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Maximilian Gruber
floor_simulation
Commits
d43772d9
Commit
d43772d9
authored
5 years ago
by
Maximilian Gruber
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Added dynamic to sensors
parent
0067c82f
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Changes
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1 changed file
base.py
+56
-16
56 additions, 16 deletions
base.py
with
56 additions
and
16 deletions
base.py
+
56
−
16
View file @
d43772d9
import
numpy
as
np
import
scipy.interpolate
as
sci
import
scipy.signal
as
scs
import
matplotlib
as
mpl
import
matplotlib.animation
as
mpa
import
matplotlib.pyplot
as
plt
...
...
@@ -52,11 +53,11 @@ class Simulation:
t_path
,
x_path
=
self
.
path_to_arrays
()
# define floor and vehicle on floor
f
=
Floor
(
shape
=
(
10
,
8
),
tile_length
=
0.5
)
f
=
Floor
(
shape
=
(
5
,
4
),
tile_length
=
1.0
)
v
=
Vehicle
(
floor
=
f
,
init_position
=
x_path
[
0
])
# update sensors on floor
v
.
update_floor
(
timestamp
=
0
)
v
.
update_floor
(
timestamp
=
0
.0
)
# init visualization
## init figure
...
...
@@ -65,7 +66,7 @@ class Simulation:
## draw floor
fx
,
fy
=
f
.
get_grid
()
fc
=
f
.
get_tile_values
()
pc
=
ax
.
pcolormesh
(
fx
,
fy
,
fc
,
cmap
=
"
Greens
"
)
pc
=
ax
.
pcolormesh
(
fx
,
fy
,
fc
,
cmap
=
"
Greens
"
,
vmin
=
0
,
vmax
=
v
.
mass
)
## vehicle representation
vi
=
VehicleInteractor
(
v
,
pc
)
shape
=
vi
.
get_shape
()
...
...
@@ -102,7 +103,9 @@ class Simulation:
sensors
=
[
tile
[
"
sensor
"
]
for
tile
in
f
.
tiles
.
values
()]
fig
,
ax
=
plt
.
subplots
(
nrows
=
len
(
sensors
),
ncols
=
1
,
sharex
=
True
,
sharey
=
True
)
for
i
,
sensor
in
enumerate
(
sensors
):
ax
[
i
].
step
(
sensor
.
timestamps
,
sensor
.
values
,
where
=
"
post
"
)
ax
[
i
].
step
(
sensor
.
timestamps
,
sensor
.
output_values
,
where
=
"
post
"
)
ax
[
i
].
step
(
sensor
.
timestamps
,
sensor
.
input_values
,
where
=
"
post
"
)
plt
.
show
()
class
Vehicle
:
...
...
@@ -141,20 +144,23 @@ class Vehicle:
else
:
ts
=
timestamp
#
append new entry to
every tile
#
reset
every tile
for
it
,
tile
in
f
.
tiles
.
items
():
sensor
=
tile
[
"
sensor
"
]
sensor
.
timestamps
=
np
.
append
(
sensor
.
timestamps
,
ts
)
sensor
.
values
=
np
.
append
(
sensor
.
values
,
0.0
)
sensor
.
uncertainties
=
np
.
append
(
sensor
.
uncertainties
,
0.0
)
sensor
.
tmp
=
0
# check in which tile a wheel is at the moment
for
iw
,
wheel
in
enumerate
(
self
.
get_wheel_positions
()):
for
it
,
tile
in
f
.
tiles
.
items
():
sensor
=
tile
[
"
sensor
"
]
if
self
.
is_inside
(
wheel
,
tile
):
sensor
.
values
[
-
1
]
+=
self
.
wheels_weight
[
iw
]
*
self
.
mass
break
sensor
.
tmp
+=
self
.
wheels_weight
[
iw
]
*
self
.
mass
break
# one wheel can only be in one tile
# "excite" the sensors
for
it
,
tile
in
f
.
tiles
.
items
():
sensor
=
tile
[
"
sensor
"
]
sensor
.
excite
(
ts
,
input_value
=
sensor
.
tmp
,
input_uncertainty
=
0.0
)
def
is_inside
(
self
,
wheel_position
,
tile
):
b
=
np
.
append
(
wheel_position
,
1
)
...
