motan: Added pointwise 2-norm motan data analyzer
Signed-off-by: Dmitry Butyugin <dmbutyugin@google.com>
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@ -105,6 +105,59 @@ class GenIntegral:
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return data
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AHandlers["integral"] = GenIntegral
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# Calculate a pointwise 2-norm of several datasets (e.g. compute velocity or
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# accel from its x, y,... components)
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class GenNorm2:
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ParametersMin = 2
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ParametersMax = 3
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DataSets = [
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('norm2(<dataset1>,<dataset2>)',
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'pointwise 2-norm of dataset1 and dataset2'),
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('norm2(<dataset1>,<dataset2>,<dataset3>)',
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'pointwise 2-norm of 3 datasets'),
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]
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def __init__(self, amanager, name_parts):
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self.amanager = amanager
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self.datasets = []
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self.datasets.append(name_parts[1])
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self.datasets.append(name_parts[2])
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if len(name_parts) == 4:
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self.datasets.append(name_parts[3])
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for dataset in self.datasets:
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amanager.setup_dataset(dataset)
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def get_label(self):
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label = self.amanager.get_label(self.datasets[0])
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units = label['units']
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datas = ['position', 'velocity', 'acceleration']
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data_name = ''
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for d in datas:
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if d in label['label']:
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data_name = d
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break
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lname = ''
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for d in self.datasets:
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l = self.amanager.get_label(d)['label']
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for r in datas:
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l = l.replace(r, '').strip()
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if lname:
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lname += '+'
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lname += l
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lname += ' ' + data_name + ' norm2'
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return {'label': lname, 'units': units}
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def generate_data(self):
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seg_time = self.amanager.get_segment_time()
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data = []
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for dataset in self.datasets:
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data.append(self.amanager.get_datasets()[dataset])
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res = [0.] * len(data[0])
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for i in range(len(data[0])):
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norm2 = 0.
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for dataset in data:
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norm2 += dataset[i] * dataset[i]
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res[i] = math.sqrt(norm2)
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return res
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AHandlers["norm2"] = GenNorm2
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# Calculate a kinematic stepper position from the toolhead requested position
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class GenKinematicPosition:
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ParametersMin = ParametersMax = 1
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