diff --git a/navipy/database/__init__.py b/navipy/database/__init__.py
index abeb5ad155bf9cd5e024a90b93426617e3c844bf..431b5253ef1203a851fc0c4c7ddf020779b2a4a6 100644
--- a/navipy/database/__init__.py
+++ b/navipy/database/__init__.py
@@ -7,10 +7,10 @@ import numpy as np
import pandas as pd
import sqlite3
import io
-import warnings
from navipy.scene import is_numeric_array, check_scene
import navipy.maths.constants as mconst
from navipy.tools.trajectory import Trajectory
+from navipy.scene import __spherical_indeces__
import logging
@@ -151,12 +151,12 @@ class DataBase():
self._logger.exception(msg)
raise NameError(msg)
- azimuth = np.linspace(-180, 180, 360)
- elevation = np.linspace(-90, 90, 180)
+ azimuth = np.deg2rad(np.linspace(-180, 180, 360))
+ elevation = np.deg2rad(np.linspace(-90, 90, 180))
[ma, me] = np.meshgrid(azimuth, elevation)
self.viewing_directions = np.zeros((ma.shape[0], ma.shape[1], 2))
- self.viewing_directions[..., 0] = me
- self.viewing_directions[..., 1] = ma
+ self.viewing_directions[..., __spherical_indeces__['elevation']] = me
+ self.viewing_directions[..., __spherical_indeces__['azimuth']] = ma
def table_exist(self, tablename):
"""
@@ -465,6 +465,7 @@ class DataBaseLoad(DataBase):
R,G,B or D (Distance)'
self._logger.exception(msg)
raise ValueError(msg)
+ self.__convention = None
@property
def create(self):
@@ -491,6 +492,35 @@ class DataBaseLoad(DataBase):
toyield.drop('id', inplace=True)
yield toyield
+ @property
+ def rotation_convention(self):
+ """ Return the convention in the database
+
+ The database can technically contains more than one convention.
+ Although it is discourage to do so, it is not forbidden.
+
+ If more than one convention is found in the database, this function
+ will issue awarning when more than one convention is present in the database.
+ """
+ posorient = pd.read_sql_query(
+ "select * from position_orientation;", self.db)
+ posorient.set_index('id', inplace=True)
+ if self.__convention is None:
+ if 'rotconv_id' in posorient.columns:
+ rotconv = posorient.loc[:, 'rotconv_id']
+ if np.all(rotconv == rotconv.iloc[0]):
+ self.__convention = rotconv
+ else:
+ self._logger.warning(
+ 'More than one convention have been found in database')
+ self.__convention = None
+ else:
+ self._logger.warning("you are loading a database with old\
+ conventions, it will be transformed\
+ automatically into the new one")
+ self.__convention = 'rxyz'
+ return self.__convention
+
@property
def posorients(self):
"""Return the position orientations of all points in the \
@@ -501,20 +531,9 @@ class DataBaseLoad(DataBase):
posorient = pd.read_sql_query(
"select * from position_orientation;", self.db)
posorient.set_index('id', inplace=True)
- if 'rotconv_id' in posorient.columns:
- rotconv = posorient.loc[:, 'rotconv_id']
- if np.all(rotconv == rotconv.iloc[0]):
- posorients = Trajectory(
- rotconv.iloc[0], indeces=posorient.index)
- posorients.from_dataframe(posorient)
- else:
- posorients = posorient
- else:
- warnings.warn("you are loading a database with old\
- conventions, it will be transformed\
- automatically into the new one")
+ if self.rotation_convention is not None:
posorients = Trajectory()
- posorients.from_dataframe(posorient, rotconv='rxyz')
+ posorients.from_dataframe(posorient, rotconv=self.__convention)
return posorients
@property
diff --git a/navipy/models/hafner_2000.py b/navipy/models/hafner_2000.py
index 4e72a80611e84f07dae822323f49333a6a55d3e2..3c94b921d17c379fc4430e082c89fd6b27524b1c 100644
--- a/navipy/models/hafner_2000.py
+++ b/navipy/models/hafner_2000.py
@@ -1,6 +1,8 @@
from navipy import Brain
from navipy.processing.pcode import apcv, skyline
import pandas as pd
+import numpy as np
+from navipy.scene import __spherical_indeces__
# 0) Define a class heriting from Brain
@@ -24,8 +26,10 @@ def processing(scene, viewing_directions, channel):
scene[..., 3, :] = 1/scene[..., 3, :]
# Calculate the skyline
scene = skyline(scene)
-
- comanv = apcv(scene, viewing_directions)
+ # skyline viewing direction
+ viewdir = viewing_directions[1, ...][np.newaxis, ...]
