Python numpy.unwrap方法代码示例

# 需要导入模块: import numpy [as 别名]
# 或者: from numpy import unwrap [as 别名]
def act(self, obs):
        quad_to_obj_pos, quad_to_obj_rot = obs[:2]
        quad_to_obj_T = transformations.quaternion_matrix(np.r_[quad_to_obj_rot[3], quad_to_obj_rot[:3]])
        quad_to_obj_T[:3, 3] = quad_to_obj_pos
        obj_to_quad_T = transformations.inverse_matrix(quad_to_obj_T)

        if self.tightness == 1.0:
            des_offset_hra = self.target_hra
        else:
            offset = obj_to_quad_T[:3, 3]
            offset_hra = xyz_to_hra(offset)
            target_hra = self.target_hra.copy()
            offset_hra[-1], target_hra[-1] = np.unwrap([offset_hra[-1], target_hra[-1]])
            des_offset_hra = (1 - self.tightness) * offset_hra + self.tightness * target_hra
        des_offset = hra_to_xyz(des_offset_hra)
        des_obj_to_quad_T = transformations.rotation_matrix(des_offset_hra[2], np.array([0, 0, 1]))
        des_obj_to_quad_T[:3, 3] = des_offset
        self.pbvs_pol.target_to_obj_T = transformations.inverse_matrix(des_obj_to_quad_T)
        return self.pbvs_pol.act(obs) 

# 需要导入模块: import numpy [as 别名]
# 或者: from numpy import unwrap [as 别名]
def test_specgram_complex_phase_equivalent(self):
        freqs = self.freqs_specgram
        specc, freqspecc, tc = mlab.specgram(x=self.y,
                                             NFFT=self.NFFT_specgram,
                                             Fs=self.Fs,
                                             noverlap=self.nover_specgram,
                                             pad_to=self.pad_to_specgram,
                                             sides=self.sides,
                                             mode='complex')
        specp, freqspecp, tp = mlab.specgram(x=self.y,
                                             NFFT=self.NFFT_specgram,
                                             Fs=self.Fs,
                                             noverlap=self.nover_specgram,
                                             pad_to=self.pad_to_specgram,
                                             sides=self.sides,
                                             mode='phase')

        assert_array_equal(freqspecc, freqspecp)
        assert_array_equal(tc, tp)
        assert_allclose(np.unwrap(np.angle(specc), axis=0), specp,
                        atol=1e-06) 

# 需要导入模块: import numpy [as 别名]
# 或者: from numpy import unwrap [as 别名]
def test_specgram_angle_phase_equivalent(self):
        freqs = self.freqs_specgram
        speca, freqspeca, ta = mlab.specgram(x=self.y,
                                             NFFT=self.NFFT_specgram,
                                             Fs=self.Fs,
                                             noverlap=self.nover_specgram,
                                             pad_to=self.pad_to_specgram,
                                             sides=self.sides,
                                             mode='angle')
        specp, freqspecp, tp = mlab.specgram(x=self.y,
                                             NFFT=self.NFFT_specgram,
                                             Fs=self.Fs,
                                             noverlap=self.nover_specgram,
                                             pad_to=self.pad_to_specgram,
                                             sides=self.sides,
                                             mode='phase')

        assert_array_equal(freqspeca, freqspecp)
        assert_array_equal(ta, tp)
        assert_allclose(np.unwrap(speca, axis=0), specp,
                        atol=1e-06) 

# 需要导入模块: import numpy [as 别名]
# 或者: from numpy import unwrap [as 别名]
def unwrap(p, discont=numpy.pi, axis=-1):
    """Unwrap by changing deltas between values to 2*pi complement.

    Args:
        p (cupy.ndarray): Input array.
        discont (float): Maximum discontinuity between values, default is
            ``pi``.
        axis (int): Axis along which unwrap will operate, default is the last
            axis.
    Returns:
        cupy.ndarray: The result array.

    .. seealso:: :func:`numpy.unwrap`
    """

    p = cupy.asarray(p)
    nd = p.ndim
    dd = sumprod.diff(p, axis=axis)
    slice1 = [slice(None, None)]*nd     # full slices
    slice1[axis] = slice(1, None)
    slice1 = tuple(slice1)
    ph_correct = _unwrap_correct(dd, discont)
    up = cupy.array(p, copy=True, dtype='d')
    up[slice1] = p[slice1] + cupy.cumsum(ph_correct, axis=axis)
    return up 

# 需要导入模块: import numpy [as 别名]
# 或者: from numpy import unwrap [as 别名]
def testInstantaneousFrequency(self, shape, axis):
    # Instantaneous Frequency in numpy
    phase_np = np.pi * (2 * np.random.rand(*shape) - 1)
    unwrapped_np = np.unwrap(phase_np, axis=axis)
    dphase_np = np.diff(unwrapped_np, axis=axis)
    # Append with initial phase
    s = [slice(None),] * unwrapped_np.ndim
    s[axis] = slice(0, 1)
    slice_np = unwrapped_np[s]
    dphase_np = np.concatenate([slice_np, dphase_np], axis=axis) / np.pi

    phase_tf = tf.convert_to_tensor(phase_np)
    with self.cached_session() as sess:
      dphase_tf = sess.run(spectral_ops.instantaneous_frequency(phase_tf,
                                                                time_axis=axis))
    self.assertAllClose(dphase_np, dphase_tf) 

# 需要导入模块: import numpy [as 别名]
# 或者: from numpy import unwrap [as 别名]
def smoothness_score(angles):
    """Computes the smoothness score of a line interpolation according to the
    angles of each line.

