_id stringlengths 2 7 | title stringlengths 1 88 | partition stringclasses 3
values | text stringlengths 75 19.8k | language stringclasses 1
value | meta_information dict |
|---|---|---|---|---|---|
q264500 | BaseBackend.get_formatted_messages | validation | def get_formatted_messages(self, formats, label, context):
"""
Returns a dictionary with the format identifier as the key. The values are
are fully rendered templates with the given context.
"""
format_templates = {}
for fmt in formats:
# conditionally turn off autoescaping for .txt extensions in format
if fmt.endswith(".txt"):
context.autoescape = False
format_templates[fmt] = render_to_string((
"notification/%s/%s" % (label, fmt),
"notification/%s" % fmt), context_instance=context)
return format_templates | python | {
"resource": ""
} |
q264501 | copy_attributes | validation | def copy_attributes(source, destination, ignore_patterns=[]):
"""
Copy the attributes from a source object to a destination object.
"""
for attr in _wildcard_filter(dir(source), *ignore_patterns):
setattr(destination, attr, getattr(source, attr)) | python | {
"resource": ""
} |
q264502 | DataFrameColumnSet.row | validation | def row(self, idx):
"""
Returns DataFrameRow of the DataFrame given its index.
:param idx: the index of the row in the DataFrame.
:return: returns a DataFrameRow
"""
return DataFrameRow(idx, [x[idx] for x in self], self.colnames) | python | {
"resource": ""
} |
q264503 | notice_settings | validation | def notice_settings(request):
"""
The notice settings view.
Template: :template:`notification/notice_settings.html`
Context:
notice_types
A list of all :model:`notification.NoticeType` objects.
notice_settings
A dictionary containing ``column_headers`` for each ``NOTICE_MEDIA``
and ``rows`` containing a list of dictionaries: ``notice_type``, a
:model:`notification.NoticeType` object and ``cells``, a list of
tuples whose first value is suitable for use in forms and the second
value is ``True`` or ``False`` depending on a ``request.POST``
variable called ``form_label``, whose valid value is ``on``.
"""
notice_types = NoticeType.objects.all()
settings_table = []
for notice_type in notice_types:
settings_row = []
for medium_id, medium_display in NOTICE_MEDIA:
form_label = "%s_%s" % (notice_type.label, medium_id)
setting = NoticeSetting.for_user(request.user, notice_type, medium_id)
if request.method == "POST":
if request.POST.get(form_label) == "on":
if not setting.send:
setting.send = True
setting.save()
else:
if setting.send:
setting.send = False
setting.save()
settings_row.append((form_label, setting.send))
settings_table.append({"notice_type": notice_type, "cells": settings_row})
if request.method == "POST":
next_page = request.POST.get("next_page", ".")
return HttpResponseRedirect(next_page)
settings = {
"column_headers": [medium_display for medium_id, medium_display in NOTICE_MEDIA],
"rows": settings_table,
}
return render_to_response("notification/notice_settings.html", {
"notice_types": notice_types,
"notice_settings": settings,
}, context_instance=RequestContext(request)) | python | {
"resource": ""
} |
q264504 | Tungsten.query | validation | def query(self, input = '', params = {}):
"""Query Wolfram Alpha and return a Result object"""
# Get and construct query parameters
# Default parameters
payload = {'input': input,
'appid': self.appid}
# Additional parameters (from params), formatted for url
for key, value in params.items():
# Check if value is list or tuple type (needs to be comma joined)
if isinstance(value, (list, tuple)):
payload[key] = ','.join(value)
else:
payload[key] = value
# Catch any issues with connecting to Wolfram Alpha API
try:
r = requests.get("http://api.wolframalpha.com/v2/query", params=payload)
# Raise Exception (to be returned as error)
if r.status_code != 200:
raise Exception('Invalid response status code: %s' % (r.status_code))
if r.encoding != 'utf-8':
raise Exception('Invalid encoding: %s' % (r.encoding))
except Exception, e:
return Result(error = e)
return Result(xml = r.text) | python | {
"resource": ""
} |
q264505 | Result.pods | validation | def pods(self):
"""Return list of all Pod objects in result"""
# Return empty list if xml_tree is not defined (error Result object)
if not self.xml_tree:
return []
# Create a Pod object for every pod group in xml
return [Pod(elem) for elem in self.xml_tree.findall('pod')] | python | {
"resource": ""
} |
q264506 | SearchTree.find | validation | def find(self, *args):
"""
Find a node in the tree. If the node is not found it is added first and then returned.
:param args: a tuple
:return: returns the node
"""
curr_node = self.__root
return self.__traverse(curr_node, 0, *args) | python | {
"resource": ""
} |
q264507 | get_notification_language | validation | def get_notification_language(user):
"""
Returns site-specific notification language for this user. Raises
LanguageStoreNotAvailable if this site does not use translated
notifications.
"""
if getattr(settings, "NOTIFICATION_LANGUAGE_MODULE", False):
try:
app_label, model_name = settings.NOTIFICATION_LANGUAGE_MODULE.split(".")
model = models.get_model(app_label, model_name)
# pylint: disable-msg=W0212
language_model = model._default_manager.get(user__id__exact=user.id)
if hasattr(language_model, "language"):
return language_model.language
except (ImportError, ImproperlyConfigured, model.DoesNotExist):
raise LanguageStoreNotAvailable
raise LanguageStoreNotAvailable | python | {
"resource": ""
} |
q264508 | send_now | validation | def send_now(users, label, extra_context=None, sender=None):
"""
Creates a new notice.
This is intended to be how other apps create new notices.
notification.send(user, "friends_invite_sent", {
"spam": "eggs",
"foo": "bar",
)
"""
sent = False
if extra_context is None:
extra_context = {}
notice_type = NoticeType.objects.get(label=label)
current_language = get_language()
for user in users:
# get user language for user from language store defined in
# NOTIFICATION_LANGUAGE_MODULE setting
try:
language = get_notification_language(user)
except LanguageStoreNotAvailable:
language = None
if language is not None:
# activate the user's language
activate(language)
for backend in NOTIFICATION_BACKENDS.values():
if backend.can_send(user, notice_type):
backend.deliver(user, sender, notice_type, extra_context)
sent = True
# reset environment to original language
activate(current_language)
return sent | python | {
"resource": ""
} |
q264509 | send | validation | def send(*args, **kwargs):
"""
A basic interface around both queue and send_now. This honors a global
flag NOTIFICATION_QUEUE_ALL that helps determine whether all calls should
be queued or not. A per call ``queue`` or ``now`` keyword argument can be
used to always override the default global behavior.
"""
queue_flag = kwargs.pop("queue", False)
now_flag = kwargs.pop("now", False)
assert not (queue_flag and now_flag), "'queue' and 'now' cannot both be True."
if queue_flag:
return queue(*args, **kwargs)
elif now_flag:
return send_now(*args, **kwargs)
else:
if QUEUE_ALL:
return queue(*args, **kwargs)
else:
return send_now(*args, **kwargs) | python | {
"resource": ""
} |
q264510 | queue | validation | def queue(users, label, extra_context=None, sender=None):
"""
Queue the notification in NoticeQueueBatch. This allows for large amounts
of user notifications to be deferred to a seperate process running outside
the webserver.
"""
if extra_context is None:
extra_context = {}
if isinstance(users, QuerySet):
users = [row["pk"] for row in users.values("pk")]
else:
users = [user.pk for user in users]
notices = []
for user in users:
notices.append((user, label, extra_context, sender))
NoticeQueueBatch(pickled_data=base64.b64encode(pickle.dumps(notices))).save() | python | {
"resource": ""
} |
q264511 | write_table_pair_potential | validation | def write_table_pair_potential(func, dfunc=None, bounds=(1.0, 10.0), samples=1000, tollerance=1e-6, keyword='PAIR'):
"""A helper function to write lammps pair potentials to string. Assumes that
functions are vectorized.
Parameters
----------
func: function
A function that will be evaluated for the force at each radius. Required to
be numpy vectorizable.
dfunc: function
Optional. A function that will be evaluated for the energy at each
radius. If not supplied the centered difference method will be
used. Required to be numpy vectorizable.
bounds: tuple, list
Optional. specifies min and max radius to evaluate the
potential. Default 1 length unit, 10 length unit.
samples: int
Number of points to evaluate potential. Default 1000. Note that
a low number of sample points will reduce accuracy.
tollerance: float
Value used to centered difference differentiation.
keyword: string
Lammps keyword to use to pair potential. This keyword will need
to be used in the lammps pair_coeff. Default ``PAIR``
filename: string
Optional. filename to write lammps table potential as. Default
``lammps.table`` it is highly recomended to change the value.
A file for each unique pair potential is required.