+ viewdir[..., __spherical_indeces__['elevation']] = 0
+ comanv = apcv(scene, viewdir)
return comanv[..., channel, :]
@@ -34,6 +38,7 @@ def comparing(current, memory):
homing vector = current vector - memory vector
"""
+ return current-memory
class ASVBrain(Brain):
@@ -53,9 +58,10 @@ class ASVBrain(Brain):
self.vision.viewing_directions,
self.channel)
homing_vector = comparing(current, self.memory)
+ homing_vector = np.squeeze(homing_vector)
indeces = [('location', 'dx'), ('location', 'dy'),
('location', 'dz'), (convention, 'dalpha_0'),
(convention, 'dalpha_1'), (convention, 'dalpha_2')]
velocity = pd.Series(data=0, index=pd.MultiIndex.from_tuples(indeces))
- velocity['location'] = homing_vector
+ velocity.loc['location'] = homing_vector
return velocity
diff --git a/navipy/moving/agent.py b/navipy/moving/agent.py
index baa501a962b92702d257ac483165d9531363d27c..0c4775cf34c9da016efae9c6f380156ed5f65675 100644
--- a/navipy/moving/agent.py
+++ b/navipy/moving/agent.py
@@ -28,6 +28,7 @@ import multiprocessing
from multiprocessing import Queue, JoinableQueue, Process
import inspect
import navipy.moving.maths as navimomath
+from navipy.database import DataBaseLoad
version = float(nx.__version__)
@@ -52,25 +53,33 @@ class AbstractAgent():
def __init__(self, convention='rzyx'):
self._brain = DefaultBrain()
self._alter_posorientvel = defaultcallback
- tuples = [('location', 'x'), ('location', 'y'),
- ('location', 'z'), (convention, 'alpha_0'),
- (convention, 'alpha_1'), (convention, 'alpha_2')]
+ tuples = [('location', 'x'),
+ ('location', 'y'),
+ ('location', 'z'),
+ (convention, 'alpha_0'),
+ (convention, 'alpha_1'),
+ (convention, 'alpha_2')]
index = pd.MultiIndex.from_tuples(tuples,
names=['position',
'orientation'])
self._posorient_col = index
- tuples_vel = [('location', 'x'), ('location', 'y'),
- ('location', 'z'), (convention, 'alpha_0'),
- (convention, 'alpha_1'), (convention, 'alpha_2'),
- ('location', 'dx'), ('location', 'dy'),
- ('location', 'dz'), (convention, 'dalpha_0'),
- (convention, 'dalpha_1'), (convention, 'dalpha_2')]
+ tuples_vel = [('location', 'dx'),
+ ('location', 'dy'),
+ ('location', 'dz'),
+ (convention, 'dalpha_0'),
+ (convention, 'dalpha_1'),
+ (convention, 'dalpha_2')]
index_vel = pd.MultiIndex.from_tuples(tuples_vel,
names=['position',
'orientation'])
+ tuples_posvel = tuples
+ tuples_posvel.extend(tuples_vel)
+ index_posvel = pd.MultiIndex.from_tuples(tuples_posvel,
+ names=['position',
+ 'orientation'])
self._velocity_col = index_vel
- self._posorient_vel_col = self._velocity_col.copy()
+ self._posorient_vel_col = index_posvel
self._posorient_vel = pd.Series(
index=self._posorient_vel_col,
data=np.nan)
@@ -105,6 +114,15 @@ class AbstractAgent():
self._posorient_vel.loc[self._velocity_col] = \
velocity.loc[self._velocity_col]
+ @property
+ def posorient_vel(self):
+ return self._posorient_vel.copy()
+
+ @posorient_vel.setter
+ def posorient_vel(self, posorient_vel):
+ self.posorient = posorient_vel
+ self.velocity = posorient_vel
+
@property
def brain(self):
return inspect.getsourcelines(self._brain)
@@ -176,11 +194,14 @@ GridAgent is a close loop agent here its position is snap to a grid.