    Args:
        - angles: Array of shape (n_interpolations, n_lines_per_interpolation)
            giving the angle of each line in each interpolation.

    Returns:
        - smoothness_scores: Array of shape (n_interpolations,) giving the
            average smoothness score for all of the provided interpolations.
    """
    angles = np.atleast_2d(angles)
    # Remove discontinuities larger than np.pi
    angles = np.unwrap(angles)
    diffs = np.abs(np.diff(angles, axis=-1))
    # Compute the angle difference from the first and last point
    total_diff = np.abs(angles[:, :1] - angles[:, -1:])
    # When total_diff is zero, there's no way to compute this score
    zero_diff = (total_diff < 1e-4).flatten()
    normalized_diffs = diffs/total_diff
    deviation = np.max(normalized_diffs, axis=-1) - 1./(angles.shape[1] - 1)
    # Set score to NaN when we aren't able to compute it
    deviation[zero_diff] = np.nan
    return deviation 

# 需要导入模块: import numpy [as 别名]
# 或者: from numpy import unwrap [as 别名]
def real_spectrum(signal, axis=-1, **kwargs):

    try:
        import matplotlib.pyplot as plt
    except ImportError:
        import warnings

        warnings.warn("Matplotlib is required for plotting")
        return

    S = np.fft.rfft(signal, axis=axis)
    f = np.arange(S.shape[axis]) / float(2 * S.shape[axis])

    plt.subplot(2, 1, 1)
    P = dB(S)
    plt.plot(f, P, **kwargs)

    plt.subplot(2, 1, 2)
    phi = np.unwrap(np.angle(S))
    plt.plot(f, phi, **kwargs) 

# 需要导入模块: import numpy [as 别名]
# 或者: from numpy import unwrap [as 别名]
def phaseanalysis(firstharmonic, displayplots=False):
    print('entering phaseanalysis')
    analytic_signal = hilbert(firstharmonic)
    amplitude_envelope = np.abs(analytic_signal)
    instantaneous_phase = np.angle(analytic_signal)
    if displayplots:
        print('making plots')
        fig = pl.figure()
        ax1 = fig.add_subplot(311)
        ax1.set_title('Analytic signal')
        X = np.linspace(0.0, 1.0, num=len(firstharmonic))
        pl.plot(X, analytic_signal.real, 'k', X, analytic_signal.imag, 'r')
        ax2 = fig.add_subplot(312)
        ax2.set_title('Phase')
        pl.plot(X, instantaneous_phase, 'g')
        ax3 = fig.add_subplot(313)
        ax3.set_title('Amplitude')
        pl.plot(X, amplitude_envelope, 'b')
        pl.show()
        pl.savefig('phaseanalysistest.jpg')
    instantaneous_phase = np.unwrap(instantaneous_phase)
    return instantaneous_phase, amplitude_envelope 

# 需要导入模块: import numpy [as 别名]
# 或者: from numpy import unwrap [as 别名]
def phase_from_frequencyseries(htilde, remove_start_phase=True):
    """Returns the phase from the given frequency-domain waveform. This assumes
    that the waveform has been sampled finely enough that the phase cannot
    change by more than pi radians between each step.

    Parameters
    ----------
    htilde : FrequencySeries
        The waveform to get the phase for; must be a complex frequency series.
    remove_start_phase : {True, bool}
        Subtract the initial phase before returning.

    Returns
    -------
    FrequencySeries
        The phase of the waveform as a function of frequency.
    """
    p = numpy.unwrap(numpy.angle(htilde.data)).astype(
            real_same_precision_as(htilde))
    if remove_start_phase:
        p += -p[0]
    return FrequencySeries(p, delta_f=htilde.delta_f, epoch=htilde.epoch,
        copy=False) 

# 需要导入模块: import numpy [as 别名]
# 或者: from numpy import unwrap [as 别名]
def calc_inst_info(modes,samplerate):
    """
Calculate the instantaneous frequency, amplitude, and phase of
each mode.
    """

    amp=np.zeros(modes.shape,np.float32)
    phase=np.zeros(modes.shape,np.float32)
    f=np.zeros(modes.shape,np.float32)

    print("Mode 1:", len(modes), samplerate)

    for m in range(len(modes)):
        h=scipy.signal.hilbert(modes[m])
        print(len(modes[m]))
        print("Mean Amplitude of mode ", m, np.mean(np.abs(h)))
        print("Mean Phase of mode ", m, np.mean(np.angle(h)))
        phase[m,:]=np.angle(h)
        print("Frequ", np.diff(np.unwrap(phase[:,np.r_[0,0:len(modes[m])]]))/(2*np.pi)*samplerate)
        amp[m,:]=np.abs(h)
        phase[m,:]=np.angle(h)
        f[m,:] = np.r_[np.nan,
                      0.5*(np.angle(-h[2:]*np.conj(h[0:-2]))+np.pi)/(2*np.pi) * samplerate,
                      np.nan]
        print("Mean Frequ of mode ", m, np.mean(np.diff(np.unwrap(phase[:,np.r_[0,0:len(modes[0])]]))/(2*np.pi)*samplerate))