"""
r_min, r_max = bounds
if dfunc is None:
dfunc = lambda r: (func(r+tollerance) - func(r-tollerance)) / (2*tollerance)
i = np.arange(1, samples+1)
r = np.linspace(r_min, r_max, samples)
forces = func(r)
energies = dfunc(r)
lines = ['%d %f %f %f\n' % (index, radius, force, energy) for index, radius, force, energy in zip(i, r, forces, energies)]
return "%s\nN %d\n\n" % (keyword, samples) + ''.join(lines) | python | {
"resource": ""
} |
q264512 | write_tersoff_potential | validation | def write_tersoff_potential(parameters):
"""Write tersoff potential file from parameters to string
Parameters
----------
parameters: dict
keys are tuple of elements with the values being the parameters length 14
"""
lines = []
for (e1, e2, e3), params in parameters.items():
if len(params) != 14:
raise ValueError('tersoff three body potential expects 14 parameters')
lines.append(' '.join([e1, e2, e3] + ['{:16.8g}'.format(_) for _ in params]))
return '\n'.join(lines) | python | {
"resource": ""
} |
q264513 | GroupedDataFrame.aggregate | validation | def aggregate(self, clazz, new_col, *args):
"""
Aggregate the rows of each group into a single value.
:param clazz: name of a class that extends class Callable
:type clazz: class
:param new_col: name of the new column
:type new_col: str
:param args: list of column names of the object that
function should be applied to
:type args: varargs
:return: returns a new dataframe object with the aggregated value
:rtype: DataFrame
"""
if is_callable(clazz) \
and not is_none(new_col) \
and has_elements(*args) \
and is_disjoint(self.__grouping.grouping_colnames,
args,
__DISJOINT_SETS_ERROR__):
return self.__do_aggregate(clazz, new_col, *args) | python | {
"resource": ""
} |
q264514 | is_disjoint | validation | def is_disjoint(set1, set2, warn):
"""
Checks if elements of set2 are in set1.
:param set1: a set of values
:param set2: a set of values
:param warn: the error message that should be thrown
when the sets are NOT disjoint
:return: returns true no elements of set2 are in set1
"""
for elem in set2:
if elem in set1:
raise ValueError(warn)
return True | python | {
"resource": ""
} |
q264515 | contains_all | validation | def contains_all(set1, set2, warn):
"""
Checks if all elements from set2 are in set1.
:param set1: a set of values
:param set2: a set of values
:param warn: the error message that should be thrown
when the sets are not containd
:return: returns true if all values of set2 are in set1
"""
for elem in set2:
if elem not in set1:
raise ValueError(warn)
return True | python | {
"resource": ""
} |
q264516 | MARCXMLSerializer.to_XML | validation | def to_XML(self):
"""
Serialize object back to XML string.
Returns:
str: String which should be same as original input, if everything\
works as expected.
"""
marcxml_template = """<record xmlns="http://www.loc.gov/MARC21/slim/"
xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
xsi:schemaLocation="http://www.loc.gov/MARC21/slim
http://www.loc.gov/standards/marcxml/schema/MARC21slim.xsd">
$LEADER
$CONTROL_FIELDS
$DATA_FIELDS
</record>
"""
oai_template = """<record>
<metadata>
<oai_marc>
$LEADER$CONTROL_FIELDS
$DATA_FIELDS
</oai_marc>
</metadata>
</record>
"""
# serialize leader, if it is present and record is marc xml
leader = self.leader if self.leader is not None else ""
if leader: # print only visible leaders
leader = "<leader>" + leader + "</leader>"
# discard leader for oai
if self.oai_marc:
leader = ""
# serialize
xml_template = oai_template if self.oai_marc else marcxml_template
xml_output = Template(xml_template).substitute(
LEADER=leader.strip(),
CONTROL_FIELDS=self._serialize_ctl_fields().strip(),
DATA_FIELDS=self._serialize_data_fields().strip()
)
return xml_output | python | {
"resource": ""
} |
q264517 | MARCXMLParser._parse_string | validation | def _parse_string(self, xml):
"""
Parse MARC XML document to dicts, which are contained in
self.controlfields and self.datafields.
Args:
xml (str or HTMLElement): input data
Also detect if this is oai marc format or not (see elf.oai_marc).
"""
if not isinstance(xml, HTMLElement):
xml = dhtmlparser.parseString(str(xml))
# check if there are any records
record = xml.find("record")
if not record:
raise ValueError("There is no <record> in your MARC XML document!")
record = record[0]
self.oai_marc = len(record.find("oai_marc")) > 0
# leader is separate only in marc21
if not self.oai_marc:
leader = record.find("leader")
if len(leader) >= 1:
self.leader = leader[0].getContent()
# parse body in respect of OAI MARC format possibility
if self.oai_marc:
self._parse_control_fields(record.find("fixfield"), "id")
self._parse_data_fields(record.find("varfield"), "id", "label")
else:
self._parse_control_fields(record.find("controlfield"), "tag")
self._parse_data_fields(record.find("datafield"), "tag", "code")
# for backward compatibility of MARC XML with OAI
if self.oai_marc and "LDR" in self.controlfields:
self.leader = self.controlfields["LDR"] | python | {
"resource": ""
} |
q264518 | MARCXMLParser._parse_control_fields | validation | def _parse_control_fields(self, fields, tag_id="tag"):
"""
Parse control fields.
Args:
fields (list): list of HTMLElements
tag_id (str): parameter name, which holds the information, about
field name this is normally "tag", but in case of
oai_marc "id".
"""
for field in fields:
params = field.params
# skip tags without parameters
if tag_id not in params:
continue
self.controlfields[params[tag_id]] = field.getContent().strip() | python | {
"resource": ""
} |
q264519 | MARCXMLParser._parse_data_fields | validation | def _parse_data_fields(self, fields, tag_id="tag", sub_id="code"):
"""
Parse data fields.
Args:
fields (list): of HTMLElements
tag_id (str): parameter name, which holds the information, about
field name this is normally "tag", but in case of
oai_marc "id"
sub_id (str): id of parameter, which holds informations about
subfield name this is normally "code" but in case of
oai_marc "label"
"""
for field in fields:
params = field.params
if tag_id not in params:
continue
# take care of iX/indX (indicator) parameters
field_repr = OrderedDict([
[self.i1_name, params.get(self.i1_name, " ")],
[self.i2_name, params.get(self.i2_name, " ")],
])
# process all subfields
for subfield in field.find("subfield"):
if sub_id not in subfield.params:
continue
content = MARCSubrecord(
val=subfield.getContent().strip(),
i1=field_repr[self.i1_name],
i2=field_repr[self.i2_name],
other_subfields=field_repr
)
# add or append content to list of other contents
code = subfield.params[sub_id]
if code in field_repr:
field_repr[code].append(content)
else:
field_repr[code] = [content]
tag = params[tag_id]
if tag in self.datafields:
self.datafields[tag].append(field_repr)
else:
self.datafields[tag] = [field_repr] | python | {
"resource": ""
} |
q264520 | MARCXMLParser.get_i_name | validation | def get_i_name(self, num, is_oai=None):
"""
This method is used mainly internally, but it can be handy if you work
with with raw MARC XML object and not using getters.
Args:
num (int): Which indicator you need (1/2).
is_oai (bool/None): If None, :attr:`.oai_marc` is
used.
Returns:
str: current name of ``i1``/``ind1`` parameter based on \
:attr:`oai_marc` property.
"""
if num not in (1, 2):
raise ValueError("`num` parameter have to be 1 or 2!")
if is_oai is None:
is_oai = self.oai_marc
i_name = "ind" if not is_oai else "i"
return i_name + str(num) | python | {
"resource": ""
} |
q264521 | MARCXMLParser.get_subfields | validation | def get_subfields(self, datafield, subfield, i1=None, i2=None,
exception=False):
"""
Return content of given `subfield` in `datafield`.
Args:
datafield (str): Section name (for example "001", "100", "700").
subfield (str): Subfield name (for example "a", "1", etc..).
i1 (str, default None): Optional i1/ind1 parameter value, which
will be used for search.
i2 (str, default None): Optional i2/ind2 parameter value, which
will be used for search.
exception (bool): If ``True``, :exc:`~exceptions.KeyError` is
raised when method couldn't found given `datafield` /
`subfield`. If ``False``, blank array ``[]`` is returned.
Returns:
list: of :class:`.MARCSubrecord`.
Raises:
KeyError: If the subfield or datafield couldn't be found.
Note:
MARCSubrecord is practically same thing as string, but has defined
:meth:`.MARCSubrecord.i1` and :attr:`.MARCSubrecord.i2`
methods.
You may need to be able to get this, because MARC XML depends on
i/ind parameters from time to time (names of authors for example).
"""
if len(datafield) != 3:
raise ValueError(
"`datafield` parameter have to be exactly 3 chars long!"
)
if len(subfield) != 1:
raise ValueError(
"Bad subfield specification - subfield have to be 1 char long!"