"""
- def __init__(self, brain, convention,
+ def __init__(self, brain,
posorients_queue=None,
results_queue=None):
- if convention is None:
- raise Exception("convention must be set")
+ if not isinstance(brain.renderer, DataBaseLoad):
+ msg = 'GridAgent only works with a brain having '
+ msg += 'a renderer of type DataBaseLoad'
+ raise TypeError(msg)
+ convention = brain.renderer.rotation_convention
if (posorients_queue is not None) and (results_queue is not None):
multiprocessing.Process.__init__(self)
AbstractAgent.__init__(self, convention)
@@ -283,14 +304,19 @@ the agent motion, or
"""
- def __init__(self, brain):
+ def __init__(self, brain, mode_of_motion):
self._brain = copy.copy(brain)
# Init the graph
self._graph = nx.DiGraph()
+ if not isinstance(self._brain.renderer, DataBaseLoad):
+ msg = 'GraphAgent only works with a brain having '
+ msg += 'a renderer of type DataBaseLoad'
+ raise TypeError(msg)
for row_id, posor in self._brain.posorients.iterrows():
posor.name = row_id
self._graph.add_node(row_id,
posorient=posor)
+ self.mode_of_motion = mode_of_motion
@property
def graph(self):
diff --git a/navipy/moving/maths.py b/navipy/moving/maths.py
index 55389c762ea1d37fa746d49f06d5f03437e77f9e..d2d14da2e6a292cdf839eb4a2f1cd18d6d5441cf 100644
--- a/navipy/moving/maths.py
+++ b/navipy/moving/maths.py
@@ -49,7 +49,7 @@ def next_pos(motion_vec, move_mode, move_param=None):
# speed in spherical coord
epsilon = np.arctan2(speed['location']['dz'],
np.sqrt(speed['location']['dx']**2 +
- speed['location']['dy']**2))
+ speed['location']['dy']**2))
phi = np.arctan2(speed['location']['dy'], speed['location']['dx'])
radius = np.sqrt(np.sum(speed**2))
if np.isclose(radius, 0):
@@ -88,15 +88,9 @@ def next_pos(motion_vec, move_mode, move_param=None):
else:
raise ValueError('grid_mode is not supported')
toreturn = motion_vec
- toreturn['location']['x'] = (toreturn['location']['x'] +
- speed['location']['dx'])
- toreturn['location']['y'] = (toreturn['location']['y'] +
- speed['location']['dy'])
- toreturn['location']['z'] = (toreturn['location']['z'] +
- speed['location']['dz'])
- # toreturn.loc[['x', 'y', 'z']] += speed.rename({'dx': 'x',
- # 'dy': 'y',
- # 'dz': 'z'}) * scaling
+ toreturn.loc[('location', 'x')] += speed['location']['dx']
+ toreturn.loc[('location', 'y')] += speed['location']['dy']
+ toreturn.loc[('location', 'z')] += speed['location']['dz']
return toreturn
@@ -110,9 +104,9 @@ def closest_pos(pos, positions):
"""
euclidian_dist = np.sqrt(
- (pos['location']['x'] - positions['location']['x'])**2
- + (pos['location']['y'] - positions['location']['y'])**2
- + (pos['location']['z'] - positions['location']['z'])**2)
+ (pos['location']['x'] - positions['location']['x'])**2
+ + (pos['location']['y'] - positions['location']['y'])**2
+ + (pos['location']['z'] - positions['location']['z'])**2)
return positions.loc[euclidian_dist.idxmin()]