From 18cb198bef44b118bc736b1db122bd87621fdd22 Mon Sep 17 00:00:00 2001
From: "Olivier J.N. Bertrand" <olivier.bertrand@uni-bielefeld.de>
Date: Thu, 17 Jan 2019 17:21:59 +0100
Subject: [PATCH] Speed up velocity calculation The calculation skip null diff
euler angles and thus skip many iteration in the loop
---
navipy/trajectories/__init__.py | 8 +++++++-
1 file changed, 7 insertions(+), 1 deletion(-)
diff --git a/navipy/trajectories/__init__.py b/navipy/trajectories/__init__.py
index 8051f65..8f5f3c7 100644
--- a/navipy/trajectories/__init__.py
+++ b/navipy/trajectories/__init__.py
@@ -641,7 +641,13 @@ class Trajectory(pd.DataFrame):
dtype=float)
diffrow = self.diff()
velocity.loc[:, ['dx', 'dy', 'dz']] = diffrow.loc[:, 'location'].values
- for index_i, row in self.iterrows():
+ # Look for true zeros in order to save time
+ true_zeros = diffrow == 0
+ diffrow[true_zeros] = np.nan
+ velocity[true_zeros[self.rotation_mode]] = 0
+ # Loop only on non true zeros
+ for index_i in diffrow.loc[:, self.rotation_mode].dropna().index:
+ row = self.loc[index_i, :]
if self.rotation_mode == 'quaternion':
raise NameError('Not implemented')
else:
--
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