Rev 3655 Rev 3656
1 { 1 {
2 "metadata": { 2 "metadata": {
3 "name": "" 3 "name": ""
4 }, 4 },
5 "nbformat": 3, 5 "nbformat": 3,
6 "nbformat_minor": 0, 6 "nbformat_minor": 0,
7 "worksheets": [ 7 "worksheets": [
8 { 8 {
9 "cells": [ 9 "cells": [
10 { 10 {
11 "cell_type": "markdown", 11 "cell_type": "markdown",
12 "metadata": {}, 12 "metadata": {},
13 "source": [ 13 "source": [
14 "Uk\u00e1zka pou\u017eit\u00ed n\u00e1stroje IPython na manipulaci se senzorov\u00fdmi daty\n", 14 "Uk\u00e1zka pou\u017eit\u00ed n\u00e1stroje IPython na manipulaci se senzorov\u00fdmi daty\n",
15 "=======\n", 15 "=======\n",
16 "\n", 16 "\n",
17 "P\u0159\u00edklad vyu\u017e\u00edv\u00e1 moduluvou stavebnici MLAB a jej\u00ed knihovnu https://github.com/MLAB-project/MLAB-I2c-modules \n", 17 "P\u0159\u00edklad vyu\u017e\u00edv\u00e1 moduluvou stavebnici MLAB a jej\u00ed knihovnu https://github.com/MLAB-project/MLAB-I2c-modules \n",
18 "\n", 18 "\n",
19 "Zprovozn\u011bn\u00ed demo k\u00f3du\n", 19 "Zprovozn\u011bn\u00ed demo k\u00f3du\n",
20 "---------------------\n", 20 "---------------------\n",
21 "\n", 21 "\n",
22 "Nejd\u0159\u00edve zjist\u00edme zda m\u00e1me p\u0159\u00edstup pro z\u00e1pis a \u010dten\u00ed do syst\u00e9mov\u00e9ho za\u0159\u00edzen\u00ed. A jak\u00e9 \u010d\u00edslo m\u00e1 I\u00b2C sb\u011brnice na kterou m\u00e1me p\u0159ipojen\u00e1 \u010didla. \n" 22 "Nejd\u0159\u00edve zjist\u00edme zda m\u00e1me p\u0159\u00edstup pro z\u00e1pis a \u010dten\u00ed do syst\u00e9mov\u00e9ho za\u0159\u00edzen\u00ed. A jak\u00e9 \u010d\u00edslo m\u00e1 I\u00b2C sb\u011brnice na kterou m\u00e1me p\u0159ipojen\u00e1 \u010didla. \n"
23 ] 23 ]
24 }, 24 },
25 { 25 {
26 "cell_type": "code", 26 "cell_type": "code",
27 "collapsed": false, 27 "collapsed": false,
28 "input": [ 28 "input": [
29 "!i2cdetect -l" 29 "!i2cdetect -l"
30 ], 30 ],
31 "language": "python", 31 "language": "python",
32 "metadata": {}, 32 "metadata": {},
33 "outputs": [ 33 "outputs": [
34 { 34 {
35 "output_type": "stream", 35 "output_type": "stream",
36 "stream": "stdout", 36 "stream": "stdout",
37 "text": [ 37 "text": [
38 "i2c-0\ti2c \ti915 gmbus ssc \tI2C adapter\r\n", 38 "i2c-0\ti2c \ti915 gmbus ssc \tI2C adapter\r\n",
39 "i2c-1\ti2c \ti915 gmbus vga \tI2C adapter\r\n", 39 "i2c-1\ti2c \ti915 gmbus vga \tI2C adapter\r\n",
40 "i2c-2\ti2c \ti915 gmbus panel \tI2C adapter\r\n", 40 "i2c-2\ti2c \ti915 gmbus panel \tI2C adapter\r\n",
41 "i2c-3\ti2c \ti915 gmbus dpc \tI2C adapter\r\n", 41 "i2c-3\ti2c \ti915 gmbus dpc \tI2C adapter\r\n",
42 "i2c-4\ti2c \ti915 gmbus dpb \tI2C adapter\r\n", 42 "i2c-4\ti2c \ti915 gmbus dpb \tI2C adapter\r\n",
43 "i2c-5\ti2c \ti915 gmbus dpd \tI2C adapter\r\n", 43 "i2c-5\ti2c \ti915 gmbus dpd \tI2C adapter\r\n",
44 "i2c-6\ti2c \tDPDDC-C \tI2C adapter\r\n", 44 "i2c-6\ti2c \tDPDDC-C \tI2C adapter\r\n",
45 "i2c-7\ti2c \tDPDDC-D \tI2C adapter\r\n", 45 "i2c-7\ti2c \tDPDDC-D \tI2C adapter\r\n",
