:py:mod:`rofunc.learning.ml.utils` ================================== .. py:module:: rofunc.learning.ml.utils .. autodoc2-docstring:: rofunc.learning.ml.utils :allowtitles: Module Contents --------------- Functions ~~~~~~~~~ .. list-table:: :class: autosummary longtable :align: left * - :py:obj:`quaternion_from_homo_matrix ` - .. autodoc2-docstring:: rofunc.learning.ml.utils.quaternion_from_homo_matrix :summary: * - :py:obj:`get_canonical ` - .. autodoc2-docstring:: rofunc.learning.ml.utils.get_canonical :summary: * - :py:obj:`multi_timestep_matrix ` - .. autodoc2-docstring:: rofunc.learning.ml.utils.multi_timestep_matrix :summary: * - :py:obj:`fd_transform ` - .. autodoc2-docstring:: rofunc.learning.ml.utils.fd_transform :summary: * - :py:obj:`multi_timestep_fd_q ` - .. autodoc2-docstring:: rofunc.learning.ml.utils.multi_timestep_fd_q :summary: * - :py:obj:`lifted_noise_matrix ` - .. autodoc2-docstring:: rofunc.learning.ml.utils.lifted_noise_matrix :summary: * - :py:obj:`lifted_transfer_matrix ` - .. autodoc2-docstring:: rofunc.learning.ml.utils.lifted_transfer_matrix :summary: * - :py:obj:`gu_pinv ` - .. autodoc2-docstring:: rofunc.learning.ml.utils.gu_pinv :summary: * - :py:obj:`create_relative_time ` - .. autodoc2-docstring:: rofunc.learning.ml.utils.create_relative_time :summary: * - :py:obj:`align_trajectories_hsmm ` - .. autodoc2-docstring:: rofunc.learning.ml.utils.align_trajectories_hsmm :summary: * - :py:obj:`align_trajectories ` - .. autodoc2-docstring:: rofunc.learning.ml.utils.align_trajectories :summary: * - :py:obj:`angle_to_rotation ` - .. autodoc2-docstring:: rofunc.learning.ml.utils.angle_to_rotation :summary: * - :py:obj:`feature_to_slice ` - .. autodoc2-docstring:: rofunc.learning.ml.utils.feature_to_slice :summary: * - :py:obj:`dtype_to_index ` - .. autodoc2-docstring:: rofunc.learning.ml.utils.dtype_to_index :summary: * - :py:obj:`plot_model_time ` - .. autodoc2-docstring:: rofunc.learning.ml.utils.plot_model_time :summary: * - :py:obj:`homo_matrix_from_quaternion ` - .. autodoc2-docstring:: rofunc.learning.ml.utils.homo_matrix_from_quaternion :summary: * - :py:obj:`plot_demos_3d ` - .. autodoc2-docstring:: rofunc.learning.ml.utils.plot_demos_3d :summary: * - :py:obj:`repro_plot ` - .. autodoc2-docstring:: rofunc.learning.ml.utils.repro_plot :summary: * - :py:obj:`plot_model ` - .. autodoc2-docstring:: rofunc.learning.ml.utils.plot_model :summary: * - :py:obj:`plot_demos ` - .. autodoc2-docstring:: rofunc.learning.ml.utils.plot_demos :summary: * - :py:obj:`train_test ` - .. autodoc2-docstring:: rofunc.learning.ml.utils.train_test :summary: * - :py:obj:`repro_demo ` - .. autodoc2-docstring:: rofunc.learning.ml.utils.repro_demo :summary: API ~~~ .. py:function:: quaternion_from_homo_matrix(matrix, isprecise=False) :canonical: rofunc.learning.ml.utils.quaternion_from_homo_matrix .. autodoc2-docstring:: rofunc.learning.ml.utils.quaternion_from_homo_matrix .. py:function:: get_canonical(nb_dim, nb_deriv=2, dt=0.01) :canonical: rofunc.learning.ml.utils.get_canonical .. autodoc2-docstring:: rofunc.learning.ml.utils.get_canonical .. py:function:: multi_timestep_matrix(A, B, nb_step=4) :canonical: rofunc.learning.ml.utils.multi_timestep_matrix .. autodoc2-docstring:: rofunc.learning.ml.utils.multi_timestep_matrix .. py:function:: fd_transform(d, xi_dim, nb_past, dt=0.1) :canonical: rofunc.learning.ml.utils.fd_transform .. autodoc2-docstring:: rofunc.learning.ml.utils.fd_transform .. py:function:: multi_timestep_fd_q(rs, xi_dim, dt) :canonical: rofunc.learning.ml.utils.multi_timestep_fd_q .. autodoc2-docstring:: rofunc.learning.ml.utils.multi_timestep_fd_q .. py:function:: lifted_noise_matrix(A=None, B=None, nb_dim=3, dt=0.01, horizon=50) :canonical: rofunc.learning.ml.utils.lifted_noise_matrix .. autodoc2-docstring:: rofunc.learning.ml.utils.lifted_noise_matrix .. py:function:: lifted_transfer_matrix(A=None, B=None, nb_dim=3, dt=0.01, horizon=50, sparse=False) :canonical: rofunc.learning.ml.utils.lifted_transfer_matrix .. autodoc2-docstring:: rofunc.learning.ml.utils.lifted_transfer_matrix .. py:function:: gu_pinv(A, rcond=1e-15) :canonical: rofunc.learning.ml.utils.gu_pinv .. autodoc2-docstring:: rofunc.learning.ml.utils.gu_pinv .. py:function:: create_relative_time(q, start=-1.0) :canonical: rofunc.learning.ml.utils.create_relative_time .. autodoc2-docstring:: rofunc.learning.ml.utils.create_relative_time .. py:function:: align_trajectories_hsmm(data, nb_states=5) :canonical: rofunc.learning.ml.utils.align_trajectories_hsmm .. autodoc2-docstring:: rofunc.learning.ml.utils.align_trajectories_hsmm .. py:function:: align_trajectories(data, additional_data=[], hsmm=True, nb_states=5) :canonical: rofunc.learning.ml.utils.align_trajectories .. autodoc2-docstring:: rofunc.learning.ml.utils.align_trajectories .. py:function:: angle_to_rotation(theta) :canonical: rofunc.learning.ml.utils.angle_to_rotation .. autodoc2-docstring:: rofunc.learning.ml.utils.angle_to_rotation .. py:function:: feature_to_slice(nb_dim=2, nb_frames=None, nb_attractor=2, features=None) :canonical: rofunc.learning.ml.utils.feature_to_slice .. autodoc2-docstring:: rofunc.learning.ml.utils.feature_to_slice .. py:function:: dtype_to_index(dtype) :canonical: rofunc.learning.ml.utils.dtype_to_index .. autodoc2-docstring:: rofunc.learning.ml.utils.dtype_to_index .. py:function:: plot_model_time(model, demos, figsize=(10, 2), dim_idx=[1], demo_idx=0) :canonical: rofunc.learning.ml.utils.plot_model_time .. autodoc2-docstring:: rofunc.learning.ml.utils.plot_model_time .. py:function:: homo_matrix_from_quaternion(quaternion) :canonical: rofunc.learning.ml.utils.homo_matrix_from_quaternion .. autodoc2-docstring:: rofunc.learning.ml.utils.homo_matrix_from_quaternion .. py:function:: plot_demos_3d(demos, figsize=(15, 5), angle=[60, 45]) :canonical: rofunc.learning.ml.utils.plot_demos_3d .. autodoc2-docstring:: rofunc.learning.ml.utils.plot_demos_3d .. py:function:: repro_plot(model, demos, save=False, tp_list=[], figsize=(3.5, 5)) :canonical: rofunc.learning.ml.utils.repro_plot .. autodoc2-docstring:: rofunc.learning.ml.utils.repro_plot .. py:function:: plot_model(model, demos, figsize=(8, 3.5), skill_name='temp', save=False) :canonical: rofunc.learning.ml.utils.plot_model .. autodoc2-docstring:: rofunc.learning.ml.utils.plot_model .. py:function:: plot_demos(demos, data_dim, figsize=(8, 5)) :canonical: rofunc.learning.ml.utils.plot_demos .. autodoc2-docstring:: rofunc.learning.ml.utils.plot_demos .. py:function:: train_test(demos, demo_idx=0, nb_states=5, test=True, sensory=True, kbins=True, hmmr=True, nb_dim=3, nb_frames=2) :canonical: rofunc.learning.ml.utils.train_test .. autodoc2-docstring:: rofunc.learning.ml.utils.train_test .. py:function:: repro_demo(model, hmmr, demos, demo_idx=0, start_point=None, plot_on=False) :canonical: rofunc.learning.ml.utils.repro_demo .. autodoc2-docstring:: rofunc.learning.ml.utils.repro_demo