imt-ring 1.3.3__py3-none-any.whl → 1.3.4__py3-none-any.whl

{imt_ring-1.3.3.dist-info → imt_ring-1.3.4.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: imt-ring
-Version: 1.3.3
+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-1.3.3.dist-info → imt_ring-1.3.4.dist-info}/RECORD

@@ -12,7 +12,7 @@ ring/algorithms/sensors.py,sha256=Y3Wo9qj3BWKoIHB0V04QwyD-Z5m4BrAjfBX8Pn6y9Lg,18
 ring/algorithms/custom_joints/__init__.py,sha256=fzeE7TdUhmGgbbFAyis1tKcyQ4Fo8LigDwD3hUVnH_w,316
 ring/algorithms/custom_joints/rr_imp_joint.py,sha256=a3JT0w7pB94kZ95eBR8ZO853eSeyjFoiXmhYlaXoHDE,2392
 ring/algorithms/custom_joints/rr_joint.py,sha256=jnRtjtOCALMaq2_0bcu2d7qgfQ6etXpoh43MioRaDmY,1000
-ring/algorithms/custom_joints/suntay.py,sha256=0Oym3KQssj3QDOldnz9PTy5jPg9ZLk85mMK2YX1qvB4,15600
+ring/algorithms/custom_joints/suntay.py,sha256=CN0q6G2bjmufNMr7eAjKwIKwXpFp9qFjqrJCey-xIYE,15858
 ring/algorithms/generator/__init__.py,sha256=p4ucl0zQtp5NwNoXIRjmTzGGRu2WOAWFfNmYRPwQles,912
 ring/algorithms/generator/base.py,sha256=zmrRK_I6BWoo4WbEcEVK7iFKdPfetc6txs7U8iu1xEk,14771
 ring/algorithms/generator/batch.py,sha256=BGzmwH1AItXjPRyHtsYnAfYnoogw8jxhng9oyVw72lw,9019
@@ -77,7 +77,7 @@ ring/utils/hdf5.py,sha256=BzXwVypZmEZeHVgeGZ78YYdi10NEQtnPhdrb8dQAXo0,5856
 ring/utils/normalizer.py,sha256=67L2BU1MRsMT4pD41ta3JJMppLN0ozFmnwrmXDtnqrQ,1698
 ring/utils/path.py,sha256=hAfSlqRi-ew536RnjDDM7IKapdMJc-EvhrR0Y-BCFWc,1265
 ring/utils/utils.py,sha256=I2f6-DMBrrgy5tpLzPLlezifQgkO2fERZWyX3cfb4sI,5303
-imt_ring-1.3.3.dist-info/METADATA,sha256=nTihurycKYmLCI61Cojd7VLrnb1gpd-H8nwUupysaC8,3104
-imt_ring-1.3.3.dist-info/WHEEL,sha256=GJ7t_kWBFywbagK5eo9IoUwLW6oyOeTKmQ-9iHFVNxQ,92
-imt_ring-1.3.3.dist-info/top_level.txt,sha256=EiT790-lAyi8iwTzJArH3f2k77rwhDn00q-4PlmvDQo,5
-imt_ring-1.3.3.dist-info/RECORD,,
+imt_ring-1.3.4.dist-info/METADATA,sha256=oMI6d91TaCBndSOQJjoVBzqsYDg3oGtAxDzSmSamWmg,3104
+imt_ring-1.3.4.dist-info/WHEEL,sha256=GJ7t_kWBFywbagK5eo9IoUwLW6oyOeTKmQ-9iHFVNxQ,92
+imt_ring-1.3.4.dist-info/top_level.txt,sha256=EiT790-lAyi8iwTzJArH3f2k77rwhDn00q-4PlmvDQo,5
+imt_ring-1.3.4.dist-info/RECORD,,

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
@@ -319,9 +320,9 @@ 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))(
@@ -329,6 +330,9 @@ def Polynomial_DrawnFnPair(
             )
             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):