From 04dd969b1caf44407bcf0a90a0d34d2e7ade220b Mon Sep 17 00:00:00 2001
From: "Hsieh, Chiao" <chsieh16@illinois.edu>
Date: Tue, 19 Apr 2022 15:29:39 -0500
Subject: [PATCH] Refactor for readability and consistency
---
data/filter_data.py | 9 ++++-----
1 file changed, 4 insertions(+), 5 deletions(-)
diff --git a/data/filter_data.py b/data/filter_data.py
index bd0f133..caf17b8 100644
--- a/data/filter_data.py
+++ b/data/filter_data.py
@@ -1,7 +1,6 @@
import pickle
import numpy as np
-from numpy.lib.function_base import diff
import matplotlib.pyplot as plt
# Constants for Stanley controller for GEM
@@ -26,7 +25,7 @@ def f(x, y, theta, steer):
def v(x, y, theta) -> float:
- return y**2 + theta**2
+ return np.linalg.norm([y, theta], ord=2)
def in_circle(x, y, theta, d, phi) -> bool:
@@ -36,8 +35,8 @@ def in_circle(x, y, theta, d, phi) -> bool:
state_vec = np.array([x, y, theta])
perc_vec = np.array([d, phi])
- diff_vec = perc_vec - (np.dot(state_vec, a_mat.T) + b_vec)
- return np.dot(diff_vec, diff_vec) <= 0.03
+ diff_vec = perc_vec - (a_mat @ state_vec + b_vec)
+ return np.linalg.norm(diff_vec, ord=2) <= np.sqrt(0.03)
def pred(sample) -> bool:
@@ -61,7 +60,7 @@ for truth, samples in truth_samples_seq:
filtered_samples = [s for s in samples if pred(s)]
if abs(len(samples) - len(filtered_samples)) < 200 and \
abs(cte - 0.967823751) <= 0.001 and abs(phi - -0.211146388) <= 0.001:
- print("#Original:", len(samples), "#Filtered:", len(filtered_samples))
+ print("#Original:", len(samples), "#Filtered:", len(filtered_samples))
filtered_truth_samples.append((truth, filtered_samples))
else:
# print("Skip partition. #Original:", len(samples), "#Filtered:", len(filtered_samples))
--
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