)
# if datafield not found, return or raise exception
if datafield not in self.datafields:
if exception:
raise KeyError(datafield + " is not in datafields!")
return []
# look for subfield defined by `subfield`, `i1` and `i2` parameters
output = []
for datafield in self.datafields[datafield]:
if subfield not in datafield:
continue
# records are not returned just like plain string, but like
# MARCSubrecord, because you will need ind1/ind2 values
for sfield in datafield[subfield]:
if i1 and sfield.i1 != i1:
continue
if i2 and sfield.i2 != i2:
continue
output.append(sfield)
if not output and exception:
raise KeyError(subfield + " couldn't be found in subfields!")
return output | python | {
"resource": ""
} |
q264522 | _get_params | validation | def _get_params(target, param, dof):
'''Get the given param from each of the DOFs for a joint.'''
return [target.getParam(getattr(ode, 'Param{}{}'.format(param, s)))
for s in ['', '2', '3'][:dof]] | python | {
"resource": ""
} |
q264523 | _set_params | validation | def _set_params(target, param, values, dof):
'''Set the given param for each of the DOFs for a joint.'''
if not isinstance(values, (list, tuple, np.ndarray)):
values = [values] * dof
assert dof == len(values)
for s, value in zip(['', '2', '3'][:dof], values):
target.setParam(getattr(ode, 'Param{}{}'.format(param, s)), value) | python | {
"resource": ""
} |
q264524 | make_quaternion | validation | def make_quaternion(theta, *axis):
'''Given an angle and an axis, create a quaternion.'''
x, y, z = axis
r = np.sqrt(x * x + y * y + z * z)
st = np.sin(theta / 2.)
ct = np.cos(theta / 2.)
return [x * st / r, y * st / r, z * st / r, ct] | python | {
"resource": ""
} |
q264525 | center_of_mass | validation | def center_of_mass(bodies):
'''Given a set of bodies, compute their center of mass in world coordinates.
'''
x = np.zeros(3.)
t = 0.
for b in bodies:
m = b.mass
x += b.body_to_world(m.c) * m.mass
t += m.mass
return x / t | python | {
"resource": ""
} |
q264526 | Body.state | validation | def state(self, state):
'''Set the state of this body.
Parameters
----------
state : BodyState tuple
The desired state of the body.
'''
assert self.name == state.name, \
'state name "{}" != body name "{}"'.format(state.name, self.name)
self.position = state.position
self.quaternion = state.quaternion
self.linear_velocity = state.linear_velocity
self.angular_velocity = state.angular_velocity | python | {
"resource": ""
} |
q264527 | Body.rotation | validation | def rotation(self, rotation):
'''Set the rotation of this body using a rotation matrix.
Parameters
----------
rotation : sequence of 9 floats
The desired rotation matrix for this body.
'''
if isinstance(rotation, np.ndarray):
rotation = rotation.ravel()
self.ode_body.setRotation(tuple(rotation)) | python | {
"resource": ""
} |
q264528 | Body.body_to_world | validation | def body_to_world(self, position):
'''Convert a body-relative offset to world coordinates.
Parameters
----------
position : 3-tuple of float
A tuple giving body-relative offsets.
Returns
-------
position : 3-tuple of float
A tuple giving the world coordinates of the given offset.
'''
return np.array(self.ode_body.getRelPointPos(tuple(position))) | python | {
"resource": ""
} |
q264529 | Body.world_to_body | validation | def world_to_body(self, position):
'''Convert a point in world coordinates to a body-relative offset.
Parameters
----------
position : 3-tuple of float
A world coordinates position.
Returns
-------
offset : 3-tuple of float
A tuple giving the body-relative offset of the given position.
'''
return np.array(self.ode_body.getPosRelPoint(tuple(position))) | python | {
"resource": ""
} |
q264530 | Body.relative_offset_to_world | validation | def relative_offset_to_world(self, offset):
'''Convert a relative body offset to world coordinates.
Parameters
----------
offset : 3-tuple of float
The offset of the desired point, given as a relative fraction of the
size of this body. For example, offset (0, 0, 0) is the center of
the body, while (0.5, -0.2, 0.1) describes a point halfway from the
center towards the maximum x-extent of the body, 20% of the way from
the center towards the minimum y-extent, and 10% of the way from the
center towards the maximum z-extent.
Returns
-------
position : 3-tuple of float
A position in world coordinates of the given body offset.
'''
return np.array(self.body_to_world(offset * self.dimensions / 2)) | python | {
"resource": ""
} |
q264531 | Body.add_force | validation | def add_force(self, force, relative=False, position=None, relative_position=None):
'''Add a force to this body.
Parameters
----------
force : 3-tuple of float
A vector giving the forces along each world or body coordinate axis.
relative : bool, optional
If False, the force values are assumed to be given in the world
coordinate frame. If True, they are assumed to be given in the
body-relative coordinate frame. Defaults to False.
position : 3-tuple of float, optional
If given, apply the force at this location in world coordinates.
Defaults to the current position of the body.
relative_position : 3-tuple of float, optional
If given, apply the force at this relative location on the body. If
given, this method ignores the ``position`` parameter.
'''
b = self.ode_body
if relative_position is not None:
op = b.addRelForceAtRelPos if relative else b.addForceAtRelPos
op(force, relative_position)
elif position is not None:
op = b.addRelForceAtPos if relative else b.addForceAtPos
op(force, position)
else:
op = b.addRelForce if relative else b.addForce
op(force) | python | {
"resource": ""
} |
q264532 | Body.add_torque | validation | def add_torque(self, torque, relative=False):
'''Add a torque to this body.
Parameters
----------
force : 3-tuple of float
A vector giving the torque along each world or body coordinate axis.
relative : bool, optional
If False, the torque values are assumed to be given in the world
coordinate frame. If True, they are assumed to be given in the
body-relative coordinate frame. Defaults to False.
'''
op = self.ode_body.addRelTorque if relative else self.ode_body.addTorque
op(torque) | python | {
"resource": ""
} |
q264533 | Body.join_to | validation | def join_to(self, joint, other_body=None, **kwargs):
'''Connect this body to another one using a joint.
This method creates a joint to fasten this body to the other one. See
:func:`World.join`.
Parameters
----------
joint : str
The type of joint to use when connecting these bodies.
other_body : :class:`Body` or str, optional
The other body to join with this one. If not given, connects this
body to the world.
'''
self.world.join(joint, self, other_body, **kwargs) | python | {
"resource": ""
} |
q264534 | Body.connect_to | validation | def connect_to(self, joint, other_body, offset=(0, 0, 0), other_offset=(0, 0, 0),
**kwargs):
'''Move another body next to this one and join them together.
This method will move the ``other_body`` so that the anchor points for
the joint coincide. It then creates a joint to fasten the two bodies
together. See :func:`World.move_next_to` and :func:`World.join`.
Parameters
----------
joint : str
The type of joint to use when connecting these bodies.
other_body : :class:`Body` or str
The other body to join with this one.
offset : 3-tuple of float, optional
The body-relative offset where the anchor for the joint should be
placed. Defaults to (0, 0, 0). See :func:`World.move_next_to` for a
description of how offsets are specified.
other_offset : 3-tuple of float, optional
The offset on the second body where the joint anchor should be
placed. Defaults to (0, 0, 0). Like ``offset``, this is given as an
offset relative to the size and shape of ``other_body``.
'''
anchor = self.world.move_next_to(self, other_body, offset, other_offset)
self.world.join(joint, self, other_body, anchor=anchor, **kwargs) | python | {
"resource": ""
} |
q264535 | Joint.positions | validation | def positions(self):
'''List of positions for linear degrees of freedom.'''
return [self.ode_obj.getPosition(i) for i in range(self.LDOF)] | python | {
"resource": ""
} |
q264536 | Joint.position_rates | validation | def position_rates(self):
'''List of position rates for linear degrees of freedom.'''
return [self.ode_obj.getPositionRate(i) for i in range(self.LDOF)] | python | {
"resource": ""
} |
q264537 | Joint.angles | validation | def angles(self):
'''List of angles for rotational degrees of freedom.'''
return [self.ode_obj.getAngle(i) for i in range(self.ADOF)] | python | {
"resource": ""
} |
q264538 | Joint.angle_rates | validation | def angle_rates(self):
'''List of angle rates for rotational degrees of freedom.'''
return [self.ode_obj.getAngleRate(i) for i in range(self.ADOF)] | python | {
"resource": ""
} |
q264539 | Joint.axes | validation | def axes(self):
'''List of axes for this object's degrees of freedom.'''
return [np.array(self.ode_obj.getAxis(i))
for i in range(self.ADOF or self.LDOF)] | python | {
"resource": ""
} |
q264540 | Joint.lo_stops | validation | def lo_stops(self, lo_stops):
'''Set the lo stop values for this object's degrees of freedom.
Parameters
----------
lo_stops : float or sequence of float
A lo stop value to set on all degrees of freedom, or a list
containing one such value for each degree of freedom. For rotational
degrees of freedom, these values must be in radians.
'''
_set_params(self.ode_obj, 'LoStop', lo_stops, self.ADOF + self.LDOF) | python | {
"resource": ""
} |
q264541 | Joint.hi_stops | validation | def hi_stops(self, hi_stops):
'''Set the hi stop values for this object's degrees of freedom.