46 "i2c-8\ti2c \ti2c-tiny-usb at bus 001 device 005\tI2C adapter\r\n" 46 "i2c-8\ti2c \ti2c-tiny-usb at bus 001 device 005\tI2C adapter\r\n"
47 ] 47 ]
48 } 48 }
49 ], 49 ],
50 "prompt_number": 1 50 "prompt_number": 1
51 }, 51 },
52 { 52 {
53 "cell_type": "markdown", 53 "cell_type": "markdown",
54 "metadata": {}, 54 "metadata": {},
55 "source": [ 55 "source": [
56 "Proto\u017ee pro p\u0159ipojen\u00ed \u010didel k po\u010d\u00edta\u010di pou\u017e\u00edv\u00e1me adapt\u00e9r i2c-tiny-usb. Vid\u00edme, \u017ee sb\u011brnice m\u00e1 aktu\u00e1ln\u011b ozna\u010den\u00ed nap\u0159\u00edklad i2c-8. \n", 56 "Proto\u017ee pro p\u0159ipojen\u00ed \u010didel k po\u010d\u00edta\u010di pou\u017e\u00edv\u00e1me adapt\u00e9r i2c-tiny-usb. Vid\u00edme, \u017ee sb\u011brnice m\u00e1 aktu\u00e1ln\u011b ozna\u010den\u00ed nap\u0159\u00edklad i2c-8. \n",
57 "\n", 57 "\n",
58 "V p\u0159\u00edpad\u011b, \u017ee v\u00fd\u0161e uveden\u00fd p\u0159\u00edklad vr\u00e1t\u00ed chybu, nebo pojmenov\u00e1n\u00ed \"unknown\" tak nem\u00e1me p\u0159\u00edstup k syst\u00e9mov\u00fdm rozhran\u00edm. Ten z\u00edsk\u00e1me vytvo\u0159en\u00edm souboru s n\u00e1sleduj\u00edc\u00edm obsahem ve slo\u017ece: /etc/udev/rules.d/i2c-devices.rules" 58 "V p\u0159\u00edpad\u011b, \u017ee v\u00fd\u0161e uveden\u00fd p\u0159\u00edklad vr\u00e1t\u00ed chybu, nebo pojmenov\u00e1n\u00ed \"unknown\" tak nem\u00e1me p\u0159\u00edstup k syst\u00e9mov\u00fdm rozhran\u00edm. Ten z\u00edsk\u00e1me vytvo\u0159en\u00edm souboru s n\u00e1sleduj\u00edc\u00edm obsahem ve slo\u017ece: /etc/udev/rules.d/i2c-devices.rules"
59 ] 59 ]
60 }, 60 },
61 { 61 {
62 "cell_type": "raw", 62 "cell_type": "raw",
63 "metadata": {}, 63 "metadata": {},
64 "source": [ 64 "source": [
65 "KERNEL==\"i2c-[0-9]*\", GROUP=\"i2c\"" 65 "KERNEL==\"i2c-[0-9]*\", GROUP=\"i2c\""
66 ] 66 ]
67 }, 67 },
68 { 68 {
69 "cell_type": "markdown", 69 "cell_type": "markdown",
70 "metadata": {}, 70 "metadata": {},
71 "source": [ 71 "source": [
72 "Toto ozna\u010den\u00ed budeme je\u0161t\u011b d\u00e1le pot\u0159ebovat, proto si jej ulo\u017e\u00edme da prom\u011bnn\u00e9. " 72 "Toto ozna\u010den\u00ed budeme je\u0161t\u011b d\u00e1le pot\u0159ebovat, proto si jej ulo\u017e\u00edme da prom\u011bnn\u00e9. "
73 ] 73 ]
74 }, 74 },
75 { 75 {
76 "cell_type": "code", 76 "cell_type": "code",
77 "collapsed": false, 77 "collapsed": false,
78 "input": [ 78 "input": [
79 "port = 8" 79 "port = 8"
80 ], 80 ],
81 "language": "python", 81 "language": "python",
82 "metadata": {}, 82 "metadata": {},
83 "outputs": [], 83 "outputs": [],
84 "prompt_number": 2 84 "prompt_number": 2
85 }, 85 },
86 { 86 {
87 "cell_type": "markdown", 87 "cell_type": "markdown",
88 "metadata": {}, 88 "metadata": {},
89 "source": [ 89 "source": [
90 "Budeme pokra\u010dovat na\u010dten\u00edm pot\u0159ebn\u00fdch modul\u016f pro zach\u00e1zen\u00ed s I\u00b2C sn\u00edma\u010di." 90 "Budeme pokra\u010dovat na\u010dten\u00edm pot\u0159ebn\u00fdch modul\u016f pro zach\u00e1zen\u00ed s I\u00b2C sn\u00edma\u010di."
