1,7 → 1,7 |
{ |
"metadata": { |
"name": "", |
"signature": "sha256:c35f5f2963a30c62e2bc2437fc0d2422404aec0dbc3c5526df0be8cecdef27ee" |
"signature": "sha256:9453f2d297004717b7b0ab5bb80d8d05d3ff319f7e609fa9565e753aa36cef87" |
}, |
"nbformat": 3, |
"nbformat_minor": 0, |
50,7 → 50,7 |
] |
} |
], |
"prompt_number": 24 |
"prompt_number": 3 |
}, |
{ |
"cell_type": "code", |
63,7 → 63,7 |
"language": "python", |
"metadata": {}, |
"outputs": [], |
"prompt_number": 14 |
"prompt_number": 4 |
}, |
{ |
"cell_type": "code", |
71,43 → 71,87 |
"input": [ |
"prev_val= dataset.value[0,2]\n", |
"n = 0\n", |
"angle = np.zeros_like(dataset.value)\n", |
"angle = np.zeros((dataset.shape[0]))\n", |
"for i in range(dataset.value.shape[0]):\n", |
" if (dataset.value[i,2] - prev_val) > 300: \n", |
" if (dataset.value[i,2] - prev_val) > 300:\n", |
" n -= 1\n", |
" angle[i] = dataset.value[i,2] + n*360\n", |
" prev_val = dataset.value[i,2]\n", |
" elif -(dataset.value[i,2] - prev_val) > 300: # compute angular speed in backward direction.\n", |
" n += 1\n", |
" angle[i] = dataset.value[i,2] - n*360\n", |
" prev_val = dataset.value[i,2]\n", |
" else:\n", |
" angle[i] = dataset.value[i,2] + n*360\n", |
" prev_val = dataset.value[i,2]" |
" prev_val = dataset.value[i,2]\n", |
" " |
], |
"language": "python", |
"metadata": {}, |
"outputs": [], |
"prompt_number": 19 |
"prompt_number": 6 |
}, |
{ |
"cell_type": "markdown", |
"metadata": {}, |
"source": [ |
"Five point difference numerical calculation. Source: http://mathfun528.blogspot.cz/2011/07/numerical-differentiation.html" |
] |
}, |
{ |
"cell_type": "code", |
"collapsed": false, |
"input": [ |
"angle" |
"angle_speed = np.zeros_like(angle)\n", |
"\n", |
"for i in range(2,angle.shape[0]-2):\n", |
" angle_speed[i] = (-angle[i + 2] + 8*angle[i + 1] - 8*angle[i - 1] + angle[i - 2])/12" |
], |
"language": "python", |
"metadata": {}, |
"outputs": [], |
"prompt_number": 7 |
}, |
{ |
"cell_type": "code", |
"collapsed": false, |
"input": [ |
"fig, ax1 = plt.subplots()\n", |
"\n", |
"ax2 = ax1.twinx()\n", |
"ax1.set_xlabel('Sample #')\n", |
"ax1.set_ylabel('Angle')\n", |
"ax2.set_ylabel('Angular speed')\n", |
"\n", |
"ax1.plot(dataset.value[:,0], angle,'b',dataset.value[:,0], dataset.value[:,2],'r')\n", |
"ax2.plot(dataset.value[:,0], angle_speed,'g')\n", |
"\n", |
"plt.show()" |
], |
"language": "python", |
"metadata": {}, |
"outputs": [], |
"prompt_number": 8 |
}, |
{ |
"cell_type": "code", |
"collapsed": false, |
"input": [ |
"print angle" |
], |
"language": "python", |
"metadata": {}, |
"outputs": [ |
{ |
"metadata": {}, |
"output_type": "pyout", |
"prompt_number": 20, |
"output_type": "stream", |
"stream": "stdout", |
"text": [ |
"array([[ 0., 0., 0.],\n", |
" [ 0., 0., 0.],\n", |
" [ 0., 0., 0.],\n", |
" ..., \n", |
" [ 0., 0., 0.],\n", |
" [ 0., 0., 0.],\n", |
" [ 0., 0., 0.]], dtype=float32)" |
"[ 3.64746094e+01 3.65405273e+01 3.77929688e+01 ..., -1.31529551e+05\n", |
" -1.31530452e+05 -1.31528452e+05]\n" |
] |
} |
], |
"prompt_number": 20 |
"prompt_number": 10 |
}, |
{ |
"cell_type": "code", |
115,6 → 159,38 |
"input": [], |
"language": "python", |
"metadata": {}, |
"outputs": [], |
"prompt_number": 4 |
}, |
{ |
"cell_type": "markdown", |
"metadata": {}, |
"source": [] |
}, |
{ |
"cell_type": "code", |
"collapsed": false, |
"input": [], |
"language": "python", |
"metadata": {}, |
"outputs": [], |
"prompt_number": 45 |
}, |
{ |
"cell_type": "code", |
"collapsed": false, |
"input": [], |
"language": "python", |
"metadata": {}, |
"outputs": [], |
"prompt_number": 45 |
}, |
{ |
"cell_type": "code", |
"collapsed": false, |
"input": [], |
"language": "python", |
"metadata": {}, |
"outputs": [] |
} |
], |