I am wondering if there's a way to report statistics of examples in the test using Hypothesis. In other PBTs framework, such as PropEr, provide a way (in this case collect/2) to generate a report of examples in the test. For example, the following code in Erlang using PropEr:
prop_dupes() ->
?FORALL(KV, list({key(), val()}),
begin
M = maps:from_list(KV),
[_ = maps:get(K, M) || {K, _V} <- KV],
collect(
{dupes, to_range(5, length(KV) - length(lists:ukeysort(1,KV)))},
true
)
end).
It should generate the following output:
OK: Passed 100 test(s).
82.00% {dupes,{0,5}}
12.00% {dupes,{5,10}}
5.00% {dupes,{10,15}}
1.00% {dupes,{15,20}}
===>
Is this something that hypothesis.event can achieve?
Yes, that's exactly what hypothesis.event() is designed for - see https://hypothesis.readthedocs.io/en/latest/details.html#hypothesis.event for details.
Related
I'm a student teaching myself Drake, specifically pydrake with Dr. Russ Tedrake's excellent Underactuated Robotics course. I am trying to write a combined energy shaping and lqr controller for keeping a cartpole system balanced upright. I based the diagram on the cartpole example found in Chapter 3 of Underactuated Robotics [http://underactuated.mit.edu/acrobot.html], and the SwingUpAndBalanceController on Chapter 2: [http://underactuated.mit.edu/pend.html].
I have found that due to my use of the cart_pole.sdf model I have to create an abstract input port due receive FramePoseVector from the cart_pole.get_output_port(0). From there I know that I have to create a control signal output of type BasicVector to feed into a Saturation block before feeding into the cartpole's actuation port.
The problem I'm encountering right now is that I'm not sure how to get the system's current state data in the DeclareVectorOutputPort's callback function. I was under the assumption I would use the LeafContext parameter in the callback function, OutputControlSignal, obtaining the BasicVector continuous state vector. However, this resulting vector, x_bar is always NaN. Out of desperation (and testing to make sure the rest of my program worked) I set x_bar to the controller's initialization cart_pole_context and have found that the simulation runs with a control signal of 0.0 (as expected). I can also set output to 100 and the cartpole simulation just flies off into endless space (as expected).
TL;DR: What is the proper way to obtain the continuous state vector in a custom controller extending LeafSystem with a DeclareVectorOutputPort?
Thank you for any help! I really appreciate it :) I've been teaching myself so it's been a little arduous haha.
# Combined Energy Shaping (SwingUp) and LQR (Balance) Controller
# with a simple state machine
class SwingUpAndBalanceController(LeafSystem):
def __init__(self, cart_pole, cart_pole_context, input_i, ouput_i, Q, R, x_star):
LeafSystem.__init__(self)
self.DeclareAbstractInputPort("state_input", AbstractValue.Make(FramePoseVector()))
self.DeclareVectorOutputPort("control_signal", BasicVector(1),
self.OutputControlSignal)
(self.K, self.S) = BalancingLQRCtrlr(cart_pole, cart_pole_context,
input_i, ouput_i, Q, R, x_star).get_LQR_matrices()
(self.A, self.B, self.C, self.D) = BalancingLQRCtrlr(cart_pole, cart_pole_context,
input_i, ouput_i,
Q, R, x_star).get_lin_matrices()
self.energy_shaping = EnergyShapingCtrlr(cart_pole, x_star)
self.energy_shaping_context = self.energy_shaping.CreateDefaultContext()
self.cart_pole_context = cart_pole_context
def OutputControlSignal(self, context, output):
#xbar = copy(self.cart_pole_context.get_continuous_state_vector())
xbar = copy(context.get_continuous_state_vector())
xbar_ = np.array([xbar[0], xbar[1], xbar[2], xbar[3]])
xbar_[1] = wrap_to(xbar_[1], 0, 2.0*np.pi) - np.pi
# If x'Sx <= 2, then use LQR ctrlr. Cost-to-go J_star = x^T * S * x
threshold = np.array([2.0])
if (xbar_.dot(self.S.dot(xbar_)) < 2.0):
#output[:] = -self.K.dot(xbar_) # u = -Kx
output.set_value(-self.K.dot(xbar_))
else:
self.energy_shaping.get_input_port(0).FixValue(self.energy_shaping_context,
self.cart_pole_context.get_continuous_state_vector())
output_val = self.energy_shaping.get_output_port(0).Eval(self.energy_shaping_context)
output.set_value(output_val)
print(output)
Here are two things that might help:
If you want to get the state of the cart-pole from MultibodyPlant, you probably want to be connecting to the continuous_state output port, which gives you a normal vector instead of the abstract-type FramePoseVector. In that case, your call to get_input_port().Eval(context) should work just fine.
