From 164253850864a006c3e4f61574de08a3279cbf28 Mon Sep 17 00:00:00 2001
From: "Olivier J.N. Bertrand" <olivier.bertrand@uni-bielefeld.de>
Date: Thu, 7 Jun 2018 18:09:31 +0200
Subject: [PATCH] Correct typo in database loading of old version
---
navipy/database/__init__.py | 2 +-
samples/asv_homing_grid.py | 41 +++++++++++++++++++------------------
2 files changed, 22 insertions(+), 21 deletions(-)
diff --git a/navipy/database/__init__.py b/navipy/database/__init__.py
index cee032d..abeb5ad 100644
--- a/navipy/database/__init__.py
+++ b/navipy/database/__init__.py
@@ -513,7 +513,7 @@ class DataBaseLoad(DataBase):
warnings.warn("you are loading a database with old\
conventions, it will be transformed\
automatically into the new one")
- posorients = Trajectory(rotconv, indeces=posorient.index)
+ posorients = Trajectory()
posorients.from_dataframe(posorient, rotconv='rxyz')
return posorients
diff --git a/samples/asv_homing_grid.py b/samples/asv_homing_grid.py
index 962b324..f85a365 100644
--- a/samples/asv_homing_grid.py
+++ b/samples/asv_homing_grid.py
@@ -11,43 +11,44 @@ from navipy import Brain
# 0) Define a class heriting from Brain
class ASVBrain(Brain):
def __init__(self, renderer=None, channel=0):
- Brain.__init__(self,renderer=renderer)
+ Brain.__init__(self, renderer=renderer)
# Init memory
- locid = mydb.posorients[(mydb.posorients.x==0) & (mydb.posorients.y==0)].index[0]
+ locid = mydb.posorients[(mydb.posorients.x == 0) & (
+ mydb.posorients.y == 0)].index[0]
posorient = mydb.posorients.loc[locid, :]
self.update(posorient)
self.channel = channel
self.memory = self.asv()
-
def asv(self):
- if self.channel >3:
+ if self.channel > 3:
return apcv(1/self.vision.scene,
- self.vision.viewing_directions)[..., 3,:]
+ self.vision.viewing_directions)[..., 3, :]
else:
return apcv(self.vision.scene,
- self.vision.viewing_directions)[..., self.channel,:]
-
+ self.vision.viewing_directions)[..., self.channel, :]
def velocity(self):
homing_vector = self.memory - self.asv()
homing_vector = np.squeeze(homing_vector)
velocity = pd.Series(data=0,
- index=['dx', 'dy', 'dz',
- 'dalpha_0', 'dalpha_1', 'dalpha_2'])
+ index=['dx', 'dy', 'dz',
+ 'dalpha_0', 'dalpha_1', 'dalpha_2'])
velocity[['dx', 'dy', 'dz']] = homing_vector
return velocity
-
+
+
# 1) Connect to the database
mydb_filename = '/home/bolirev/database.db'
mydb = DataBaseLoad(mydb_filename)
-for channel in range(5):
+for channel in range(5):
mybrain = ASVBrain(renderer=mydb, channel=channel)
# Create a grid agent
my_agent = GridAgent(mybrain)
# init position
- rowid = mydb.posorients[(mydb.posorients.x==-5) & (mydb.posorients.y==-5)].index[0]
+ rowid = mydb.posorients[(mydb.posorients.x == -5)
+ & (mydb.posorients.y == -5)].index[0]
initpos = mybrain.posorients.loc[rowid]
my_agent.posorient = initpos
@@ -64,13 +65,13 @@ for channel in range(5):
f, axarr = plt.subplots(1, 1, figsize=(10, 10))
axarr.plot(trajectory.x, trajectory.y)
- gridtoplot = mydb.posorients[(mydb.posorients.x>-1) &
- (mydb.posorients.y>-1) &
- (mydb.posorients.x<1) &
- (mydb.posorients.y<1)]
- axarr.plot([0],[0],'ro')
- axarr.plot(gridtoplot.x,gridtoplot.y,'.',color='gray')
- axarr.set_xlim([-10,10])
- axarr.set_ylim([-10,10])
+ gridtoplot = mydb.posorients[(mydb.posorients.x > -1) &
+ (mydb.posorients.y > -1) &
+ (mydb.posorients.x < 1) &
+ (mydb.posorients.y < 1)]
+ axarr.plot([0], [0], 'ro')
+ axarr.plot(gridtoplot.x, gridtoplot.y, '.', color='gray')
+ axarr.set_xlim([-10, 10])
+ axarr.set_ylim([-10, 10])
f.show()
f.savefig('plots/asv_homing_grid_channel_{}.svg'.format(channel))
--
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