From cd72626d91974bb76fe819c6f4d1d911abb0d314 Mon Sep 17 00:00:00 2001
From: Mansard <nmansard@laas.fr>
Date: Fri, 11 Feb 2011 10:58:07 +0100
Subject: [PATCH] IVIGIT.
---
src/CMakeLists.txt | 2 +
src/dynamic_graph/matlab.py | 107 ++++++++++++++++++++++++++
src/dynamic_graph/script_shortcuts.py | 85 ++++++++++++++++++++
3 files changed, 194 insertions(+)
create mode 100644 src/dynamic_graph/matlab.py
create mode 100644 src/dynamic_graph/script_shortcuts.py
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index a1ef211..bbec789 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -104,6 +104,8 @@ SET (PYTHON_SOURCES
dynamic_graph/__init__.py
dynamic_graph/entity.py
dynamic_graph/signal_base.py
+ dynamic_graph/matlab.py
+ dynamic_graph/script_shortcuts.py
)
SET (PYTHON_SOURCES_FULLPATH "")
diff --git a/src/dynamic_graph/matlab.py b/src/dynamic_graph/matlab.py
new file mode 100644
index 0000000..78c23aa
--- /dev/null
+++ b/src/dynamic_graph/matlab.py
@@ -0,0 +1,107 @@
+# The matlab class is define to produce a nice rendering of vector and matrix
+# signals. The class builds at construction a string from the display
+# of the matrix/vector, and stores the string internally. The string can be recovered
+# using the str() member.
+# The statics prec, space and fullPrec can be used to modify the display.
+
+
+def pseudozero(prec):
+ """
+ Return a string with '0...' and enough space to fill prec cars.
+ """
+ res='0...'
+ for i in range(2,prec):
+ res+=' '
+ return res
+
+class matlab:
+ prec=12
+ space=2
+ fullPrec=1e-5
+
+ def __init__( self,obj ):
+ try:
+ return self.matlabFromMatrix(obj)
+ except:
+ pass
+ try:
+ return self.matlabFromVector(obj)
+ except:
+ pass
+ self.resstr = str(obj)
+
+ def __str__(self):
+ return self.resstr
+
+ def matlabFromMatrix(self,A):
+ nr=len(A)
+ nc=len(A[0]);
+ fm='%.'+str(self.prec)+'f'
+ maxstr=0
+ mstr=(())
+ for v in A:
+ lnstr=()
+ for x in v:
+ if (abs(x)<self.fullPrec*self.fullPrec):
+ curr='0'
+ else:
+ if (abs(x)<self.fullPrec):
+ curr=pseudozero(self.prec)
+ else:
+ curr= ' '+(fm % x)
+ if( maxstr<len(curr)):
+ maxstr=len(curr)
+ lnstr+=(curr,)
+ mstr+=(lnstr,)
+
+ maxstr+=self.space
+ resstr='[...\n'
+ first=True
+ for v in mstr:
+ if first:
+ first=False;
+ else:
+ resstr+=' ;\n'
+ firstC=True
+ for x in v:
+ if firstC:
+ firstC=False
+ else:
+ resstr+=','
+ for i in range(1,maxstr-len(x)):
+ resstr+=' '
+ resstr+=x
+ resstr+=' ];'
+ self.resstr = resstr
+
+
+ def matlabFromVector(self,v):
+ nr=len(v)
+ fm='%.'+str(self.prec)+'f'
+ maxstr=0
+ vstr=(())
+ for x in v:
+ if (abs(x)<self.fullPrec*self.fullPrec):
+ curr='0'
+ else:
+ if (abs(x)<self.fullPrec):
+ curr=pseudozero(self.prec)
+ else:
+ curr= ' '+(fm % x)
+ if( maxstr<len(curr)):
+ maxstr=len(curr)
+ vstr+=(curr,)
+
+ maxstr+=self.space
+ resstr='[ '
+ first=True
+ for x in vstr:
+ if first:
+ first=False;
+ else:
+ resstr+=','
+ for i in range(1,maxstr-len(x)):
+ resstr+=' '
+ resstr+=x
+ resstr+=' ]\';'
+ self.resstr = resstr
diff --git a/src/dynamic_graph/script_shortcuts.py b/src/dynamic_graph/script_shortcuts.py
new file mode 100644
index 0000000..cd6648a
--- /dev/null
+++ b/src/dynamic_graph/script_shortcuts.py
@@ -0,0 +1,85 @@
+# Defines the following shortcuts:
+# signal.name -> return the shortname
+# signal -> display nicely the content of the signal
+# signal(3) -> recompute the signal at time 3, and display nicely
+# signal +1 -> increment the signal time of 1, recompute, and display.
+# signal.deps -> display the graph dependancy up to the default value (3)
+# signal.deps(6) -> same, but with depth = 6.
+# entity -> same as print(entity)
+# change the prompt to be '%'
+
+
+
+from dynamic_graph.signal_base import *
+from dynamic_graph.entity import *
+from matlab import matlab
+
+# Enables shortcut "name"
+def sig_short_name(self):
+ return self.getName().split(':')[-1]
+
+setattr(SignalBase,'name',property(sig_short_name))
+
+# Enables shortcuts "m"
+# This code implements a pseudo function 'm' in the class signal_base,
+# with no args, or optional args. Three calls can be made:
+# - sig.m : print the current value.
+# - sig.m(time): recompute at given <time>, and display the current value
+# - sig.m +time: recompute at <time> after current time, and display.
+class PrettySignalPrint:
+ sig = None
+ def __init__(self,sig):
+ self.sig = sig
+ def __repr__(self):
+ return str(matlab(self.sig.value))
+ def __call__(self,iter):
+ self.sig.recompute(iter)
+ return self
+ def __add__(self,iter):
+ self.sig.recompute( self.sig.time+iter )
+ return self
+
+def sigMatPrint(sig):
+ return PrettySignalPrint(sig)
+
+setattr(SignalBase,'m',property(PrettySignalPrint))
+print('Pretty matlab print set')
+
+# Enable the same as 'm', but directly on the signal object.
+def sigRepr( self ):
+ return self.name+' = '+str(matlab(self.value))
+
+def sigCall( sig,iter ):
+ sig.recompute(iter)
+ print sigRepr(sig)
+
+def sigTimeIncr( sig,iter ):
+ sig.recompute(sig.time+iter)
+ print sigRepr(sig)
+
+setattr(SignalBase,'__repr__',sigRepr)
+setattr(SignalBase,'__call__',sigCall)
+setattr(SignalBase,'__add__',sigTimeIncr)
+
+# Enables shortcut "deps"
+# Implements the peudo function 'deps', that can be called without arg,
+# or specifying a specific depth to be printed.
+class SignalDepPrint:
+ defaultDepth = 2
+ sig = None
+ def __init__(self,sig):
+ self.sig=sig
+ def __repr__(self):
+ return self.sig.displayDependencies(self.defaultDepth)
+ def __call__(self,depth):
+ self.defaultDepth = depth
+ return self
+
+setattr(SignalBase,'deps',property(SignalDepPrint))
+
+setattr(Entity,'__repr__',Entity.__str__)
+
+# Changing prompt
+import sys
+sys.ps1 = '% '
+
--
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