class="key">in</span> <span class="nam">_modes</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t174" class="stm mis"> <span class="nam">print</span><span class="op">(</span><span class="nam">m</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t175" class="stm mis"> <span class="key">raise</span> <span class="nam">ValueError</span><span class="op">(</span><span class="str">'mode {} is not supported.'</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="nam">mode</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t176" class="stm run hide_run"> <span class="key">return</span> <span class="nam">origin</span><span class="op">,</span> <span class="nam">x_axis</span><span class="op">,</span> <span class="nam">y_axis</span><span class="op">,</span> <span class="nam">z_axis</span><span class="strut"> </span></p>
+<p id="t177" class="pln"><span class="strut"> </span></p>
+<p id="t178" class="pln"><span class="strut"> </span></p>
+<p id="t179" class="stm run hide_run"><span class="key">def</span> <span class="nam">bodyaxistransformations</span><span class="op">(</span><span class="nam">x_axis</span><span class="op">,</span> <span class="nam">y_axis</span><span class="op">,</span> <span class="nam">z_axis</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t180" class="stm run hide_run"> <span class="nam">frame</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">zeros</span><span class="op">(</span><span class="op">(</span><span class="num">4</span><span class="op">,</span> <span class="num">4</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t181" class="stm run hide_run"> <span class="nam">frame</span><span class="op">[</span><span class="op">:</span><span class="num">3</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span> <span class="op">=</span> <span class="nam">x_axis</span><span class="strut"> </span></p>
+<p id="t182" class="stm run hide_run"> <span class="nam">frame</span><span class="op">[</span><span class="op">:</span><span class="num">3</span><span class="op">,</span> <span class="num">1</span><span class="op">]</span> <span class="op">=</span> <span class="nam">y_axis</span><span class="strut"> </span></p>
+<p id="t183" class="stm run hide_run"> <span class="nam">frame</span><span class="op">[</span><span class="op">:</span><span class="num">3</span><span class="op">,</span> <span class="num">2</span><span class="op">]</span> <span class="op">=</span> <span class="nam">z_axis</span><span class="strut"> </span></p>
+<p id="t184" class="stm run hide_run"> <span class="nam">frame</span><span class="op">[</span><span class="num">3</span><span class="op">,</span> <span class="num">3</span><span class="op">]</span> <span class="op">=</span> <span class="num">1</span><span class="strut"> </span></p>
+<p id="t185" class="stm run hide_run"> <span class="key">return</span> <span class="nam">frame</span><span class="strut"> </span></p>
+<p id="t186" class="pln"><span class="strut"> </span></p>
+<p id="t187" class="pln"><span class="strut"> </span></p>
+<p id="t188" class="stm run hide_run"><span class="key">def</span> <span class="nam">triangle2homogeous_transform</span><span class="op">(</span><span class="nam">triangle</span><span class="op">,</span> <span class="nam">triangle_mode</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t189" class="stm run hide_run"> <span class="nam">origin</span><span class="op">,</span> <span class="nam">x_axis</span><span class="op">,</span> <span class="nam">y_axis</span><span class="op">,</span> <span class="nam">z_axis</span> <span class="op">=</span> <span class="nam">triangle2bodyaxis</span><span class="op">(</span><span class="nam">triangle</span><span class="op">,</span> <span class="nam">triangle_mode</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t190" class="stm run hide_run"> <span class="nam">transform</span> <span class="op">=</span> <span class="nam">bodyaxistransformations</span><span class="op">(</span><span class="nam">x_axis</span><span class="op">,</span> <span class="nam">y_axis</span><span class="op">,</span> <span class="nam">z_axis</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t191" class="stm run hide_run"> <span class="nam">transform</span><span class="op">[</span><span class="op">:</span><span class="num">3</span><span class="op">,</span> <span class="num">3</span><span class="op">]</span> <span class="op">=</span> <span class="nam">origin</span><span class="strut"> </span></p>
+<p id="t192" class="stm run hide_run"> <span class="key">return</span> <span class="nam">transform</span><span class="strut"> </span></p>
+<p id="t193" class="pln"><span class="strut"> </span></p>
+<p id="t194" class="pln"><span class="strut"> </span></p>
+<p id="t195" class="stm run hide_run"><span class="key">def</span> <span class="nam">markers2decompose</span><span class="op">(</span><span class="nam">mark0</span><span class="op">,</span> <span class="nam">mark1</span><span class="op">,</span> <span class="nam">mark2</span><span class="op">,</span> <span class="nam">triangle_mode</span><span class="op">,</span> <span class="nam">euler_axes</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t196" class="stm run hide_run"> <span class="nam">triangle</span> <span class="op">=</span> <span class="nam">Triangle</span><span class="op">(</span><span class="nam">mark0</span><span class="op">,</span> <span class="nam">mark1</span><span class="op">,</span> <span class="nam">mark2</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t197" class="stm run hide_run"> <span class="nam">transform</span> <span class="op">=</span> <span class="nam">triangle2homogeous_transform</span><span class="op">(</span><span class="nam">triangle</span><span class="op">,</span> <span class="nam">triangle_mode</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t198" class="stm run hide_run"> <span class="key">return</span> <span class="nam">ht</span><span class="op">.</span><span class="nam">decompose_matrix</span><span class="op">(</span><span class="nam">transform</span><span class="op">,</span> <span class="nam">axes</span><span class="op">=</span><span class="nam">euler_axes</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t199" class="pln"><span class="strut"> </span></p>
+<p id="t200" class="pln"><span class="strut"> </span></p>
+<p id="t201" class="stm run hide_run"><span class="key">def</span> <span class="nam">markers2euler</span><span class="op">(</span><span class="nam">mark0</span><span class="op">,</span> <span class="nam">mark1</span><span class="op">,</span> <span class="nam">mark2</span><span class="op">,</span> <span class="nam">triangle_mode</span><span class="op">,</span> <span class="nam">euler_axes</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t202" class="stm run hide_run"> <span class="nam">_</span><span class="op">,</span> <span class="nam">angles</span> <span class="op">=</span> <span class="nam">markers2posorient</span><span class="op">(</span><span class="nam">mark0</span><span class="op">,</span> <span class="nam">mark1</span><span class="op">,</span> <span class="nam">mark2</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t203" class="pln"> <span class="nam">triangle_mode</span><span class="op">,</span> <span class="nam">euler_axes</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t204" class="stm run hide_run"> <span class="key">return</span> <span class="nam">angles</span><span class="strut"> </span></p>
+<p id="t205" class="pln"><span class="strut"> </span></p>
+<p id="t206" class="pln"><span class="strut"> </span></p>
+<p id="t207" class="stm run hide_run"><span class="key">def</span> <span class="nam">markers2translate</span><span class="op">(</span><span class="nam">mark0</span><span class="op">,</span> <span class="nam">mark1</span><span class="op">,</span> <span class="nam">mark2</span><span class="op">,</span> <span class="nam">triangle_mode</span><span class="op">,</span> <span class="nam">euler_axes</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t208" class="stm run hide_run"> <span class="nam">translate</span><span class="op">,</span> <span class="nam">_</span> <span class="op">=</span> <span class="nam">markers2posorient</span><span class="op">(</span><span class="nam">mark0</span><span class="op">,</span> <span class="nam">mark1</span><span class="op">,</span> <span class="nam">mark2</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t209" class="pln"> <span class="nam">triangle_mode</span><span class="op">,</span> <span class="nam">euler_axes</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t210" class="stm run hide_run"> <span class="key">return</span> <span class="nam">translate</span><span class="strut"> </span></p>
+<p id="t211" class="pln"><span class="strut"> </span></p>
+<p id="t212" class="pln"><span class="strut"> </span></p>
+<p id="t213" class="stm run hide_run"><span class="key">def</span> <span class="nam">markers2posorient</span><span class="op">(</span><span class="nam">mark0</span><span class="op">,</span> <span class="nam">mark1</span><span class="op">,</span> <span class="nam">mark2</span><span class="op">,</span> <span class="nam">triangle_mode</span><span class="op">,</span> <span class="nam">euler_axes</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t214" class="stm run hide_run"> <span class="nam">_</span><span class="op">,</span> <span class="nam">_</span><span class="op">,</span> <span class="nam">angle</span><span class="op">,</span> <span class="nam">translate</span><span class="op">,</span> <span class="nam">_</span> <span class="op">=</span> <span class="nam">markers2decompose</span><span class="op">(</span><span class="nam">mark0</span><span class="op">,</span> <span class="nam">mark1</span><span class="op">,</span> <span class="nam">mark2</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t215" class="pln"> <span class="nam">triangle_mode</span><span class="op">,</span> <span class="nam">euler_axes</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t216" class="stm run hide_run"> <span class="key">return</span> <span class="nam">translate</span><span class="op">,</span> <span class="nam">angle</span><span class="strut"> </span></p>
+<p id="t217" class="pln"><span class="strut"> </span></p>
+<p id="t218" class="pln"><span class="strut"> </span></p>
+<p id="t219" class="stm run hide_run"><span class="key">def</span> <span class="nam">twomarkers2euler_easy_euleraxes</span><span class="op">(</span><span class="nam">mark0</span><span class="op">,</span> <span class="nam">mark1</span><span class="op">,</span> <span class="nam">axis_alignement</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t220" class="pln"> <span class="nam">known_angle</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t221" class="pln"> <span class="str">""" Determine euler angles from two markers and a known angle</span><span class="strut"> </span></p>
+<p id="t222" class="pln"><span class="strut"> </span></p>
+<p id="t223" class="pln"><span class="str"> The functions require a known angle express in the temporary \</span><span class="strut"> </span></p>
+<p id="t224" class="pln"><span class="str">rotation convention.</span><span class="strut"> </span></p>
+<p id="t225" class="pln"><span class="strut"> </span></p>
+<p id="t226" class="pln"><span class="str"> The known angle is:</span><span class="strut"> </span></p>
+<p id="t227" class="pln"><span class="strut"> </span></p>