Parameters
----------
hi_stops : float or sequence of float
A hi stop value to set on all degrees of freedom, or a list
containing one such value for each degree of freedom. For rotational
degrees of freedom, these values must be in radians.
'''
_set_params(self.ode_obj, 'HiStop', hi_stops, self.ADOF + self.LDOF) | python | {
"resource": ""
} |
q264542 | Joint.velocities | validation | def velocities(self, velocities):
'''Set the target velocities for this object's degrees of freedom.
Parameters
----------
velocities : float or sequence of float
A target velocity value to set on all degrees of freedom, or a list
containing one such value for each degree of freedom. For rotational
degrees of freedom, these values must be in radians / second.
'''
_set_params(self.ode_obj, 'Vel', velocities, self.ADOF + self.LDOF) | python | {
"resource": ""
} |
q264543 | Joint.max_forces | validation | def max_forces(self, max_forces):
'''Set the maximum forces for this object's degrees of freedom.
Parameters
----------
max_forces : float or sequence of float
A maximum force value to set on all degrees of freedom, or a list
containing one such value for each degree of freedom.
'''
_set_params(self.ode_obj, 'FMax', max_forces, self.ADOF + self.LDOF) | python | {
"resource": ""
} |
q264544 | Joint.erps | validation | def erps(self, erps):
'''Set the ERP values for this object's degrees of freedom.
Parameters
----------
erps : float or sequence of float
An ERP value to set on all degrees of freedom, or a list
containing one such value for each degree of freedom.
'''
_set_params(self.ode_obj, 'ERP', erps, self.ADOF + self.LDOF) | python | {
"resource": ""
} |
q264545 | Joint.cfms | validation | def cfms(self, cfms):
'''Set the CFM values for this object's degrees of freedom.
Parameters
----------
cfms : float or sequence of float
A CFM value to set on all degrees of freedom, or a list
containing one such value for each degree of freedom.
'''
_set_params(self.ode_obj, 'CFM', cfms, self.ADOF + self.LDOF) | python | {
"resource": ""
} |
q264546 | Joint.stop_cfms | validation | def stop_cfms(self, stop_cfms):
'''Set the CFM values for this object's DOF limits.
Parameters
----------
stop_cfms : float or sequence of float
A CFM value to set on all degrees of freedom limits, or a list
containing one such value for each degree of freedom limit.
'''
_set_params(self.ode_obj, 'StopCFM', stop_cfms, self.ADOF + self.LDOF) | python | {
"resource": ""
} |
q264547 | Joint.stop_erps | validation | def stop_erps(self, stop_erps):
'''Set the ERP values for this object's DOF limits.
Parameters
----------
stop_erps : float or sequence of float
An ERP value to set on all degrees of freedom limits, or a list
containing one such value for each degree of freedom limit.
'''
_set_params(self.ode_obj, 'StopERP', stop_erps, self.ADOF + self.LDOF) | python | {
"resource": ""
} |
q264548 | Slider.axes | validation | def axes(self, axes):
'''Set the linear axis of displacement for this joint.
Parameters
----------
axes : list containing one 3-tuple of floats
A list of the axes for this joint. For a slider joint, which has one
degree of freedom, this must contain one 3-tuple specifying the X,
Y, and Z axis for the joint.
'''
self.lmotor.axes = [axes[0]]
self.ode_obj.setAxis(tuple(axes[0])) | python | {
"resource": ""
} |
q264549 | Hinge.axes | validation | def axes(self, axes):
'''Set the angular axis of rotation for this joint.
Parameters
----------
axes : list containing one 3-tuple of floats
A list of the axes for this joint. For a hinge joint, which has one
degree of freedom, this must contain one 3-tuple specifying the X,
Y, and Z axis for the joint.
'''
self.amotor.axes = [axes[0]]
self.ode_obj.setAxis(tuple(axes[0])) | python | {
"resource": ""
} |
q264550 | Universal.axes | validation | def axes(self):
'''A list of axes of rotation for this joint.'''
return [np.array(self.ode_obj.getAxis1()),
np.array(self.ode_obj.getAxis2())] | python | {
"resource": ""
} |
q264551 | World.create_body | validation | def create_body(self, shape, name=None, **kwargs):
'''Create a new body.
Parameters
----------
shape : str
The "shape" of the body to be created. This should name a type of
body object, e.g., "box" or "cap".
name : str, optional
The name to use for this body. If not given, a default name will be
constructed of the form "{shape}{# of objects in the world}".
Returns
-------
body : :class:`Body`
The created body object.
'''
shape = shape.lower()
if name is None:
for i in range(1 + len(self._bodies)):
name = '{}{}'.format(shape, i)
if name not in self._bodies:
break
self._bodies[name] = Body.build(shape, name, self, **kwargs)
return self._bodies[name] | python | {
"resource": ""
} |
q264552 | World.join | validation | def join(self, shape, body_a, body_b=None, name=None, **kwargs):
'''Create a new joint that connects two bodies together.
Parameters
----------
shape : str
The "shape" of the joint to use for joining together two bodies.
This should name a type of joint, such as "ball" or "piston".
body_a : str or :class:`Body`
The first body to join together with this joint. If a string is
given, it will be used as the name of a body to look up in the
world.
body_b : str or :class:`Body`, optional
If given, identifies the second body to join together with
``body_a``. If not given, ``body_a`` is joined to the world.
name : str, optional
If given, use this name for the created joint. If not given, a name
will be constructed of the form
"{body_a.name}^{shape}^{body_b.name}".
Returns
-------
joint : :class:`Joint`
The joint object that was created.
'''
ba = self.get_body(body_a)
bb = self.get_body(body_b)
shape = shape.lower()
if name is None:
name = '{}^{}^{}'.format(ba.name, shape, bb.name if bb else '')
self._joints[name] = Joint.build(
shape, name, self, body_a=ba, body_b=bb, **kwargs)
return self._joints[name] | python | {
"resource": ""
} |
q264553 | World.move_next_to | validation | def move_next_to(self, body_a, body_b, offset_a, offset_b):
'''Move one body to be near another one.
After moving, the location described by ``offset_a`` on ``body_a`` will
be coincident with the location described by ``offset_b`` on ``body_b``.
Parameters
----------
body_a : str or :class:`Body`
The body to use as a reference for moving the other body. If this is
a string, it is treated as the name of a body to look up in the
world.
body_b : str or :class:`Body`
The body to move next to ``body_a``. If this is a string, it is
treated as the name of a body to look up in the world.
offset_a : 3-tuple of float
The offset of the anchor point, given as a relative fraction of the
size of ``body_a``. See :func:`Body.relative_offset_to_world`.
offset_b : 3-tuple of float
The offset of the anchor point, given as a relative fraction of the
size of ``body_b``.
Returns
-------
anchor : 3-tuple of float
The location of the shared point, which is often useful to use as a
joint anchor.
'''
ba = self.get_body(body_a)
bb = self.get_body(body_b)
if ba is None:
return bb.relative_offset_to_world(offset_b)
if bb is None:
return ba.relative_offset_to_world(offset_a)
anchor = ba.relative_offset_to_world(offset_a)
offset = bb.relative_offset_to_world(offset_b)
bb.position = bb.position + anchor - offset
return anchor | python | {
"resource": ""
} |
q264554 | World.set_body_states | validation | def set_body_states(self, states):
'''Set the states of some bodies in the world.
Parameters
----------
states : sequence of states
A complete state tuple for one or more bodies in the world. See
:func:`get_body_states`.
'''
for state in states:
self.get_body(state.name).state = state | python | {
"resource": ""
} |
q264555 | World.step | validation | def step(self, substeps=2):
'''Step the world forward by one frame.
Parameters
----------
substeps : int, optional
Split the step into this many sub-steps. This helps to prevent the
time delta for an update from being too large.
'''
self.frame_no += 1
dt = self.dt / substeps
for _ in range(substeps):
self.ode_contactgroup.empty()
self.ode_space.collide(None, self.on_collision)
self.ode_world.step(dt) | python | {
"resource": ""
} |
q264556 | World.are_connected | validation | def are_connected(self, body_a, body_b):
'''Determine whether the given bodies are currently connected.
Parameters
----------
body_a : str or :class:`Body`
One body to test for connectedness. If this is a string, it is
treated as the name of a body to look up.
body_b : str or :class:`Body`
One body to test for connectedness. If this is a string, it is
treated as the name of a body to look up.
Returns
-------
connected : bool
Return True iff the two bodies are connected.
'''
return bool(ode.areConnected(
self.get_body(body_a).ode_body,
self.get_body(body_b).ode_body)) | python | {
"resource": ""
} |
q264557 | parse_amc | validation | def parse_amc(source):
'''Parse an AMC motion capture data file.
Parameters
----------
source : file
A file-like object that contains AMC motion capture text.
Yields
------
frame : dict
Yields a series of motion capture frames. Each frame is a dictionary
that maps a bone name to a list of the DOF configurations for that bone.