If you do really want to read the FramePoseVector, then you have to evaluate the input port slightly differently. You can find an example of that here.
I am creating a MAW well and want to use it as an observation well to compare it later to field data, it should be screened over multiple layers. However, I am only getting the head value in the well of the very last timestep in my output file. Any ideas on how to get all timesteps in the output?
The FloPy manual says something about it needing to be in Output Control, but I can't figure out how to do that:
print_head (boolean) – print_head (boolean) keyword to indicate that the list of multi-aquifer well heads will be printed to the listing file for every stress period in which “HEAD PRINT” is specified in Output Control. If there is no Output Control option and PRINT_HEAD is specified, then heads are printed for the last time step of each stress period.
In the MODFLOW6 manual I see that it is possible to make a continuous output:
modflow6
My MAW definition looks like this:
maw = flopy.mf6.ModflowGwfmaw(gwf,
nmawwells=1,
packagedata=[0, Rwell, minbot, wellhead,'MEAN',OBS1welllayers],
connectiondata=OBS1connectiondata,
perioddata=[(0,'STATUS','ACTIVE')],
flowing_wells=False,
save_flows=True,
mover=True,
flow_correction=True,
budget_filerecord='OBS1wellbudget',
print_flows=True,
print_head=True,
head_filerecord='OBS1wellhead',
)
My output control looks like this:
oc = flopy.mf6.ModflowGwfoc(gwf,
budget_filerecord=budget_file,
head_filerecord=head_file,
saverecord=[('HEAD', 'ALL'), ('BUDGET', 'ALL'), ],
)
Hope this is all clear and someone can help me, thanks!
You need to initialise the MAW observations file... it's not done in the OC package.
You can find the scripts for the three MAW examples in the MF6 documentation here:
https://github.com/MODFLOW-USGS/modflow6-examples/tree/master/notebooks
It looks something like this:
obs_file = "{}.maw.obs".format(name)
csv_file = obs_file + ".csv"
obs_dict = {csv_file: [
("head", "head", (0,)),
("Q1", "maw", (0,), (0,)),
("Q2", "maw", (0,), (1,)),
("Q3", "maw", (0,), (2,)),
]}
maw.obs.initialize(filename=obs_file, digits=10, print_input=True, continuous=obs_dict)
Thanks in advance for the help. I am new to kdb/q, coming from a Python and C++ background.
Just a simple syntax question: I have a string with fields and their corresponding values
pp_str: "field_1:abc field_2:xyz field_3:kdb"
I wrote an atomic (scalar) function to extract the value of a given field.
get_field_value: {[field; pp_str] pp_fields: " " vs pp_str; pid_field: pp_fields[where like[pp_fields; field,":*"]]; start_i: (pid_field[0] ss ":")[0] + 1; end_i: count pid_field[0]; indices: start_i + til (end_i - start_i); pid_field[0][indices]}
show get_field_value["field_1"; pp_str]
"abc"
show get_field_value["field_3"; pp_str]
"kdb"
Now how do I generalize this so that if I input a vector of fields, I get a vector of values? I want to input ("field_1"; "field_2"; "field_3") and output ("abc"; "xyz"; "kdb"). I tried multiple approaches (below) but I just don't understand kdb/q's syntax well enough to vectorize my function:
/ Attempt 1 - Fail
get_field_value[enlist ("field_1"; "field_2"); pp_str]
/ Attempt 2 - Fail
get_field_value[; pp_str] /. enlist ("field_1"; "field_3")
/ Attempt 3 - Fail
fields: ("field_1"; "field_2")
get_field_value[fields; pp_str]
To run your function for each you could project the pp_str variable and use each for the others
q)get_field_value[;pp_str]each("field_1";"field_3")
"abc"
"kdb"
Kdb actually has built-in functionality to handle this: https://code.kx.com/q/ref/file-text/#key-value-pairs
q){#[;x](!/)"S: "0:y}[`field_1;pp_str]
"abc"
q)
q){#[;x](!/)"S: "0:y}[`field_1`field_3;pp_str]
"abc"
"kdb"
I think this might be the syntax you're looking for.
