imt-ring 1.6.8__tar.gz → 1.6.10__tar.gz

{imt_ring-1.6.8 → imt_ring-1.6.10}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: imt-ring
-Version: 1.6.8
+Version: 1.6.10
 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-1.6.8 → imt_ring-1.6.10}/pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "imt-ring"
-version = "1.6.8"
+version = "1.6.10"
 authors = [
   { name="Simon Bachhuber", email="simon.bachhuber@fau.de" },
 ]

{imt_ring-1.6.8 → imt_ring-1.6.10}/src/imt_ring.egg-info/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: imt-ring
-Version: 1.6.8
+Version: 1.6.10
 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-1.6.8 → imt_ring-1.6.10}/src/ring/algorithms/generator/base.py

@@ -6,6 +6,7 @@ import jax
 import jax.numpy as jnp
 import numpy as np
 import tree_utils
+from tree_utils import PyTree
 
 from ring import base
 from ring import utils
@@ -143,9 +144,7 @@ class RCMG:
 
         return n_calls
 
-    def to_list(
-        self, sizes: int | list[int] = 1, seed: int = 1
-    ) -> list[tree_utils.PyTree[np.ndarray]]:
+    def _generators_ncalls(self, sizes: int | list[int] = 1):
         "Returns list of unbatched sequences as numpy arrays."
         repeats = self._compute_repeats(sizes)
         sizes = list(jnp.array(repeats) * jnp.array(self._size_of_generators))
@@ -165,7 +164,45 @@ class RCMG:
                 batch.generators_lazy([self.gens[i]], [reduced_repeats[i]], jits[i])
             )
 
-        return batch.generators_eager_to_list(gens, n_calls, seed, self._disable_tqdm)
+        return gens, n_calls
+
+    def to_list(
+        self, sizes: int | list[int] = 1, seed: int = 1
+    ) -> list[tree_utils.PyTree[np.ndarray]]:
+        "Returns list of unbatched sequences as numpy arrays."
+        gens, n_calls = self._generators_ncalls(sizes)
+
+        data = []
+        batch.generators_eager(
+            gens, n_calls, lambda d: data.extend(d), seed, self._disable_tqdm
+        )
+        return data
+
+    def to_folder(
+        self,
+        path: str,
+        sizes: int | list[int] = 1,
+        seed: int = 1,
+        overwrite: bool = True,
+        file_prefix: str = "seq",
+        save_fn: Callable[[PyTree[np.ndarray], str], None] = utils.pickle_save,
+        verbose: bool = True,
+    ):
+
+        i = 0
+
+        def callback(data: list[PyTree[np.ndarray]]) -> None:
+            nonlocal i
+            data = utils.replace_elements_w_nans(data, verbose=verbose)
+            for d in data:
+                file = utils.parse_path(
+                    path, file_prefix + str(i), file_exists_ok=overwrite
+                )
+                save_fn(d, file)
+                i += 1
+
+        gens, n_calls = self._generators_ncalls(sizes)
+        batch.generators_eager(gens, n_calls, callback, seed, self._disable_tqdm)
 
     def to_pickle(
         self,

{imt_ring-1.6.8 → imt_ring-1.6.10}/src/ring/algorithms/generator/batch.py

@@ -1,8 +1,10 @@
+from typing import Callable
+
 import jax
 import jax.numpy as jnp
 import numpy as np
 from tqdm import tqdm
-import tree_utils
+from tree_utils import PyTree
 
 from ring import utils
 from ring.algorithms.generator import types
@@ -50,15 +52,15 @@ def generators_lazy(
     return generator
 
 
-def generators_eager_to_list(
+def generators_eager(
     generators: list[types.BatchedGenerator],
     n_calls: list[int],
+    callback: Callable[[list[PyTree[np.ndarray]]], None],
     seed: int = 1,
     disable_tqdm: bool = False,
-) -> list[tree_utils.PyTree]:
+) -> None:
 
     key = jax.random.PRNGKey(seed)
-    data = []
     for gen, n_call in tqdm(
         zip(generators, n_calls),
         desc="executing generators",
@@ -81,6 +83,4 @@ def generators_eager_to_list(
 
             sample_flat, _ = jax.tree_util.tree_flatten(sample)
             size = 1 if len(sample_flat) == 0 else sample_flat[0].shape[0]
-            data.extend([jax.tree_map(lambda a: a[i], sample) for i in range(size)])
-
-    return data
+            callback([jax.tree_map(lambda a: a[i], sample) for i in range(size)])

{imt_ring-1.6.8 → imt_ring-1.6.10}/src/ring/base.py

@@ -590,12 +590,14 @@ class System(_Base):
 
         return sys
 
-    def findall_imus(self) -> list[str]:
-        return [name for name in self.link_names if name[:3] == "imu"]
+    def findall_imus(self, names: bool = True) -> list[str] | list[int]:
+        bodies = [name for name in self.link_names if name[:3] == "imu"]
+        return bodies if names else [self.name_to_idx(n) for n in bodies]
 
-    def findall_segments(self) -> list[str]:
-        imus = self.findall_imus()
-        return [name for name in self.link_names if name not in imus]
+    def findall_segments(self, names: bool = True) -> list[str] | list[int]:
+        imus = self.findall_imus(names=True)
+        bodies = [name for name in self.link_names if name not in imus]
+        return bodies if names else [self.name_to_idx(n) for n in bodies]
 
     def _bodies_indices_to_bodies_name(self, bodies: list[int]) -> list[str]:
         return [self.idx_to_name(i) for i in bodies]
@@ -615,6 +617,11 @@ class System(_Base):
         bodies = [i for i, _typ in enumerate(self.link_types) if _typ == typ]
         return self._bodies_indices_to_bodies_name(bodies) if names else bodies
 
+    def children(self, name: str, names: bool = False) -> list[int] | list[str]:
+        p = self.name_to_idx(name)
+        bodies = [i for i in range(self.num_links()) if self.link_parents[i] == p]
+        return bodies if (not names) else [self.idx_to_name(i) for i in bodies]
+
     def scan(self, f: Callable, in_types: str, *args, reverse: bool = False):
         """Scan `f` along each link in system whilst carrying along state.