imt-ring 1.6.28__py3-none-any.whl → 1.6.29__py3-none-any.whl

{imt_ring-1.6.28.dist-info → imt_ring-1.6.29.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: imt-ring
-Version: 1.6.28
+Version: 1.6.29
 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-1.6.28.dist-info → imt_ring-1.6.29.dist-info}/RECORD

@@ -1,7 +1,7 @@
 ring/__init__.py,sha256=H1Rd2uXVkux4Z792XyHIkQ8OpDSZBiPqFwyAFDWDU3E,5260
 ring/algebra.py,sha256=F0GwbP8LQP5qGVkoMUYJmkp9Hn2nKAVIkCVYDEjNjGU,3128
-ring/base.py,sha256=yPdbPywwDllCRsJEbnLW4s9Z-bBD8qdxpEDYV3pCLP8,35296
-ring/maths.py,sha256=qPHH6TpHCK3TgExI98gNEySoSRKOwteN9McUlyUFipI,12207
+ring/base.py,sha256=_TgFrggsZfam0VPxvD4J5xp977vgiLnKTlDIJVzik5M,35362
+ring/maths.py,sha256=R22SNQutkf9v7Hp9klo0wvJVIyBQz0O8_5oJaDQcFis,12652
 ring/spatial.py,sha256=nmZ-UhRanhyM34bez8uCS4wMwaKqLkuEbgKGP5XNH60,2351
 ring/algorithms/__init__.py,sha256=IiK9EN5Xgs3dB075-A-H-Yad0Z7vzvKIJF2g6X_-C_8,1224
 ring/algorithms/_random.py,sha256=UMyv-VPZLcErrKqs0XB83QJjs8GrmoNsv-zRSxGXvnI,14490
@@ -50,7 +50,7 @@ ring/io/xml/abstract.py,sha256=8Q2ebnUYLmuS9HJAQwDVrDTrRfD5z4G5RAB7MW8Oa60,9742
 ring/io/xml/from_xml.py,sha256=E7JQl_scL5U4LK6mqLMr5qaiZCc6J1fInxD7uwgNCJY,9356
 ring/io/xml/test_from_xml.py,sha256=bckVrVVmEhCwujd_OF9FGYnX3zU3BgztpqGxxmd0htM,1562
 ring/io/xml/test_to_xml.py,sha256=NGn4VSiFdwhYN5YTBduWMiY9B5dwtxZhCQAR_PXeqKU,946
-ring/io/xml/to_xml.py,sha256=fohb-jWMf2cxVdT5dmknsGyrNMseICSbKEz_urbaWbQ,3407
+ring/io/xml/to_xml.py,sha256=Wo4iySLw9nM-iVW42AGvMRqjtU2qRc2FD_Zlc7w1IrE,3438
 ring/ml/__init__.py,sha256=nbh48gaswWeY4S4vT1sply_3ROj2DQ7agjoLR4Ho3T8,1517
 ring/ml/base.py,sha256=lfwEZLBDglOSRWChUHoH1kezefhttPV9TMEpNIqsMNw,9972
 ring/ml/callbacks.py,sha256=W19QF6_uvaNCjs8ObsjNXD7mv9gFgJBixdRSbB_BynE,13301
@@ -86,7 +86,7 @@ ring/utils/randomize_sys.py,sha256=G_vBIo0OwQkXL2u0djwbaoaeb02C4LQCTNNloOYIU2M,3
 ring/utils/utils.py,sha256=tJaWXLGOTwkxJQj2l23dX97wO3aZYhM2qd7eNuMRs84,6907
 ring/utils/register_gym_envs/__init__.py,sha256=PtPIRBQJ16339xZ9G9VpvqrvcGbQ_Pk_SUz4tQPa9nQ,94
 ring/utils/register_gym_envs/saddle.py,sha256=tA5CyW_akSXyDm0xJ83CtOrUMVElH0f9vZtEDDJQalI,4422
-imt_ring-1.6.28.dist-info/METADATA,sha256=-3nISq1i9hdIpM_DCCoJ4Q5Xre76R8kLqp2gwDSUa94,4251
-imt_ring-1.6.28.dist-info/WHEEL,sha256=PZUExdf71Ui_so67QXpySuHtCi3-J3wvF4ORK6k_S8U,91
-imt_ring-1.6.28.dist-info/top_level.txt,sha256=EiT790-lAyi8iwTzJArH3f2k77rwhDn00q-4PlmvDQo,5
-imt_ring-1.6.28.dist-info/RECORD,,
+imt_ring-1.6.29.dist-info/METADATA,sha256=2LQEbqA9aoAoMTJbVgd7MAWtdnHYWYv43M1-BhdW84o,4251
+imt_ring-1.6.29.dist-info/WHEEL,sha256=PZUExdf71Ui_so67QXpySuHtCi3-J3wvF4ORK6k_S8U,91
+imt_ring-1.6.29.dist-info/top_level.txt,sha256=EiT790-lAyi8iwTzJArH3f2k77rwhDn00q-4PlmvDQo,5
+imt_ring-1.6.29.dist-info/RECORD,,

