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Instrumented version - to look at timings

Browse Source 
Including:
- replacing guassian with simpler triangle distribution
- Timing calculations -resulting in using only 50 points.
- Changes (which may need to be reconsidered) for optimization. These are likely to be simplified back.
This commit is contained in:
Danny Staple
2022-12-11 20:44:50 +00:00
parent 46daf66024
commit f57add5106
12 changed files with 534 additions and 104 deletions
Download Patch File Download Diff File Expand all files Collapse all files
ch-13/full-version/computer/display_from_robot.py
+5 -2
View File
@@ -14,7 +14,7 @@ class RobotDisplay:
self.arena = {}
self.display_closed = False
self.fig, self.ax = plt.subplots()
self.poses = np.zeros([200, 3], dtype=np.float32)
self.poses = np.zeros([200, 3], dtype=np.int16)
def handle_close(self, _):
self.display_closed = True
@@ -35,7 +35,10 @@ class RobotDisplay:
self.arena = message
if "poses" in message:
print(message)
self.poses[message["offset"]: message["offset"] + len(message["poses"])] = message["poses"]
incoming_poses = np.array(message["poses"], dtype=np.int16)
print("Incoming poses shape", incoming_poses.shape)
print("Existing poses shape", self.poses.shape)
self.poses[message["offset"]: message["offset"] + incoming_poses.shape[0]] = incoming_poses
def draw(self):
self.ax.clear()
ch-13/full-version/computer/poetry.lock
Generated
+63 -1
View File
@@ -158,6 +158,14 @@ pyparsing = ">=2.2.1"
python-dateutil = ">=2.7"
setuptools_scm = ">=7"
[[package]]
name = "msgpack"
version = "1.0.4"
description = "MessagePack serializer"
category = "main"
optional = false
python-versions = "*"
[[package]]
name = "mypy-extensions"
version = "0.4.3"
@@ -339,7 +347,7 @@ python-versions = ">=3.7"
[metadata]
lock-version = "1.1"
python-versions = "^3.9"
content-hash = "4ec6eb3464cbb49afad347e67bdf7c353d7ea4030fd8ed4257098a5df334eb99"
content-hash = "a2ae390fc260b23b2aea772611acac3c8626867abcb0e477875407c9f24a5fa6"
[metadata.files]
async-timeout = [
@@ -616,6 +624,60 @@ matplotlib = [
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]
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ch-13/full-version/computer/pyproject.toml
+1
View File
@@ -11,6 +11,7 @@ python = "^3.9"
matplotlib = "3.6.1"
numpy = "1.23.4"
bleak = "0.19.0"
msgpack = "^1.0.4"
[tool.poetry.group.dev.dependencies]