+<p id="t228" class="pln"><span class="str"> * rotation around x, for axis alignment x-axis</span><span class="strut"> </span></p>
+<p id="t229" class="pln"><span class="str"> * rotation around y, for axis alignment y-axis</span><span class="strut"> </span></p>
+<p id="t230" class="pln"><span class="str"> * rotation around z, for axis alignment z-axis</span><span class="strut"> </span></p>
+<p id="t231" class="pln"><span class="strut"> </span></p>
+<p id="t232" class="pln"><span class="str"> The temporary rotation convention used two determine the euler angles are:</span><span class="strut"> </span></p>
+<p id="t233" class="pln"><span class="strut"> </span></p>
+<p id="t234" class="pln"><span class="str"> * zyx, for axis alignment x-axis</span><span class="strut"> </span></p>
+<p id="t235" class="pln"><span class="str"> * zxy, for axis alignment y-axis</span><span class="strut"> </span></p>
+<p id="t236" class="pln"><span class="str"> * yxz, for axis alignment z-axis</span><span class="strut"> </span></p>
+<p id="t237" class="pln"><span class="strut"> </span></p>
+<p id="t238" class="pln"><span class="str"> Note: If you know the angle in your rotation convention, then you \</span><span class="strut"> </span></p>
+<p id="t239" class="pln"><span class="str">can run this function through a minimisation procedure with free parameter \</span><span class="strut"> </span></p>
+<p id="t240" class="pln"><span class="str">known angle until you get the desired orientation (see twomarkers2euler)</span><span class="strut"> </span></p>
+<p id="t241" class="pln"><span class="strut"> </span></p>
+<p id="t242" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t243" class="stm run hide_run"> <span class="nam">vector</span> <span class="op">=</span> <span class="nam">mark1</span> <span class="op">-</span> <span class="nam">mark0</span><span class="strut"> </span></p>
+<p id="t244" class="stm run hide_run"> <span class="nam">vector</span> <span class="op">=</span> <span class="nam">normalise_vec</span><span class="op">(</span><span class="nam">vector</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t245" class="stm run hide_run"> <span class="key">if</span> <span class="nam">axis_alignement</span> <span class="op">==</span> <span class="str">'x-axis'</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t246" class="stm run hide_run"> <span class="nam">axes_convention</span> <span class="op">=</span> <span class="str">'zyx'</span><span class="strut"> </span></p>
+<p id="t247" class="stm run hide_run"> <span class="nam">beta</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">arcsin</span><span class="op">(</span><span class="nam">vector</span><span class="op">.</span><span class="nam">z</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t248" class="stm run hide_run"> <span class="nam">alpha</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">arctan2</span><span class="op">(</span><span class="op">-</span><span class="nam">vector</span><span class="op">.</span><span class="nam">y</span> <span class="op">/</span> <span class="nam">np</span><span class="op">.</span><span class="nam">cos</span><span class="op">(</span><span class="nam">beta</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t249" class="pln"> <span class="nam">vector</span><span class="op">.</span><span class="nam">x</span> <span class="op">/</span> <span class="nam">np</span><span class="op">.</span><span class="nam">cos</span><span class="op">(</span><span class="nam">beta</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t250" class="stm run hide_run"> <span class="nam">gamma</span> <span class="op">=</span> <span class="nam">known_angle</span><span class="strut"> </span></p>
+<p id="t251" class="stm run hide_run"> <span class="nam">angles</span> <span class="op">=</span> <span class="op">[</span><span class="nam">alpha</span><span class="op">,</span> <span class="nam">beta</span><span class="op">,</span> <span class="nam">gamma</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t252" class="stm run hide_run"> <span class="key">elif</span> <span class="nam">axis_alignement</span> <span class="op">==</span> <span class="str">'y-axis'</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t253" class="stm run hide_run"> <span class="nam">axes_convention</span> <span class="op">=</span> <span class="str">'zxy'</span><span class="strut"> </span></p>
+<p id="t254" class="stm run hide_run"> <span class="nam">gamma</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">arcsin</span><span class="op">(</span><span class="op">-</span><span class="nam">vector</span><span class="op">.</span><span class="nam">z</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t255" class="stm run hide_run"> <span class="nam">alpha</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">arctan2</span><span class="op">(</span><span class="nam">vector</span><span class="op">.</span><span class="nam">x</span> <span class="op">/</span> <span class="nam">np</span><span class="op">.</span><span class="nam">cos</span><span class="op">(</span><span class="nam">gamma</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t256" class="pln"> <span class="nam">vector</span><span class="op">.</span><span class="nam">y</span> <span class="op">/</span> <span class="nam">np</span><span class="op">.</span><span class="nam">cos</span><span class="op">(</span><span class="nam">gamma</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t257" class="stm run hide_run"> <span class="nam">beta</span> <span class="op">=</span> <span class="nam">known_angle</span><span class="strut"> </span></p>
+<p id="t258" class="stm run hide_run"> <span class="nam">angles</span> <span class="op">=</span> <span class="op">[</span><span class="nam">alpha</span><span class="op">,</span> <span class="nam">gamma</span><span class="op">,</span> <span class="nam">beta</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t259" class="stm run hide_run"> <span class="key">elif</span> <span class="nam">axis_alignement</span> <span class="op">==</span> <span class="str">'z-axis'</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t260" class="stm run hide_run"> <span class="nam">axes_convention</span> <span class="op">=</span> <span class="str">'yxz'</span><span class="strut"> </span></p>
+<p id="t261" class="stm run hide_run"> <span class="nam">gamma</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">arcsin</span><span class="op">(</span><span class="nam">vector</span><span class="op">.</span><span class="nam">y</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t262" class="stm run hide_run"> <span class="nam">beta</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">arctan2</span><span class="op">(</span><span class="op">-</span><span class="nam">vector</span><span class="op">.</span><span class="nam">x</span> <span class="op">/</span> <span class="nam">np</span><span class="op">.</span><span class="nam">cos</span><span class="op">(</span><span class="nam">gamma</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t263" class="pln"> <span class="nam">vector</span><span class="op">.</span><span class="nam">z</span> <span class="op">/</span> <span class="nam">np</span><span class="op">.</span><span class="nam">cos</span><span class="op">(</span><span class="nam">gamma</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t264" class="stm run hide_run"> <span class="nam">alpha</span> <span class="op">=</span> <span class="nam">known_angle</span><span class="strut"> </span></p>
+<p id="t265" class="stm run hide_run"> <span class="nam">angles</span> <span class="op">=</span> <span class="op">[</span><span class="nam">beta</span><span class="op">,</span> <span class="nam">gamma</span><span class="op">,</span> <span class="nam">alpha</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t266" class="pln"> <span class="key">else</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t267" class="stm mis"> <span class="key">raise</span> <span class="nam">KeyError</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t268" class="pln"> <span class="str">'Axis aligment {} is not supported'</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t269" class="pln"> <span class="nam">axis_alignement</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t270" class="stm run hide_run"> <span class="key">return</span> <span class="nam">angles</span><span class="op">,</span> <span class="nam">axes_convention</span><span class="strut"> </span></p>
+<p id="t271" class="pln"><span class="strut"> </span></p>
+<p id="t272" class="pln"><span class="strut"> </span></p>
+<p id="t273" class="stm run hide_run"><span class="key">def</span> <span class="nam">twomarkers2euler_score</span><span class="op">(</span><span class="nam">x</span><span class="op">,</span> <span class="nam">mark0</span><span class="op">,</span> <span class="nam">mark1</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t274" class="pln"> <span class="nam">axis_alignement</span><span class="op">,</span> <span class="nam">known_angles</span><span class="op">,</span> <span class="nam">euler_axes</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t275" class="pln"> <span class="str">""" A root mean square score between wished angles and obtained \</span><span class="strut"> </span></p>
+<p id="t276" class="pln"><span class="str"> angles from two markers</span><span class="strut"> </span></p>
+<p id="t277" class="pln"><span class="strut"> </span></p>
+<p id="t278" class="pln"><span class="str"> This function is used by twomarkers2euler within the minimisation of scipy</span><span class="strut"> </span></p>
+<p id="t279" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t280" class="stm run hide_run"> <span class="nam">angles</span><span class="op">,</span> <span class="nam">axes_convention</span> <span class="op">=</span> <span class="nam">twomarkers2euler_easy_euleraxes</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t281" class="pln"> <span class="nam">mark0</span><span class="op">,</span> <span class="nam">mark1</span><span class="op">,</span> <span class="nam">axis_alignement</span><span class="op">,</span> <span class="nam">x</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t282" class="stm run hide_run"> <span class="nam">matrix</span> <span class="op">=</span> <span class="nam">ht</span><span class="op">.</span><span class="nam">compose_matrix</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t283" class="pln"> <span class="nam">angles</span><span class="op">=</span><span class="nam">angles</span><span class="op">,</span> <span class="nam">axes</span><span class="op">=</span><span class="nam">axes_convention</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t284" class="stm run hide_run"> <span class="nam">_</span><span class="op">,</span> <span class="nam">_</span><span class="op">,</span> <span class="nam">angles</span><span class="op">,</span> <span class="nam">_</span><span class="op">,</span> <span class="nam">_</span> <span class="op">=</span> <span class="nam">ht</span><span class="op">.</span><span class="nam">decompose_matrix</span><span class="op">(</span><span class="nam">matrix</span><span class="op">,</span> <span class="nam">axes</span><span class="op">=</span><span class="nam">euler_axes</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t285" class="stm run hide_run"> <span class="key">return</span> <span class="nam">np</span><span class="op">.</span><span class="nam">nanmean</span><span class="op">(</span><span class="op">(</span><span class="nam">angles</span> <span class="op">-</span> <span class="nam">known_angles</span><span class="op">)</span><span class="op">**</span><span class="num">2</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t286" class="pln"><span class="strut"> </span></p>