91 ] 91 ]
92 }, 92 },
93 { 93 {
94 "cell_type": "code", 94 "cell_type": "code",
95 "collapsed": false, 95 "collapsed": false,
96 "input": [ 96 "input": [
97 "import time\n", 97 "import time\n",
98 "import datetime\n", 98 "import datetime\n",
99 "import sys\n", 99 "import sys\n",
100 "\n", 100 "\n",
101 "from pymlab import config\n", 101 "from pymlab import config\n",
102 "import matplotlib.pyplot as plt\n", 102 "import matplotlib.pyplot as plt\n",
103 "import numpy as np" 103 "import numpy as np"
104 ], 104 ],
105 "language": "python", 105 "language": "python",
106 "metadata": {}, 106 "metadata": {},
107 "outputs": [], 107 "outputs": [],
108 "prompt_number": 3 108 "prompt_number": 3
109 }, 109 },
110 { 110 {
111 "cell_type": "markdown", 111 "cell_type": "markdown",
112 "metadata": {}, 112 "metadata": {},
113 "source": [ 113 "source": [
114 "Nyn\u00ed si nadefinujeme strukturu p\u0159ipojen\u00ed jednotliv\u00fdch \u010didel na I\u00b2C sb\u011brnici." 114 "Nyn\u00ed si nadefinujeme strukturu p\u0159ipojen\u00ed jednotliv\u00fdch \u010didel na I\u00b2C sb\u011brnici."
115 ] 115 ]
116 }, 116 },
117 { 117 {
118 "cell_type": "code", 118 "cell_type": "code",
119 "collapsed": false, 119 "collapsed": false,
120 "input": [ 120 "input": [
121 "cfg = config.Config(\n", 121 "cfg = config.Config(\n",
122 " i2c = {\n", 122 " i2c = {\n",
123 " \"port\": port,\n", 123 " \"port\": port,\n",
124 " },\n", 124 " },\n",
125 " bus = [\n", 125 " bus = [\n",
126 " {\n", 126 " {\n",
127 " \"type\": \"i2chub\",\n", 127 " \"type\": \"i2chub\",\n",
128 " \"address\": 0x72,\n", 128 " \"address\": 0x72,\n",
129 " \n", 129 " \n",
130 " \"children\": [\n", 130 " \"children\": [\n",
131 " {\"name\": \"acc\", \"type\": \"imu01_acc\", \"sensitivity\": 4.0, \"channel\": 0, }, \n", 131 " {\"name\": \"acc\", \"type\": \"imu01_acc\", \"sensitivity\": 4.0, \"channel\": 0, }, \n",
132 " ],\n", 132 " ],\n",
133 " },\n", 133 " },\n",
134 " ],\n", 134 " ],\n",
135 ")" 135 ")"
136 ], 136 ],
137 "language": "python", 137 "language": "python",
138 "metadata": {}, 138 "metadata": {},
139 "outputs": [], 139 "outputs": [],
140 "prompt_number": 8 140 "prompt_number": 8
141 }, 141 },
142 { 142 {
143 "cell_type": "markdown", 143 "cell_type": "markdown",
144 "metadata": {}, 144 "metadata": {},
145 "source": [ 145 "source": [
146 "Tuto strukturu inicializujeme, aby jsme dos\u00e1hli definovan\u00e9 konfigurace \u010didel." 146 "Tuto strukturu inicializujeme, aby jsme dos\u00e1hli definovan\u00e9 konfigurace \u010didel."
