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d4cbafd | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 | import numpy as np
def make_continuous_copy(alpha):
alpha = (alpha + np.pi) % (2.0 * np.pi) - np.pi
continuous_x = np.zeros_like(alpha)
continuous_x[0] = alpha[0]
for i in range(1, len(alpha)):
if not (np.sign(alpha[i]) == np.sign(alpha[i - 1])) and np.abs(alpha[i]) > np.pi / 2:
continuous_x[i] = continuous_x[i - 1] + (
alpha[i] - alpha[i - 1]) - np.sign(
(alpha[i] - alpha[i - 1])) * 2 * np.pi
else:
continuous_x[i] = continuous_x[i - 1] + (alpha[i] - alpha[i - 1])
return continuous_x
def derivative_of(x, dt=1, radian=False):
if radian:
x = make_continuous_copy(x)
if x[~np.isnan(x)].shape[-1] < 2:
return np.zeros_like(x)
dx = np.full_like(x, np.nan)
dx[~np.isnan(x)] = np.gradient(x[~np.isnan(x)], dt)
return dx |