+<p id="t287" class="pln"><span class="strut"> </span></p>
+<p id="t288" class="stm run hide_run"><span class="key">def</span> <span class="nam">twomarkers2euler</span><span class="op">(</span><span class="nam">mark0</span><span class="op">,</span> <span class="nam">mark1</span><span class="op">,</span> <span class="nam">axis_alignement</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t289" class="pln"> <span class="nam">known_angle</span><span class="op">,</span> <span class="nam">euler_axes</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t290" class="pln"> <span class="nam">method</span><span class="op">=</span><span class="str">'SLSQP'</span><span class="op">,</span> <span class="nam">tol</span><span class="op">=</span><span class="num">1e-8</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t291" class="pln"> <span class="str">""" Determine euler angles from two markers and a known angle.</span><span class="strut"> </span></p>
+<p id="t292" class="pln"><span class="strut"> </span></p>
+<p id="t293" class="pln"><span class="str"> The known angle is assumed to be the one around the axis aligment.</span><span class="strut"> </span></p>
+<p id="t294" class="pln"><span class="str"> If euler_axes contains twice the same axis the first rotation axis is used.</span><span class="strut"> </span></p>
+<p id="t295" class="pln"><span class="strut"> </span></p>
+<p id="t296" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t297" class="stm run hide_run"> <span class="key">if</span> <span class="nam">axis_alignement</span> <span class="key">not</span> <span class="key">in</span> <span class="op">[</span><span class="str">'x-axis'</span><span class="op">,</span> <span class="str">'y-axis'</span><span class="op">,</span> <span class="str">'z-axis'</span><span class="op">]</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t298" class="stm mis"> <span class="key">raise</span> <span class="nam">KeyError</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t299" class="pln"> <span class="str">'Axis aligment {} is not supported'</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t300" class="pln"> <span class="nam">axis_alignement</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t301" class="stm run hide_run"> <span class="nam">known_angles</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">nan</span> <span class="op">*</span> <span class="nam">np</span><span class="op">.</span><span class="nam">zeros</span><span class="op">(</span><span class="num">3</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t302" class="pln"> <span class="com"># Find the first rotation axis</span><span class="strut"> </span></p>
+<p id="t303" class="stm run hide_run"> <span class="nam">index</span> <span class="op">=</span> <span class="nam">euler_axes</span><span class="op">.</span><span class="nam">find</span><span class="op">(</span><span class="nam">axis_alignement</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t304" class="stm run hide_run"> <span class="key">if</span> <span class="nam">index</span> <span class="op"><</span> <span class="num">0</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t305" class="stm mis"> <span class="key">raise</span> <span class="nam">KeyError</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t306" class="pln"> <span class="str">'Axis aligment {} can not work with euler_axes {}'</span><span class="op">.</span><span class="nam">format</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t307" class="pln"> <span class="nam">axis_alignement</span><span class="op">,</span> <span class="nam">euler_axes</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t308" class="stm run hide_run"> <span class="key">if</span> <span class="op">(</span><span class="nam">axis_alignement</span> <span class="op">==</span> <span class="str">'x-axis'</span><span class="op">)</span> <span class="key">and</span> <span class="op">(</span><span class="nam">euler_axes</span> <span class="op">!=</span> <span class="str">'zyx'</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t309" class="stm mis"> <span class="nam">msg</span> <span class="op">=</span> <span class="str">'When x-axis is known, euler_axis zyx should be used\n'</span><span class="strut"> </span></p>
+<p id="t310" class="stm mis"> <span class="nam">msg</span> <span class="op">+=</span> <span class="str">'Other convention have not been implemented, sorry'</span><span class="strut"> </span></p>
+<p id="t311" class="stm mis"> <span class="key">raise</span> <span class="nam">NameError</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t312" class="stm run hide_run"> <span class="key">elif</span> <span class="op">(</span><span class="nam">axis_alignement</span> <span class="op">==</span> <span class="str">'z-axis'</span><span class="op">)</span> <span class="key">and</span> <span class="op">(</span><span class="nam">euler_axes</span> <span class="op">!=</span> <span class="str">'yxz'</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t313" class="stm mis"> <span class="nam">msg</span> <span class="op">=</span> <span class="str">'When z-axis is known, euler_axis yxz should be used\n'</span><span class="strut"> </span></p>
+<p id="t314" class="stm mis"> <span class="nam">msg</span> <span class="op">+=</span> <span class="str">'Other convention have not been implemented, sorry'</span><span class="strut"> </span></p>
+<p id="t315" class="stm mis"> <span class="key">raise</span> <span class="nam">NameError</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t316" class="stm run hide_run"> <span class="key">elif</span> <span class="op">(</span><span class="nam">axis_alignement</span> <span class="op">==</span> <span class="str">'y-axis'</span><span class="op">)</span> <span class="key">and</span> <span class="op">(</span><span class="nam">euler_axes</span> <span class="op">!=</span> <span class="str">'zxy'</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t317" class="stm mis"> <span class="nam">msg</span> <span class="op">=</span> <span class="str">'When y-axis is known, euler_axis zxy should be used\n'</span><span class="strut"> </span></p>
+<p id="t318" class="stm mis"> <span class="nam">msg</span> <span class="op">+=</span> <span class="str">'Other convention have not been implemented, sorry'</span><span class="strut"> </span></p>
+<p id="t319" class="stm mis"> <span class="key">raise</span> <span class="nam">NameError</span><span class="op">(</span><span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t320" class="pln"><span class="strut"> </span></p>
+<p id="t321" class="stm run hide_run"> <span class="nam">known_angles</span><span class="op">[</span><span class="nam">index</span><span class="op">]</span> <span class="op">=</span> <span class="nam">known_angle</span><span class="strut"> </span></p>
+<p id="t322" class="stm run hide_run"> <span class="nam">args</span> <span class="op">=</span> <span class="op">(</span><span class="nam">mark0</span><span class="op">,</span> <span class="nam">mark1</span><span class="op">,</span> <span class="nam">axis_alignement</span><span class="op">,</span> <span class="nam">known_angles</span><span class="op">,</span> <span class="nam">euler_axes</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t323" class="stm run hide_run"> <span class="nam">res</span> <span class="op">=</span> <span class="nam">minimize</span><span class="op">(</span><span class="nam">twomarkers2euler_score</span><span class="op">,</span> <span class="nam">x0</span><span class="op">=</span><span class="nam">known_angle</span><span class="op">,</span> <span class="nam">args</span><span class="op">=</span><span class="nam">args</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t324" class="pln"> <span class="nam">method</span><span class="op">=</span><span class="nam">method</span><span class="op">,</span> <span class="nam">tol</span><span class="op">=</span><span class="nam">tol</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t325" class="stm run hide_run"> <span class="nam">angles</span><span class="op">,</span> <span class="nam">axes_convention</span> <span class="op">=</span> <span class="nam">twomarkers2euler_easy_euleraxes</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t326" class="pln"> <span class="nam">mark0</span><span class="op">,</span> <span class="nam">mark1</span><span class="op">,</span> <span class="nam">axis_alignement</span><span class="op">,</span> <span class="nam">res</span><span class="op">.</span><span class="nam">x</span><span class="op">[</span><span class="num">0</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t327" class="pln"> <span class="com"># Build rotation matrix and decompse</span><span class="strut"> </span></p>
+<p id="t328" class="stm run hide_run"> <span class="nam">matrix</span> <span class="op">=</span> <span class="nam">ht</span><span class="op">.</span><span class="nam">compose_matrix</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t329" class="pln"> <span class="nam">angles</span><span class="op">=</span><span class="nam">angles</span><span class="op">,</span> <span class="nam">axes</span><span class="op">=</span><span class="nam">axes_convention</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t330" class="stm run hide_run"> <span class="nam">_</span><span class="op">,</span> <span class="nam">_</span><span class="op">,</span> <span class="nam">angles</span><span class="op">,</span> <span class="nam">_</span><span class="op">,</span> <span class="nam">_</span> <span class="op">=</span> <span class="nam">ht</span><span class="op">.</span><span class="nam">decompose_matrix</span><span class="op">(</span><span class="nam">matrix</span><span class="op">,</span> <span class="nam">axes</span><span class="op">=</span><span class="nam">euler_axes</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t331" class="stm run hide_run"> <span class="key">return</span> <span class="nam">angles</span><span class="strut"> </span></p>
+
+ </td>
+ </tr>
+ </table>
+</div>
+
+<div id="footer">
+ <div class="content">
+ <p>
+ <a class="nav" href="index.html">« index</a> <a class="nav" href="https://coverage.readthedocs.io">coverage.py v4.5.2</a>,
+ created at 2019-01-13 14:34
+ </p>
+ </div>
+</div>
+
+</body>
+</html>
diff --git a/coverage_html_report/navipy_trajectories_triangle_py.html b/coverage_html_report/navipy_trajectories_triangle_py.html
new file mode 100644
index 0000000000000000000000000000000000000000..3dcef15088fea2394df80233e9f4844068ef0edc
--- /dev/null
+++ b/coverage_html_report/navipy_trajectories_triangle_py.html
@@ -0,0 +1,447 @@
+
+
+
+<!DOCTYPE html>
+<html>
+<head>
+ <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
+
+
+ <meta http-equiv="X-UA-Compatible" content="IE=emulateIE7" />
+ <title>Coverage for navipy/trajectories/triangle.py: 63%</title>
+ <link rel="stylesheet" href="style.css" type="text/css">
+
+ <script type="text/javascript" src="jquery.min.js"></script>
+ <script type="text/javascript" src="jquery.hotkeys.js"></script>