'''
lines = 0
frames = 1
frame = {}
degrees = False
for line in source:
lines += 1
line = line.split('#')[0].strip()
if not line:
continue
if line.startswith(':'):
if line.lower().startswith(':deg'):
degrees = True
continue
if line.isdigit():
if int(line) != frames:
raise RuntimeError(
'frame mismatch on line {}: '
'produced {} but file claims {}'.format(lines, frames, line))
yield frame
frames += 1
frame = {}
continue
fields = line.split()
frame[fields[0]] = list(map(float, fields[1:])) | python | {
"resource": ""
} |
q264558 | AsfVisitor.create_bodies | validation | def create_bodies(self, translate=(0, 1, 0), size=0.1):
'''Traverse the bone hierarchy and create physics bodies.'''
stack = [('root', 0, self.root['position'] + translate)]
while stack:
name, depth, end = stack.pop()
for child in self.hierarchy.get(name, ()):
stack.append((child, depth + 1, end + self.bones[child].end))
if name not in self.bones:
continue
bone = self.bones[name]
body = self.world.create_body(
'box', name=bone.name, density=self.density,
lengths=(size, size, bone.length))
body.color = self.color
# move the center of the body to the halfway point between
# the parent (joint) and child (joint).
x, y, z = end - bone.direction * bone.length / 2
# swizzle y and z -- asf uses y as up, but we use z as up.
body.position = x, z, y
# compute an orthonormal (rotation) matrix using the ground and
# the body. this is mind-bending but seems to work.
u = bone.direction
v = np.cross(u, [0, 1, 0])
l = np.linalg.norm(v)
if l > 0:
v /= l
rot = np.vstack([np.cross(u, v), v, u]).T
swizzle = [[1, 0, 0], [0, 0, 1], [0, -1, 0]]
body.rotation = np.dot(swizzle, rot)
self.bodies.append(body) | python | {
"resource": ""
} |
q264559 | AsfVisitor.create_joints | validation | def create_joints(self):
'''Traverse the bone hierarchy and create physics joints.'''
stack = ['root']
while stack:
parent = stack.pop()
for child in self.hierarchy.get(parent, ()):
stack.append(child)
if parent not in self.bones:
continue
bone = self.bones[parent]
body = [b for b in self.bodies if b.name == parent][0]
for child in self.hierarchy.get(parent, ()):
child_bone = self.bones[child]
child_body = [b for b in self.bodies if b.name == child][0]
shape = ('', 'hinge', 'universal', 'ball')[len(child_bone.dof)]
self.joints.append(self.world.join(shape, body, child_body)) | python | {
"resource": ""
} |
q264560 | MARCXMLQuery._parse_corporations | validation | def _parse_corporations(self, datafield, subfield, roles=["any"]):
"""
Parse informations about corporations from given field identified
by `datafield` parameter.
Args:
datafield (str): MARC field ID ("``110``", "``610``", etc..)
subfield (str): MARC subfield ID with name, which is typically
stored in "``a``" subfield.
roles (str): specify which roles you need. Set to ``["any"]`` for
any role, ``["dst"]`` for distributors, etc.. For
details, see
http://www.loc.gov/marc/relators/relaterm.html
Returns:
list: :class:`Corporation` objects.
"""
if len(datafield) != 3:
raise ValueError(
"datafield parameter have to be exactly 3 chars long!"
)
if len(subfield) != 1:
raise ValueError(
"Bad subfield specification - subield have to be 3 chars long!"
)
parsed_corporations = []
for corporation in self.get_subfields(datafield, subfield):
other_subfields = corporation.other_subfields
# check if corporation have at least one of the roles specified in
# 'roles' parameter of function
if "4" in other_subfields and roles != ["any"]:
corp_roles = other_subfields["4"] # list of role parameters
relevant = any(map(lambda role: role in roles, corp_roles))
# skip non-relevant corporations
if not relevant:
continue
name = ""
place = ""
date = ""
name = corporation
if "c" in other_subfields:
place = ",".join(other_subfields["c"])
if "d" in other_subfields:
date = ",".join(other_subfields["d"])
parsed_corporations.append(Corporation(name, place, date))
return parsed_corporations | python | {
"resource": ""
} |
q264561 | MARCXMLQuery._parse_persons | validation | def _parse_persons(self, datafield, subfield, roles=["aut"]):
"""
Parse persons from given datafield.
Args:
datafield (str): code of datafield ("010", "730", etc..)
subfield (char): code of subfield ("a", "z", "4", etc..)
role (list of str): set to ["any"] for any role, ["aut"] for
authors, etc.. For details see
http://www.loc.gov/marc/relators/relaterm.html
Main records for persons are: "100", "600" and "700", subrecords "c".
Returns:
list: Person objects.
"""
# parse authors
parsed_persons = []
raw_persons = self.get_subfields(datafield, subfield)
for person in raw_persons:
# check if person have at least one of the roles specified in
# 'roles' parameter of function
other_subfields = person.other_subfields
if "4" in other_subfields and roles != ["any"]:
person_roles = other_subfields["4"] # list of role parameters
relevant = any(map(lambda role: role in roles, person_roles))
# skip non-relevant persons
if not relevant:
continue
# result of .strip() is string, so ind1/2 in MARCSubrecord are lost
ind1 = person.i1
ind2 = person.i2
person = person.strip()
name = ""
second_name = ""
surname = ""
title = ""
# here it gets nasty - there is lot of options in ind1/ind2
# parameters
if ind1 == "1" and ind2 == " ":
if "," in person:
surname, name = person.split(",", 1)
elif " " in person:
surname, name = person.split(" ", 1)
else:
surname = person
if "c" in other_subfields:
title = ",".join(other_subfields["c"])
elif ind1 == "0" and ind2 == " ":
name = person.strip()
if "b" in other_subfields:
second_name = ",".join(other_subfields["b"])
if "c" in other_subfields:
surname = ",".join(other_subfields["c"])
elif ind1 == "1" and ind2 == "0" or ind1 == "0" and ind2 == "0":
name = person.strip()
if "c" in other_subfields:
title = ",".join(other_subfields["c"])
parsed_persons.append(
Person(
name.strip(),
second_name.strip(),
surname.strip(),
title.strip()
)
)
return parsed_persons | python | {
"resource": ""
} |
q264562 | MARCXMLQuery.get_ISBNs | validation | def get_ISBNs(self):
"""
Get list of VALID ISBN.
Returns:
list: List with *valid* ISBN strings.
"""
invalid_isbns = set(self.get_invalid_ISBNs())
valid_isbns = [
self._clean_isbn(isbn)
for isbn in self["020a"]
if self._clean_isbn(isbn) not in invalid_isbns
]
if valid_isbns:
return valid_isbns
# this is used sometimes in czech national library
return [
self._clean_isbn(isbn)
for isbn in self["901i"]
] | python | {
"resource": ""
} |
q264563 | MARCXMLQuery.get_urls | validation | def get_urls(self):
"""
Content of field ``856u42``. Typically URL pointing to producers
homepage.
Returns:
list: List of URLs defined by producer.
"""
urls = self.get_subfields("856", "u", i1="4", i2="2")
return map(lambda x: x.replace("&", "&"), urls) | python | {
"resource": ""
} |
q264564 | MARCXMLQuery.get_internal_urls | validation | def get_internal_urls(self):
"""
URL's, which may point to edeposit, aleph, kramerius and so on.
Fields ``856u40``, ``998a`` and ``URLu``.
Returns:
list: List of internal URLs.
"""
internal_urls = self.get_subfields("856", "u", i1="4", i2="0")
internal_urls.extend(self.get_subfields("998", "a"))
internal_urls.extend(self.get_subfields("URL", "u"))
return map(lambda x: x.replace("&", "&"), internal_urls) | python | {
"resource": ""
} |
q264565 | pid | validation | def pid(kp=0., ki=0., kd=0., smooth=0.1):
r'''Create a callable that implements a PID controller.
A PID controller returns a control signal :math:`u(t)` given a history of
error measurements :math:`e(0) \dots e(t)`, using proportional (P), integral
(I), and derivative (D) terms, according to:
.. math::
u(t) = kp * e(t) + ki * \int_{s=0}^t e(s) ds + kd * \frac{de(s)}{ds}(t)
The proportional term is just the current error, the integral term is the
sum of all error measurements, and the derivative term is the instantaneous
derivative of the error measurement.
Parameters
----------
kp : float
The weight associated with the proportional term of the PID controller.
ki : float
The weight associated with the integral term of the PID controller.
kd : float
The weight associated with the derivative term of the PID controller.
smooth : float in [0, 1]
Derivative values will be smoothed with this exponential average. A
value of 1 never incorporates new derivative information, a value of 0.5
uses the mean of the historic and new information, and a value of 0
discards historic information (i.e., the derivative in this case will be
unsmoothed). The default is 0.1.
Returns
-------
controller : callable (float, float) -> float
Returns a function that accepts an error measurement and a delta-time
value since the previous measurement, and returns a control signal.
