From 835d4a3fb9ca8c4014fa089934f64e304ec0e633 Mon Sep 17 00:00:00 2001
From: Cathy Wu <cathywu@eecs.berkeley.edu>
Date: Sat, 25 Feb 2017 17:10:22 -0800
Subject: [PATCH] Formatting
---
bestrobot.py | 31 +++++++++++++++++++++----------
1 file changed, 21 insertions(+), 10 deletions(-)
diff --git a/bestrobot.py b/bestrobot.py
index bfe4bcb..a531419 100644
--- a/bestrobot.py
+++ b/bestrobot.py
@@ -11,11 +11,13 @@ def isstable(model):
"""
return 2 * model[1] * model[2] + model[2] * model[2] - 2 * model[0]
-def tf((f,g,h), w):
+
+def tf((f, g, h), w):
"""
Return the complex value of the linearized transfer function T(jw)
"""
- return (g*1j*w + f)/(-w*w + (g+h)*1j*w + f)
+ return (g * 1j * w + f) / (-w * w + (g + h) * 1j * w + f)
+
def tflogmag(model, w):
"""
@@ -24,12 +26,14 @@ def tflogmag(model, w):
"""
return log(absolute(tf(model, w)))
+
def htflogmag(model, w):
"""
Return the log of the magnitude of the linearized headway transfer function
log[ |1-T(jw)| ]
"""
- return log(absolute(1-tf(model,w)))
+ return log(absolute(1 - tf(model, w)))
+
def btf(human, robot, gamma, w):
"""
@@ -42,9 +46,10 @@ def btf(human, robot, gamma, w):
"""
tr = tf(robot, w)
th = tf(human, w)
- t = gamma * tr / (1 - (1-gamma)*tr*th)
+ t = gamma * tr / (1 - (1 - gamma) * tr * th)
return t
+
def btflogmag(human, robot, gamma, w):
"""
Return the log of the magnitude of the linearized transfer function
@@ -53,13 +58,15 @@ def btflogmag(human, robot, gamma, w):
"""
return log(absolute(btf(human, robot, gamma, w)))
+
def bhtflogmag(human, robot, gamma, w):
"""
Return the log of the magnitude of the linearized headway transfer function
log[ |1-T(jw)| ]
of a bilateral robot controller [ followed by a human ]
"""
- return log(absolute(1-btf(human, robot, gamma, w)))
+ return log(absolute(1 - btf(human, robot, gamma, w)))
+
def kstable(human, robot, w, eta=2):
"""
@@ -87,6 +94,7 @@ def ksafe(human, robot, w, eta):
TOL = 1e-6
+
def maxkfn(human, robot, eta, kfn):
"""
Find the maximum number of humans cars that can be handled by a
@@ -97,9 +105,11 @@ def maxkfn(human, robot, eta, kfn):
:param kfn: function { ksafe for safety | kstable for string stability }
:return:
"""
- f,g,h = human
+ f, g, h = human
maxw = sqrt(-isstable(human))
- return minimize(lambda w : kfn(human, robot, w, eta), 1, bounds=[(TOL,maxw-TOL)])#.fun[0]
+ return minimize(lambda w: kfn(human, robot, w, eta), 1,
+ bounds=[(TOL, maxw - TOL)]) # .fun[0]
+
def maxk(human, robot, eta):
"""
@@ -109,7 +119,8 @@ def maxk(human, robot, eta):
:param eta:
:return:
"""
- return min(maxkfn(human, robot, eta, kstable), maxkfn(human, robot, eta, ksafe))
+ return min(maxkfn(human, robot, eta, kstable),
+ maxkfn(human, robot, eta, ksafe))
def best_robot_at_w(human, w, optfun, eta=2, fbound=(0, 0.2), gbound=(0, 0.2),
@@ -178,7 +189,8 @@ def plot_kmaxs_vs_FGH(human, robotopt, eta=2, res=100, fbound=(0, 0.2),
robots[:, i] = robotXs
kstablerobots = np.array(
[maxkfn(human, robot, eta, kstable).fun[0] for robot in robots])
- ksaferobots = [maxkfn(human, robot, eta, ksafe).fun[0] for robot in robots]
+ ksaferobots = [maxkfn(human, robot, eta, ksafe).fun[0] for robot in
+ robots]
kstablerobots[kstablerobots < 0] = 0
plt.plot(robotXs, kstablerobots, 'k.')
plt.plot(robotXs, ksaferobots, 'r.')
@@ -202,4 +214,3 @@ if __name__ == "__main__":
robotopt = bestrobot(human, eta)
plot_kmaxs_vs_FGH(human, robotopt.x)
-
--
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