+ <script type="text/javascript" src="jquery.isonscreen.js"></script>
+ <script type="text/javascript" src="coverage_html.js"></script>
+ <script type="text/javascript">
+ jQuery(document).ready(coverage.pyfile_ready);
+ </script>
+</head>
+<body class="pyfile">
+
+<div id="header">
+ <div class="content">
+ <h1>Coverage for <b>navipy/trajectories/triangle.py</b> :
+ <span class="pc_cov">63%</span>
+ </h1>
+
+ <img id="keyboard_icon" src="keybd_closed.png" alt="Show keyboard shortcuts" />
+
+ <h2 class="stats">
+ 106 statements
+ <span class="run hide_run shortkey_r button_toggle_run">67 run</span>
+ <span class="mis shortkey_m button_toggle_mis">39 missing</span>
+ <span class="exc shortkey_x button_toggle_exc">0 excluded</span>
+
+
+ </h2>
+ </div>
+</div>
+
+<div class="help_panel">
+ <img id="panel_icon" src="keybd_open.png" alt="Hide keyboard shortcuts" />
+ <p class="legend">Hot-keys on this page</p>
+ <div>
+ <p class="keyhelp">
+ <span class="key">r</span>
+ <span class="key">m</span>
+ <span class="key">x</span>
+ <span class="key">p</span> toggle line displays
+ </p>
+ <p class="keyhelp">
+ <span class="key">j</span>
+ <span class="key">k</span> next/prev highlighted chunk
+ </p>
+ <p class="keyhelp">
+ <span class="key">0</span> (zero) top of page
+ </p>
+ <p class="keyhelp">
+ <span class="key">1</span> (one) first highlighted chunk
+ </p>
+ </div>
+</div>
+
+<div id="source">
+ <table>
+ <tr>
+ <td class="linenos">
+<p id="n1" class="pln"><a href="#n1">1</a></p>
+<p id="n2" class="pln"><a href="#n2">2</a></p>
+<p id="n3" class="stm run hide_run"><a href="#n3">3</a></p>
+<p id="n4" class="stm run hide_run"><a href="#n4">4</a></p>
+<p id="n5" class="stm run hide_run"><a href="#n5">5</a></p>
+<p id="n6" class="stm run hide_run"><a href="#n6">6</a></p>
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+<p id="n9" class="stm run hide_run"><a href="#n9">9</a></p>
+<p id="n10" class="pln"><a href="#n10">10</a></p>
+<p id="n11" class="pln"><a href="#n11">11</a></p>
+<p id="n12" class="pln"><a href="#n12">12</a></p>
+<p id="n13" class="pln"><a href="#n13">13</a></p>
+<p id="n14" class="pln"><a href="#n14">14</a></p>
+<p id="n15" class="pln"><a href="#n15">15</a></p>
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+<p id="n17" class="pln"><a href="#n17">17</a></p>
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+<p id="n37" class="stm mis"><a href="#n37">37</a></p>
+<p id="n38" class="stm run hide_run"><a href="#n38">38</a></p>
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+<p id="n69" class="pln"><a href="#n69">69</a></p>
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+<p id="n72" class="pln"><a href="#n72">72</a></p>
+<p id="n73" class="stm run hide_run"><a href="#n73">73</a></p>
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+<p id="n78" class="pln"><a href="#n78">78</a></p>
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+<p id="n81" class="pln"><a href="#n81">81</a></p>
+<p id="n82" class="pln"><a href="#n82">82</a></p>
+<p id="n83" class="pln"><a href="#n83">83</a></p>
+<p id="n84" class="pln"><a href="#n84">84</a></p>
+<p id="n85" class="pln"><a href="#n85">85</a></p>
+<p id="n86" class="pln"><a href="#n86">86</a></p>
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+<p id="n92" class="pln"><a href="#n92">92</a></p>
+<p id="n93" class="pln"><a href="#n93">93</a></p>
+<p id="n94" class="pln"><a href="#n94">94</a></p>
+<p id="n95" class="stm run hide_run"><a href="#n95">95</a></p>
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+<p id="n106" class="pln"><a href="#n106">106</a></p>
+<p id="n107" class="pln"><a href="#n107">107</a></p>
+<p id="n108" class="pln"><a href="#n108">108</a></p>
+<p id="n109" class="pln"><a href="#n109">109</a></p>
+<p id="n110" class="pln"><a href="#n110">110</a></p>
+<p id="n111" class="pln"><a href="#n111">111</a></p>
+<p id="n112" class="pln"><a href="#n112">112</a></p>
+<p id="n113" class="stm run hide_run"><a href="#n113">113</a></p>
+<p id="n114" class="stm run hide_run"><a href="#n114">114</a></p>
+<p id="n115" class="stm run hide_run"><a href="#n115">115</a></p>
+<p id="n116" class="stm run hide_run"><a href="#n116">116</a></p>
+<p id="n117" class="pln"><a href="#n117">117</a></p>
+<p id="n118" class="stm run hide_run"><a href="#n118">118</a></p>
+<p id="n119" class="pln"><a href="#n119">119</a></p>
+<p id="n120" class="pln"><a href="#n120">120</a></p>
+<p id="n121" class="pln"><a href="#n121">121</a></p>
+<p id="n122" class="pln"><a href="#n122">122</a></p>
+<p id="n123" class="pln"><a href="#n123">123</a></p>
+<p id="n124" class="stm run hide_run"><a href="#n124">124</a></p>
+<p id="n125" class="pln"><a href="#n125">125</a></p>
+<p id="n126" class="stm run hide_run"><a href="#n126">126</a></p>
+<p id="n127" class="stm run hide_run"><a href="#n127">127</a></p>
+<p id="n128" class="stm run hide_run"><a href="#n128">128</a></p>
+<p id="n129" class="stm run hide_run"><a href="#n129">129</a></p>
+<p id="n130" class="stm run hide_run"><a href="#n130">130</a></p>
+<p id="n131" class="pln"><a href="#n131">131</a></p>
+<p id="n132" class="stm run hide_run"><a href="#n132">132</a></p>
+<p id="n133" class="stm run hide_run"><a href="#n133">133</a></p>
+<p id="n134" class="stm mis"><a href="#n134">134</a></p>
+<p id="n135" class="stm run hide_run"><a href="#n135">135</a></p>
+<p id="n136" class="stm mis"><a href="#n136">136</a></p>
+<p id="n137" class="stm run hide_run"><a href="#n137">137</a></p>
+<p id="n138" class="stm run hide_run"><a href="#n138">138</a></p>
+<p id="n139" class="stm run hide_run"><a href="#n139">139</a></p>
+<p id="n140" class="stm mis"><a href="#n140">140</a></p>
+<p id="n141" class="stm run hide_run"><a href="#n141">141</a></p>
+<p id="n142" class="stm run hide_run"><a href="#n142">142</a></p>
+<p id="n143" class="pln"><a href="#n143">143</a></p>
+<p id="n144" class="pln"><a href="#n144">144</a></p>
+<p id="n145" class="stm run hide_run"><a href="#n145">145</a></p>
+<p id="n146" class="pln"><a href="#n146">146</a></p>
+<p id="n147" class="pln"><a href="#n147">147</a></p>
+<p id="n148" class="pln"><a href="#n148">148</a></p>
+<p id="n149" class="pln"><a href="#n149">149</a></p>
+<p id="n150" class="stm mis"><a href="#n150">150</a></p>
+<p id="n151" class="stm mis"><a href="#n151">151</a></p>
+<p id="n152" class="stm mis"><a href="#n152">152</a></p>
+<p id="n153" class="stm mis"><a href="#n153">153</a></p>
+<p id="n154" class="stm mis"><a href="#n154">154</a></p>
+<p id="n155" class="stm mis"><a href="#n155">155</a></p>
+<p id="n156" class="stm mis"><a href="#n156">156</a></p>
+<p id="n157" class="stm mis"><a href="#n157">157</a></p>
+<p id="n158" class="stm mis"><a href="#n158">158</a></p>
+<p id="n159" class="stm mis"><a href="#n159">159</a></p>
+<p id="n160" class="stm mis"><a href="#n160">160</a></p>
+<p id="n161" class="stm mis"><a href="#n161">161</a></p>
+<p id="n162" class="stm mis"><a href="#n162">162</a></p>
+<p id="n163" class="stm mis"><a href="#n163">163</a></p>
+<p id="n164" class="stm mis"><a href="#n164">164</a></p>
+<p id="n165" class="stm mis"><a href="#n165">165</a></p>
+<p id="n166" class="stm mis"><a href="#n166">166</a></p>
+<p id="n167" class="stm mis"><a href="#n167">167</a></p>
+<p id="n168" class="stm mis"><a href="#n168">168</a></p>
+<p id="n169" class="stm mis"><a href="#n169">169</a></p>
+<p id="n170" class="stm mis"><a href="#n170">170</a></p>
+<p id="n171" class="stm mis"><a href="#n171">171</a></p>
+<p id="n172" class="stm mis"><a href="#n172">172</a></p>
+<p id="n173" class="stm mis"><a href="#n173">173</a></p>
+<p id="n174" class="stm mis"><a href="#n174">174</a></p>
+<p id="n175" class="stm mis"><a href="#n175">175</a></p>
+<p id="n176" class="stm mis"><a href="#n176">176</a></p>
+<p id="n177" class="stm mis"><a href="#n177">177</a></p>
+<p id="n178" class="stm mis"><a href="#n178">178</a></p>
+<p id="n179" class="stm mis"><a href="#n179">179</a></p>
+
+ </td>
+ <td class="text">
+<p id="t1" class="pln"><span class="str">"""</span><span class="strut"> </span></p>
+<p id="t2" class="pln"><span class="str">"""</span><span class="strut"> </span></p>
+<p id="t3" class="stm run hide_run"><span class="key">import</span> <span class="nam">numpy</span> <span class="key">as</span> <span class="nam">np</span><span class="strut"> </span></p>
+<p id="t4" class="stm run hide_run"><span class="key">import</span> <span class="nam">pandas</span> <span class="key">as</span> <span class="nam">pd</span><span class="strut"> </span></p>
+<p id="t5" class="stm run hide_run"><span class="key">import</span> <span class="nam">matplotlib</span><span class="op">.</span><span class="nam">pyplot</span> <span class="key">as</span> <span class="nam">plt</span><span class="strut"> </span></p>
+<p id="t6" class="stm run hide_run"><span class="key">import</span> <span class="nam">mpl_toolkits</span><span class="op">.</span><span class="nam">mplot3d</span> <span class="key">as</span> <span class="nam">a3</span><span class="strut"> </span></p>
+<p id="t7" class="pln"><span class="strut"> </span></p>
+<p id="t8" class="pln"><span class="strut"> </span></p>
+<p id="t9" class="stm run hide_run"><span class="key">class</span> <span class="nam">Triangle</span><span class="op">(</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t10" class="pln"> <span class="str">"""</span><span class="strut"> </span></p>
+<p id="t11" class="pln"><span class="str"> A Triangle is defined by three apexes</span><span class="strut"> </span></p>
+<p id="t12" class="pln"><span class="str"> - apex 0</span><span class="strut"> </span></p>
+<p id="t13" class="pln"><span class="str"> - apex 1</span><span class="strut"> </span></p>
+<p id="t14" class="pln"><span class="str"> - apex 2</span><span class="strut"> </span></p>
+<p id="t15" class="pln"><span class="strut"> </span></p>
+<p id="t16" class="pln"><span class="str"> This class provides methods to calculate triangle properties when the \</span><span class="strut"> </span></p>
+<p id="t17" class="pln"><span class="str"> apexes of a triangle are known</span><span class="strut"> </span></p>
+<p id="t18" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t19" class="pln"><span class="strut"> </span></p>
+<p id="t20" class="stm run hide_run"> <span class="key">def</span> <span class="nam">__init__</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span> <span class="nam">apex0</span><span class="op">,</span> <span class="nam">apex1</span><span class="op">,</span> <span class="nam">apex2</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t21" class="stm run hide_run"> <span class="nam">msg</span> <span class="op">=</span> <span class="str">'should be a pandas Series with x,y,z as index'</span><span class="strut"> </span></p>