'''
state = dict(p=0, i=0, d=0)
def control(error, dt=1):
state['d'] = smooth * state['d'] + (1 - smooth) * (error - state['p']) / dt
state['i'] += error * dt
state['p'] = error
return kp * state['p'] + ki * state['i'] + kd * state['d']
return control | python | {
"resource": ""
} |
q264566 | as_flat_array | validation | def as_flat_array(iterables):
'''Given a sequence of sequences, return a flat numpy array.
Parameters
----------
iterables : sequence of sequence of number
A sequence of tuples or lists containing numbers. Typically these come
from something that represents each joint in a skeleton, like angle.
Returns
-------
ndarray :
An array of flattened data from each of the source iterables.
'''
arr = []
for x in iterables:
arr.extend(x)
return np.array(arr) | python | {
"resource": ""
} |
q264567 | Skeleton.load | validation | def load(self, source, **kwargs):
'''Load a skeleton definition from a file.
Parameters
----------
source : str or file
A filename or file-like object that contains text information
describing a skeleton. See :class:`pagoda.parser.Parser` for more
information about the format of the text file.
'''
if hasattr(source, 'endswith') and source.lower().endswith('.asf'):
self.load_asf(source, **kwargs)
else:
self.load_skel(source, **kwargs) | python | {
"resource": ""
} |
q264568 | Skeleton.load_skel | validation | def load_skel(self, source, **kwargs):
'''Load a skeleton definition from a text file.
Parameters
----------
source : str or file
A filename or file-like object that contains text information
describing a skeleton. See :class:`pagoda.parser.BodyParser` for
more information about the format of the text file.
'''
logging.info('%s: parsing skeleton configuration', source)
if hasattr(source, 'read'):
p = parser.parse(source, self.world, self.jointgroup, **kwargs)
else:
with open(source) as handle:
p = parser.parse(handle, self.world, self.jointgroup, **kwargs)
self.bodies = p.bodies
self.joints = p.joints
self.set_pid_params(kp=0.999 / self.world.dt) | python | {
"resource": ""
} |
q264569 | Skeleton.load_asf | validation | def load_asf(self, source, **kwargs):
'''Load a skeleton definition from an ASF text file.
Parameters
----------
source : str or file
A filename or file-like object that contains text information
describing a skeleton, in ASF format.
'''
if hasattr(source, 'read'):
p = parser.parse_asf(source, self.world, self.jointgroup, **kwargs)
else:
with open(source) as handle:
p = parser.parse_asf(handle, self.world, self.jointgroup, **kwargs)
self.bodies = p.bodies
self.joints = p.joints
self.set_pid_params(kp=0.999 / self.world.dt) | python | {
"resource": ""
} |
q264570 | Skeleton.set_pid_params | validation | def set_pid_params(self, *args, **kwargs):
'''Set PID parameters for all joints in the skeleton.
Parameters for this method are passed directly to the `pid` constructor.
'''
for joint in self.joints:
joint.target_angles = [None] * joint.ADOF
joint.controllers = [pid(*args, **kwargs) for i in range(joint.ADOF)] | python | {
"resource": ""
} |
q264571 | Skeleton.joint_torques | validation | def joint_torques(self):
'''Get a list of all current joint torques in the skeleton.'''
return as_flat_array(getattr(j, 'amotor', j).feedback[-1][:j.ADOF]
for j in self.joints) | python | {
"resource": ""
} |
q264572 | Skeleton.indices_for_joint | validation | def indices_for_joint(self, name):
'''Get a list of the indices for a specific joint.
Parameters
----------
name : str
The name of the joint to look up.
Returns
-------
list of int :
A list of the index values for quantities related to the named
joint. Often useful for getting, say, the angles for a specific
joint in the skeleton.
'''
j = 0
for joint in self.joints:
if joint.name == name:
return list(range(j, j + joint.ADOF))
j += joint.ADOF
return [] | python | {
"resource": ""
} |
q264573 | Skeleton.indices_for_body | validation | def indices_for_body(self, name, step=3):
'''Get a list of the indices for a specific body.
Parameters
----------
name : str
The name of the body to look up.
step : int, optional
The number of numbers for each body. Defaults to 3, should be set
to 4 for body rotation (since quaternions have 4 values).
Returns
-------
list of int :
A list of the index values for quantities related to the named body.
'''
for j, body in enumerate(self.bodies):
if body.name == name:
return list(range(j * step, (j + 1) * step))
return [] | python | {
"resource": ""
} |
q264574 | Skeleton.joint_distances | validation | def joint_distances(self):
'''Get the current joint separations for the skeleton.
Returns
-------
distances : list of float
A list expressing the distance between the two joint anchor points,
for each joint in the skeleton. These quantities describe how
"exploded" the bodies in the skeleton are; a value of 0 indicates
that the constraints are perfectly satisfied for that joint.
'''
return [((np.array(j.anchor) - j.anchor2) ** 2).sum() for j in self.joints] | python | {
"resource": ""
} |
q264575 | Skeleton.enable_motors | validation | def enable_motors(self, max_force):
'''Enable the joint motors in this skeleton.
This method sets the maximum force that can be applied by each joint to
attain the desired target velocities. It also enables torque feedback
for all joint motors.
Parameters
----------
max_force : float
The maximum force that each joint is allowed to apply to attain its
target velocity.
'''
for joint in self.joints:
amotor = getattr(joint, 'amotor', joint)
amotor.max_forces = max_force
if max_force > 0:
amotor.enable_feedback()
else:
amotor.disable_feedback() | python | {
"resource": ""
} |
q264576 | Skeleton.set_target_angles | validation | def set_target_angles(self, angles):
'''Move each joint toward a target angle.
This method uses a PID controller to set a target angular velocity for
each degree of freedom in the skeleton, based on the difference between
the current and the target angle for the respective DOF.
PID parameters are by default set to achieve a tiny bit less than
complete convergence in one time step, using only the P term (i.e., the
P coefficient is set to 1 - \delta, while I and D coefficients are set
to 0). PID parameters can be updated by calling the `set_pid_params`
method.
Parameters
----------
angles : list of float
A list of the target angles for every joint in the skeleton.
'''
j = 0
for joint in self.joints:
velocities = [
ctrl(tgt - cur, self.world.dt) for cur, tgt, ctrl in
zip(joint.angles, angles[j:j+joint.ADOF], joint.controllers)]
joint.velocities = velocities
j += joint.ADOF | python | {
"resource": ""
} |
q264577 | Skeleton.add_torques | validation | def add_torques(self, torques):
'''Add torques for each degree of freedom in the skeleton.
Parameters
----------
torques : list of float
A list of the torques to add to each degree of freedom in the
skeleton.
'''
j = 0
for joint in self.joints:
joint.add_torques(
list(torques[j:j+joint.ADOF]) + [0] * (3 - joint.ADOF))
j += joint.ADOF | python | {
"resource": ""
} |
q264578 | Markers.labels | validation | def labels(self):
'''Return the names of our marker labels in canonical order.'''
return sorted(self.channels, key=lambda c: self.channels[c]) | python | {
"resource": ""
} |
q264579 | Markers.load_csv | validation | def load_csv(self, filename, start_frame=10, max_frames=int(1e300)):
'''Load marker data from a CSV file.
The file will be imported using Pandas, which must be installed to use
this method. (``pip install pandas``)
The first line of the CSV file will be used for header information. The
"time" column will be used as the index for the data frame. There must
be columns named 'markerAB-foo-x','markerAB-foo-y','markerAB-foo-z', and
'markerAB-foo-c' for marker 'foo' to be included in the model.
Parameters
----------
filename : str
Name of the CSV file to load.
'''
import pandas as pd
compression = None
if filename.endswith('.gz'):
compression = 'gzip'
df = pd.read_csv(filename, compression=compression).set_index('time').fillna(-1)
# make sure the data frame's time index matches our world.
assert self.world.dt == pd.Series(df.index).diff().mean()
markers = []
for c in df.columns:
m = re.match(r'^marker\d\d-(.*)-c$', c)
if m:
markers.append(m.group(1))
self.channels = self._map_labels_to_channels(markers)
cols = [c for c in df.columns if re.match(r'^marker\d\d-.*-[xyzc]$', c)]
self.data = df[cols].values.reshape((len(df), len(markers), 4))[start_frame:]
self.data[:, :, [1, 2]] = self.data[:, :, [2, 1]]
logging.info('%s: loaded marker data %s', filename, self.data.shape)
self.process_data()
self.create_bodies() | python | {
"resource": ""
} |
q264580 | Markers.load_c3d | validation | def load_c3d(self, filename, start_frame=0, max_frames=int(1e300)):
'''Load marker data from a C3D file.
The file will be imported using the c3d module, which must be installed
to use this method. (``pip install c3d``)
Parameters
----------
filename : str
Name of the C3D file to load.
start_frame : int, optional
Discard the first N frames. Defaults to 0.
max_frames : int, optional
Maximum number of frames to load. Defaults to loading all frames.