147 ] 147 ]
148 }, 148 },
149 { 149 {
150 "cell_type": "code", 150 "cell_type": "code",
151 "collapsed": false, 151 "collapsed": false,
152 "input": [ 152 "input": [
153 "cfg.initialize()\n", 153 "cfg.initialize()\n",
154 "acc = cfg.get_device(\"acc\")\n", 154 "acc = cfg.get_device(\"acc\")\n",
155 "time.sleep(0.5)" 155 "time.sleep(0.5)"
156 ], 156 ],
157 "language": "python", 157 "language": "python",
158 "metadata": {}, 158 "metadata": {},
159 "outputs": [ 159 "outputs": [
160 { 160 {
161 "output_type": "stream", 161 "output_type": "stream",
162 "stream": "stderr", 162 "stream": "stderr",
163 "text": [ 163 "text": [
164 "WARNING:pymlab.sensors.iic:HID device does not exist, we will try SMBus directly...\n" 164 "WARNING:pymlab.sensors.iic:HID device does not exist, we will try SMBus directly...\n"
165 ] 165 ]
166 } 166 }
167 ], 167 ],
168 "prompt_number": 9 168 "prompt_number": 9
169 }, 169 },
170 { 170 {
171 "cell_type": "markdown", 171 "cell_type": "markdown",
172 "metadata": {}, 172 "metadata": {},
173 "source": [ 173 "source": [
174 "Nyn\u00ed u\u017e m\u016f\u017eeme p\u0159\u00edmo komunikovat se za\u0159\u00edzen\u00edm pojmenovan\u00fdm jako gauge." 174 "Nyn\u00ed u\u017e m\u016f\u017eeme p\u0159\u00edmo komunikovat se za\u0159\u00edzen\u00edm pojmenovan\u00fdm jako acc."
175 ] 175 ]
176 }, 176 },
177 { 177 {
178 "cell_type": "code", 178 "cell_type": "code",
179 "collapsed": false, 179 "collapsed": false,
180 "input": [ 180 "input": [
181 "MEASUREMENTS = 1000\n", 181 "MEASUREMENTS = 1000\n",
182 "x = np.zeros(MEASUREMENTS)\n", 182 "x = np.zeros(MEASUREMENTS)\n",
183 "y = np.zeros(MEASUREMENTS)\n", 183 "y = np.zeros(MEASUREMENTS)\n",
184 "z = np.zeros(MEASUREMENTS)\n", 184 "z = np.zeros(MEASUREMENTS)\n",
185 "\n", 185 "\n",
186 "for n in range(MEASUREMENTS):\n", -  
187 "# acc.route() V p\u0159\u00edpad\u011b v\u00edce \u010didel je pot\u0159eba ke ka\u017ed\u00e9mu p\u0159ed jeho pou\u017eit\u00edm nechat vyroutovat cesutu na sb\u011brnici.\n", 186 "# acc.route() V p\u0159\u00edpad\u011b v\u00edce \u010didel je pot\u0159eba ke ka\u017ed\u00e9mu p\u0159ed jeho pou\u017eit\u00edm nechat vyroutovat cesutu na sb\u011brnici.\n",
-   187 "\n",
-   188 "for n in range(MEASUREMENTS):\n",
188 " (x[n], y[n], z[n]) = acc.axes()\n", 189 " (x[n], y[n], z[n]) = acc.axes()\n",
189 " print( n, x[n], y[n], z[n])" 190 " print( n, x[n], y[n], z[n])"
190 ], 191 ],
191 "language": "python", 192 "language": "python",
192 "metadata": {}, 193 "metadata": {},
193 "outputs": [ 194 "outputs": [
194 { 195 {
195 "output_type": "stream", 196 "output_type": "stream",
196 "stream": "stdout", 197 "stream": "stdout",
197 "text": [ 198 "text": [
198 "(0, -0.81022499999999997, -0.54599999999999993, -0.26715)\n", 199 "(0, -0.81022499999999997, -0.54599999999999993, -0.26715)\n",
199 "(1, -0.83362499999999995, -0.52162500000000001, -0.26032499999999997)" 200 "(1, -0.83362499999999995, -0.52162500000000001, -0.26032499999999997)"
200 ] 201 ]
201 }, 202 },
202 { 203 {
203 "output_type": "stream", 204 "output_type": "stream",
204 "stream": "stdout", 205 "stream": "stdout",
205 "text": [ 206 "text": [
206 "\n", 207 "\n",
207 "(2, -0.70297500000000002, -0.61327500000000001, -0.39487499999999998)" 208 "(2, -0.70297500000000002, -0.61327500000000001, -0.39487499999999998)"
208 ] 209 ]
209 }, 210 },
210 { 211 {
211 "output_type": "stream", 212 "output_type": "stream",
212 "stream": "stdout", 213 "stream": "stdout",
213 "text": [ 214 "text": [
214 "\n", 215 "\n",
215 "(3, -0.83996249999999995, -0.58694999999999997, -0.35489999999999999)" 216 "(3, -0.83996249999999995, -0.58694999999999997, -0.35489999999999999)"
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217 }, 218 },
218 { 219 {
219 "output_type": "stream", 220 "output_type": "stream",
