From 7cf5883eac86544314fb246203873d08f268824e Mon Sep 17 00:00:00 2001 From: juliangaal Date: Wed, 24 Apr 2019 15:46:33 +0200 Subject: [PATCH] merge mean filtering from viz branch --- viz/README.md | 32 - viz/angles_data_raw.txt | 1202 ------ viz/angles_data_soft_calib.txt | 1349 ------- viz/gyro_data_raw.txt | 1202 ------ viz/gyro_data_soft_calib.txt | 1349 ------- viz/plot.py | 59 - viz/plot_rot.py | 80 - viz/requirements.txt | 3 - viz/sample.txt | 6295 -------------------------------- viz/viz.py | 95 - viz/viz/.cargo/config | 2 - viz/viz/Cargo.toml | 10 - viz/viz/src/bin/recorder.rs | 64 - 13 files changed, 11742 deletions(-) delete mode 100644 viz/README.md delete mode 100644 viz/angles_data_raw.txt delete mode 100644 viz/angles_data_soft_calib.txt delete mode 100644 viz/gyro_data_raw.txt delete mode 100644 viz/gyro_data_soft_calib.txt delete mode 100644 viz/plot.py delete mode 100644 viz/plot_rot.py delete mode 100644 viz/requirements.txt delete mode 100644 viz/sample.txt delete mode 100644 viz/viz.py delete mode 100644 viz/viz/.cargo/config delete mode 100644 viz/viz/Cargo.toml delete mode 100644 viz/viz/src/bin/recorder.rs diff --git a/viz/README.md b/viz/README.md deleted file mode 100644 index 72a3b34..0000000 --- a/viz/README.md +++ /dev/null @@ -1,32 +0,0 @@ -Python script to visualize data, e.g. roll and pitch, used for testing and [demonstration purposes]() - -Accepted file format from data recording, e.g. -``` -1,2 -2,3 -3,6 -4,9 -5,4 -6,7 -7,7 -8,4 -9,3 -10,7 -``` - -"rate" defines the number of steps from one data point to the next. I.e. if the sensor pumps out 100 measurements a second, it takes way too long to visualize like this. Adjust rate to e.g. 25 to do 25% faster run: -``` -$ python3 viz.py 25 -``` - -For requirements, see [requirements.txt](requirements.txt) - -On linux, you need to install `tkinter` with -``` -$ sudo apt-get install python3-tk -``` - -If you're having issues with matplotlib, install with apt -``` -$ sudo apt-get install python3-matplotlib -``` diff --git a/viz/angles_data_raw.txt b/viz/angles_data_raw.txt deleted file mode 100644 index 481dde1..0000000 --- a/viz/angles_data_raw.txt +++ /dev/null @@ -1,1202 +0,0 @@ --0.014812979,-0.03742963 --0.0030887192,-0.039906483 --0.009537132,-0.03557789 --0.0059725232,-0.038960867 --0.0007773304,-0.034987003 --0.011887179,-0.03618541 --0.010753686,-0.042258386 --0.015020449,-0.04015013 --0.0069490923,-0.041448712 --0.013174963,-0.037724417 --0.012537805,-0.041019496 --0.005917781,-0.042723686 --0.0067561516,-0.041327916 --0.016171332,-0.04776001 --0.00806659,-0.039041378 --0.012875961,-0.04533766 --0.005224367,-0.040761165 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a/viz/angles_data_soft_calib.txt b/viz/angles_data_soft_calib.txt deleted file mode 100644 index a275bb8..0000000 --- a/viz/angles_data_soft_calib.txt +++ /dev/null @@ -1,1349 +0,0 @@ -0.0020214033,0.0015809995 -0.0029684752,-0.00014878958 -0.00028840516,0.0050261663 -0.004195183,-0.0038140235 --0.0026487282,0.0022965416 --0.0004491048,0.004513146 --0.0009358047,-0.00014904466 --0.0043499754,0.0074142753 --0.00069146516,0.0035159707 -0.0015023898,0.0049649673 --0.00093692343,0.0074342946 -0.002755475,-0.00089053327 -0.00052943046,0.0015590158 -0.0025001573,0.000095876 --0.003623472,-0.0018593781 --0.0046086153,-0.005533773 -0.0049707033,-0.0018754053 -0.000041771083,0.0032901284 --0.0016757566,0.0040213326 -0.00052596256,-0.0037835494 -0.00004146559,-0.001612298 --0.0011862253,0.001323758 -0.0034630485,0.0030280275 --0.0006923137,-0.0021062975 -0.00345291,0.0039938767 -0.0015303564,0.00084082776 -0.00028776904,0.0030474095 --0.002945898,-0.001895035 -0.0046998532,0.0064699813 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-0.0015887879, -0.0009146333,-0.0014515854 -0.00025647692, 0.00041767815,0.0030782744 --0.00094260275, -0.0009146333,0.0004136525 --0.001075834, 0.00028444687,0.0012130365 --0.0025413763, -0.0033127936,0.000013958663 -0.00012324564, 0.0009506026,-0.0029171258 --0.0014755279, -0.0011810958,0.0012130365 -0.0019884817, -0.0029131002,0.00081334636 -0.003986951, 0.0020164517,-0.0009186603 -0.0017220192, 0.002416145,0.0048102774 --0.00027644634, -0.0047783367,-0.0011851229 --0.0016087592, 0.0012170649,0.0006801151 -0.0015887879, -0.0013143267,-0.0019845106 --0.001075834, 0.0005509092,0.00014718994 -0.00025647692, 0.0017499893,-0.0013183542 -0.0003897082, 0.0012170649,-0.0019845106 --0.0021416824, 0.00041767815,0.0006801151 --0.0016087592, 0.00001798477,-0.00051896647 --0.0026746076, -0.0013143267,0.0020124242 -0.00092263333, -0.0033127936,-0.0013183542 --0.000009985641, 0.001350296,0.0017459616 -0.00012324564, -0.0003817086,0.00081334636 -0.0015887879, 0.00028444687,-0.00011927262 -0.0015887879, 0.00015121559,-0.00078542903 --0.00094260275, -0.0014475579,0.0036111996 -0.0022549443, 0.00068414025,-0.0002525039 -0.00025647692, -0.000781402,0.0016127303 -0.0005229395, 0.00001798477,-0.0022509694 --0.0005429089, 0.0009506026,0.00081334636 --0.0034739953, 0.0018832206,0.00094657764 -0.0003897082, -0.0037124874,-0.00051896647 --0.0016087592, 0.0017499893,0.004277356 --0.00014321692, -0.0018472513,-0.00051896647 --0.00014321692, -0.0009146333,0.00081334636 --0.0013422966, 0.0049475366,-0.0023842007 -0.00025647692, -0.0006481712,0.0022788867 --0.0016087592, 0.00041767815,0.00014718994 --0.0017419904, 0.002416145,0.0012130365 -0.0003897082, -0.0029131002,-0.0031835884 --0.00014321692, -0.0002484778,-0.00051896647 -0.0005229395, -0.0018472513,0.00014718994 -0.00012324564, 0.0005509092,-0.00065219775 --0.001075834, -0.002646638,0.0018791929 --0.00040967762, 0.00041767815,-0.0031835884 --0.001075834, 0.00028444687,0.0021456555 -0.00012324564, -0.0018472513,0.00014718994 --0.0020084511, -0.0010478646,-0.0010518916 -0.00065617077, 0.0017499893,-0.0041162074 --0.0013422966, -0.0005149399,0.00081334636 -0.0010558646, 0.00041767815,-0.0002525039 -0.0005229395, 0.00001798477,-0.00078542903 --0.00040967762, 0.0005509092,-0.00038573518 -0.0013223272, -0.004511874,-0.0002525039 -0.0010558646, -0.0006481712,-0.00438267 -0.002121713, 0.00001798477,-0.00011927262 -0.0010558646, -0.0002484778,0.0016127303 -0.0010558646, 0.00028444687,0.000013958663 --0.00014321692, 0.0021496827,0.0006801151 --0.0014755279, -0.0013143267,0.0004136525 --0.00014321692, -0.0019804826,-0.0026506633 --0.0005429089, -0.002646638,-0.0014515854 --0.0021416824, 0.0018832206,-0.00051896647 -0.0013223272, 0.00068414025,-0.0015848167 --0.000009985641, -0.0015807892,-0.00038573518 --0.000009985641, 0.0018832206,0.00028042123 --0.000009985641, 0.0016167583,0.0005468838 --0.0005429089, 0.00015121559,-0.0011851229 -0.0005229395, -0.0006481712,0.001479499 -0.00092263333, -0.0013143267,-0.0019845106 --0.0012090653, 0.002282914,0.0025453493 -0.0013223272, 0.00015121559,-0.001718048 -0.0005229395, 0.00028444687,0.000013958663 --0.0008093715, -0.0003817086,-0.002517432 -0.0003897082, -0.0009146333,-0.0009186603 --0.0006761402, 0.0010838336,-0.0021177419 -0.0005229395, -0.0034460248,-0.00051896647 --0.0006761402, 0.0009506026,-0.00011927262 --0.0018752217, -0.0002484778,-0.0011851229 --0.0013422966, -0.0011810958,0.0028118119 --0.0006761402, -0.0003817086,-0.00065219775 --0.00094260275, 0.0012170649,0.0022788867 --0.00014321692, 0.00028444687,0.0013462678 --0.00040967762, -0.0002484778,0.0016127303 --0.0014755279, 0.0021496827,0.000013958663 --0.0005429089, -0.0010478646,-0.0015848167 --0.00027644634, 0.00001798477,-0.00038573518 -0.00025647692, -0.0005149399,0.0004136525 --0.0008093715, -0.0002484778,0.0006801151 -0.0015887879, 0.00028444687,0.000013958663 --0.0016087592, 0.0018832206,0.001479499 -0.00025647692, -0.0029131002,0.0020124242 --0.00014321692, -0.0003817086,0.0005468838 -0.0011890959, 0.00015121559,-0.0021177419 -0.0005229395, -0.000781402,0.0036111996 --0.0012090653, 0.00028444687,-0.003982976 -0.0029211007, 0.0025493763,0.00081334636 --0.0038736872, -0.0021137134,-0.0002525039 --0.0006761402, -0.0002484778,0.0029450431 -0.0003897082, 0.002282914,-0.0021177419 --0.000009985641, 0.0020164517,0.0021456555 --0.0005429089, 0.0018832206,0.0018791929 --0.0006761402, 0.0018832206,0.0010798089 --0.0016087592, 0.00015121559,-0.001718048 -0.0014555566, 0.00015121559,0.0016127303 -0.0015887879, 0.0018832206,-0.0010518916 --0.0013422966, 0.00001798477,0.002412118 --0.0008093715, 0.0018832206,0.0022788867 --0.003740456, -0.0010478646,-0.0002525039 -0.0027878694, 0.0012170649,0.0004136525 -0.00078940205, 0.00081737153,0.00014718994 -0.0026546381, -0.0011810958,0.0004136525 --0.00094260275, 0.0010838336,-0.0022509694 -0.0010558646, 0.0012170649,0.0026785806 --0.0016087592, 0.00081737153,0.0021456555 -0.0019884817, 0.001483527,0.0040108934 --0.002408145, 0.0020164517,0.0004136525 -0.0005229395, -0.000781402,-0.00038573518 -0.0003897082, -0.0006481712,0.00081334636 --0.0008093715, -0.000781402,0.00094657764 --0.000009985641, -0.0005149399,0.00094657764 -0.00025647692, -0.0005149399,-0.0029171258 -0.0005229395, -0.0014475579,0.00094657764 --0.00040967762, -0.0019804826,-0.00051896647 -0.00025647692, 0.00001798477,0.0029450431 --0.0013422966, -0.000781402,0.0017459616 --0.0020084511, 0.001350296,0.001479499 --0.0005429089, -0.002646638,-0.0023842007 -0.00092263333, -0.000781402,0.002412118 --0.00040967762, 0.0017499893,-0.0009186603 -0.00078940205, 0.00081737153,0.0020124242 --0.0026746076, 0.00041767815,0.0010798089 -0.0035872571, 0.0005509092,0.0012130365 -0.0010558646, 0.00068414025,-0.001718048 --0.00027644634, -0.0005149399,0.0013462678 -0.00012324564, -0.0019804826,-0.00078542903 --0.0030743014, 0.0032155318,0.001479499 -0.00078940205, 0.00001798477,0.00028042123 --0.0006761402, -0.0006481712,-0.0018512793 --0.00094260275, 0.0037484565,0.0005468838 --0.001075834, -0.0009146333,0.00014718994 -0.00078940205, 0.001483527,0.0010798089 --0.0006761402, -0.0027798694,-0.0018512793 --0.0021416824, 0.0028158384,0.0040108934 --0.00027644634, 0.00001798477,-0.0051820576 --0.00027644634, 0.0005509092,0.0016127303 -0.00012324564, -0.0014475579,-0.00065219775 --0.00094260275, 0.0009506026,0.00014718994 --0.0020084511, -0.0003817086,-0.0014515854 --0.0014755279, -0.000781402,0.0022788867 -0.0015887879, 0.00041767815,0.0018791929 --0.00014321692, -0.000781402,-0.0015848167 --0.0008093715, 0.0017499893,-0.002517432 --0.0016087592, 0.00068414025,-0.00065219775 --0.0013422966, 0.00028444687,0.0013462678 -0.00025647692, 0.0005509092,-0.0029171258 --0.000009985641, -0.0002484778,0.0026785806 --0.0013422966, 0.00001798477,-0.00011927262 -0.00025647692, -0.0003817086,0.0016127303 --0.0006761402, -0.0003817086,-0.001718048 -0.00092263333, -0.0003817086,0.003344737 -0.00012324564, 0.00001798477,-0.0021177419 -0.0017220192, 0.001350296,-0.00011927262 --0.0006761402, 0.0017499893,0.000013958663 --0.0016087592, 0.00041767815,-0.0019845106 --0.0032075327, -0.00011524651,0.0032115057 --0.00094260275, -0.0034460248,0.0021456555 -0.00065617077, -0.0003817086,0.0026785806 --0.00014321692, 0.00015121559,0.00028042123 -0.00025647692, -0.0003817086,0.0018791929 -0.0011890959, 0.0020164517,0.00094657764 -0.00078940205, 0.00041767815,0.0004136525 --0.0012090653, -0.0003817086,-0.0002525039 -0.00065617077, -0.0013143267,-0.002517432 -0.0010558646, -0.0013143267,-0.00051896647 --0.00040967762, -0.0022469447,0.0041441247 --0.000009985641, 0.0021496827,0.0004136525 --0.00094260275, -0.002646638,-0.0031835884 --0.00014321692, 0.0028158384,-0.0013183542 --0.0008093715, -0.0011810958,0.0017459616 -0.0013223272, -0.0002484778,-0.0013183542 --0.001075834, -0.0018472513,0.0018791929 --0.00040967762, 0.0020164517,0.00081334636 -0.0003897082, -0.0002484778,-0.0002525039 --0.0016087592, 0.0009506026,-0.0010518916 --0.00040967762, -0.0010478646,0.001479499 --0.0016087592, 0.001350296,0.0018791929 -0.0018552504, -0.0002484778,-0.0037165135 --0.0016087592, 0.00041767815,0.00028042123 --0.0014755279, 0.003348763,0.00094657764 --0.0008093715, 0.00068414025,0.0016127303 --0.0013422966, -0.0011810958,-0.0009186603 --0.0014755279, 0.0005509092,0.00028042123 --0.0020084511, -0.0002484778,-0.00078542903 -0.0003897082, -0.00011524651,0.0025453493 --0.002408145, 0.0018832206,0.00081334636 --0.00040967762, 0.00001798477,0.0005468838 --0.00027644634, 0.00001798477,0.0010798089 --0.0020084511, -0.0011810958,-0.0015848167 --0.0005429089, 0.00028444687,0.0005468838 --0.0032075327, -0.0015807892,-0.001718048 --0.00040967762, 0.0005509092,0.0034779683 -0.0003897082, 0.0061466172,-0.0014515854 --0.00027644634, 0.0021496827,0.0029450431 -0.00092263333, 0.00001798477,-0.0033168197 -0.0014555566, 0.0018832206,-0.003050357 -0.0011890959, -0.0029131002,0.0016127303 --0.0012090653, -0.007975884,0.001479499 -0.00025647692, 0.00414815,0.00028042123 --0.0012090653, -0.0015807892,0.0038776621 diff --git a/viz/plot.py b/viz/plot.py deleted file mode 100644 index 23fcd7e..0000000 --- a/viz/plot.py +++ /dev/null @@ -1,59 +0,0 @@ -#!/usr/bin/env python3 - -import sys -import numpy as np -import pandas as pd -import matplotlib.pyplot as plt - -def plot(filename: str, filename_2: str, num_data_points: int): - df_1 = pd.read_csv(filename, delimiter = ',', names=['roll', 'pitch']) - df_2 = pd.read_csv(filename_2, delimiter = ',', names=['roll', 'pitch']) - n = num_data_points - - y = df_1['roll'].to_list() - x = np.linspace(0, n, n) - plt.plot(x, y[:n], label='roll raw: var ' + str(np.var(y)), color='black') - var_1 = np.var(y) - - y = df_2['roll'].to_list() - x = np.linspace(0, n, n) - plt.plot(x, y[:n], label='roll calibrated: var ' + str(np.var(y)), color='red') - var_2 = np.var(y) - - plt.ylim([-0.1, 0.1]) - plt.legend() - plt.show() - - if var_1 < var_2: - print("Variance of {} is smaller: {}".format(filename, var_1)) - else: - print("Variance of {} is smaller: {}".format(filename_2, var_2)) - - - y = df_1['pitch'].to_list() - x = np.linspace(0, n, n) - plt.plot(x, y[:n], label='pitch raw: var ' + str(np.var(y)), color='black') - var_1 = np.var(y) - - y = df_2['pitch'].to_list() - x = np.linspace(0, n, n) - plt.plot(x, y[:n], label='pitch calibrated: var ' + str(np.var(y)), color='red') - var_2 = np.var(y) - - plt.ylim([-0.1, 0.1]) - plt.legend() - plt.show() - - if var_1 < var_2: - print("Variance of {} is smaller: {}".format(filename, var_1)) - else: - print("Variance of {} is smaller: {}".format(filename_2, var_2)) - - -file_1 = sys.argv[1] -file_1 = sys.argv[1] -file_2 = sys.argv[2] -n = int(sys.argv[3]) -plot(file_1, file_2, n) - - diff --git a/viz/plot_rot.py b/viz/plot_rot.py deleted file mode 100644 index b06db96..0000000 --- a/viz/plot_rot.py +++ /dev/null @@ -1,80 +0,0 @@ -#!