+<p id="t22" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">apex0</span><span class="op">,</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">Series</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t23" class="stm run hide_run"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="str">'apex0 '</span> <span class="op">+</span> <span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t24" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">apex1</span><span class="op">,</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">Series</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t25" class="stm run hide_run"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="str">'apex1 '</span> <span class="op">+</span> <span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t26" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">apex2</span><span class="op">,</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">Series</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t27" class="stm run hide_run"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="str">'apex2 '</span> <span class="op">+</span> <span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t28" class="stm run hide_run"> <span class="key">if</span> <span class="nam">apex0</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">0</span><span class="op">]</span> <span class="op">!=</span> <span class="num">3</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t29" class="stm run hide_run"> <span class="key">raise</span> <span class="nam">IOError</span><span class="op">(</span><span class="str">'apex0 '</span> <span class="op">+</span> <span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t30" class="stm run hide_run"> <span class="key">if</span> <span class="nam">apex1</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">0</span><span class="op">]</span> <span class="op">!=</span> <span class="num">3</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t31" class="stm run hide_run"> <span class="key">raise</span> <span class="nam">IOError</span><span class="op">(</span><span class="str">'apex1 '</span> <span class="op">+</span> <span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t32" class="stm run hide_run"> <span class="key">if</span> <span class="nam">apex2</span><span class="op">.</span><span class="nam">shape</span><span class="op">[</span><span class="num">0</span><span class="op">]</span> <span class="op">!=</span> <span class="num">3</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t33" class="stm run hide_run"> <span class="key">raise</span> <span class="nam">IOError</span><span class="op">(</span><span class="str">'apex2 '</span> <span class="op">+</span> <span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t34" class="stm run hide_run"> <span class="key">if</span> <span class="op">(</span><span class="str">'x'</span> <span class="key">not</span> <span class="key">in</span> <span class="nam">apex0</span><span class="op">.</span><span class="nam">index</span><span class="op">)</span> <span class="key">or</span> <span class="xx">\</span><span class="strut"> </span></p>
+<p id="t35" class="pln"> <span class="op">(</span><span class="str">'y'</span> <span class="key">not</span> <span class="key">in</span> <span class="nam">apex0</span><span class="op">.</span><span class="nam">index</span><span class="op">)</span> <span class="key">or</span> <span class="xx">\</span><span class="strut"> </span></p>
+<p id="t36" class="pln"> <span class="op">(</span><span class="str">'z'</span> <span class="key">not</span> <span class="key">in</span> <span class="nam">apex0</span><span class="op">.</span><span class="nam">index</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t37" class="stm mis"> <span class="key">raise</span> <span class="nam">IOError</span><span class="op">(</span><span class="str">'apex0 '</span> <span class="op">+</span> <span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t38" class="stm run hide_run"> <span class="key">if</span> <span class="op">(</span><span class="str">'x'</span> <span class="key">not</span> <span class="key">in</span> <span class="nam">apex1</span><span class="op">.</span><span class="nam">index</span><span class="op">)</span> <span class="key">or</span> <span class="xx">\</span><span class="strut"> </span></p>
+<p id="t39" class="pln"> <span class="op">(</span><span class="str">'y'</span> <span class="key">not</span> <span class="key">in</span> <span class="nam">apex1</span><span class="op">.</span><span class="nam">index</span><span class="op">)</span> <span class="key">or</span> <span class="xx">\</span><span class="strut"> </span></p>
+<p id="t40" class="pln"> <span class="op">(</span><span class="str">'z'</span> <span class="key">not</span> <span class="key">in</span> <span class="nam">apex1</span><span class="op">.</span><span class="nam">index</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t41" class="stm mis"> <span class="key">raise</span> <span class="nam">IOError</span><span class="op">(</span><span class="str">'apex1 '</span> <span class="op">+</span> <span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t42" class="stm run hide_run"> <span class="key">if</span> <span class="op">(</span><span class="str">'x'</span> <span class="key">not</span> <span class="key">in</span> <span class="nam">apex2</span><span class="op">.</span><span class="nam">index</span><span class="op">)</span> <span class="key">or</span> <span class="xx">\</span><span class="strut"> </span></p>
+<p id="t43" class="pln"> <span class="op">(</span><span class="str">'y'</span> <span class="key">not</span> <span class="key">in</span> <span class="nam">apex2</span><span class="op">.</span><span class="nam">index</span><span class="op">)</span> <span class="key">or</span> <span class="xx">\</span><span class="strut"> </span></p>
+<p id="t44" class="pln"> <span class="op">(</span><span class="str">'z'</span> <span class="key">not</span> <span class="key">in</span> <span class="nam">apex2</span><span class="op">.</span><span class="nam">index</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t45" class="stm mis"> <span class="key">raise</span> <span class="nam">IOError</span><span class="op">(</span><span class="str">'apex2 '</span> <span class="op">+</span> <span class="nam">msg</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t46" class="stm run hide_run"> <span class="key">if</span> <span class="nam">apex0</span><span class="op">.</span><span class="nam">dtype</span> <span class="op">!=</span> <span class="nam">float</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t47" class="stm run hide_run"> <span class="key">raise</span> <span class="nam">IOError</span><span class="op">(</span><span class="str">'apex0 does not contains float'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t48" class="stm run hide_run"> <span class="key">if</span> <span class="nam">apex1</span><span class="op">.</span><span class="nam">dtype</span> <span class="op">!=</span> <span class="nam">float</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t49" class="stm run hide_run"> <span class="key">raise</span> <span class="nam">IOError</span><span class="op">(</span><span class="str">'apex1 does not contains float'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t50" class="stm run hide_run"> <span class="key">if</span> <span class="nam">apex2</span><span class="op">.</span><span class="nam">dtype</span> <span class="op">!=</span> <span class="nam">float</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t51" class="stm run hide_run"> <span class="key">raise</span> <span class="nam">IOError</span><span class="op">(</span><span class="str">'apex2 does not contains float'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t52" class="pln"><span class="strut"> </span></p>
+<p id="t53" class="pln"> <span class="com"># The apexes are stored in a pandas dataframe</span><span class="strut"> </span></p>
+<p id="t54" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">apexes</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">DataFrame</span><span class="op">(</span><span class="nam">index</span><span class="op">=</span><span class="op">[</span><span class="str">'x'</span><span class="op">,</span> <span class="str">'y'</span><span class="op">,</span> <span class="str">'z'</span><span class="op">]</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t55" class="pln"> <span class="nam">columns</span><span class="op">=</span><span class="op">[</span><span class="str">'apex0'</span><span class="op">,</span> <span class="str">'apex1'</span><span class="op">,</span> <span class="str">'apex2'</span><span class="op">]</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t56" class="pln"> <span class="nam">dtype</span><span class="op">=</span><span class="nam">float</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t57" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">apexes</span><span class="op">.</span><span class="nam">apex0</span> <span class="op">=</span> <span class="nam">apex0</span><span class="strut"> </span></p>
+<p id="t58" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">apexes</span><span class="op">.</span><span class="nam">apex1</span> <span class="op">=</span> <span class="nam">apex1</span><span class="strut"> </span></p>
+<p id="t59" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">apexes</span><span class="op">.</span><span class="nam">apex2</span> <span class="op">=</span> <span class="nam">apex2</span><span class="strut"> </span></p>
+<p id="t60" class="pln"><span class="strut"> </span></p>
+<p id="t61" class="stm run hide_run"> <span class="key">def</span> <span class="nam">__convert_list2array</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span> <span class="nam">clist</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t62" class="stm mis"> <span class="key">if</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">clist</span><span class="op">,</span> <span class="nam">list</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t63" class="stm mis"> <span class="nam">clist</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">array</span><span class="op">(</span><span class="nam">clist</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t64" class="stm mis"> <span class="key">return</span> <span class="nam">clist</span><span class="strut"> </span></p>
+<p id="t65" class="pln"><span class="strut"> </span></p>
+<p id="t66" class="stm run hide_run"> <span class="key">def</span> <span class="nam">center_of_mass</span><span class="op">(</span><span class="nam">self</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t67" class="pln"> <span class="str">"""center of mass</span><span class="strut"> </span></p>
+<p id="t68" class="pln"><span class="strut"> </span></p>
+<p id="t69" class="pln"><span class="str"> :returns: center of mass of the triangle</span><span class="strut"> </span></p>
+<p id="t70" class="pln"><span class="str"> :rtype: pandas series</span><span class="strut"> </span></p>
+<p id="t71" class="pln"><span class="strut"> </span></p>