        #f(m,:) = [nan 0.5*(angle(-h(t+1).*conj(h(t-1)))+pi)/(2*pi) * sr nan];

    # calc the freqs (old way)
    #f=np.diff(np.unwrap(phase[:,np.r_[0,0:len(modes[0])]]))/(2*np.pi)*samplerate

    # clip the freqs so they don't go below zero
    #f = f.clip(0,f.max())

    return f,amp,phase 

# 需要导入模块: import numpy [as 别名]
# 或者: from numpy import unwrap [as 别名]
def save_xhrss_dump_proj(dump_proj, filePath):
    # saves the dfl_hxrss_filt radiation projections dump to text files

    (t_l_scale, _, t_l_int_a, t_l_pha_a), (f_l_scale, f_l_filt, _, f_l_int_a) = dump_proj

    f = open(filePath + '.t.txt', 'wb')
    header = 'Distance Power Phase'
    np.savetxt(f, np.c_[t_l_scale, t_l_int_a, t_l_pha_a], header=header, fmt="%e", newline='\n', comments='')
    f.close()

    f = open(filePath + '.f.txt', 'wb')
    header = 'Wavelength Spectrum Filter_Abs Filter_Ang'
    np.savetxt(f, np.c_[f_l_scale, f_l_int_a, np.abs(f_l_filt), np.unwrap(np.angle(f_l_filt))], header=header, fmt="%.8e", newline='\n', comments='')
    f.close() 

# 需要导入模块: import numpy [as 别名]
# 或者: from numpy import unwrap [as 别名]
def test_vertices_2d(self):
        # The vertices should be in counterclockwise order in 2-D
        np.random.seed(1234)
        points = np.random.rand(30, 2)

        hull = qhull.ConvexHull(points)
        assert_equal(np.unique(hull.simplices), np.sort(hull.vertices))

        # Check counterclockwiseness
        x, y = hull.points[hull.vertices].T
        angle = np.arctan2(y - y.mean(), x - x.mean())
        assert_(np.all(np.diff(np.unwrap(angle)) > 0)) 

# 需要导入模块: import numpy [as 别名]
# 或者: from numpy import unwrap [as 别名]
def follow_joint_trajectory(self, traj):
        traj = np.r_[np.atleast_2d(self.get_joint_positions()), traj]
        for i in [2, 4, 6]:
            traj[:, i] = np.unwrap(traj[:, i])

        times = retiming.retime_with_vel_limits(traj, self.vel_limits)
        times_up = np.arange(0, times[-1], .1)
        traj_up = mu.interp2d(times_up, times, traj)
        vels = resampling.get_velocities(traj_up, times_up, .001)
        self.follow_timed_joint_trajectory(traj_up, vels, times_up) 

# 需要导入模块: import numpy [as 别名]
# 或者: from numpy import unwrap [as 别名]
def unwrap_arm_traj_in_place(traj):
    assert traj.shape[1] == 7
    for i in [2, 4, 6]:
        traj[:, i] = np.unwrap(traj[:, i])
    return traj 

# 需要导入模块: import numpy [as 别名]
# 或者: from numpy import unwrap [as 别名]
def act(self, obs):
        quad_pos = np.array(self.env.quad_node.getPos())
        if self.tightness == 1.0:
            des_offset_hra = self.target_hra
        else:
            hor_car_T = self.env.hor_car_T
            hor_car_inv_T = tf.inverse_matrix(hor_car_T)
            offset = hor_car_inv_T[:3, :3].dot(quad_pos) + hor_car_inv_T[:3, 3]
            offset_hra = xyz_to_hra(offset)
            target_hra = self.target_hra.copy()
            offset_hra[-1], target_hra[-1] = np.unwrap([offset_hra[-1], target_hra[-1]])
            des_offset_hra = (1 - self.tightness) * offset_hra + self.tightness * target_hra
        des_offset = hra_to_xyz(des_offset_hra)

        # desired quad transform in world coordinates
        des_quad_T = tf.pose_matrix(*self.env.compute_desired_quad_pos_quat(offset=des_offset)[::-1])
        # quad transform in world coordinates
        quad_T = tf.pose_matrix(self.env.quad_node.getQuat(), self.env.quad_node.getPos())
        # desired quad transform relative to the quad
        quad_to_des_quad_T = tf.inverse_matrix(quad_T).dot(des_quad_T)

        linear_vel, angular_vel = np.split(tf.position_axis_angle_from_matrix(quad_to_des_quad_T) / self.env.dt, [3])
        if self.env.action_space.axis is not None:
            angular_vel = angular_vel.dot(self.env.action_space.axis)
        action = np.append(linear_vel, angular_vel)
        return action