'''
import c3d
with open(filename, 'rb') as handle:
reader = c3d.Reader(handle)
logging.info('world frame rate %s, marker frame rate %s',
1 / self.world.dt, reader.point_rate)
# set up a map from marker label to index in the data stream.
self.channels = self._map_labels_to_channels([
s.strip() for s in reader.point_labels])
# read the actual c3d data into a numpy array.
data = []
for i, (_, frame, _) in enumerate(reader.read_frames()):
if i >= start_frame:
data.append(frame[:, [0, 1, 2, 4]])
if len(data) > max_frames:
break
self.data = np.array(data)
# scale the data to meters -- mm is a very common C3D unit.
if reader.get('POINT:UNITS').string_value.strip().lower() == 'mm':
logging.info('scaling point data from mm to m')
self.data[:, :, :3] /= 1000.
logging.info('%s: loaded marker data %s', filename, self.data.shape)
self.process_data()
self.create_bodies() | python | {
"resource": ""
} |
q264581 | Markers.process_data | validation | def process_data(self):
'''Process data to produce velocity and dropout information.'''
self.visibility = self.data[:, :, 3]
self.positions = self.data[:, :, :3]
self.velocities = np.zeros_like(self.positions) + 1000
for frame_no in range(1, len(self.data) - 1):
prev = self.data[frame_no - 1]
next = self.data[frame_no + 1]
for c in range(self.num_markers):
if -1 < prev[c, 3] < 100 and -1 < next[c, 3] < 100:
self.velocities[frame_no, c] = (
next[c, :3] - prev[c, :3]) / (2 * self.world.dt)
self.cfms = np.zeros_like(self.visibility) + self.DEFAULT_CFM | python | {
"resource": ""
} |
q264582 | Markers.create_bodies | validation | def create_bodies(self):
'''Create physics bodies corresponding to each marker in our data.'''
self.bodies = {}
for label in self.channels:
body = self.world.create_body(
'sphere', name='marker:{}'.format(label), radius=0.02)
body.is_kinematic = True
body.color = 0.9, 0.1, 0.1, 0.5
self.bodies[label] = body | python | {
"resource": ""
} |
q264583 | Markers.load_attachments | validation | def load_attachments(self, source, skeleton):
'''Load attachment configuration from the given text source.
The attachment configuration file has a simple format. After discarding
Unix-style comments (any part of a line that starts with the pound (#)
character), each line in the file is then expected to have the following
format::
marker-name body-name X Y Z
The marker name must correspond to an existing "channel" in our marker
data. The body name must correspond to a rigid body in the skeleton. The
X, Y, and Z coordinates specify the body-relative offsets where the
marker should be attached: 0 corresponds to the center of the body along
the given axis, while -1 and 1 correspond to the minimal (maximal,
respectively) extent of the body's bounding box along the corresponding
dimension.
Parameters
----------
source : str or file-like
A filename or file-like object that we can use to obtain text
configuration that describes how markers are attached to skeleton
bodies.
skeleton : :class:`pagoda.skeleton.Skeleton`
The skeleton to attach our marker data to.
'''
self.targets = {}
self.offsets = {}
filename = source
if isinstance(source, str):
source = open(source)
else:
filename = '(file-{})'.format(id(source))
for i, line in enumerate(source):
tokens = line.split('#')[0].strip().split()
if not tokens:
continue
label = tokens.pop(0)
if label not in self.channels:
logging.info('%s:%d: unknown marker %s', filename, i, label)
continue
if not tokens:
continue
name = tokens.pop(0)
bodies = [b for b in skeleton.bodies if b.name == name]
if len(bodies) != 1:
logging.info('%s:%d: %d skeleton bodies match %s',
filename, i, len(bodies), name)
continue
b = self.targets[label] = bodies[0]
o = self.offsets[label] = \
np.array(list(map(float, tokens))) * b.dimensions / 2
logging.info('%s <--> %s, offset %s', label, b.name, o) | python | {
"resource": ""
} |
q264584 | Markers.attach | validation | def attach(self, frame_no):
'''Attach marker bodies to the corresponding skeleton bodies.
Attachments are only made for markers that are not in a dropout state in
the given frame.
Parameters
----------
frame_no : int
The frame of data we will use for attaching marker bodies.
'''
assert not self.joints
for label, j in self.channels.items():
target = self.targets.get(label)
if target is None:
continue
if self.visibility[frame_no, j] < 0:
continue
if np.linalg.norm(self.velocities[frame_no, j]) > 10:
continue
joint = ode.BallJoint(self.world.ode_world, self.jointgroup)
joint.attach(self.bodies[label].ode_body, target.ode_body)
joint.setAnchor1Rel([0, 0, 0])
joint.setAnchor2Rel(self.offsets[label])
joint.setParam(ode.ParamCFM, self.cfms[frame_no, j])
joint.setParam(ode.ParamERP, self.erp)
joint.name = label
self.joints[label] = joint
self._frame_no = frame_no | python | {
"resource": ""
} |
q264585 | Markers.reposition | validation | def reposition(self, frame_no):
'''Reposition markers to a specific frame of data.
Parameters
----------
frame_no : int
The frame of data where we should reposition marker bodies. Markers
will be positioned in the appropriate places in world coordinates.
In addition, linear velocities of the markers will be set according
to the data as long as there are no dropouts in neighboring frames.
'''
for label, j in self.channels.items():
body = self.bodies[label]
body.position = self.positions[frame_no, j]
body.linear_velocity = self.velocities[frame_no, j] | python | {
"resource": ""
} |
q264586 | Markers.distances | validation | def distances(self):
'''Get a list of the distances between markers and their attachments.
Returns
-------
distances : ndarray of shape (num-markers, 3)
Array of distances for each marker joint in our attachment setup. If
a marker does not currently have an associated joint (e.g. because
it is not currently visible) this will contain NaN for that row.
'''
distances = []
for label in self.labels:
joint = self.joints.get(label)
distances.append([np.nan, np.nan, np.nan] if joint is None else
np.array(joint.getAnchor()) - joint.getAnchor2())
return np.array(distances) | python | {
"resource": ""
} |
q264587 | Markers.forces | validation | def forces(self, dx_tm1=None):
'''Return an array of the forces exerted by marker springs.
Notes
-----
The forces exerted by the marker springs can be approximated by::
F = kp * dx
where ``dx`` is the current array of marker distances. An even more
accurate value is computed by approximating the velocity of the spring
displacement::
F = kp * dx + kd * (dx - dx_tm1) / dt
where ``dx_tm1`` is an array of distances from the previous time step.
Parameters
----------
dx_tm1 : ndarray
An array of distances from markers to their attachment targets,
measured at the previous time step.
Returns
-------
F : ndarray
An array of forces that the markers are exerting on the skeleton.
'''
cfm = self.cfms[self._frame_no][:, None]
kp = self.erp / (cfm * self.world.dt)
kd = (1 - self.erp) / cfm
dx = self.distances()
F = kp * dx
if dx_tm1 is not None:
bad = np.isnan(dx) | np.isnan(dx_tm1)
F[~bad] += (kd * (dx - dx_tm1) / self.world.dt)[~bad]
return F | python | {
"resource": ""
} |
q264588 | World.load_skeleton | validation | def load_skeleton(self, filename, pid_params=None):
'''Create and configure a skeleton in our model.
Parameters
----------
filename : str
The name of a file containing skeleton configuration data.
pid_params : dict, optional
If given, use this dictionary to set the PID controller
parameters on each joint in the skeleton. See
:func:`pagoda.skeleton.pid` for more information.
'''
self.skeleton = skeleton.Skeleton(self)
self.skeleton.load(filename, color=(0.3, 0.5, 0.9, 0.8))
if pid_params:
self.skeleton.set_pid_params(**pid_params)
self.skeleton.erp = 0.1
self.skeleton.cfm = 0 | python | {
"resource": ""
} |
q264589 | World.load_markers | validation | def load_markers(self, filename, attachments, max_frames=1e100):
'''Load marker data and attachment preferences into the model.
Parameters
----------
filename : str
The name of a file containing marker data. This currently needs to
be either a .C3D or a .CSV file. CSV files must adhere to a fairly
strict column naming convention; see :func:`Markers.load_csv` for
more information.
attachments : str
The name of a text file specifying how markers are attached to
skeleton bodies.
max_frames : number, optional
Only read in this many frames of marker data. By default, the entire
data file is read into memory.
Returns
-------
markers : :class:`Markers`
Returns a markers object containing loaded marker data as well as
skeleton attachment configuration.
'''
self.markers = Markers(self)
fn = filename.lower()
if fn.endswith('.c3d'):
self.markers.load_c3d(filename, max_frames=max_frames)
elif fn.endswith('.csv') or fn.endswith('.csv.gz'):
self.markers.load_csv(filename, max_frames=max_frames)
else:
logging.fatal('%s: not sure how to load markers!', filename)
self.markers.load_attachments(attachments, self.skeleton) | python | {
"resource": ""
} |
q264590 | World.step | validation | def step(self, substeps=2):
'''Advance the physics world by one step.
Typically this is called as part of a :class:`pagoda.viewer.Viewer`, but
it can also be called manually (or some other stepping mechanism
entirely can be used).