+<p id="t72" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t73" class="stm run hide_run"> <span class="nam">cm</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">Series</span><span class="op">(</span><span class="nam">index</span><span class="op">=</span><span class="op">[</span><span class="str">'x'</span><span class="op">,</span> <span class="str">'y'</span><span class="op">,</span> <span class="str">'z'</span><span class="op">]</span><span class="op">,</span> <span class="nam">name</span><span class="op">=</span><span class="str">'center_of_mass'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t74" class="stm run hide_run"> <span class="nam">cm</span><span class="op">.</span><span class="nam">x</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">apexes</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="str">'x'</span><span class="op">,</span> <span class="op">:</span><span class="op">]</span><span class="op">.</span><span class="nam">mean</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t75" class="stm run hide_run"> <span class="nam">cm</span><span class="op">.</span><span class="nam">y</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">apexes</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="str">'y'</span><span class="op">,</span> <span class="op">:</span><span class="op">]</span><span class="op">.</span><span class="nam">mean</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t76" class="stm run hide_run"> <span class="nam">cm</span><span class="op">.</span><span class="nam">z</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">apexes</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="str">'z'</span><span class="op">,</span> <span class="op">:</span><span class="op">]</span><span class="op">.</span><span class="nam">mean</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t77" class="stm run hide_run"> <span class="key">return</span> <span class="nam">cm</span><span class="strut"> </span></p>
+<p id="t78" class="pln"><span class="strut"> </span></p>
+<p id="t79" class="stm run hide_run"> <span class="key">def</span> <span class="nam">apexes2vectors</span><span class="op">(</span><span class="nam">self</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t80" class="pln"> <span class="str">"""apexes2vectors return a vector between each apexes</span><span class="strut"> </span></p>
+<p id="t81" class="pln"><span class="str"> the vector originating from apex a and going to apex b, \</span><span class="strut"> </span></p>
+<p id="t82" class="pln"><span class="str">can be access as (a,b), here a and b are the apex index.</span><span class="strut"> </span></p>
+<p id="t83" class="pln"><span class="str"> for example for the vector between apex0 and apex1, \</span><span class="strut"> </span></p>
+<p id="t84" class="pln"><span class="str">the tuple is (0,1)</span><span class="strut"> </span></p>
+<p id="t85" class="pln"><span class="strut"> </span></p>
+<p id="t86" class="pln"><span class="str"> :returns: return the vectors between edges</span><span class="strut"> </span></p>
+<p id="t87" class="pln"><span class="str"> :rtype: pandas multiindexed DataFrame</span><span class="strut"> </span></p>
+<p id="t88" class="pln"><span class="strut"> </span></p>
+<p id="t89" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t90" class="stm run hide_run"> <span class="nam">vec</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">DataFrame</span><span class="op">(</span><span class="nam">data</span><span class="op">=</span><span class="num">0</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t91" class="pln"> <span class="nam">index</span><span class="op">=</span><span class="op">[</span><span class="str">'x'</span><span class="op">,</span> <span class="str">'y'</span><span class="op">,</span> <span class="str">'z'</span><span class="op">]</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t92" class="pln"> <span class="nam">columns</span><span class="op">=</span><span class="nam">pd</span><span class="op">.</span><span class="nam">MultiIndex</span><span class="op">.</span><span class="nam">from_tuples</span><span class="op">(</span><span class="op">[</span><span class="op">(</span><span class="num">0</span><span class="op">,</span> <span class="num">1</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t93" class="pln"> <span class="op">(</span><span class="num">1</span><span class="op">,</span> <span class="num">2</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t94" class="pln"> <span class="op">(</span><span class="num">2</span><span class="op">,</span> <span class="num">0</span><span class="op">)</span><span class="op">]</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t95" class="stm run hide_run"> <span class="nam">vec</span><span class="op">.</span><span class="nam">name</span> <span class="op">=</span> <span class="str">'vectors'</span><span class="strut"> </span></p>
+<p id="t96" class="stm run hide_run"> <span class="nam">vec</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="op">(</span><span class="num">0</span><span class="op">,</span> <span class="num">1</span><span class="op">)</span><span class="op">]</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">apexes</span><span class="op">.</span><span class="nam">apex1</span> <span class="op">-</span> <span class="nam">self</span><span class="op">.</span><span class="nam">apexes</span><span class="op">.</span><span class="nam">apex0</span><span class="strut"> </span></p>
+<p id="t97" class="stm run hide_run"> <span class="nam">vec</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="op">(</span><span class="num">1</span><span class="op">,</span> <span class="num">2</span><span class="op">)</span><span class="op">]</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">apexes</span><span class="op">.</span><span class="nam">apex2</span> <span class="op">-</span> <span class="nam">self</span><span class="op">.</span><span class="nam">apexes</span><span class="op">.</span><span class="nam">apex1</span><span class="strut"> </span></p>
+<p id="t98" class="stm run hide_run"> <span class="nam">vec</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="op">(</span><span class="num">2</span><span class="op">,</span> <span class="num">0</span><span class="op">)</span><span class="op">]</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">apexes</span><span class="op">.</span><span class="nam">apex0</span> <span class="op">-</span> <span class="nam">self</span><span class="op">.</span><span class="nam">apexes</span><span class="op">.</span><span class="nam">apex2</span><span class="strut"> </span></p>
+<p id="t99" class="stm run hide_run"> <span class="key">return</span> <span class="nam">vec</span><span class="strut"> </span></p>
+<p id="t100" class="pln"><span class="strut"> </span></p>
+<p id="t101" class="stm run hide_run"> <span class="key">def</span> <span class="nam">apexes2edges_norm</span><span class="op">(</span><span class="nam">self</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t102" class="pln"> <span class="str">"""apexes2edges_norm return the edges norm.</span><span class="strut"> </span></p>
+<p id="t103" class="pln"><span class="strut"> </span></p>
+<p id="t104" class="pln"><span class="str"> the edges are accessed by a tuple (a,b), here a and b \</span><span class="strut"> </span></p>
+<p id="t105" class="pln"><span class="str">are the apex indeces.</span><span class="strut"> </span></p>
+<p id="t106" class="pln"><span class="str"> for example for the edge between apex0 and apex1, the \</span><span class="strut"> </span></p>
+<p id="t107" class="pln"><span class="str">tuple is (0,1)</span><span class="strut"> </span></p>
+<p id="t108" class="pln"><span class="strut"> </span></p>
+<p id="t109" class="pln"><span class="str"> :returns: return edges norm</span><span class="strut"> </span></p>
+<p id="t110" class="pln"><span class="str"> :rtype: pandas multindexed Series</span><span class="strut"> </span></p>
+<p id="t111" class="pln"><span class="strut"> </span></p>
+<p id="t112" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t113" class="stm run hide_run"> <span class="nam">en</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">apexes2vectors</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t114" class="stm run hide_run"> <span class="nam">en</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">sqrt</span><span class="op">(</span><span class="op">(</span><span class="nam">en</span><span class="op">**</span><span class="num">2</span><span class="op">)</span><span class="op">.</span><span class="nam">sum</span><span class="op">(</span><span class="nam">axis</span><span class="op">=</span><span class="num">0</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t115" class="stm run hide_run"> <span class="nam">en</span><span class="op">.</span><span class="nam">name</span> <span class="op">=</span> <span class="str">'edges_norm'</span><span class="strut"> </span></p>
+<p id="t116" class="stm run hide_run"> <span class="key">return</span> <span class="nam">en</span><span class="strut"> </span></p>
+<p id="t117" class="pln"><span class="strut"> </span></p>
+<p id="t118" class="stm run hide_run"> <span class="key">def</span> <span class="nam">medians</span><span class="op">(</span><span class="nam">self</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t119" class="pln"> <span class="str">"""medians</span><span class="strut"> </span></p>
+<p id="t120" class="pln"><span class="str"> :returns: the point on the facing edge of an apex at which the median \</span><span class="strut"> </span></p>
+<p id="t121" class="pln"><span class="str"> emanating from this apex cross the facing edge.</span><span class="strut"> </span></p>
+<p id="t122" class="pln"><span class="str"> :rtype: pd.dataframe</span><span class="strut"> </span></p>
+<p id="t123" class="pln"><span class="str"> """</span><span class="strut"> </span></p>
+<p id="t124" class="stm run hide_run"> <span class="nam">md</span> <span class="op">=</span> <span class="nam">pd</span><span class="op">.</span><span class="nam">DataFrame</span><span class="op">(</span><span class="nam">index</span><span class="op">=</span><span class="op">[</span><span class="str">'x'</span><span class="op">,</span> <span class="str">'y'</span><span class="op">,</span> <span class="str">'z'</span><span class="op">]</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t125" class="pln"> <span class="nam">columns</span><span class="op">=</span><span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="num">1</span><span class="op">,</span> <span class="num">2</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t126" class="stm run hide_run"> <span class="nam">vec</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">apexes2vectors</span><span class="op">(</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t127" class="stm run hide_run"> <span class="nam">md</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span> <span class="op">=</span> <span class="op">(</span><span class="nam">vec</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="op">(</span><span class="num">1</span><span class="op">,</span> <span class="num">2</span><span class="op">)</span><span class="op">]</span> <span class="op">/</span> <span class="num">2</span><span class="op">)</span> <span class="op">+</span> <span class="nam">self</span><span class="op">.</span><span class="nam">apexes</span><span class="op">.</span><span class="nam">apex1</span><span class="strut"> </span></p>
+<p id="t128" class="stm run hide_run"> <span class="nam">md</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="num">1</span><span class="op">]</span> <span class="op">=</span> <span class="op">(</span><span class="nam">vec</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="op">(</span><span class="num">2</span><span class="op">,</span> <span class="num">0</span><span class="op">)</span><span class="op">]</span> <span class="op">/</span> <span class="num">2</span><span class="op">)</span> <span class="op">+</span> <span class="nam">self</span><span class="op">.</span><span class="nam">apexes</span><span class="op">.</span><span class="nam">apex2</span><span class="strut"> </span></p>