q)get_field_value[; pp_str]each("field_1";"field_2")
"abc"
"xyz"
I have a mnesia table configured as follow:
-record(space, {id, t, s, a, l}).
mnesia:create_table(space, [ {disc_only_copies, nodes()},
{frag_properties, [ {n_fragments, 400}, {n_disc_copies, 1}]},
{attributes, record_info(fields, space)}]),
I have at least 4 million records for test purposes on this table.
I have implemented something like this Pagination search in Erlang Mnesia
fetch_paged() ->
MatchSpec = {'_',[],['$_']},
{Record, Continuation} = mnesia:activity(async_dirty, fun mnesia:select/4, [space, [MatchSpec], 10000, read], mnesia_frag).
next_page(Cont) ->
mnesia:activity(async_dirty, fun() -> mnesia:select(Cont) end, mnesia_frag).
When I execute the pagination methods it brings batch between 3000 and 8000 but never 10000.
What I have to do to bring me the batches consistently?
The problem is that you expect mnesia:select/4, which is documented as:
select(Tab, MatchSpec, NObjects, Lock) -> transaction abort | {[Object],Cont} | '$end_of_table'
to get you the NObjects limit, being NObjects in your example 10,000.
But the same documentation also says:
For efficiency the NObjects is a recommendation only and the result may contain anything from an empty list to all available results.
and that's the reason you are not getting consistent batches of 10,000 records, because NObjects is not a limit but a recommendation batch size.
If you want to get your 10,000 records you won't have no other option that writing your own function, but select/4 is written in this way for optimization purposes, so most probably the code you will be written will be slower than the original code.
BTW, you can find the mnesia source code on https://github.com/erlang/otp/tree/master/lib/mnesia/src
I'm coding a project in Matlab, however I want the great efficiency and speed of my execution, for that sake, I want to use parallel processing threads in Matlab as I have multiple objects working or changing their states in a for loop. Is Multi-Threading is appropriate for this purpose? If so, where can I take start or can create a simple thread?
My Code:
% P=501x3 array
for i=1:length(P)
% I used position for example's sake, meaning object changing its state
Object1.position=P(i,:);
Object2.position=P(i,:);
Object3.position=P(i,:);
Object4.position=P(i,:);
% Mulitple objects changing their state on each iteration, after some calculation/formulation.
end
What I need is the basic structure of Multi-Threads according to my scenario if Threading is appropriate in my case. More suggestions for Parallel-Execution or fast processing are welcomed.
