imt-ring 1.3.3__tar.gz → 1.3.5__tar.gz

{imt_ring-1.3.3 → imt_ring-1.3.5}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: imt-ring
-Version: 1.3.3
+Version: 1.3.5
 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 → imt_ring-1.3.5}/pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "imt-ring"
-version = "1.3.3"
+version = "1.3.5"
 authors = [
   { name="Simon Bachhuber", email="simon.bachhuber@fau.de" },
 ]

{imt_ring-1.3.3 → imt_ring-1.3.5}/src/imt_ring.egg-info/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: imt-ring
-Version: 1.3.3
+Version: 1.3.5
 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 → imt_ring-1.3.5}/src/ring/algorithms/_random.py

@@ -4,6 +4,7 @@ import warnings
 import jax
 from jax import random
 import jax.numpy as jnp
+
 from ring import maths
 
 Float = jax.Array
@@ -40,20 +41,20 @@ def random_angle_over_time(
     def body_fn_outer(val):
         i, t, phi, key_t, key_ang, ANG = val
 
-        key_t, consume = random.split(key_t)
-        dt = random.uniform(consume, minval=t_min, maxval=_to_float(t_max, t))
-
-        key_ang, consume = random.split(key_ang)
-        phi = _resolve_range_of_motion(
+        key_t, consume_t = random.split(key_t)
+        key_ang, consume_ang = random.split(key_ang)
+        dt, phi = _resolve_range_of_motion(
             range_of_motion,
             range_of_motion_method,
             _to_float(dang_min, t),
             _to_float(dang_max, t),
             _to_float(delta_ang_min, t),
             _to_float(delta_ang_max, t),
-            dt,
+            t_min,
+            _to_float(t_max, t),
             phi,
-            consume,
+            consume_t,
+            consume_ang,
             max_iter,
         )
         t += dt
@@ -246,12 +247,14 @@ def _resolve_range_of_motion(
     dang_max,
     delta_ang_min,
     delta_ang_max,
-    dt,
+    t_min,
+    t_max,
     prev_phi,
-    key,
+    key_t,
+    key_ang,
     max_iter,
 ):
-    def _next_phi(key):
+    def _next_phi(key, dt):
         key, consume = random.split(key)
 
         if range_of_motion:
@@ -294,21 +297,33 @@ def _resolve_range_of_motion(
             return prev_phi + sign * dphi
 
     def body_fn(val):
-        key, _, i = val
-        key, consume = jax.random.split(key)
-        next_phi = _next_phi(consume)
-        return key, next_phi, i + 1
+        key_t, key_ang, _, _, i = val
+
+        key_t, consume_t = jax.random.split(key_t)
+        dt = jax.random.uniform(consume_t, minval=t_min, maxval=t_max)
+
+        key_ang, consume_ang = jax.random.split(key_ang)
+        next_phi = _next_phi(consume_ang, dt)
+
+        return key_t, key_ang, dt, next_phi, i + 1
 
     def cond_fn(val):
-        _, next_phi, i = val
+        *_, dt, next_phi, i = val
         delta_phi = jnp.abs(next_phi - prev_phi)
-        # delta is in bounds
-        break_if_true1 = (delta_phi >= delta_ang_min) & (delta_phi <= delta_ang_max)
+        # delta_ang is in bounds
+        cond_delta_ang = (delta_phi >= delta_ang_min) & (delta_phi <= delta_ang_max)
+        # dang is in bounds
+        dang = delta_phi / dt
+        cond_dang = (dang >= dang_min) & (dang <= dang_max)
+
+        break_if_true1 = jnp.logical_and(cond_delta_ang, cond_dang)
+        # break out of loop
         break_if_true2 = i > max_iter
         return (i == 0) | (jnp.logical_not(break_if_true1 | break_if_true2))
 
-    # the `prev_phi` here is unused
-    return jax.lax.while_loop(cond_fn, body_fn, (key, prev_phi, 0))[1]
+    init_val = (key_t, key_ang, 1.0, prev_phi, 0)
+    *_, dt, next_phi, _ = jax.lax.while_loop(cond_fn, body_fn, init_val)
+    return dt, next_phi
 
 
 def cosInterpolate(x, xp, fp):