+<p id="t129" class="stm run hide_run"> <span class="nam">md</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="num">2</span><span class="op">]</span> <span class="op">=</span> <span class="op">(</span><span class="nam">vec</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="op">(</span><span class="num">0</span><span class="op">,</span> <span class="num">1</span><span class="op">)</span><span class="op">]</span> <span class="op">/</span> <span class="num">2</span><span class="op">)</span> <span class="op">+</span> <span class="nam">self</span><span class="op">.</span><span class="nam">apexes</span><span class="op">.</span><span class="nam">apex0</span><span class="strut"> </span></p>
+<p id="t130" class="stm run hide_run"> <span class="key">return</span> <span class="nam">md</span><span class="strut"> </span></p>
+<p id="t131" class="pln"><span class="strut"> </span></p>
+<p id="t132" class="stm run hide_run"> <span class="key">def</span> <span class="nam">transform</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span> <span class="nam">matrix</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t133" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="nam">isinstance</span><span class="op">(</span><span class="nam">matrix</span><span class="op">,</span> <span class="op">(</span><span class="nam">np</span><span class="op">.</span><span class="nam">ndarray</span><span class="op">,</span> <span class="nam">np</span><span class="op">.</span><span class="nam">generic</span><span class="op">)</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t134" class="stm mis"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="str">'frame should be a numpy array'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t135" class="stm run hide_run"> <span class="key">if</span> <span class="nam">len</span><span class="op">(</span><span class="nam">matrix</span><span class="op">.</span><span class="nam">shape</span><span class="op">)</span> <span class="op">!=</span> <span class="num">2</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t136" class="stm mis"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="str">'frame should have 2 dimensions'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t137" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="nam">np</span><span class="op">.</span><span class="nam">all</span><span class="op">(</span><span class="nam">matrix</span><span class="op">.</span><span class="nam">shape</span> <span class="op">==</span> <span class="op">[</span><span class="num">4</span><span class="op">,</span> <span class="num">4</span><span class="op">]</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t138" class="stm run hide_run"> <span class="nam">matrix</span> <span class="op">=</span> <span class="nam">matrix</span><span class="op">[</span><span class="op">:</span><span class="num">3</span><span class="op">,</span> <span class="op">:</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t139" class="stm run hide_run"> <span class="key">if</span> <span class="key">not</span> <span class="nam">np</span><span class="op">.</span><span class="nam">all</span><span class="op">(</span><span class="nam">matrix</span><span class="op">.</span><span class="nam">shape</span> <span class="op">!=</span> <span class="op">[</span><span class="num">3</span><span class="op">,</span> <span class="num">4</span><span class="op">]</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t140" class="stm mis"> <span class="key">raise</span> <span class="nam">TypeError</span><span class="op">(</span><span class="str">'frame should be a 3x4 or 4x4 matrix'</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t141" class="stm run hide_run"> <span class="key">for</span> <span class="nam">apexname</span><span class="op">,</span> <span class="nam">row</span> <span class="key">in</span> <span class="nam">self</span><span class="op">.</span><span class="nam">apexes</span><span class="op">.</span><span class="nam">transpose</span><span class="op">(</span><span class="op">)</span><span class="op">.</span><span class="nam">iterrows</span><span class="op">(</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t142" class="stm run hide_run"> <span class="nam">self</span><span class="op">.</span><span class="nam">apexes</span><span class="op">.</span><span class="nam">loc</span><span class="op">[</span><span class="op">[</span><span class="str">'x'</span><span class="op">,</span> <span class="str">'y'</span><span class="op">,</span> <span class="str">'z'</span><span class="op">]</span><span class="op">,</span> <span class="nam">apexname</span><span class="op">]</span> <span class="op">=</span> <span class="nam">matrix</span><span class="op">.</span><span class="nam">dot</span><span class="op">(</span><span class="strut"> </span></p>
+<p id="t143" class="pln"> <span class="op">[</span><span class="nam">row</span><span class="op">.</span><span class="nam">x</span><span class="op">,</span> <span class="nam">row</span><span class="op">.</span><span class="nam">y</span><span class="op">,</span> <span class="nam">row</span><span class="op">.</span><span class="nam">z</span><span class="op">,</span> <span class="num">1</span><span class="op">]</span><span class="op">)</span><span class="op">[</span><span class="op">:</span><span class="num">3</span><span class="op">]</span><span class="strut"> </span></p>
+<p id="t144" class="pln"><span class="strut"> </span></p>
+<p id="t145" class="stm run hide_run"> <span class="key">def</span> <span class="nam">plot</span><span class="op">(</span><span class="nam">self</span><span class="op">,</span> <span class="nam">ax</span><span class="op">=</span><span class="nam">plt</span><span class="op">.</span><span class="nam">gca</span><span class="op">(</span><span class="op">)</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t146" class="pln"> <span class="nam">facecolor</span><span class="op">=</span><span class="str">'k'</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t147" class="pln"> <span class="nam">edgecolor</span><span class="op">=</span><span class="str">'k'</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t148" class="pln"> <span class="nam">alpha</span><span class="op">=</span><span class="num">1</span><span class="op">,</span><span class="strut"> </span></p>
+<p id="t149" class="pln"> <span class="nam">apex_marker</span><span class="op">=</span><span class="key">None</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t150" class="stm mis"> <span class="nam">vtx</span> <span class="op">=</span> <span class="nam">np</span><span class="op">.</span><span class="nam">zeros</span><span class="op">(</span><span class="op">(</span><span class="num">3</span><span class="op">,</span> <span class="num">3</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t151" class="stm mis"> <span class="nam">vtx</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="num">0</span><span class="op">]</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">apexes</span><span class="op">.</span><span class="nam">apex0</span><span class="op">.</span><span class="nam">values</span><span class="strut"> </span></p>
+<p id="t152" class="stm mis"> <span class="nam">vtx</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="num">1</span><span class="op">]</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">apexes</span><span class="op">.</span><span class="nam">apex1</span><span class="op">.</span><span class="nam">values</span><span class="strut"> </span></p>
+<p id="t153" class="stm mis"> <span class="nam">vtx</span><span class="op">[</span><span class="op">:</span><span class="op">,</span> <span class="num">2</span><span class="op">]</span> <span class="op">=</span> <span class="nam">self</span><span class="op">.</span><span class="nam">apexes</span><span class="op">.</span><span class="nam">apex2</span><span class="op">.</span><span class="nam">values</span><span class="strut"> </span></p>
+<p id="t154" class="stm mis"> <span class="nam">tri</span> <span class="op">=</span> <span class="nam">a3</span><span class="op">.</span><span class="nam">art3d</span><span class="op">.</span><span class="nam">Poly3DCollection</span><span class="op">(</span><span class="op">[</span><span class="nam">vtx</span><span class="op">.</span><span class="nam">transpose</span><span class="op">(</span><span class="op">)</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t155" class="stm mis"> <span class="nam">tri</span><span class="op">.</span><span class="nam">set_facecolor</span><span class="op">(</span><span class="nam">facecolor</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t156" class="stm mis"> <span class="nam">tri</span><span class="op">.</span><span class="nam">set_edgecolor</span><span class="op">(</span><span class="nam">edgecolor</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t157" class="stm mis"> <span class="nam">tri</span><span class="op">.</span><span class="nam">set_alpha</span><span class="op">(</span><span class="nam">alpha</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t158" class="stm mis"> <span class="nam">ax</span><span class="op">.</span><span class="nam">add_collection3d</span><span class="op">(</span><span class="nam">tri</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t159" class="stm mis"> <span class="key">if</span> <span class="nam">apex_marker</span> <span class="key">is</span> <span class="key">not</span> <span class="key">None</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t160" class="stm mis"> <span class="key">for</span> <span class="nam">_</span><span class="op">,</span> <span class="nam">row</span> <span class="key">in</span> <span class="nam">self</span><span class="op">.</span><span class="nam">apexes</span><span class="op">.</span><span class="nam">transpose</span><span class="op">(</span><span class="op">)</span><span class="op">.</span><span class="nam">iterrows</span><span class="op">(</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t161" class="stm mis"> <span class="nam">plt</span><span class="op">.</span><span class="nam">plot</span><span class="op">(</span><span class="op">[</span><span class="nam">row</span><span class="op">.</span><span class="nam">x</span><span class="op">]</span><span class="op">,</span> <span class="op">[</span><span class="nam">row</span><span class="op">.</span><span class="nam">y</span><span class="op">]</span><span class="op">,</span> <span class="op">[</span><span class="nam">row</span><span class="op">.</span><span class="nam">z</span><span class="op">]</span><span class="op">,</span> <span class="nam">apex_marker</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t162" class="stm mis"> <span class="nam">xlim</span> <span class="op">=</span> <span class="nam">list</span><span class="op">(</span><span class="nam">ax</span><span class="op">.</span><span class="nam">get_xlim</span><span class="op">(</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t163" class="stm mis"> <span class="nam">ylim</span> <span class="op">=</span> <span class="nam">list</span><span class="op">(</span><span class="nam">ax</span><span class="op">.</span><span class="nam">get_ylim</span><span class="op">(</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t164" class="stm mis"> <span class="nam">zlim</span> <span class="op">=</span> <span class="nam">list</span><span class="op">(</span><span class="nam">ax</span><span class="op">.