'''
# by default we step by following our loaded marker data.
self.frame_no += 1
try:
next(self.follower)
except (AttributeError, StopIteration) as err:
self.reset() | python | {
"resource": ""
} |
q264591 | World.settle_to_markers | validation | def settle_to_markers(self, frame_no=0, max_distance=0.05, max_iters=300,
states=None):
'''Settle the skeleton to our marker data at a specific frame.
Parameters
----------
frame_no : int, optional
Settle the skeleton to marker data at this frame. Defaults to 0.
max_distance : float, optional
The settling process will stop when the mean marker distance falls
below this threshold. Defaults to 0.1m (10cm). Setting this too
small prevents the settling process from finishing (it will loop
indefinitely), and setting it too large prevents the skeleton from
settling to a stable state near the markers.
max_iters : int, optional
Attempt to settle markers for at most this many iterations. Defaults
to 1000.
states : list of body states, optional
If given, set the bodies in our skeleton to these kinematic states
before starting the settling process.
'''
if states is not None:
self.skeleton.set_body_states(states)
dist = None
for _ in range(max_iters):
for _ in self._step_to_marker_frame(frame_no):
pass
dist = np.nanmean(abs(self.markers.distances()))
logging.info('settling to frame %d: marker distance %.3f', frame_no, dist)
if dist < max_distance:
return self.skeleton.get_body_states()
for b in self.skeleton.bodies:
b.linear_velocity = 0, 0, 0
b.angular_velocity = 0, 0, 0
return states | python | {
"resource": ""
} |
q264592 | World.follow_markers | validation | def follow_markers(self, start=0, end=1e100, states=None):
'''Iterate over a set of marker data, dragging its skeleton along.
Parameters
----------
start : int, optional
Start following marker data after this frame. Defaults to 0.
end : int, optional
Stop following marker data after this frame. Defaults to the end of
the marker data.
states : list of body states, optional
If given, set the states of the skeleton bodies to these values
before starting to follow the marker data.
'''
if states is not None:
self.skeleton.set_body_states(states)
for frame_no, frame in enumerate(self.markers):
if frame_no < start:
continue
if frame_no >= end:
break
for states in self._step_to_marker_frame(frame_no):
yield states | python | {
"resource": ""
} |
q264593 | World._step_to_marker_frame | validation | def _step_to_marker_frame(self, frame_no, dt=None):
'''Update the simulator to a specific frame of marker data.
This method returns a generator of body states for the skeleton! This
generator must be exhausted (e.g., by consuming this call in a for loop)
for the simulator to work properly.
This process involves the following steps:
- Move the markers to their new location:
- Detach from the skeleton
- Update marker locations
- Reattach to the skeleton
- Detect ODE collisions
- Yield the states of the bodies in the skeleton
- Advance the ODE world one step
Parameters
----------
frame_no : int
Step to this frame of marker data.
dt : float, optional
Step with this time duration. Defaults to ``self.dt``.
Returns
-------
states : sequence of state tuples
A generator of a sequence of one body state for the skeleton. This
generator must be exhausted for the simulation to work properly.
'''
# update the positions and velocities of the markers.
self.markers.detach()
self.markers.reposition(frame_no)
self.markers.attach(frame_no)
# detect collisions.
self.ode_space.collide(None, self.on_collision)
# record the state of each skeleton body.
states = self.skeleton.get_body_states()
self.skeleton.set_body_states(states)
# yield the current simulation state to our caller.
yield states
# update the ode world.
self.ode_world.step(dt or self.dt)
# clear out contact joints to prepare for the next frame.
self.ode_contactgroup.empty() | python | {
"resource": ""
} |
q264594 | World.inverse_kinematics | validation | def inverse_kinematics(self, start=0, end=1e100, states=None, max_force=20):
'''Follow a set of marker data, yielding kinematic joint angles.
Parameters
----------
start : int, optional
Start following marker data after this frame. Defaults to 0.
end : int, optional
Stop following marker data after this frame. Defaults to the end of
the marker data.
states : list of body states, optional
If given, set the states of the skeleton bodies to these values
before starting to follow the marker data.
max_force : float, optional
Allow each degree of freedom in the skeleton to exert at most this
force when attempting to maintain its equilibrium position. This
defaults to 20N. Set this value higher to simulate a stiff skeleton
while following marker data.
Returns
-------
angles : sequence of angle frames
Returns a generator of joint angle data for the skeleton. One set of
joint angles will be generated for each frame of marker data between
`start` and `end`.
'''
zeros = None
if max_force > 0:
self.skeleton.enable_motors(max_force)
zeros = np.zeros(self.skeleton.num_dofs)
for _ in self.follow_markers(start, end, states):
if zeros is not None:
self.skeleton.set_target_angles(zeros)
yield self.skeleton.joint_angles | python | {
"resource": ""
} |
q264595 | World.inverse_dynamics | validation | def inverse_dynamics(self, angles, start=0, end=1e100, states=None, max_force=100):
'''Follow a set of angle data, yielding dynamic joint torques.
Parameters
----------
angles : ndarray (num-frames x num-dofs)
Follow angle data provided by this array of angle values.
start : int, optional
Start following angle data after this frame. Defaults to the start
of the angle data.
end : int, optional
Stop following angle data after this frame. Defaults to the end of
the angle data.
states : list of body states, optional
If given, set the states of the skeleton bodies to these values
before starting to follow the marker data.
max_force : float, optional
Allow each degree of freedom in the skeleton to exert at most this
force when attempting to follow the given joint angles. Defaults to
100N. Setting this value to be large results in more accurate
following but can cause oscillations in the PID controllers,
resulting in noisy torques.
Returns
-------
torques : sequence of torque frames
Returns a generator of joint torque data for the skeleton. One set
of joint torques will be generated for each frame of angle data
between `start` and `end`.
'''
if states is not None:
self.skeleton.set_body_states(states)
for frame_no, frame in enumerate(angles):
if frame_no < start:
continue
if frame_no >= end:
break
self.ode_space.collide(None, self.on_collision)
states = self.skeleton.get_body_states()
self.skeleton.set_body_states(states)
# joseph's stability fix: step to compute torques, then reset the
# skeleton to the start of the step, and then step using computed
# torques. thus any numerical errors between the body states after
# stepping using angle constraints will be removed, because we
# will be stepping the model using the computed torques.
self.skeleton.enable_motors(max_force)
self.skeleton.set_target_angles(angles[frame_no])
self.ode_world.step(self.dt)
torques = self.skeleton.joint_torques
self.skeleton.disable_motors()
self.skeleton.set_body_states(states)
self.skeleton.add_torques(torques)
yield torques
self.ode_world.step(self.dt)
self.ode_contactgroup.empty() | python | {
"resource": ""
} |
q264596 | World.forward_dynamics | validation | def forward_dynamics(self, torques, start=0, states=None):
'''Move the body according to a set of torque data.'''
if states is not None:
self.skeleton.set_body_states(states)
for frame_no, torque in enumerate(torques):
if frame_no < start:
continue
if frame_no >= end:
break
self.ode_space.collide(None, self.on_collision)
self.skeleton.add_torques(torque)
self.ode_world.step(self.dt)
yield
self.ode_contactgroup.empty() | python | {
"resource": ""
} |
q264597 | resorted | validation | def resorted(values):
"""
Sort values, but put numbers after alphabetically sorted words.
This function is here to make outputs diff-compatible with Aleph.
Example::
>>> sorted(["b", "1", "a"])
['1', 'a', 'b']
>>> resorted(["b", "1", "a"])
['a', 'b', '1']
Args:
values (iterable): any iterable object/list/tuple/whatever.
Returns:
list of sorted values, but with numbers after words
"""
if not values:
return values
values = sorted(values)
# look for first word
first_word = next(
(cnt for cnt, val in enumerate(values)
if val and not val[0].isdigit()),
None
)
# if not found, just return the values
if first_word is None:
return values
words = values[first_word:]
numbers = values[:first_word]
return words + numbers | python | {
"resource": ""
} |
q264598 | Viewer.render | validation | def render(self, dt):
'''Draw all bodies in the world.'''
for frame in self._frozen:
for body in frame:
self.draw_body(body)
for body in self.world.bodies:
self.draw_body(body)
if hasattr(self.world, 'markers'):
# draw line between anchor1 and anchor2 for marker joints.
window.glColor4f(0.9, 0.1, 0.1, 0.9)
window.glLineWidth(3)
for j in self.world.markers.joints.values():
window.glBegin(window.GL_LINES)
window.glVertex3f(*j.getAnchor())
window.glVertex3f(*j.getAnchor2())
window.glEnd() | python | {
"resource": ""
} |
q264599 | Room.get_stream | validation | def get_stream(self, error_callback=None, live=True):
""" Get room stream to listen for messages.
Kwargs:
error_callback (func): Callback to call when an error occurred (parameters: exception)
live (bool): If True, issue a live stream, otherwise an offline stream
Returns:
:class:`Stream`. Stream
"""
self.join()
return Stream(self, error_callback=error_callback, live=live) | python | {
"resource": ""
} |
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