Edit1: Parray:
P =
-21.8318 19.2251 -16.0000
-21.7386 19.1620 -15.9640
-21.6455 19.0988 -15.9279
-21.5527 19.0357 -15.8918
-21.4600 18.9727 -15.8556
-21.3675 18.9096 -15.8194
-21.2752 18.8466 -15.7831
-21.1831 18.7836 -15.7468
-21.0911 18.7206 -15.7105
-20.9993 18.6577 -15.6741
-20.9078 18.5947 -15.6377
-20.8163 18.5318 -15.6012
-20.7251 18.4689 -15.5647
-20.6340 18.4061 -15.5281
-20.5432 18.3432 -15.4915
-20.4524 18.2804 -15.4548
-20.3619 18.2176 -15.4181
-20.2715 18.1548 -15.3814
-20.1813 18.0921 -15.3446
-20.0913 18.0293 -15.3078
-20.0015 17.9666 -15.2709
-19.9118 17.9039 -15.2340
-19.8223 17.8412 -15.1970
-19.7329 17.7786 -15.1601
-19.6438 17.7160 -15.1230
-19.5547 17.6534 -15.0860
-19.4659 17.5908 -15.0489
-19.3772 17.5282 -15.0117
-19.2887 17.4656 -14.9745
-19.2004 17.4031 -14.9373
-19.1122 17.3406 -14.9001
-19.0241 17.2781 -14.8628
-18.9363 17.2156 -14.8254
-18.8486 17.1532 -14.7881
-18.7610 17.0907 -14.7507
-18.6736 17.0283 -14.7132
-18.5864 16.9659 -14.6758
-18.4994 16.9035 -14.6383
-18.4124 16.8412 -14.6007
-18.3257 16.7788 -14.5632
-18.2391 16.7165 -14.5255
-18.1526 16.6542 -14.4879
-18.0663 16.5919 -14.4502
-17.9802 16.5296 -14.4125
-17.8942 16.4673 -14.3748
-17.8084 16.4051 -14.3370
-17.7227 16.3429 -14.2992
-17.6372 16.2807 -14.2614
-17.5518 16.2185 -14.2235
-17.4665 16.1563 -14.1856
-17.3815 16.0941 -14.1477
-17.2965 16.0320 -14.1097
-17.2117 15.9698 -14.0718
-17.1271 15.9077 -14.0338
-17.0426 15.8456 -13.9957
-16.9582 15.7835 -13.9576
-16.8740 15.7214 -13.9196
-16.7899 15.6594 -13.8814
-16.7060 15.5973 -13.8433
-16.6222 15.5353 -13.8051
-16.5385 15.4733 -13.7669
-16.4550 15.4113 -13.7287
-16.3716 15.3493 -13.6904
-16.2884 15.2873 -13.6521
-16.2053 15.2253 -13.6138
-16.1223 15.1634 -13.5755
-16.0395 15.1014 -13.5372
-15.9568 15.0395 -13.4988
-15.8742 14.9776 -13.4604
-15.7918 14.9157 -13.4220
-15.7095 14.8538 -13.3835
-15.6273 14.7919 -13.3451
-15.5453 14.7301 -13.3066
-15.4634 14.6682 -13.2681
-15.3816 14.6063 -13.2295
-15.2999 14.5445 -13.1910
-15.2184 14.4827 -13.1524
-15.1370 14.4209 -13.1138
-15.0557 14.3591 -13.0752
-14.9746 14.2973 -13.0366
-14.8936 14.2355 -12.9979
-14.8127 14.1737 -12.9593
-14.7319 14.1120 -12.9206
-14.6513 14.0502 -12.8819
-14.5707 13.9885 -12.8432
-14.4903 13.9267 -12.8044
-14.4100 13.8650 -12.7657
-14.3299 13.8033 -12.7269
-14.2498 13.7416 -12.6881
-14.1699 13.6799 -12.6493
-14.0901 13.6182 -12.6105
-14.0104 13.5565 -12.5717
-13.9308 13.4948 -12.5328
-13.8513 13.4332 -12.4940
-13.7720 13.3715 -12.4551
-13.6927 13.3099 -12.4162
-13.6136 13.2482 -12.3773
-13.5346 13.1866 -12.3384
-13.4556 13.1250 -12.2995
-13.3768 13.0633 -12.2605
-13.2982 13.0017 -12.2216
-13.2196 12.9401 -12.1826
-13.1411 12.8785 -12.1437
-13.0627 12.8169 -12.1047
-12.9845 12.7553 -12.0657
-12.9063 12.6937 -12.0267
-12.8283 12.6321 -11.9877
-12.7503 12.5706 -11.9487
-12.6725 12.5090 -11.9097
-12.5947 12.4474 -11.8706