...
@@ -299,7 +305,7 @@ class Floor():
C
=
np
.
zeros
(
self
.
shape
)
for
i
,
tile
in
self
.
tiles
.
items
():
C
[
tile
[
"
index
"
]]
=
tile
[
"
sensor
"
].
values
[
-
1
]
C
[
tile
[
"
index
"
]]
=
tile
[
"
sensor
"
].
output_
values
[
-
1
]
return
C
...
...
@@ -309,14 +315,48 @@ class Sensor():
def
__init__
(
self
):
# time series
self
.
timestamps
=
np
.
ndarray
(
0
)
self
.
values
=
np
.
ndarray
(
0
)
self
.
uncertainties
=
np
.
ndarray
(
0
)
self
.
timestamps
=
np
.
array
([])
self
.
input_values
=
np
.
array
([])
self
.
input_uncertainty
=
np
.
array
([])
self
.
output_values
=
np
.
array
([])
self
.
output_uncertainty
=
np
.
array
([])
# sensor dynamics
#wp = 0.1 + 0.01*(np.random.random()-0.5)
#ws = 0.2 + 0.01*(np.random.random()-0.5)
#b,a = scs.iirdesign(wp=wp, ws=ws, gpass=1, gstop=60)
wp
=
0.4
+
0.01
*
(
np
.
random
.
random
()
-
0.5
)
b
,
a
=
scs
.
iirfilter
(
N
=
5
,
Wn
=
[
wp
],
btype
=
"
lowpass
"
)
# meta data
self
.
meta
=
{
"
calibration
"
:
{},
"
location
"
:
{}}
# calibration meta data
mc
=
self
.
meta
[
"
calibration
"
]
mc
[
"
unit
"
]
=
""
mc
[
"
quantity
"
]
=
""
\ No newline at end of file
mc
[
"
quantity
"
]
=
""
mc
[
"
model
"
]
=
{
"
type
"
:
"
IIR
"
,
"
b
"
:
b
,
"
a
"
:
a
,
"
noise
"
:
4e-2
}
# internal states
self
.
_tmp
=
0.0
self
.
_zi
=
np
.
zeros
((
max
(
b
.
size
-
1
,
a
.
size
-
1
)))
def
excite
(
self
,
timestamp
,
input_value
=
0.0
,
input_uncertainty
=
0.0
):
# filter coeffs
b
=
self
.
meta
[
"
calibration
"
][
"
model
"
][
"
b
"
]
a
=
self
.
meta
[
"
calibration
"
][
"
model
"
][
"
a
"
]
noise
=
self
.
meta
[
"
calibration
"
][
"
model
"
][
"
noise
"
]
# calculate sensor output from input (measurand)
output_value
,
self
.
_zi
=
scs
.
sigtools
.
_linear_filter
(
b
,
a
,
[
input_value
],
0
,
self
.
_zi
)
output_value
+=
np
.
random
.
normal
(
loc
=
0.0
,
scale
=
noise
)
output_uncertainty
=
input_uncertainty
# write to record
self
.
timestamps
=
np
.
append
(
self
.
timestamps
,
timestamp
)
self
.
input_values
=
np
.
append
(
self
.
input_values
,
input_value
)
self
.
input_uncertainty
=
np
.
append
(
self
.
input_uncertainty
,
input_uncertainty
)
self
.
output_values
=
np
.
append
(
self
.
output_values
,
output_value
)
self
.
output_uncertainty
=
np
.
append
(
self
.
output_uncertainty
,
output_uncertainty
)
\ No newline at end of file
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