imt-ring 1.3.2__tar.gz → 1.3.4__tar.gz

{imt_ring-1.3.2 → imt_ring-1.3.4}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: imt-ring
-Version: 1.3.2
+Version: 1.3.4
 Summary: RING: Recurrent Inertial Graph-based Estimator
 Author-email: Simon Bachhuber <simon.bachhuber@fau.de>
 Project-URL: Homepage, https://github.com/SimiPixel/ring

{imt_ring-1.3.2 → imt_ring-1.3.4}/pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "imt-ring"
-version = "1.3.2"
+version = "1.3.4"
 authors = [
   { name="Simon Bachhuber", email="simon.bachhuber@fau.de" },
 ]

{imt_ring-1.3.2 → imt_ring-1.3.4}/src/imt_ring.egg-info/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: imt-ring
-Version: 1.3.2
+Version: 1.3.4
 Summary: RING: Recurrent Inertial Graph-based Estimator
 Author-email: Simon Bachhuber <simon.bachhuber@fau.de>
 Project-URL: Homepage, https://github.com/SimiPixel/ring

{imt_ring-1.3.2 → imt_ring-1.3.4}/src/ring/algorithms/custom_joints/__init__.py

@@ -1,5 +1,6 @@
 from .rr_imp_joint import register_rr_imp_joint
 from .rr_joint import register_rr_joint
+from .suntay import ConstantValue_DrawnFnPair
 from .suntay import GP_DrawFnPair
 from .suntay import MLP_DrawnFnPair
 from .suntay import Polynomial_DrawnFnPair

{imt_ring-1.3.2 → imt_ring-1.3.4}/src/ring/algorithms/custom_joints/suntay.py

@@ -295,14 +295,15 @@ def register_suntay(sconfig: SuntayConfig, name: str = "suntay"):
 
 def Polynomial_DrawnFnPair(
     order: int = 2,
-    val: float = 2.0,
     center: bool = False,
     flexion_center: Optional[float] = None,
+    include_bias: bool = True,
 ) -> DrawnFnPairFactory:
-    assert val >= 0.0
+    assert not (order == 0 and not include_bias)
 
     # because 0-th order is also counted
     order += 1
+    powers = jnp.arange(order) if include_bias else jnp.arange(1, order)
 
     def factory(xs, mn, mx):
         nonlocal flexion_center
@@ -311,7 +312,7 @@ def Polynomial_DrawnFnPair(
         flexion_mx = jnp.max(xs)
 
         def _apply_poly_factors(poly_factors, q):
-            return poly_factors @ jnp.power(q, jnp.arange(order))
+            return poly_factors @ jnp.power(q, powers)
 
         if flexion_center is None:
             flexion_center = (flexion_mn + flexion_mx) / 2
@@ -319,16 +320,19 @@ def Polynomial_DrawnFnPair(
             flexion_center = jnp.array(flexion_center)
 
         def init(key):
-            c1, c2 = jax.random.split(key)
+            c1, c2, c3 = jax.random.split(key, 3)
             poly_factors = jax.random.uniform(
-                c1, shape=(order,), minval=-val, maxval=val
+                c1, shape=(len(powers),), minval=-1.0, maxval=1.0
             )
             q0 = jax.random.uniform(c2, minval=flexion_mn, maxval=flexion_mx)
             values = jax.vmap(_apply_poly_factors, in_axes=(None, 0))(
                 poly_factors, xs - q0
             )
-            amax = jnp.max(values)
-            amin = jnp.min(values)
+            eps = 1e-6
+            amin, amax = jnp.min(values), jnp.max(values) + eps
+            delta = amax - amin
+            scale_delta = jnp.clip(jax.random.normal(c3) + 0.5, 1.0)
+            amax = amin + delta * scale_delta
             return amin, amax, poly_factors, q0
 
         def _apply(params, q):
@@ -350,6 +354,22 @@ def Polynomial_DrawnFnPair(
     return factory
 
 
+def ConstantValue_DrawnFnPair(value: float) -> DrawnFnPairFactory:
+    value = jnp.array(value)
+
+    def factory(xs, mn, mx):
+
+        def init(key):
+            return {}
+
+        def apply(params, q):
+            return value
+
+        return DrawnFnPair(init, apply)
+
+    return factory
+
+
 def MLP_DrawnFnPair(
     center: bool = False, flexion_center: Optional[float] = None
 ) -> DrawnFnPairFactory:

{imt_ring-1.3.2 → imt_ring-1.3.4}/src/ring/base.py

@@ -929,16 +929,22 @@ def _parse_system_calculate_inertia(sys: System):
 def _scan_sys(sys: System, f: Callable, in_types: str, *args, reverse: bool = False):
     assert len(args) == len(in_types)
     for in_type, arg in zip(in_types, args):
-        B = len(arg)
+
         if in_type == "l":
-            assert B == sys.num_links()
+            required_length = sys.num_links()
         elif in_type == "q":
-            assert B == sys.q_size()
+            required_length = sys.q_size()
         elif in_type == "d":
-            assert B == sys.qd_size()
+            required_length = sys.qd_size()
         else:
             raise Exception("`in_types` must be one of `l` or `q` or `d`")
 
+        B = len(arg)
+        B_re = required_length
+        assert (
+            B == B_re
+        ), f"arg={arg} has a length of B={B} which isn't the required length={B_re}"
+
     order = range(sys.num_links())
     q_idx, qd_idx = 0, 0
     q_idxs, qd_idxs = {}, {}