{imt_ring-1.3.3 → imt_ring-1.3.5}/src/ring/algorithms/custom_joints/suntay.py

@@ -295,14 +295,21 @@ 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,
+    flexion_center_deg: Optional[float] = None,
+    include_bias: bool = True,
+    enable_scale_delta: bool = True,
 ) -> DrawnFnPairFactory:
-    assert val >= 0.0
+    assert not (order == 0 and not include_bias)
+
+    flexion_center = (
+        jnp.deg2rad(flexion_center_deg) if flexion_center_deg is not None else None
+    )
+    del flexion_center_deg
 
     # 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
@@ -311,17 +318,22 @@ 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
+
+        if (order - 1) == 0:
+            method = "clip"
+            minval, maxval = mn, mx
         else:
-            flexion_center = jnp.array(flexion_center)
+            method = "minmax"
+            minval, maxval = -1.0, 1.0
 
         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=minval, maxval=maxval
             )
             q0 = jax.random.uniform(c2, minval=flexion_mn, maxval=flexion_mx)
             values = jax.vmap(_apply_poly_factors, in_axes=(None, 0))(
@@ -329,13 +341,17 @@ def Polynomial_DrawnFnPair(
             )
             eps = 1e-6
             amin, amax = jnp.min(values), jnp.max(values) + eps
+            if enable_scale_delta:
+                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):
             amin, amax, poly_factors, q0 = params
             q = q - q0
             value = _apply_poly_factors(poly_factors, q)
-            return restrict(value, mn, mx, amin, amax)
+            return restrict(value, mn, mx, amin, amax, method=method)
 
         if center:
 

{imt_ring-1.3.3 → imt_ring-1.3.5}/src/ring/algorithms/generator/batch.py

@@ -97,8 +97,10 @@ def batch_generators_eager_to_list(
         for _ in range(n_calls):
             key, consume = jax.random.split(key)
             sample = gen_jit(consume)
-            # converts also to numpy
+            # converts also to numpy; but with np.array.flags.writeable = False
             sample = jax.device_get(sample)
+            # this then sets this flag to True
+            sample = jax.tree_map(np.array, sample)
             data.extend([jax.tree_map(lambda a: a[i], sample) for i in range(size)])
 
     return data

{imt_ring-1.3.3 → imt_ring-1.3.5}/src/ring/algorithms/jcalc.py

@@ -424,14 +424,14 @@ def _draw_rxyz(
     # TODO, delete these args and pass a modifified `config` with `replace` instead
     enable_range_of_motion: bool = True,
     free_spherical: bool = False,
+    # how often it should try to fullfill the dang_min/max and delta_ang_min/max conds
+    max_iter: int = 5,
 ) -> jax.Array:
     key_value, consume = jax.random.split(key_value)
     ANG_0 = jax.random.uniform(consume, minval=config.ang0_min, maxval=config.ang0_max)
     # `random_angle_over_time` always returns wrapped angles, thus it would be
     # inconsistent to allow an initial value that is not wrapped
     ANG_0 = maths.wrap_to_pi(ANG_0)
-    # only used for `delta_ang_min_max` logic
-    max_iter = 5
     return _random.random_angle_over_time(
         key_t,
         key_value,

{imt_ring-1.3.3 → imt_ring-1.3.5}/src/ring/base.py

@@ -573,6 +573,8 @@ class System(_Base):
         new_zero: Optional[jax.Array] = None,
     ):
         "By default damping, stiffness are set to zero."
+        from ring.algorithms import get_joint_model
+
         q_size, qd_size = Q_WIDTHS[new_joint_type], QD_WIDTHS[new_joint_type]
 
         def logic_unfreeze_to_spherical(link_name, olt, ola, old, ols, olz):
@@ -594,7 +596,13 @@ class System(_Base):
 
             return nlt, nla, nld, nls, nlz
 
-        return _update_sys_if_replace_joint_type(self, logic_unfreeze_to_spherical)
+        sys = _update_sys_if_replace_joint_type(self, logic_unfreeze_to_spherical)
+
+        jm = get_joint_model(new_joint_type)
+        if jm.init_joint_params is not None:
+            sys = sys.from_str(sys.to_str())
+
+        return sys
 
     def findall_imus(self) -> list[str]:
         return [name for name in self.link_names if name[:3] == "imu"]