220 "stream": "stdout", 221 "stream": "stdout",
221 "text": [ 222 "text": [
222 "\n", 223 "\n",
223 "(4, -0.74246249999999991, -0.70199999999999996, -0.33052499999999996)" 224 "(4, -0.74246249999999991, -0.70199999999999996, -0.33052499999999996)"
224 ] 225 ]
225 }, 226 },
226 { 227 {
227 "output_type": "stream", 228 "output_type": "stream",
228 "stream": "stdout", 229 "stream": "stdout",
229 "text": [ 230 "text": [
230 "\n", 231 "\n",
231 "(5, -0.51285000000000003, -0.83947499999999997, -0.30614999999999998)" 232 "(5, -0.51285000000000003, -0.83947499999999997, -0.30614999999999998)"
232 ] 233 ]
233 }, 234 },
234 { 235 {
235 "output_type": "stream", 236 "output_type": "stream",
236 "stream": "stdout", 237 "stream": "stdout",
237 "text": [ 238 "text": [
238 "\n", 239 "\n",
239 "(6, -0.058987499999999998, -0.95647499999999996, -0.14235)" 240 "(6, -0.058987499999999998, -0.95647499999999996, -0.14235)"
240 ] 241 ]
241 }, 242 },
242 { 243 {
243 "output_type": "stream", 244 "output_type": "stream",
244 "stream": "stdout", 245 "stream": "stdout",
245 "text": [ 246 "text": [
246 "\n", 247 "\n",
247 "(7, 0.25447500000000001, -0.84142499999999998, 0.011699999999999999)" 248 "(7, 0.25447500000000001, -0.84142499999999998, 0.011699999999999999)"
248 ] 249 ]
249 }, 250 },
250 { 251 {
251 "output_type": "stream", 252 "output_type": "stream",
252 "stream": "stdout", 253 "stream": "stdout",
253 "text": [ 254 "text": [
254 "\n", 255 "\n",
255 "(8, 0.70199999999999996, -0.64203749999999993, -0.071175000000000002)" 256 "(8, 0.70199999999999996, -0.64203749999999993, -0.071175000000000002)"
256 ] 257 ]
257 }, 258 },
258 { 259 {
259 "output_type": "stream", 260 "output_type": "stream",
260 "stream": "stdout", 261 "stream": "stdout",
261 "text": [ 262 "text": [
262 "\n", 263 "\n",
263 "(9, 0.90284999999999993, -0.16965, -0.047774999999999998)" 264 "(9, 0.90284999999999993, -0.16965, -0.047774999999999998)"
264 ] 265 ]
265 }, 266 },
266 { 267 {
267 "output_type": "stream", 268 "output_type": "stream",
268 "stream": "stdout", 269 "stream": "stdout",
269 "text": [ 270 "text": [
270 "\n", 271 "\n",
271 "(10, 1.0125374999999999, 0.084824999999999998, -0.14624999999999999)" 272 "(10, 1.0125374999999999, 0.084824999999999998, -0.14624999999999999)"
272 ] 273 ]
273 }, 274 },
274 { 275 {
275 "output_type": "stream", 276 "output_type": "stream",
276 "stream": "stdout", 277 "stream": "stdout",
277 "text": [ 278 "text": [
278 "\n", 279 "\n",
279 "(11, 0.92917499999999997, 0.244725, -0.1028625)" 280 "(11, 0.92917499999999997, 0.244725, -0.1028625)"
280 ] 281 ]
281 }, 282 },
282 { 283 {
283 "output_type": "stream", 284 "output_type": "stream",
284 "stream": "stdout", 285 "stream": "stdout",
285 "text": [ 286 "text": [
286 "\n", 287 "\n",
287 "(12, 0.80291249999999992, 0.59670000000000001, -0.44264999999999999)" 288 "(12, 0.80291249999999992, 0.59670000000000001, -0.44264999999999999)"
288 ] 289 ]
289 }, 290 },
290 { 291 {
291 "output_type": "stream", 292 "output_type": "stream",
292 "stream": "stdout", 293 "stream": "stdout",
293 "text": [ 294 "text": [
294 "\n", 295 "\n",
295 "(13, 0.57329999999999992, 0.77171249999999991, -0.4914)" 296 "(13, 0.57329999999999992, 0.77171249999999991, -0.4914)"
296 ] 297 ]
297 }, 298 },
298 { 299 {
299 "output_type": "stream", 300 "output_type": "stream",
300 "stream": "stdout", 301 "stream": "stdout",
301 "text": [ 302 "text": [
302 "\n", 303 "\n",
303 "(14, 0.35197499999999998, 0.84532499999999999, -0.48067499999999996)" 304 "(14, 0.35197499999999998, 0.84532499999999999, -0.48067499999999996)"
304 ] 305 ]
305 }, 306 },
306 { 307 {
307 "output_type": "stream", 308 "output_type": "stream",
308 "stream": "stdout", 309 "stream": "stdout",
309 "text": [ 310 "text": [
310 "\n", 311 "\n",