/usr/bin/env python3 - -import sys -import numpy as np -import pandas as pd -import matplotlib.pyplot as plt - -def plot(filename: str, filename_2: str, num_data_points: int): - df_1 = pd.read_csv(filename, delimiter = ',', names=['x', 'y', 'z']) - df_2 = pd.read_csv(filename_2, delimiter = ',', names=['x', 'y', 'z']) - n = num_data_points - - y = df_1['x'].to_list() - x = np.linspace(0, n, n) - plt.plot(x, y[:n], label='x raw: var ' + str(np.var(y)), color='black') - var_1 = np.var(y) - - y = df_2['x'].to_list() - x = np.linspace(0, n, n) - plt.plot(x, y[:n], label='x calib: var ' + str(np.var(y)), color='red') - var_2 = np.var(y) - - plt.ylim([-0.1, 0.1]) - plt.legend() - plt.show() - - if var_1 < var_2: - print("Variance of {} is smaller: {}".format(filename, var_1)) - else: - print("Variance of {} is smaller: {}".format(filename_2, var_2)) - - - y = df_1['y'].to_list() - x = np.linspace(0, n, n) - plt.plot(x, y[:n], label='y raw: var ' + str(np.var(y)), color='black') - var_1 = np.var(y) - - y = df_2['y'].to_list() - x = np.linspace(0, n, n) - plt.plot(x, y[:n], label='y calib: var ' + str(np.var(y)), color='red') - var_2 = np.var(y) - - plt.ylim([-0.1, 0.1]) - plt.legend() - plt.show() - - if var_1 < var_2: - print("Variance of {} is smaller: {}".format(filename, var_1)) - else: - print("Variance of {} is smaller: {}".format(filename_2, var_2)) - - - y = df_1['z'].to_list() - x = np.linspace(0, n, n) - plt.plot(x, y[:n], label='z raw: var ' + str(np.var(y)), color='black') - var_1 = np.var(y) - - y = df_2['z'].to_list() - x = np.linspace(0, n, n) - plt.plot(x, y[:n], label='z calib: var ' + str(np.var(y)), color='red') - var_2 = np.var(y) - - plt.ylim([-0.1, 0.1]) - plt.legend() - plt.show() - - if var_1 < var_2: - print("Variance of {} is smaller: {}".format(filename, var_1)) - else: - print("Variance of {} is smaller: {}".format(filename_2, var_2)) - - -file_1 = sys.argv[1] -file_1 = sys.argv[1] -file_1 = sys.argv[1] -file_2 = sys.argv[2] -n = int(sys.argv[3]) -plot(file_1, file_2, n) - - diff --git a/viz/requirements.txt b/viz/requirements.txt deleted file mode 100644 index 4021870..0000000 --- a/viz/requirements.txt +++ /dev/null @@ -1,3 +0,0 @@ -numpy -pandas -matplotlib diff --git a/viz/sample.txt b/viz/sample.txt deleted file mode 100644 index 0c4862a..0000000 --- a/viz/sample.txt +++ /dev/null @@ -1,6295 +0,0 @@ -0.0007632755, 0.014757195 --0.00050285936, 0.011314577 -0.00076177425, 0.009395353 -0.0030416516, 0.01039248 -0.003306039, 0.0096639395 -0.0005056604, 0.0106190685 -0.0017770824, 0.0043157823 --0.0012638092, 0.0121328635 -0.0030301393, 0.010100621 -0.005074751, 0.004821012 -0.005616273, 0.008679758 -0.0038019815, 0.012166612 -0.0073302505, 0.008341341 -0.0048603774, 0.008185958 -0.004068899, 0.011189675 --0.004303426, 0.012657435 -0.003569336, 0.011983032 -0.0032993648, 0.008375393 --0.0005117397, 0.011002625 --0.0005130509, 0.011287359 -0.005581758, 0.013701035 -0.00025167983, 0.012332624 --0.0017703096, 0.0073342025 -0.00025496347, 0.008158921 -0.0020564024, 0.012081649 -0.0040594214, 0.014715893 -0.000512408, 0.008454832 -0.0017737804, 0.013683869 --0.0027964462, 0.016779441 --0.0061126323, 0.011206658 -0.005857799, 0.013244031 -0.005011082, 0.0077672233 -0.0, 0.011175557 -0.0063912575, 0.016617922 -0.0072160414, 0.0095355455 -0.0053664474, 0.00919971 -0.0075908187, 0.0058196047 -0.0057916185, 0.010324315 --0.00075771357, 0.011871124 --0.0015293832, 0.008666609 -0.0028030535, 0.0119769545 -0.006092331, 0.012946485 -0.0045740986, 0.009402419 -0.005318865, 0.009371426 -0.004807421, 0.009867987 -0.0027840722, 0.0043026647 -0.003053397, 0.0043256525 --0.0010126306, 0.007341637 -0.001283544, 0.015403134 -0.004077227, 0.010448054 -0.002038169, 0.0066240933 --0.0012822471, 0.014361658 -0.0058209472, 0.010123502 -0.0108876955, 0.011394122 -0.0030378248, 0.009619911 -0.0030486637, 0.008383911 -0.0043487162, 0.009464965 --0.0017779567, 0.0071118837 -0.0007678341, 0.006910561 -0.001523524, 0.010918802 -0.0025205663, 0.013359385 --0.0012711355, 0.01576273 -0.0038087023, 0.012949918 -0.00025443907, 0.010432191 --0.0022817133, 0.014197792 -0.0015262604, 0.009412074 -0.0010193036, 0.011212572 --0.0043252795, 0.013485061 -0.0030385286, 0.011647938 -0.0020386425, 0.009428855 -0.0010121057, 0.008856039 -0.004072197, 0.005599284 -0.00050857314, 0.017038023 -0.0015216498, 0.0065938607 -0.0005038952, 0.0062987315 -0.00076702697, 0.010227203 --0.00253994, 0.006857884 --0.0010135964, 0.013177132 --0.00025436762, 0.012718723 -0.0002535403, 0.008620475 -0.005331087, 0.007869744 -0.0002566564, 0.011549794 --0.0022935471, 0.0048419475 --0.0010159382, 0.011175551 --0.0015238933, 0.011937442 --0.003810831, 0.0081298435 -0.002302825, 0.011002597 -0.0007749731, 0.0072331447 -0.0027924054, 0.01116984 -0.0035647468, 0.012986201 -0.0023140605, 0.0115705505 --0.0012670369, 0.010389887 -0.007349042, 0.0032943746 -0.004070062, 0.007885805 -0.0025477002, 0.007133614 --0.00050744927, 0.011925341 -0.005857799, 0.013244031 -0.0071329367, 0.014011465 --0.008326169, 0.012615597 -0.0038117385, 0.009910659 -0.0023056937, 0.013834591 -0.00789731, 0.012483039 -0.0017851233, 0.012241144 -0.006922688, 0.008973903 -0.00025456503, 0.011710258 -0.00076706504, 0.002301197 -0.008423815, 0.013784698 -0.0017802322, 0.0058493647 -0.0058684554, 0.01046129 -0.0, 0.016694628 -0.0030347798, 0.008598635 -0.006783019, 0.015325081 -0.0035711885, 0.011223948 -0.0005096442, 0.012486607 -0.005640539, 0.012306876 -0.0058073266, 0.015402562 -0.007162496, 0.0097206 -0.0045463033, 0.010860789 -0.0033227555, 0.014313872 -0.0022811743, 0.012927003 -0.0022923197, 0.008659976 --0.001011513, 0.015426184 -0.0015162292, 0.0096029285 -0.004827076, 0.007113618 -0.0015243477, 0.007367744 -0.0035504978, 0.0068474277 -0.0025205747, 0.013107349 -0.00942874, 0.005351393 -0.0010164991, 0.0060990322 -0.0, 0.0070849014 -0.0043232488, 0.010172494 -0.0010138865, 0.010392522 --0.00076042616, 0.008871755 -0.011891543, 0.0101203965 --0.0015257739, 0.014749675 --0.0038146465, 0.009918219 -0.0040823324, 0.012502434 -0.0058563272, 0.01298606 --0.002293483, 0.00891921 -0.0012711457, 0.015254335 -0.006309745, 0.0060573523 -0.0048393225, 0.008405205 --0.002546984, 0.010188101 -0.00050578406, 0.011380387 --0.004314413, 0.011420717 -0.0053405873, 0.007629448 -0.00076505815, 0.011731159 --0.0005074445, 0.012686453 -0.0053171976, 0.014432828 -0.0045854887, 0.014266399 -0.0017870568, 0.005105896 -0.00505634, 0.014158165 -0.0017707668, 0.006577178 -0.0040606144, 0.0116745 -0.0040494977, 0.0065804636 --0.0002550305, 0.0071409135 -0.0071494714, 0.012511795 -0.002796729, 0.00889879 -0.0060984395, 0.013975958 -0.0015224355, 0.005074804 -0.0035521304, 0.011925266 --0.0063270703, 0.010629607 -0.005376253, 0.0038401715 -0.0040596193, 0.010910413 -0.0048440667, 0.012237899 -0.0010231988, 0.012534512 -0.0012715693, 0.008646777 -0.0094401045, 0.013012209 --0.0040596914, 0.009134408 -0.0058657285, 0.0043355273 -0.0017896924, 0.012016789 -0.0020247882, 0.0035433846 --0.0010260649, 0.014108857 -0.0, 0.004823522 -0.004053351, 0.012920381 -0.0025321762, 0.00911595 -0.0043031885, 0.01645406 -0.0038075524, 0.016246231 -0.0073770704, 0.0038157005 -0.00025328342, 0.0086117415 -0.008863623, 0.017727943 -0.0032850106, 0.013393112 --0.0005052744, 0.011116266 -0.0061421567, 0.013820206 -0.0043189614, 0.0073676845 -0.005313307, 0.012397975 -0.00076487183, 0.010708409 --0.004304617, 0.010635104 -0.002029829, 0.010403055 --0.0012731408, 0.012222452 -0.0020252343, 0.00886051 -0.003047166, 0.0060943603 -0.0058285045, 0.006335337 -0.0027746498, 0.015135012 -0.0020432908, 0.011238329 -0.0012621981, 0.013127233 -0.004825583, 0.012699194 -0.00353531, 0.004040357 -0.00811118, 0.0065903086 -0.00025202712, 0.020415613 -0.0055663995, 0.01113297 -0.0010256243, 0.005640963 -0.000254055, 0.008892042 -0.0042970846, 0.008594249 -0.00076373306, 0.0061099017 -0.0, 0.0048382613 --0.0007512751, 0.010267605 -0.004081237, 0.013519472 --0.0061411317, 0.003582312 -0.000763304, 0.011958714 --0.0032825752, 0.012120554 -0.003563926, 0.010946541 -0.003585019, 0.007938323 -0.0025417474, 0.012200677 -0.0035178817, 0.018092912 -0.00481965, 0.009132059 -0.0028081974, 0.0068928944 -0.0045465077, 0.005304265 -0.0020397091, 0.007903949 --0.00025249724, 0.014897887 -0.0020308485, 0.01091602 -0.0020480987, 0.0053762808 -0.0015300232, 0.01606593 -0.0015259358, 0.0022889047 -0.0042927875, 0.007323034 --0.0005069378, 0.011406348 -0.0025437812, 0.008648954 --0.0032547386, 0.009013228 -0.0065383217, 0.015843406 -0.0030594948, 0.010198477 -0.004802561, 0.009858009 -0.0056235287, 0.0069016223 --0.002012545, 0.0055345236 --0.0007656567, 0.010208933 -0.0073674275, 0.009399874 -0.0030593849, 0.013257703 -0.0055964165, 0.0048332624 -0.00050301105, 0.0052816407 -0.004064562, 0.014988592 -0.0022697176, 0.011096615 -0.0017806409, 0.009157704 -0.0, 0.01332249 --0.0020480829, 0.006656314 --0.0030604263, 0.002295318 -0.0061628385, 0.011555507 -0.003302588, 0.012194451 -0.0023135834, 0.0056554517 --0.004052605, 0.0053190547 -0.003325416, 0.011767107 -0.0035630385, 0.01043478 -0.0027875097, 0.009122874 -0.004066658, 0.014487936 -0.003280975, 0.010600253 -0.0030577718, 0.014524904 -0.005314907, 0.0075927614 -0.0015297764, 0.008413866 -0.0020277814, 0.00988559 -0.0020329442, 0.009402499 -0.002791123, 0.005328526 -0.0010098286, 0.0058065467 -0.0012648319, 0.0068301437 --0.0025505603, 0.018875247 -0.0028146643, 0.006908768 --0.0050185737, 0.009033517 -0.00050552544, 0.011880128 -0.0063048126, 0.009331196 -0.0032966258, 0.014454912 -0.000764323, 0.004585954 -0.005333869, 0.005841862 -0.003535961, 0.012376154 -0.0037972354, 0.010632434 --0.0017759912, 0.0152233625 --0.005109564, 0.009963771 -0.0055567417, 0.0075774095 -0.0020375547, 0.0117162 -0.0040761884, 0.010445393 -0.0015324691, 0.011238338 -0.0015216045, 0.0101442 -0.0, 0.010866391 --0.0005100609, 0.007140913 -0.0027988227, 0.010432151 -0.004323291, 0.009155304 -0.0017783568, 0.010416273 -0.0043220646, 0.011949485 -0.0015455711, 0.0054095234 --0.00050575467, 0.015679037 --0.0015131738, 0.00933137 -0.00456223, 0.014447514 --0.0012728552, 0.009419266 -0.0017613713, 0.009310235 -0.002019666, 0.004796722 --0.0010088176, 0.0042874874 -0.0015332913, 0.008688756 -0.004078208, 0.011725085 --0.0030587655, 0.008411692 -0.0010110507, 0.011880123 -0.0020247074, 0.009617503 -0.0035575873, 0.010927069 -0.00204336, 0.0076626698 --0.0035603298, 0.0101725245 --0.0015223325, 0.01268644 -0.0007547995, 0.016857985 -0.0040546074, 0.0073490217 -0.0055350936, 0.017360847 --0.00050578965, 0.010368873 -0.0022876584, 0.008642365 -0.0017801839, 0.009409676 --0.0005025991, 0.012565308 -0.0060741254, 0.008351967 -0.0033019383, 0.005841913 --0.0017688739, 0.0126351435 --0.0020339778, 0.00940728 -0.002546253, 0.012986241 -0.0012683008, 0.011922307 -0.0038242862, 0.011983021 -0.0040573003, 0.015722642 -0.0017878354, 0.013281445 -0.0022618263, 0.0062828865 --0.0002523337, 0.0017663366 -0.0063608387, 0.011195235 -0.0012734485, 0.013244248 -0.00151973, 0.0058256616 -0.0, 0.012963178 -0.00076002773, 0.010640589 -0.0, 0.017425196 -0.0002559406, 0.00895804 --0.0022675316, 0.005794831 --0.0015193638, 0.0030387312 -0.0012666329, 0.015453533 -0.0030287039, 0.006309832 -0.003530577, 0.013113921 -0.003046329, 0.008885229 --0.0032993017, 0.01040566 -0.0030345877, 0.014161861 -0.0010219015, 0.011752136 -0.0002528416, 0.0048040086 -0.0027902024, 0.013444089 -0.0012787565, 0.004859293 -0.0053309347, 0.010915888 -0.002036609, 0.006873605 -0.0037944731, 0.0070830584 --0.0005080922, 0.012194516 -0.006622325, 0.005348787 -0.0030440425, 0.0076101674 -0.0045821904, 0.010691945 -0.0020221225, 0.010869115 --0.0005091168, 0.013746587 --0.0010187814, 0.01146154 --0.003757237, 0.01177292 -0.0060526114, 0.009583389 -0.0007604383, 0.0068439976 -0.0, 0.007855895 --0.0027945978, 0.008892007 -0.0010131551, 0.0055723814 -0.0037621234, 0.0067718574 -0.003791487, 0.010363559 --0.0048442474, 0.008668727 -0.0053213676, 0.012670202 --0.0005061916, 0.0060743364 -0.00177204, 0.011138762 -0.0050944653, 0.02012441 -0.003786649, 0.011612624 -0.005273331, 0.011551309 -0.0030448514, 0.005835989 -0.002794578, 0.009654134 --0.0007610113, 0.007863864 --0.0012712245, 0.0104242265 -0.00050351885, 0.0047834474 -0.004063816, 0.009143688 -0.00050602556, 0.013663116 -0.002049595, 0.010248146 -0.0022703144, 0.010090449 -0.0045441277, 0.008078508 --0.001008759, 0.011600987 -0.0007611805, 0.011164212 -0.0038011412, 0.009122843 --0.000767203, 0.012531309 -0.0091597065, 0.008650821 -0.0017586746, 0.011557256 -0.0015266412, 0.009923327 --0.0020501148, 0.010507023 --0.0012767797, 0.0071500256 -0.00025347172, 0.010392527 -0.0030447133, 0.011164163 -0.0010203738, 0.00816308 --0.0022702771, 0.011603889 -0.0050901514, 0.007889782 -0.007103797, 0.015730353 -0.0030586545, 0.011979998 -0.003547742, 0.008869452 -0.0058654933, 0.009945943 -0.002039185, 0.008156825 -0.0055523817, 0.010600147 -0.003603458, 0.00849395 -0.0038281658, 0.012505637 --0.0005088856, 0.008905616 -0.0063689407, 0.011209494 -0.002277156, 0.012145121 -0.0027860778, 0.00987806 -0.008091766, 0.016689861 -0.0043299696, 0.007131753 --0.0012625366, 0.01186812 -0.005585094, 0.002792536 --0.0015139657, 0.007065229 -0.0076135914, 0.011166725 -0.0037884905, 0.013133781 -0.0077962666, 0.009556763 -0.0027910923, 0.0071046483 -0.0017807008, 0.0040701823 --0.0012478016, 0.0047416626 --0.005068065, 0.011149927 -0.0010075256, 0.0078084017 -0.0005046326, 0.011859145 -0.007580887, 0.011118758 -0.0012780828, 0.007412946 -0.0022806448, 0.011150042 -0.006862923, 0.007879672 --0.00076083106, 0.005325842 -0.0005069122, 0.015207951 -0.0005069434, 0.010392527 -0.004818393, 0.009890509 -0.0028002164, 0.011455666 --0.0037895297, 0.011368807 -0.009651525, 0.0063496316 -0.0028116237, 0.01278044 -0.003513144, 0.0030112646 --0.0015292306, 0.016567416 -0.002288737, 0.01220689 -0.0055594672, 0.0093501005 -0.0025315767, 0.007088466 --0.0027951454, 0.013976164 -0.0074469964, 0.0077037946 -0.0055413675, 0.0070526716 --0.00050914695, 0.008401023 -0.0022795142, 0.01013134 -0.00050593464, 0.0063242256 -0.004299258, 0.008598595 -0.0035486715, 0.007857837 -0.004074848, 0.016045356 -0.00635772, 0.009409501 -0.0053079184, 0.012638178 --0.001280704, 0.0071720025 -0.0005073318, 0.0098931305 -0.0040792944, 0.010708323 -0.0025417916, 0.010675716 -0.0035611964, 0.0111925425 -0.0010092525, 0.0128683215 --0.00025489018, 0.011470309 -0.0017856148, 0.010458786 -0.0005065633, 0.009371558 -0.005086268, 0.007883764 -0.006285605, 0.012068574 -0.0045545716, 0.004807605 -0.002531557, 0.008101063 -0.004562213, 0.014700943 -0.001012595, 0.011138774 -0.0037866377, 0.011865049 -0.0010180597, -0.004581284 -0.0012593642, 0.011334518 --0.0010164516, 0.011435328 -0.001011765, 0.015682997 -0.0063669747, 0.015281231 --0.0002530235, 0.010121112 -0.0, 0.009376309 -0.005834121, 0.011922114 -0.0012790024, 0.012278728 -0.004548562, 0.011624324 -0.0032925305, 0.012663894 --0.0025282758, 0.011377475 -0.002548182, 0.013505761 -0.0028025107, 0.004585937 -0.002297656, 0.0038294327 -0.005063049, 0.008860414 --0.00025528664, 0.009190448 -0.00025476108, 0.011209721 -0.0040614353, 0.015484799 --0.0015289364, 0.012231791 --0.0017684213, 0.012884562 --0.0012712277, 0.010169995 -0.0063207517, 0.009354787 -0.003282751, 0.006313014 -0.00025567636, 0.009971543 -0.0005087634, 0.007122748 -0.0038136465, 0.010678387 -0.0020199597, 0.015402791 -0.00333576, 0.00872439 -0.0007607807, 0.012680016 -0.0053204293, 0.0025335285 --0.0022754683, 0.0106190415 -0.008100839, 0.007847683 -0.001009042, 0.008829231 --0.0005093796, 0.013244256 --0.00025174688, 0.011077089 -0.0043101073, 0.009888024 -0.0022961746, 0.016839394 -0.00433446, 0.00407949 -0.0020542839, 0.012326006 -0.0075849416, 0.008090614 -0.007627242, 0.009915481 -0.009493953, 0.007184567 -0.0030331616, 0.011374583 -0.0027734342, 0.009833232 -0.0027769057, 0.010855376 -0.0058117504, 0.015161583 -0.0050605997, 0.005819698 -0.002294909, 0.01912539 -0.0027699212, 0.010576246 --0.0005088739, 0.011195459 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0.025389273 --0.016503628, 0.024375895 --0.024834156, 0.023809873 --0.015895845, 0.023332132 --0.015459756, 0.034980267 --0.014785563, 0.027279204 --0.013460936, 0.032514177 --0.01747647, 0.029890224 --0.019755168, 0.02488733 --0.027396424, 0.018523943 -0.00025749768, 0.028070932 -0.009650255, 0.03632286 -0.006105915, 0.036134303 -0.004535691, 0.02746949 --0.0010179232, 0.028251125 --0.0086185215, 0.021294165 --0.0074535264, 0.019020313 --0.0033109558, 0.013244186 --0.011040456, 0.024341097 --0.016214702, 0.040920567 --0.03103882, 0.029286113 --0.022698289, 0.02601447 --0.0025478445, 0.021148663 -0.0032989366, 0.02893312 -0.00456318, 0.028396837 -0.0080917515, 0.028071642 -0.00911238, 0.028099816 -0.005820618, 0.014678525 --0.0082229115, 0.01567539 --0.005171602, 0.0111191245 -0.003548033, 0.020529304 -0.022816073, 0.019054683 -0.0042679454, 0.024103599 -0.0048592235, 0.023275133 --0.002017629, 0.022952532 --0.00051175355, 0.024054738 -0.0071556135, 0.021979537 -0.011488963, 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--0.70669633, -0.047509126 --0.6894265, -0.06951288 --0.6762187, -0.06574586 --0.684314, -0.08228987 --0.724537, -0.08690678 --0.76642823, -0.09738809 --0.7903798, -0.09399885 --0.7873264, -0.0653397 --0.7978504, -0.08674577 --0.82528204, -0.072865635 --0.8708122, -0.086981766 --0.8972228, -0.09452316 --0.8879178, -0.108611554 --0.87639976, -0.09352543 --0.8704615, -0.09374194 --0.8500534, -0.09293279 --0.8558197, -0.084858894 --0.84854114, -0.08685483 --0.8325433, -0.0698859 --0.8040056, -0.05658818 --0.7622522, -0.025417624 --0.7374819, -0.011474286 --0.722987, -0.010197737 --0.7345564, -0.0199319 --0.7505726, -0.03121361 --0.7753962, -0.054838978 --0.8173839, -0.07992843 --0.8202057, -0.09021417 --0.8346772, -0.110740535 --0.8436662, -0.11312791 --0.8914381, -0.12384271 --0.9306778, -0.14399798 --0.94714946, -0.15189667 --0.95259833, -0.16062579 --0.9405549, -0.16306329 --0.91295016, -0.14829493 --0.8840314, -0.1535495 --0.8931956, -0.13288721 --0.90759027, -0.12460259 --0.9236163, -0.10960743 --0.92060965, -0.11547938 --0.90947944, -0.121969126 --0.90406483, -0.1392479 --0.8975794, -0.11847606 --0.8994189, -0.119409904 --0.8946865, -0.10927692 --0.8671453, -0.0813555 --0.84903234, -0.07063791 --0.83459246, -0.06941604 --0.8633595, -0.07954699 --0.8936535, -0.08926402 --0.9183874, -0.110138126 --0.9426466, -0.11169708 --0.9596352, -0.1330155 --0.954709, -0.14278832 --0.94307333, -0.15350853 --0.96773267, -0.14787643 --0.96509486, -0.152976 --0.9721626, -0.16567221 --1.0100684, -0.18496066 --1.004535, -0.19562677 --1.0090822, -0.19282773 --0.9884882, -0.18748868 --0.9785643, -0.19218062 --0.9808152, -0.16493408 --0.97397953, -0.16104889 --0.98887396, -0.14645025 --0.9896328, -0.15667462 --0.984529, -0.12948574 --0.9711239, -0.124653734 --0.972372, -0.11615998 --0.96573466, -0.108628534 --0.96029747, -0.111718416 --0.9644121, -0.13371602 --0.97472847, -0.14794408 --0.97743267, -0.14182611 --0.9801572, -0.13198008 --0.97961766, -0.1317694 --0.98200333, -0.14501393 --0.98470753, -0.15776756 --0.99661, -0.1528626 --1.0355546, -0.1350415 --1.0815736, -0.12952587 --1.0761753, -0.15382552 --1.0499191, -0.16038111 --1.0361857, -0.16020097 --1.0363414, -0.16648217 --1.0386118, -0.1652343 --1.0513761, -0.17774767 --1.0927498, -0.19089799 --1.1069345, -0.19390005 --1.0613352, -0.1832394 --1.040566, -0.15311748 --1.0203333, -0.13025713 --1.0151843, -0.10553839 --1.0129712, -0.10319176 --1.0316038, -0.10946073 --1.0615526, -0.11298011 --1.0624686, -0.15740995 --1.0831301, -0.14584024 --1.0712676, -0.15868556 --1.0762838, -0.14003108 --1.0741658, -0.13974653 --1.0938662, -0.14120445 --1.0694416, -0.14738102 --1.0771751, -0.14718361 --1.0782001, -0.14734393 --1.0920231, -0.15875511 --1.0876156, -0.16380735 --1.0939844, -0.20181628 --1.0784869, -0.19595118 --1.0861449, -0.17192657 --1.1068529, -0.15470003 --1.1178297, -0.1640095 --1.1261337, -0.16938171 --1.1323209, -0.19006325 --1.1331513, -0.20115206 --1.1592581, -0.19796692 --1.158784, -0.19702363 --1.1637762, -0.1907195 --1.1734865, -0.1660822 --1.1684066, -0.15694644 --1.1603274, -0.15554838 --1.1569754, -0.1460161 --1.149578, -0.15481867 --1.2028302, -0.122180596 --1.2304747, -0.14522986 --1.2218263, -0.1796499 --1.2051356, -0.18505545 --1.210548, -0.19253728 --1.2037778, -0.19249572 --1.2074275, -0.194978 --1.1970592, -0.16883415 --1.1939178, -0.15828374 --1.1861241, -0.1508052 --1.1730092, -0.149002 --1.1916621, -0.15157495 --1.1880964, -0.17055069 --1.2257003, -0.1844384 --1.2507192, -0.16771929 --1.3079414, -0.16616768 --1.2768841, -0.19094923 --1.3232902, -0.15666766 --1.2375736, -0.24304704 --1.2382703, -0.23154026 --1.2630438, -0.18568853 --1.2688193, -0.15768243 --1.2488403, -0.15857832 --1.2267507, -0.16483822 --1.2226357, -0.14800441 --1.2376138, -0.14491159 --1.2267706, -0.15774989 --1.2248703, -0.14692146 --1.20328, -0.12886725 --1.1930807, -0.11552263 --1.1904746, -0.13759425 --1.2049212, -0.14543062 --1.2068175, -0.13803859 --1.204257, -0.12563108 --1.2076511, -0.11215379 --1.2011691, -0.10125894 --1.2094536, -0.09203026 --1.2074896, -0.10339257 --1.2296093, -0.11109404 --1.2762325, -0.11298592 --1.3139853, -0.13360639 --1.3311818, -0.16404265 --1.3485848, -0.16669154 --1.3580023, -0.18273143 --1.3518419, -0.19123848 --1.3387241, -0.20062715 --1.3259019, -0.18460494 --1.321458, -0.18656662 --1.3094709, -0.18499093 --1.3150952, -0.17815997 --1.3155686, -0.18873818 --1.3199899, -0.19795355 --1.3255113, -0.19604026 --1.3316894, -0.19138287 --1.3321189, -0.19172987 --1.3411117, -0.18287018 --1.3260227, -0.17876332 --1.3300592, -0.15380727 --1.3329109, -0.12897211 --1.3217481, -0.10966715 --1.3052694, -0.111970544 --1.2994168, -0.13810243 --1.287847, -0.13698089 --1.2917981, -0.12943436 --1.2827939, -0.11980537 --1.2816916, -0.11269364 --1.2749462, -0.119663805 --1.276647, -0.11686589 --1.3083231, -0.11493092 --1.3283353, -0.12483889 --1.3196727, -0.13893208 --1.314865, -0.15545379 --1.3183696, -0.15548715 --1.3064594, -0.16941252 --1.2988187, -0.20397007 --1.3027533, -0.2024136 --1.3161476, -0.1832852 --1.334861, -0.15583885 --1.3268195, -0.14913008 --1.3521048, -0.14120458 --1.3455696, -0.14839447 --1.359827, -0.15318573 --1.3551413, -0.15878657 --1.3799112, -0.1466993 --1.3724067, -0.14120351 --1.3751932, -0.13723448 --1.3536605, -0.14647792 --1.3498665, -0.13729298 --1.3538667, -0.13356443 --1.3656089, -0.12198878 --1.3621628, -0.112034455 --1.3675368, -0.11169616 --1.3765565, -0.11114426 --1.3804045, -0.11160844 --1.3994049, -0.12463353 --1.3898244, -0.15363437 --1.3578807, -0.19948544 --1.3801281, -0.18322764 --1.391959, -0.17138654 --1.3999546, -0.15854922 --1.4002464, -0.15244374 --1.3911177, -0.15994743 --1.4003832, -0.15915816 --1.3969163, -0.16778043 --1.3710649, -0.19570541 --1.3626254, -0.19906053 --1.3743907, -0.18574369 --1.3890802, -0.17166767 --1.3968059, -0.16382919 --1.4043771, -0.15790032 --1.3776505, -0.18389648 --1.3597931, -0.20159343 --1.3821363, -0.18093747 --1.3970172, -0.16370231 --1.3995355, -0.16068873 --1.3921491, -0.17002398 --1.3931905, -0.17304848 --1.3828564, -0.18793184 --1.3787272, -0.19203341 --1.3908523, -0.1792519 --1.4011831, -0.15725945 --1.4041827, -0.1409659 --1.3998709, -0.12897739 --1.4121338, -0.12280281 --1.4118639, -0.12680043 --1.4099662, -0.12948146 --1.407859, -0.1287316 --1.4121464, -0.12912431 --1.4149637, -0.13305756 --1.4127676, -0.14341465 --1.4125438, -0.15068905 --1.4046892, -0.16391942 --1.4102592, -0.16014898 --1.4083115, -0.16208482 --1.3906562, -0.17483635 --1.3852482, -0.18172199 --1.3808823, -0.1869725 --1.3980004, -0.17051333 --1.3788866, -0.18976416 --1.3594927, -0.20399018 --1.3707083, -0.19587505 --1.3892504, -0.1790421 --1.3874475, -0.18065925 --1.3922813, -0.17850347 --1.4009771, -0.1697917 --1.396982, -0.17372489 --1.397537, -0.17260426 --1.4099506, -0.1607068 --1.4268742, -0.14259037 --1.4315579, -0.129439 --1.4488965, -0.11244562 --1.4411554, -0.12351874 --1.4497904, -0.12042352 --1.4349217, -0.13464904 --1.4042765, -0.15762827 --1.3755461, -0.17167802 --1.349011, -0.18926641 --1.301496, -0.2335084 --1.2902461, -0.25747335 --1.3193867, -0.22366643 --1.3780104, -0.18015912 --1.3886868, -0.16997601 --1.4006709, -0.16740486 --1.3904371, -0.1767544 --1.4124805, -0.15510647 --1.397634, -0.15826707 --1.3789158, -0.17303333 --1.3589823, -0.1894135 --1.3556559, -0.17338374 --1.3555944, -0.17428975 --1.342013, -0.19488913 --1.3433414, -0.20168279 --1.3592577, -0.20009232 --1.362224, -0.2035122 --1.3743997, -0.18728302 --1.3873348, -0.17538163 --1.4167141, -0.15185753 --1.4315963, -0.1386004 --1.4580972, -0.11267324 --1.4590307, -0.10859365 --1.4570539, -0.1029292 --1.4695554, -0.08951945 --1.4768112, -0.093439855 --1.4353478, -0.13363749 --1.408736, -0.15773633 --1.39536, -0.1713319 --1.3807088, -0.18203796 --1.3654376, -0.18823045 --1.3336439, -0.20082329 --1.3162898, -0.21438599 --1.3106258, -0.21342888 --1.3294684, -0.2040787 --1.3477253, -0.18959188 --1.3749082, -0.16505384 --1.3755683, -0.16072822 --1.3866918, -0.15229338 --1.3905967, -0.14459643 --1.386778, -0.1506235 --1.3731986, -0.18181953 --1.3540802, -0.2020381 --1.3688828, -0.18746217 --1.4089004, -0.14777397 --1.4075855, -0.13998654 --1.3940822, -0.15354529 --1.3853449, -0.1510256 --1.382851, -0.1473615 --1.3988369, -0.14941339 --1.4134367, -0.14245975 --1.4357553, -0.12804842 --1.4437655, -0.12598859 --1.4466083, -0.12321653 --1.4351884, -0.12817411 --1.4268034, -0.12506962 --1.3898569, -0.13572371 --1.3808942, -0.14744675 --1.3846536, -0.15826027 --1.3980379, -0.152574 --1.4219153, -0.1340352 --1.4271836, -0.12741615 --1.4127886, -0.113815434 --1.4191473, -0.10233746 --1.4009839, -0.1445584 --1.3943822, -0.15171838 --1.4120501, -0.13642587 --1.4358408, -0.11753758 --1.4532483, -0.10614273 --1.439393, -0.11837232 --1.4288503, -0.12730876 --1.4060527, -0.1432246 --1.3938841, -0.15660922 --1.4206531, -0.12905627 --1.4177474, -0.13050541 --1.3766698, -0.15376014 --1.3558712, -0.1568402 --1.3034472, -0.17329353 --1.2860129, -0.18272395 --1.287842, -0.20264544 --1.3253314, -0.18684958 --1.3548293, -0.17013243 --1.3725271, -0.15266135 --1.3729032, -0.14221068 --1.360831, -0.13758646 --1.3491557, -0.14411928 --1.3570513, -0.13950647 --1.3662677, -0.13375203 --1.3772874, -0.12783325 --1.3795327, -0.1303319 --1.3803239, -0.114020415 --1.36925, -0.10702735 --1.349474, -0.118976586 --1.3268329, -0.13747558 --1.3207787, -0.14387895 --1.3388354, -0.12463522 --1.3686111, -0.10588769 --1.4118185, -0.08433848 --1.4352818, -0.070646875 --1.474981, -0.039648768 --1.484237, -0.059584904 --1.4792533, -0.066064596 --1.4941087, -0.047845814 --1.5037205, -0.047013808 --1.5183076, -0.025975594 --1.5327818, 0.0038842189 --1.5316383, 0.03548887 --1.490151, 0.029388634 --1.5144317, -0.032153357 --1.4863019, -0.070123024 --1.4203326, -0.081901856 --1.3848535, -0.07855316 --1.3375441, -0.11348059 --1.3033644, -0.12674484 --1.2832395, -0.11655025 --1.2924602, -0.123009995 --1.2902725, -0.11406246 --1.2575679, -0.16477694 --1.2390357, -0.20240454 --1.2460129, -0.18957376 --1.2788825, -0.1493985 --1.2964168, -0.102940895 --1.2887461, -0.10825546 --1.2963605, -0.13240992 --1.298897, -0.1520588 --1.3403823, -0.12406526 --1.3781645, -0.0837011 --1.407458, -0.047598843 --1.391601, 0.024412518 --1.3741429, 0.04416647 --1.364877, -0.04002401 --1.3512284, -0.118089445 --1.3795736, -0.11384304 --1.4293076, -0.07258238 --1.4419734, -0.069478184 --1.4310615, -0.071118094 --1.420006, -0.0582929 --1.3816485, -0.053540114 --1.3495674, -0.065177016 --1.3713727, -0.07233085 --1.3971852, -0.09805135 --1.4169557, -0.105698265 --1.4069734, -0.09053499 --1.3977273, -0.085981786 --1.3702742, -0.08429068 --1.360106, -0.097183906 --1.3623141, -0.10108889 --1.4000142, -0.07883599 --1.4185369, 0.037331905 --1.3678209, 0.04580537 --1.4445193, -0.07352081 --1.4385083, -0.09189444 --1.4313451, -0.05402021 --1.3637238, -0.08128117 --1.3212192, -0.13091478 --1.3109167, -0.16922458 --1.3470447, -0.15223975 --1.4025142, -0.1120013 --1.4239718, 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0.6673097 --0.08632733, 0.6686809 --0.06014407, 0.67371625 -0.037148252, 0.6369606 -0.06340879, 0.70913684 -0.037848365, 0.7186265 -0.023550203, 0.7289311 -0.03162125, 0.70244765 -0.03846715, 0.70885664 -0.04392906, 0.71654946 -0.073782004, 0.70955086 -0.094801284, 0.7376278 -0.12119817, 0.7651347 -0.1141314, 0.7806288 -0.11242555, 0.8100346 -0.021130769, 0.7169282 --0.07175494, 0.6907215 --0.05768454, 0.7959802 --0.04202014, 0.83057374 --0.10794327, 0.75115645 --0.13524795, 0.710705 --0.21376136, 0.7314445 --0.2174593, 0.72713053 --0.20370531, 0.7562489 --0.16991848, 0.7590709 --0.18986386, 0.76557946 --0.22891794, 0.77618384 --0.25952402, 0.7664886 --0.26328322, 0.7407825 --0.22434516, 0.7446925 --0.18175077, 0.7420819 --0.095608674, 0.7169912 --0.06311549, 0.72956717 --0.033103555, 0.7592585 --0.03767025, 0.7788969 --0.032674387, 0.7960879 -0.009284351, 0.83230937 -0.04188993, 0.82841235 -0.029399546, 0.86698544 -0.035525892, 0.89691454 -0.024225693, 0.90298396 -0.02121279, 0.87963957 -0.008199896, 0.8459387 --0.0023342716, 0.8441897 --0.017560173, 0.8276585 --0.031181062, 0.81557214 --0.034682814, 0.79216444 --0.04476519, 0.78487587 --0.062302582, 0.77564085 --0.088256456, 0.8065024 --0.112463854, 0.84246534 --0.15515538, 0.8751698 --0.19688971, 0.85740495 --0.2336944, 0.83778733 --0.28652036, 0.8054478 --0.2867962, 0.7853552 --0.2882505, 0.7762987 --0.26745638, 0.80985427 --0.23516059, 0.8361217 --0.19636497, 0.87718934 --0.19399053, 0.8907734 --0.20266554, 0.8836259 --0.20785975, 0.86050427 --0.20908149, 0.8780415 --0.21148506, 0.91434324 --0.18613563, 0.93447953 --0.154216, 0.95958036 --0.14144684, 0.93521076 --0.13065037, 0.91707426 --0.13262591, 0.92678833 --0.14346151, 0.94230556 --0.123925485, 0.956799 --0.11720637, 0.9561669 --0.12403109, 0.97038025 --0.12666142, 0.96423507 --0.12175557, 0.95530653 --0.099838704, 0.9302563 --0.09372103, 0.9128208 --0.09471869, 0.91480154 --0.1140935, 0.9202234 --0.13011995, 0.9344569 --0.13709189, 0.9795371 --0.15447961, 1.0046839 --0.1775969, 1.0097548 --0.20503967, 0.99387825 --0.19092363, 0.973827 --0.17722005, 0.9527327 --0.1716646, 0.9665234 --0.1655645, 0.966278 --0.17226775, 0.97585297 --0.21577428, 0.9823216 --0.20691766, 0.98134077 --0.17624491, 0.97951454 --0.17366786, 0.9654719 --0.16578703, 0.9980823 --0.14323543, 1.0674108 --0.15067399, 1.1289768 --0.18416873, 1.1312902 --0.23216237, 1.0846361 --0.2822936, 1.036256 --0.30517128, 1.0484542 --0.30070066, 1.0693346 --0.24846804, 1.1431202 --0.20555967, 1.1462824 --0.18440874, 1.1002969 --0.18160677, 1.0848088 --0.1792444, 1.0685595 --0.18840556, 1.02779 --0.17769533, 0.9761346 --0.18564856, 0.9743331 --0.1839897, 0.9587733 --0.17759244, 0.980728 --0.13937576, 0.961644 --0.11028026, 0.97524273 --0.08644211, 1.0142207 --0.08793497, 1.0353456 --0.11163172, 1.0891947 --0.15009578, 1.1226338 --0.15661402, 1.1788508 --0.16621345, 1.2202874 --0.17871754, 1.2426462 --0.17830905, 1.2215847 --0.19037654, 1.2062418 --0.17134292, 1.1995491 --0.16152418, 1.2263107 --0.1333241, 1.236603 --0.1172149, 1.250457 --0.09565842, 1.2188802 --0.11876358, 1.1926849 --0.16469315, 1.1686556 --0.23671228, 1.1365051 --0.22915268, 1.1335407 --0.24600604, 1.1350074 --0.22186695, 1.1850858 --0.2118389, 1.1981397 --0.249408, 1.1706414 --0.2633509, 1.1472465 --0.2958139, 1.1172328 --0.3030139, 1.0940111 --0.2955081, 1.0730938 --0.25367326, 1.0934805 --0.21873464, 1.1225114 --0.20442142, 1.1730875 --0.17051387, 1.1892045 --0.19450738, 1.2007409 --0.18982552, 1.2138181 --0.16951483, 1.2080125 --0.1581173, 1.1874008 --0.11789349, 1.1795738 --0.102811255, 1.1896784 --0.122031525, 1.2038243 --0.13378748, 1.2255101 --0.15624203, 1.2421623 --0.17439784, 1.2704372 --0.19803812, 1.2614409 --0.21446092, 1.2272631 --0.18713598, 1.2284372 --0.1528326, 1.2586392 --0.117664844, 1.3094804 --0.14005315, 1.3181504 --0.14417115, 1.3011464 --0.1833945, 1.2282475 --0.20611358, 1.1956728 --0.22245082, 1.1702319 --0.20603426, 1.175314 --0.18895656, 1.1950927 --0.19307913, 1.2074308 --0.19278225, 1.2236545 --0.17167762, 1.2523854 --0.16651885, 1.2575231 --0.123756446, 1.2687361 --0.08246336, 1.2528107 --0.053019658, 1.2410598 --0.06573809, 1.2521478 --0.07559784, 1.2624662 --0.13954301, 1.1987753 --0.19986606, 1.18757 --0.21576288, 1.1841216 --0.20444925, 1.2051182 --0.24664983, 1.165438 --0.255163, 1.167719 --0.26572075, 1.1857532 --0.25183824, 1.2014464 --0.30916575, 1.1722314 --0.29649138, 1.1887118 --0.29817, 1.1933897 --0.26927742, 1.219336 --0.27880737, 1.218982 --0.25172326, 1.2693655 --0.25819042, 1.3061719 --0.25105056, 1.3197379 --0.2698917, 1.298183 --0.28562286, 1.2776186 --0.30954012, 1.2604505 --0.36727154, 1.202491 --0.36835444, 1.2010255 --0.33057708, 1.2381103 --0.24882367, 1.3217952 --0.22417165, 1.3397574 --0.21488686, 1.3468935 --0.21367931, 1.3571168 --0.21765687, 1.3431797 --0.20445356, 1.3155122 --0.18522853, 1.3031163 --0.15834163, 1.3296359 --0.12655663, 1.3708068 --0.124763906, 1.3728403 --0.15968786, 1.3168166 --0.20123154, 1.2740734 --0.24046083, 1.2345941 --0.2585921, 1.2135916 --0.24623162, 1.2179074 --0.2514577, 1.2196833 --0.25083005, 1.2505244 --0.27342454, 1.2540994 --0.29626387, 1.2470727 --0.31399786, 1.24024 --0.31668448, 1.2381306 --0.3160748, 1.2390575 --0.30895418, 1.2546356 --0.30010217, 1.2703185 --0.32619303, 1.2383375 --0.3309363, 1.2310501 --0.3677447, 1.1982665 --0.40072006, 1.1695331 --0.41037023, 1.1599518 --0.3881592, 1.1816074 --0.3337816, 1.2330974 --0.27006358, 1.2909223 --0.23439863, 1.3207525 --0.19342907, 1.3524332 --0.2053482, 1.3339238 --0.20584214, 1.3209429 --0.22276185, 1.3049552 --0.18858375, 1.3318918 --0.1543947, 1.354974 --0.1179501, 1.3870751 --0.08591638, 1.4207394 --0.06039163, 1.4620688 --0.056861933, 1.4597723 --0.06643208, 1.4536014 --0.082096025, 1.4467591 --0.092646174, 1.4533081 --0.08956364, 1.4744548 --0.08503499, 1.4856831 --0.09305333, 1.467321 --0.12210711, 1.4412322 --0.15879074, 1.4055028 --0.18050691, 1.3891413 --0.19719498, 1.373483 --0.19035017, 1.3776822 --0.19366066, 1.3687968 --0.18916704, 1.3698148 --0.20735161, 1.3458245 --0.241889, 1.3129476 --0.28122798, 1.2776678 --0.2886398, 1.2635864 --0.2733143, 1.2659422 --0.23374541, 1.3018736 --0.20955649, 1.3301698 --0.2093863, 1.3517232 --0.21835679, 1.3519839 --0.20998183, 1.3606468 --0.21231917, 1.3556386 --0.19436394, 1.373344 --0.15853329, 1.4052197 --0.10653876, 1.4563038 --0.08145112, 1.4833981 --0.06653278, 1.4935071 --0.08030533, 1.4826009 --0.1005924, 1.4700116 --0.12375159, 1.4201066 --0.12842348, 1.3792723 --0.14325765, 1.3413448 --0.1535591, 1.3465617 --0.17022425, 1.3362418 --0.15899426, 1.3470547 --0.1472886, 1.369201 --0.12431429, 1.400038 --0.13026531, 1.4123983 --0.13678472, 1.4200871 --0.13290823, 1.4345769 --0.12771599, 1.4427742 --0.12450721, 1.4367704 --0.121776424, 1.4407157 --0.1310364, 1.4324925 --0.13032928, 1.4400549 --0.13475233, 1.4317113 --0.143649, 1.4167591 --0.16719672, 1.39646 --0.1942725, 1.3703364 --0.22643031, 1.3320256 --0.22771883, 1.3315995 --0.20262691, 1.358108 --0.16670813, 1.4023478 --0.15959524, 1.4111992 --0.1480191, 1.4201603 --0.13061418, 1.4340147 --0.117863454, 1.4492251 --0.09522416, 1.4754522 --0.06410587, 1.4924617 --0.054686323, 1.4242405 --0.094279625, 1.3564945 --0.17358375, 1.314898 --0.24478297, 1.2971761 --0.27154887, 1.2933568 --0.27176487, 1.2977365 --0.2506631, 1.3183601 --0.22873847, 1.3403801 --0.2319526, 1.3378737 --0.23132108, 1.3388271 --0.23615053, 1.333796 --0.22383668, 1.3462456 --0.18980199, 1.3795924 --0.15894188, 1.404378 --0.14045577, 1.4209037 --0.12575673, 1.4347682 --0.12363061, 1.4377149 --0.10997745, 1.4537419 --0.09132498, 1.4658046 --0.07284094, 1.4759463 --0.059458844, 1.462216 --0.073853254, 1.4667943 --0.080088645, 1.4618365 --0.10165383, 1.4570947 --0.11054682, 1.449455 --0.08755961, 1.4581004 --0.08894395, 1.4517255 --0.09908465, 1.4347478 --0.13013983, 1.4012492 --0.165043, 1.3689243 --0.13298334, 1.3969744 --0.1358798, 1.3729869 --0.10689434, 1.3584522 --0.08930054, 1.3228644 --0.09948109, 1.3133163 --0.14058863, 1.3189962 --0.17025185, 1.3369317 --0.1849141, 1.3490658 --0.22529653, 1.324345 --0.26162767, 1.3020934 --0.28359511, 1.2854103 --0.2923437, 1.2777075 --0.28649998, 1.2783475 --0.26256692, 1.2996066 --0.24929564, 1.3125329 --0.25247562, 1.3170635 --0.25719115, 1.3115655 --0.23587272, 1.3200096 --0.16336371, 1.382983 --0.12577312, 1.4085073 --0.10038299, 1.4208752 --0.0668829, 1.4147136 --0.045788158, 1.400948 --0.030287504, 1.3845383 --0.02049919, 1.3995551 --0.020397149, 1.4081427 --0.018406266, 1.4251015 --0.028571168, 1.4322312 --0.02472449, 1.4506838 --0.036772832, 1.4602253 --0.03689418, 1.4629999 --0.06449572, 1.4618461 --0.08132029, 1.4486158 --0.10680903, 1.4429191 --0.13467574, 1.4214348 --0.16427167, 1.3983823 --0.20565493, 1.3594413 --0.21686392, 1.3506278 --0.21831009, 1.3488683 --0.23744723, 1.3315009 --0.24599065, 1.3223441 --0.24493143, 1.325063 --0.22370526, 1.3454487 --0.19659016, 1.3721787 --0.1677702, 1.3997502 --0.1714026, 1.3974699 --0.17640057, 1.3906738 --0.18350542, 1.3830005 --0.19407943, 1.3670996 --0.16753928, 1.3738551 --0.15153877, 1.3761206 --0.13726993, 1.3798647 --0.11417427, 1.3953538 --0.097497895, 1.4207538 --0.07929002, 1.430773 --0.07670849, 1.4289112 --0.05657174, 1.4460521 --0.037658066, 1.456648 --0.03038934, 1.4762095 --0.03505755, 1.5128682 --0.06429592, 1.5051672 --0.07587269, 1.4941019 --0.07966004, 1.4842875 --0.07910589, 1.4878235 --0.072969176, 1.4933739 --0.0700749, 1.4740022 --0.08759169, 1.4571989 --0.11386496, 1.4388978 --0.1287868, 1.4316149 --0.14912158, 1.4075919 --0.17581403, 1.3739166 --0.18171912, 1.3542461 --0.17026499, 1.3646969 --0.16051733, 1.3684031 --0.15569068, 1.3861123 --0.151911, 1.39974 --0.16336443, 1.3921237 --0.16734509, 1.3756806 --0.17487966, 1.3596982 --0.1840436, 1.3456571 --0.16473754, 1.3623304 --0.14312492, 1.3916193 --0.12202388, 1.406721 --0.11376249, 1.4283427 --0.11787841, 1.4442173 --0.11957338, 1.4456114 --0.113612026, 1.4520152 --0.11864739, 1.4395807 --0.12416353, 1.42932 --0.12736145, 1.4232551 --0.13401982, 1.4246045 --0.1311198, 1.4310014 --0.12874909, 1.4362936 --0.122159995, 1.4431634 --0.13184258, 1.4359201 --0.117639065, 1.4502859 --0.10121714, 1.4641371 --0.074186124, 1.4878347 --0.08651311, 1.4711318 --0.08336184, 1.477847 --0.0816898, 1.4733545 --0.07888286, 1.4829693 --0.09250517, 1.4767289 --0.10266027, 1.4671153 --0.104424186, 1.4660567 --0.12438102, 1.444104 --0.12002668, 1.4401389 --0.12085341, 1.4294916 --0.09412951, 1.4596957 --0.11263675, 1.4385592 --0.11743836, 1.4440339 --0.13980578, 1.4285976 --0.1757173, 1.3939275 --0.20282312, 1.3654292 --0.21811254, 1.3504115 --0.2148143, 1.354141 --0.21003468, 1.3604829 --0.21477927, 1.3555189 --0.21288899, 1.3566573 --0.20538221, 1.3621706 --0.17681876, 1.3854772 --0.1609372, 1.3887153 --0.14157736, 1.4048458 --0.11518529, 1.4379302 --0.09872748, 1.4575698 --0.08785804, 1.4804182 --0.08134865, 1.4892426 --0.07840408, 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-0.057981376 -0.0787931, -0.06489598 \ No newline at end of file diff --git a/viz/viz.py b/viz/viz.py deleted file mode 100644 index ccb7392..0000000 --- a/viz/viz.py +++ /dev/null @@ -1,95 +0,0 @@ -#!/usr/bin/env python3 - -import numpy as np -import sys -import math -import matplotlib.pyplot as plt -import matplotlib.animation as animation -import random -import time - -fig = plt.figure() -iteration = 0 -ax1 = plt.subplot(211) -ax2 = plt.subplot(212) - -class RegrMagic(object): - """Mock for function Regr_magic() - """ - def __init__(self): - raw_data = open("sample.txt","r").read() - self.angles = raw_data.split('\n') - self.num_data = len(self.angles) - self.run_index = 0 - self.rate = 1 - if len(sys.argv) > 1 and len(sys.argv) < 3: - self.rate = int(sys.argv[1]) - print("Rate set to", self.rate) - - def __call__(self) -> float: - if self.run_index < self.num_data-1: - x,y = self.angles[self.run_index].split(',') - self.run_index += 100 - return float(x), float(y) - else: - sys.exit(0) - -regr_magic = RegrMagic() - -def frames(): - while True: - yield regr_magic() - -def get_start_end(point: (float, float), length: float, angle: float): - x, y = point - # find the end point - endx = x + length * math.cos(math.radians(angle)) - endy = y + length * math.sin(math.radians(angle)) - - # find the start point - startx = x - length * math.cos(math.radians(angle)) - starty = y - length * math.sin(math.radians(angle)) - - return (endx, endy, startx, starty) - -def plot_line(args): - ''' - angle1 - Angle you want your end point at in degrees. - length - Length of the line you want to plot. - - Will plot the line on a 5 x 5 plot. - ''' - - global iteration - # unpack the first point - x, y = (2., 0.) - length = 5.0 - roll_angle = args[0] * 180.0 / math.pi - pitch_angle = args[1] * 180.0 / math.pi - - print(roll_angle, pitch_angle) - - ax1.clear() - ax2.clear() - - ax1.set_ylim([-2, 2]) # set the bounds to be -20, 20 - ax2.set_ylim([-2, 2]) # set the bounds to be -20, 20 - ax1.set_xlim([0, 4]) - ax2.set_xlim([0, 4]) - - # plot the points - endx, endy, startx, starty = get_start_end((x,y), length, roll_angle) - ax1.plot([startx, endx], [starty, endy], c='black', linewidth='8.0') - - endx, endy, startx, starty = get_start_end((x,y), length, pitch_angle) - ax2.plot([startx, endx], [starty, endy], c='black', linewidth='8.0') - -ani = animation.FuncAnimation(fig, plot_line, frames=frames, interval=10) -# save the animation as an mp4. This requires ffmpeg or mencoder to be -# installed. The extra_args ensure that the x264 codec is used, so that -# the video can be embedded in html5. You may need to adjust this for -# your system: for more information, see -# http://matplotlib.sourceforge.net/api/animation_api.html -#ani.save('double_pendulum.mp4', fps=30, extra_args=['-vcodec', 'libx264']) -plt.legend() -plt.show() diff --git a/viz/viz/.cargo/config b/viz/viz/.cargo/config deleted file mode 100644 index 0c1c209..0000000 --- a/viz/viz/.cargo/config +++ /dev/null @@ -1,2 +0,0 @@ -[target.armv7-unknown-linux-gnueabihf] -linker = "arm-linux-gnueabihf-gcc" diff --git a/viz/viz/Cargo.toml b/viz/viz/Cargo.toml deleted file mode 100644 index c312db4..0000000 --- a/viz/viz/Cargo.toml +++ /dev/null @@ -1,10 +0,0 @@ -[package] -name = "viz" -version = "0.1.0" -authors = ["Julian Gaal "] -edition = "2018" - -[dependencies] -mpu6050 = { path = "../../" } -i2cdev = "0.4.1" -linux-embedded-hal = "0.2.2" diff --git a/viz/viz/src/bin/recorder.rs b/viz/viz/src/bin/recorder.rs deleted file mode 100644 index f2ebf27..0000000 --- a/viz/viz/src/bin/recorder.rs +++ /dev/null @@ -1,64 +0,0 @@ -use mpu6050::*; -use linux_embedded_hal::{I2cdev, Delay}; -use i2cdev::linux::LinuxI2CError; -use std::io::prelude::*; -use std::fs::File; -use std::path::Path; -use std::error::Error; - -fn new_file(name: &str) -> File { - let path = Path::new(name); - let display = path.display(); - let _file = match File::create(&path) { - Err(why) => panic!("couldn't create {}: {}", - display, - why.description()), - Ok(file) => return file, - }; -} - -fn write_x_to(file: &mut File, content: String) { - match file.write_all(content.as_bytes()) { - Err(why) => { - println!("couldn't write to file: {}", why.description()); - }, - Ok(_) => {}, - } -} - -fn main() -> Result<(), Mpu6050Error> { - let i2c = I2cdev::new("/dev/i2c-1") - .map_err(Mpu6050Error::I2c)?; - - let delay = Delay; - - let mut mpu = Mpu6050::new(i2c, delay); - mpu.init()?; - mpu.soft_calib(200)?; - mpu.calc_variance(200)?; - - println!("Calculated variance: {:?}", mpu.get_variance().unwrap()); - - let mut acc_file = new_file("acc_data.txt"); - let mut gyro_file = new_file("gyro_data.txt"); - let mut temp_file = new_file("temp_data.txt"); - let mut angles_file = new_file("angles_data.txt"); - - loop { - // get roll and pitch estimate - let acc = mpu.get_acc_angles()?; - write_x_to(&mut angles_file, format!("{},{}\n", acc.0, acc.1)); - - // get temp - let temp = mpu.get_temp()?; - write_x_to(&mut temp_file, format!("{}\n", temp)); - - // get gyro data, scaled with sensitivity - let gyro = mpu.get_gyro()?; - write_x_to(&mut gyro_file, format!("{},{},{}\n", gyro.0, gyro.1, gyro.2)); - - // get accelerometer data, scaled with sensitivity - let acc = mpu.get_acc()?; - write_x_to(&mut acc_file, format!("{},{},{}\n", acc.0, acc.1, acc.2)); - } -}