</span><span class="nam">get_zlim</span><span class="op">(</span><span class="op">)</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t165" class="stm mis"> <span class="key">if</span> <span class="nam">min</span><span class="op">(</span><span class="nam">xlim</span><span class="op">)</span> <span class="op"><</span> <span class="nam">min</span><span class="op">(</span><span class="nam">vtx</span><span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="op">:</span><span class="op">]</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t166" class="stm mis"> <span class="nam">xlim</span><span class="op">[</span><span class="num">0</span><span class="op">]</span> <span class="op">=</span> <span class="nam">min</span><span class="op">(</span><span class="nam">vtx</span><span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="op">:</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t167" class="stm mis"> <span class="key">if</span> <span class="nam">max</span><span class="op">(</span><span class="nam">xlim</span><span class="op">)</span> <span class="op">></span> <span class="nam">max</span><span class="op">(</span><span class="nam">vtx</span><span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="op">:</span><span class="op">]</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t168" class="stm mis"> <span class="nam">xlim</span><span class="op">[</span><span class="num">1</span><span class="op">]</span> <span class="op">=</span> <span class="nam">max</span><span class="op">(</span><span class="nam">vtx</span><span class="op">[</span><span class="num">0</span><span class="op">,</span> <span class="op">:</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t169" class="stm mis"> <span class="key">if</span> <span class="nam">min</span><span class="op">(</span><span class="nam">ylim</span><span class="op">)</span> <span class="op"><</span> <span class="nam">min</span><span class="op">(</span><span class="nam">vtx</span><span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="op">:</span><span class="op">]</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t170" class="stm mis"> <span class="nam">ylim</span><span class="op">[</span><span class="num">0</span><span class="op">]</span> <span class="op">=</span> <span class="nam">min</span><span class="op">(</span><span class="nam">vtx</span><span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="op">:</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t171" class="stm mis"> <span class="key">if</span> <span class="nam">max</span><span class="op">(</span><span class="nam">ylim</span><span class="op">)</span> <span class="op">></span> <span class="nam">max</span><span class="op">(</span><span class="nam">vtx</span><span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="op">:</span><span class="op">]</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t172" class="stm mis"> <span class="nam">ylim</span><span class="op">[</span><span class="num">1</span><span class="op">]</span> <span class="op">=</span> <span class="nam">max</span><span class="op">(</span><span class="nam">vtx</span><span class="op">[</span><span class="num">1</span><span class="op">,</span> <span class="op">:</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t173" class="stm mis"> <span class="key">if</span> <span class="nam">min</span><span class="op">(</span><span class="nam">zlim</span><span class="op">)</span> <span class="op"><</span> <span class="nam">min</span><span class="op">(</span><span class="nam">vtx</span><span class="op">[</span><span class="num">2</span><span class="op">,</span> <span class="op">:</span><span class="op">]</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t174" class="stm mis"> <span class="nam">zlim</span><span class="op">[</span><span class="num">0</span><span class="op">]</span> <span class="op">=</span> <span class="nam">min</span><span class="op">(</span><span class="nam">vtx</span><span class="op">[</span><span class="num">2</span><span class="op">,</span> <span class="op">:</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t175" class="stm mis"> <span class="key">if</span> <span class="nam">max</span><span class="op">(</span><span class="nam">xlim</span><span class="op">)</span> <span class="op">></span> <span class="nam">max</span><span class="op">(</span><span class="nam">vtx</span><span class="op">[</span><span class="num">2</span><span class="op">,</span> <span class="op">:</span><span class="op">]</span><span class="op">)</span><span class="op">:</span><span class="strut"> </span></p>
+<p id="t176" class="stm mis"> <span class="nam">zlim</span><span class="op">[</span><span class="num">1</span><span class="op">]</span> <span class="op">=</span> <span class="nam">max</span><span class="op">(</span><span class="nam">vtx</span><span class="op">[</span><span class="num">2</span><span class="op">,</span> <span class="op">:</span><span class="op">]</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t177" class="stm mis"> <span class="nam">ax</span><span class="op">.</span><span class="nam">set_xlim</span><span class="op">(</span><span class="nam">xlim</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t178" class="stm mis"> <span class="nam">ax</span><span class="op">.</span><span class="nam">set_ylim</span><span class="op">(</span><span class="nam">ylim</span><span class="op">)</span><span class="strut"> </span></p>
+<p id="t179" class="stm mis"> <span class="nam">ax</span><span class="op">.</span><span class="nam">set_zlim</span><span class="op">(</span><span class="nam">zlim</span><span class="op">)</span><span class="strut"> </span></p>
+
+ </td>
+ </tr>
+ </table>
+</div>
+
+<div id="footer">
+ <div class="content">
+ <p>
+ <a class="nav" href="index.html">« index</a> <a class="nav" href="https://coverage.readthedocs.io">coverage.py v4.5.2</a>,
+ created at 2019-01-13 14:34
+ </p>
+ </div>
+</div>
+
+</body>
+</html>
diff --git a/coverage_html_report/status.json b/coverage_html_report/status.json
new file mode 100644
index 0000000000000000000000000000000000000000..a94a7431c19c339f08d6c3a4dcb086d7f127ed72
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diff --git a/coverage_html_report/style.css b/coverage_html_report/style.css
new file mode 100644
index 0000000000000000000000000000000000000000..86b8209147e40957b3dffce360a4003a63253054
--- /dev/null
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+/* For details: https://bitbucket.org/ned/coveragepy/src/default/NOTICE.txt */
+
+/* CSS styles for coverage.py. */
+
+/* Page-wide styles */
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+ background: #ffffaa;
+}
+.stats span.hide_par {
+ background: #ffffcc;
+}
+
+/* Help panel */
+#keyboard_icon {
+ float: right;
+ margin: 5px;
+ cursor: pointer;
+}
+
+.help_panel {
+ position: absolute;
+ background: #ffffcc;
+ padding: .5em;
+ border: 1px solid #883;
+ display: none;
+}
+
+.indexfile .help_panel {
+ width: 20em; height: 4em;
+}
+
+.pyfile .help_panel {
+ width: 16em; height: 8em;
+}
+
+.help_panel .legend {
+ font-style: italic;
+ margin-bottom: 1em;
+}
+
+#panel_icon {
+ float: right;
+ cursor: pointer;
+}
+
+.keyhelp {
+ margin: .75em;
+}
+
+.keyhelp .key {
+ border: 1px solid black;
+ border-color: #888 #333 #333 #888;
+ padding: .1em .35em;
+ font-family: monospace;
+ font-weight: bold;
+ background: #eee;
+}
+
+/* Source file styles */
+.linenos p {
+ text-align: right;
+ margin: 0;
+ padding: 0 .5em;
+ color: #999999;
+ font-family: verdana, sans-serif;
+ font-size: .625em; /* 10/16 */
+ line-height: 1.6em; /* 16/10 */
+ }
+.linenos p.highlight {
+ background: #ffdd00;
+ }
+.linenos p a {
+ text-decoration: none;
+ color: #999999;
+ }
+.linenos p a:hover {
+ text-decoration: underline;
+ color: #999999;
+ }
+
+td.text {
+ width: 100%;
+ }
+.text p {
+ margin: 0;
+ padding: 0 0 0 .5em;
+ border-left: 2px solid #ffffff;
+ white-space: pre;
+ position: relative;
+ }
+
+.text p.mis {
+ background: #ffdddd;
+ border-left: 2px solid #ff0000;
+ }
+.text p.run, .text p.run.hide_par {
+ background: #ddffdd;
+ border-left: 2px solid #00ff00;
+ }
+.text p.exc {
+ background: #eeeeee;
+ border-left: 2px solid #808080;
+ }
+.text p.par, .text p.par.hide_run {
+ background: #ffffaa;
+ border-left: 2px solid #eeee99;
+ }
+.text p.hide_run, .text p.hide_exc, .text p.hide_mis, .text p.hide_par,
+.text p.hide_run.hide_par {
+ background: inherit;
+ }
+
+.text span.annotate {
+ font-family: georgia;
+ color: #666;
+ float: right;
+ padding-right: .5em;
+ }
+.text p.hide_par span.annotate {
+ display: none;
+ }
+.text span.annotate.long {
+ display: none;
+ }
+.text p:hover span.annotate.long {
+ display: block;
+ max-width: 50%;
+ white-space: normal;
+ float: right;
+ position: absolute;
+ top: 1.75em;
+ right: 1em;
+ width: 30em;
+ height: auto;
+ color: #333;
+ background: #ffffcc;
+ border: 1px solid #888;
+ padding: .25em .5em;
+ z-index: 999;
+ border-radius: .2em;
+ box-shadow: #cccccc .2em .2em .2em;
+ }
+
+/* Syntax coloring */
+.text .com {
+ color: green;
+ font-style: italic;
+ line-height: 1px;
+ }
+.text .key {
+ font-weight: bold;
+ line-height: 1px;
+ }
+.text .str {
+ color: #000080;
+ }
+
+/* index styles */
+#index td, #index th {
+ text-align: right;
+ width: 5em;
+ padding: .25em .5em;
+ border-bottom: 1px solid #eee;
+ }
+#index th {
+ font-style: italic;
+ color: #333;
+ border-bottom: 1px solid #ccc;
+ cursor: pointer;
+ }
+#index th:hover {
+ background: #eee;
+ border-bottom: 1px solid #999;
+ }
+#index td.left, #index th.left {
+ padding-left: 0;
+ }
+#index td.right, #index th.right {
+ padding-right: 0;
+ }
+#index th.headerSortDown, #index th.headerSortUp {
+ border-bottom: 1px solid #000;
+ white-space: nowrap;
+ background: #eee;
+ }
+#index th.headerSortDown:after {
+ content: " ↓";
+}
+#index th.headerSortUp:after {
+ content: " ↑";
+}
+#index td.name, #index th.name {
+ text-align: left;
+ width: auto;
+ }
+#index td.name a {
+ text-decoration: none;
+ color: #000;
+ }
+#index tr.total,
+#index tr.total_dynamic {
+ }
+#index tr.total td,
+#index tr.total_dynamic td {
+ font-weight: bold;
+ border-top: 1px solid #ccc;
+ border-bottom: none;
+ }
+#index tr.file:hover {
+ background: #eeeeee;
+ }
+#index tr.file:hover td.name {
+ text-decoration: underline;
+ color: #000;
+ }
+
+/* scroll marker styles */
+#scroll_marker {
+ position: fixed;
+ right: 0;
+ top: 0;
+ width: 16px;
+ height: 100%;
+ background: white;
+ border-left: 1px solid #eee;
+ }
+
+#scroll_marker .marker {
+ background: #eedddd;
+ position: absolute;
+ min-height: 3px;
+ width: 100%;
+ }
diff --git a/navipy/.coverage b/navipy/.coverage
new file mode 100644
index 0000000000000000000000000000000000000000..fe8af938d007b5c59b7ae9b2aca3356b170bf2cc
--- /dev/null
+++ b/navipy/.coverage
@@ -0,0 +1 @@
+!coverage.py: This is a private format, don't read it directly!{"lines":{}}
\ No newline at end of file
diff --git a/navipy/maths/test_euler.py b/navipy/maths/test_euler.py
index 54c8ef3b84c125e1f95f1a0665dc7fb3dcbe3a42..4d7deaf0d936ce0fe7b083a6a1c47426561ba9b4 100644
--- a/navipy/maths/test_euler.py
+++ b/navipy/maths/test_euler.py
@@ -94,7 +94,7 @@ class TestEuler(unittest.TestCase):
of wrong type, value are passed to the
euler.angle_rate_matrix function
"""
- for a, b, c, d in [(None, 2, 6, 'xyz'), (5.0, 4.0, None, 'xyx')]:
+ for a, b, c, d in [(None, None, 6, 'xyz'), (5.0, 4.0, None, 'xyx')]:
with self.assertRaises(TypeError):
euler.angle_rate_matrix(a, b, c, d)