ring/base.py

@@ -558,6 +558,7 @@ class System(_Base):
         new_stif: Optional[jax.Array] = None,
         new_zero: Optional[jax.Array] = None,
         seed: int = 1,
+        warn: bool = True,
     ):
         "By default damping, stiffness are set to zero."
         from ring.algorithms import get_joint_model
@@ -587,7 +588,7 @@ class System(_Base):
 
         jm = get_joint_model(new_joint_type)
         if jm.init_joint_params is not None:
-            sys = sys.from_str(sys.to_str(), seed=seed)
+            sys = sys.from_str(sys.to_str(warn=warn), seed=seed)
 
         return sys
 
@@ -786,8 +787,8 @@ class System(_Base):
     def from_str(xml: str, seed: int = 1):
         return ring.io.load_sys_from_str(xml, seed)
 
-    def to_str(self) -> str:
-        return ring.io.save_sys_to_str(self)
+    def to_str(self, warn: bool = True) -> str:
+        return ring.io.save_sys_to_str(self, warn=warn)
 
     def to_xml(self, path: str) -> None:
         ring.io.save_sys_to_xml(self, path)

ring/io/xml/to_xml.py

@@ -5,18 +5,19 @@ from xml.etree.ElementTree import SubElement
 from xml.etree.ElementTree import tostring
 
 import jax.numpy as jnp
-from ring import base
 from tree_utils import batch_concat
 
+from ring import base
+
 from . import abstract
 from .abstract import _to_str
 
 
-def save_sys_to_str(sys: base.System) -> str:
+def save_sys_to_str(sys: base.System, warn: bool = True) -> str:
     for joint_type in sys.links.joint_params:
         for i, link_name in enumerate(sys.link_names):
             joint_params_flat = batch_concat((sys.links[i]).joint_params[joint_type], 0)
-            if not jnp.all(joint_params_flat == 0.0):
+            if warn and (not jnp.all(joint_params_flat == 0.0)):
                 warnings.warn(
                     "The system has `sys.links.joint_params` unequal to the 'default'"
                     f" value (of zeros). In particular the link `{link_name}` has for"

ring/maths.py

@@ -90,6 +90,19 @@ def angle_error(q, qhat):
     return jnp.abs(quat_angle(quat_mul(quat_inv(q), qhat)))
 
 
+def inclination_loss(q, qhat):
+    """Absolute inclination angle in radians. `q`'s are from body-to-eps.
+    This function fullfills
+        inclination_loss(q1, q2)
+        == inclination_loss(qmt.addHeading(q1, H), q2)
+        == inclination_loss(q1, qmt.addHeading(q2, H))`
+    for any q1, q2, H
+    """
+    q_rel = quat_mul(q, quat_inv(qhat))
+    q_rel_incl = quat_project(q_rel, [0, 0, 1.0])[1]
+    return jnp.abs(quat_angle(q_rel_incl))
+
+
 def unit_quats_like(array):
     "Array of *unit* quaternions of identical shape."
     if array.shape[-1] != 4: