imt-ring 1.6.28__tar.gz → 1.6.30__tar.gz

{imt_ring-1.6.28 → imt_ring-1.6.30}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: imt-ring
-Version: 1.6.28
+Version: 1.6.30
 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 → imt_ring-1.6.30}/pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "imt-ring"
-version = "1.6.28"
+version = "1.6.30"
 authors = [
   { name="Simon Bachhuber", email="simon.bachhuber@fau.de" },
 ]

{imt_ring-1.6.28 → imt_ring-1.6.30}/src/imt_ring.egg-info/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: imt-ring
-Version: 1.6.28
+Version: 1.6.30
 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 → imt_ring-1.6.30}/src/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)

{imt_ring-1.6.28 → imt_ring-1.6.30}/src/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"

{imt_ring-1.6.28 → imt_ring-1.6.30}/src/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:

{imt_ring-1.6.28 → imt_ring-1.6.30}/src/ring/ml/ml_utils.py

@@ -201,9 +201,14 @@ def on_cluster() -> bool:
     return False if env_var is None else True
 
 
+_unique_id_is_logged = False
+
+
 def unique_id() -> str:
-    if wandb.run is not None:
-        wandb.config.setdefault("unique_id", ring._UNIQUE_ID)
+    global _unique_id_is_logged
+    if wandb.run is not None and _unique_id_is_logged is False:
+        wandb.config["unique_id"] = ring._UNIQUE_ID
+        _unique_id_is_logged = True
     return ring._UNIQUE_ID