311 "(15, 0.10237499999999999, 0.92527499999999996, -0.40121249999999997)" 312 "(15, 0.10237499999999999, 0.92527499999999996, -0.40121249999999997)"
312 ] 313 ]
313 }, 314 },
314 { 315 {
315 "output_type": "stream", 316 "output_type": "stream",
316 "stream": "stdout", 317 "stream": "stdout",
317 "text": [ 318 "text": [
318 "\n", 319 "\n",
319 "(16, -0.086774999999999991, 0.90479999999999994, -0.312975)" 320 "(16, -0.086774999999999991, 0.90479999999999994, -0.312975)"
320 ] 321 ]
321 }, 322 },
322 { 323 {
323 "output_type": "stream", 324 "output_type": "stream",
324 "stream": "stdout", 325 "stream": "stdout",
325 "text": [ 326 "text": [
326 "\n", 327 "\n",
327 "(17, -0.47872499999999996, 0.81461249999999996, -0.27689999999999998)" 328 "(17, -0.47872499999999996, 0.81461249999999996, -0.27689999999999998)"
328 ] 329 ]
329 }, 330 },
330 { 331 {
331 "output_type": "stream", 332 "output_type": "stream",
332 "stream": "stdout", 333 "stream": "stdout",
333 "text": [ 334 "text": [
334 "\n", 335 "\n",
335 "(18, -0.77999999999999992, 0.53722499999999995, -0.31004999999999999)" 336 "(18, -0.77999999999999992, 0.53722499999999995, -0.31004999999999999)"
336 ] 337 ]
337 }, 338 },
338 { 339 {
339 "output_type": "stream", 340 "output_type": "stream",
340 "stream": "stdout", 341 "stream": "stdout",
341 "text": [ 342 "text": [
342 "\n", 343 "\n",
343 "(19, -0.90674999999999994, 0.085800000000000001, -0.17354999999999998)" 344 "(19, -0.90674999999999994, 0.085800000000000001, -0.17354999999999998)"
344 ] 345 ]
345 }, 346 },
346 { 347 {
347 "output_type": "stream", 348 "output_type": "stream",
348 "stream": "stdout", 349 "stream": "stdout",
349 "text": [ 350 "text": [
350 "\n", 351 "\n",
351 "(20, -0.98377499999999996, -0.36854999999999999, -0.24862499999999998)" 352 "(20, -0.98377499999999996, -0.36854999999999999, -0.24862499999999998)"
352 ] 353 ]
353 }, 354 },
354 { 355 {
355 "output_type": "stream", 356 "output_type": "stream",
356 "stream": "stdout", 357 "stream": "stdout",
357 "text": [ 358 "text": [
358 "\n", 359 "\n",
359 "(21, -0.83460000000000001, -0.638625, -0.2457)" 360 "(21, -0.83460000000000001, -0.638625, -0.2457)"
360 ] 361 ]
361 }, 362 },
362 { 363 {
363 "output_type": "stream", 364 "output_type": "stream",
364 "stream": "stdout", 365 "stream": "stdout",
365 "text": [ 366 "text": [
366 "\n", 367 "\n",
367 "(22, -0.55379999999999996, -0.81363750000000001, -0.2145)" 368 "(22, -0.55379999999999996, -0.81363750000000001, -0.2145)"
368 ] 369 ]
369 }, 370 },
370 { 371 {
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3325 "text": [ 3326 "text": [
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3406 "\n", 3407 "\n",
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3425 }, 3426 },
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3429 "text": [ 3430 "text": [
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3431 "(405, 0.85409999999999997, -0.74977499999999997, 0.31004999999999999)" 3432 "(405, 0.85409999999999997, -0.74977499999999997, 0.31004999999999999)"
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3434 { 3435 {
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3437 "text": [ 3438 "text": [
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3440 ] 3441 ]
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3442 { 3443 {
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3448 ] 3449 ]
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3450 { 3451 {
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3456 ] 3457 ]
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3458 { 3459 {
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3463 "(409, -0.40706249999999999, -0.164775, 0.93599999999999994)" 3464 "(409, -0.40706249999999999, -0.164775, 0.93599999999999994)"
3464 ] 3465 ]
3465 }, 3466 },
3466 { 3467 {