-12.5171 12.3859 -11.8316
-12.4395 12.3243 -11.7925
-12.3621 12.2628 -11.7535
-12.2848 12.2012 -11.7144
-12.2075 12.1397 -11.6754
-12.1304 12.0781 -11.6363
-12.0533 12.0166 -11.5972
-11.9764 11.9550 -11.5581
-11.8995 11.8935 -11.5190
-11.8228 11.8320 -11.4799
-11.7461 11.7705 -11.4408
-11.6695 11.7089 -11.4017
-11.5930 11.6474 -11.3626
-11.5166 11.5859 -11.3235
-11.4403 11.5244 -11.2844
-11.3641 11.4629 -11.2453
-11.2880 11.4014 -11.2062
-11.2120 11.3398 -11.1671
-11.1360 11.2783 -11.1280
-11.0602 11.2168 -11.0889
-10.9844 11.1553 -11.0497
-10.9087 11.0938 -11.0106
-10.8331 11.0323 -10.9715
-10.7576 10.9708 -10.9324
-10.6821 10.9093 -10.8933
-10.6068 10.8478 -10.8542
-10.5315 10.7863 -10.8150
-10.4563 10.7248 -10.7759
-10.3812 10.6633 -10.7368
-10.3062 10.6018 -10.6977
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-10.1564 10.4788 -10.6195
-10.0816 10.4173 -10.5804
-10.0068 10.3557 -10.5414
-9.9322 10.2942 -10.5023
-9.8576 10.2327 -10.4632
-9.7831 10.1712 -10.4241
-9.7087 10.1097 -10.3851
-9.6343 10.0482 -10.3460
-9.5600 9.9866 -10.3069
-9.4858 9.9251 -10.2679
-9.4117 9.8636 -10.2289
-9.3376 9.8021 -10.1898
-9.2636 9.7405 -10.1508
-9.1897 9.6790 -10.1118
-9.1158 9.6174 -10.0728
-9.0420 9.5559 -10.0338
-8.9683 9.4944 -9.9948
-8.8946 9.4328 -9.9558
-8.8210 9.3712 -9.9169
-8.7474 9.3097 -9.8779
-8.6739 9.2481 -9.8390
-8.6005 9.1865 -9.8000
-8.5272 9.1250 -9.7611
-8.4539 9.0634 -9.7222
-8.3806 9.0018 -9.6833
-8.3074 8.9402 -9.6444
-8.2343 8.8786 -9.6056
-8.1612 8.8170 -9.5667
-8.0882 8.7554 -9.5279
-8.0152 8.6938 -9.4890
-7.9423 8.6322 -9.4502
-7.8695 8.5705 -9.4114
-7.7967 8.5089 -9.3727
-7.7239 8.4473 -9.3339
-7.6513 8.3856 -9.2951
-7.5786 8.3240 -9.2564
-7.5060 8.2623 -9.2177
-7.4335 8.2006 -9.1790
-7.3610 8.1389 -9.1403
-7.2885 8.0772 -9.1017
-7.2161 8.0155 -9.0630
-7.1438 7.9538 -9.0244
-7.0715 7.8921 -8.9858
-6.9992 7.8304 -8.9472
-6.9270 7.7687 -8.9086
-6.8548 7.7069 -8.8701
-6.7827 7.6452 -8.8316
-6.7106 7.5834 -8.7931
-6.6385 7.5217 -8.7546
-6.5665 7.4599 -8.7161
-6.4945 7.3981 -8.6777
-6.4226 7.3363 -8.6393
-6.3507 7.2745 -8.6009
-6.2788 7.2127 -8.5625
-6.2070 7.1508 -8.5242
-6.1352 7.0890 -8.4858
-6.0635 7.0271 -8.4475
-5.9917 6.9653 -8.4093
-5.9200 6.9034 -8.3710
-5.8484 6.8415 -8.3328
-5.7768 6.7796 -8.2946
-5.7052 6.7177 -8.2564
-5.6336 6.6558 -8.2183
-5.5621 6.5938 -8.1802
-5.4906 6.5319 -8.1421
-5.4191 6.4699 -8.1040
-5.3476 6.4079 -8.0660
-5.2762 6.3459 -8.0280
-5.2048 6.2839 -7.9900
-5.1334 6.2219 -7.9521
-5.0621 6.1599 -7.9142
-4.9908 6.0978 -7.8763
-4.9194 6.0358 -7.8384
-4.8482 5.9737 -7.8006
-4.7769 5.9116 -7.7628
-4.7057 5.8495 -7.7250
-4.6344 5.7874 -7.6873
-4.5632 5.7253 -7.6496
-4.4920 5.6631 -7.6119
-4.4209 5.6010 -7.5743
-4.3497 5.5388 -7.5367
-4.2786 5.4766 -7.4992
-4.2074 5.4144 -7.4616
-4.1363 5.3522 -7.4241
-4.0652 5.2899 -7.3867
-3.9941 5.2277 -7.3492
-3.9231 5.1654 -7.3118
-3.8520 5.1031 -7.2745
-3.7809 5.0408 -7.2372
-3.7099 4.9785 -7.1999
-3.6389 4.9161 -7.1626
-3.5678 4.8538 -7.1254
-3.4968 4.7914 -7.0883
-3.4258 4.7290 -7.0511
-3.3548 4.6666 -7.0140
-3.2838 4.6041 -6.9770
-3.2128 4.5417 -6.9400
-3.1418 4.4792 -6.9030
-3.0708 4.4167 -6.8661
-2.9998 4.3542 -6.8292
-2.9288 4.2917 -6.7923
-2.8578 4.2291 -6.7555
-2.7868 4.1666 -6.7187
-2.7158 4.1040 -6.6820
-2.6448 4.0414 -6.6453
-2.5738 3.9788 -6.6087
-2.5028 3.9161 -6.5720
-2.4318 3.8534 -6.5355
-2.3608 3.7908 -6.4990
-2.2897 3.7280 -6.4625
-2.2187 3.6653 -6.4261
-2.1477 3.6026 -6.3897
-2.0766 3.5398 -6.3534
-2.0056 3.4770 -6.3171
-1.9345 3.4142 -6.2808
-1.8634 3.3513 -6.2446
-1.7924 3.2885 -6.2085
-1.7213 3.2256 -6.1724
-1.6501 3.1627 -6.1363
-1.5790 3.0998 -6.1003
-1.5079 3.0368 -6.0643
-1.4367 2.9739 -6.0284
-1.3656 2.9109 -5.9925
-1.2944 2.8478 -5.9567
-1.2232 2.7848 -5.9210
-1.1519 2.7217 -5.8852
-1.0807 2.6586 -5.8496
-1.0094 2.5955 -5.8140
-0.9381 2.5324 -5.7784
-0.8668 2.4692 -5.7429
-0.7955 2.4060 -5.7074
-0.7242 2.3428 -5.6720
-0.6528 2.2796 -5.6366
-0.5814 2.2163 -5.6013
-0.5100 2.1530 -5.5661
-0.4385 2.0897 -5.5309
-0.3670 2.0264 -5.4957
-0.2955 1.9630 -5.4607
-0.2240 1.8996 -5.4256
-0.1524 1.8362 -5.3906
-0.0808 1.7727 -5.3557
-0.0092 1.7093 -5.3209
0.0625 1.6458 -5.2860
0.1341 1.5822 -5.2513
0.2059 1.5187 -5.2166
0.2776 1.4551 -5.1819
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0.4212 1.3279 -5.1128
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Ahsan,
I think parfor might be what you're looking for. It requires the Parallel Computing Toolbox (PCT) to use. It works like this:
parfor i = 1:length(P)
Object1.position = P(i,:);
end
Also, I would recommend using indexed structure fields, as I've done in the example below, as it increases the flexibility of any code that you write. Let me know if this doesn't work for you, and we'll try something else. I know another technique, but it's much messier. Good luck!
parfor i = 1:length(P)
Object(i).position = P(i,:);
end
Edit: Ok, this may not work because parfor is pretty particular. But it the general concept should apply to the problem you're trying to solve. I can't be more specific without knowing more about your specific problem. The key point is, inside a parfor, you must iterate something (Object, below) by the parfors iterator (i, below) and assign that thing a value. I'm not sure if you can use a for-loop inside a parfor, so the first example below may break. The point is, this is how you do parallel processing in MATLAB. Try this:
parfor i = 1:4
Object(i).position = P(i,:);
end
Edit 2:
parfor i = length(P)
Object1 = struct();
Object1.position = P(i, :);
end
Edit 3: Ok, one last thing. You can't use "sliced" structs (structs with fields) as input or output from a parfor so you have to do this:
parfor i = 1:length(P)
positionArray1(i) = P(i, :);
end
Object1 = struct('position', positionArray1);