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3470 "\n", 3471 "\n",
3471 "(410, 0.52162500000000001, 0.073124999999999996, 0.62985000000000002)" 3472 "(410, 0.52162500000000001, 0.073124999999999996, 0.62985000000000002)"
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3809 }, 3810 },
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3825 }, 3826 },
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3834 { 3835 {
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3858 { 3859 {
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3865 }, 3866 },
3866 { 3867 {
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3889 }, 3890 },
3890 { 3891 {
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3898 { 3899 {
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6760 ] 6761 ]
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6810 { 6811 {
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6826 { 6827 {
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6834 { 6835 {
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6842 { 6843 {
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6858 { 6859 {
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6866 { 6867 {
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6874 { 6875 {
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6882 { 6883 {
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6889 }, 6890 },
6890 { 6891 {
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6898 { 6899 {
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6906 { 6907 {
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6914 { 6915 {
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6920 ] 6921 ]
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6922 { 6923 {
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6928 ] 6929 ]
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6930 { 6931 {
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6938 { 6939 {
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7746 { 7747 {
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7794 { 7795 {
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7806 "\n", 7807 "\n",
7807 "(952, 0.88286249999999999, -0.29152499999999998, -0.33149999999999996)" 7808 "(952, 0.88286249999999999, -0.29152499999999998, -0.33149999999999996)"
7808 ] 7809 ]
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7810 { 7811 {
7811 "output_type": "stream", 7812 "output_type": "stream",
7812 "stream": "stdout", 7813 "stream": "stdout",
7813 "text": [ 7814 "text": [
7814 "\n", 7815 "\n",
7815 "(953, 0.96524999999999994, -0.34612499999999996, -0.62009999999999998)" 7816 "(953, 0.96524999999999994, -0.34612499999999996, -0.62009999999999998)"
7816 ] 7817 ]
7817 }, 7818 },
7818 { 7819 {
7819 "output_type": "stream", 7820 "output_type": "stream",
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7821 "text": [ 7822 "text": [
7822 "\n", 7823 "\n",
7823 "(954, 0.61912499999999993, -0.40413749999999998, -0.788775)" 7824 "(954, 0.61912499999999993, -0.40413749999999998, -0.788775)"
7824 ] 7825 ]
7825 }, 7826 },
7826 { 7827 {
7827 "output_type": "stream", 7828 "output_type": "stream",
7828 "stream": "stdout", 7829 "stream": "stdout",
7829 "text": [ 7830 "text": [
7830 "\n", 7831 "\n",
7831 "(955, 0.50700000000000001, -0.199875, -0.91259999999999997)" 7832 "(955, 0.50700000000000001, -0.199875, -0.91259999999999997)"
7832 ] 7833 ]
7833 }, 7834 },
7834 { 7835 {
7835 "output_type": "stream", 7836 "output_type": "stream",
7836 "stream": "stdout", 7837 "stream": "stdout",
7837 "text": [ 7838 "text": [
7838 "\n", 7839 "\n",
7839 "(956, 0.56988749999999999, -0.31492500000000001, -0.94672499999999993)" 7840 "(956, 0.56988749999999999, -0.31492500000000001, -0.94672499999999993)"
7840 ] 7841 ]
7841 }, 7842 },
7842 { 7843 {
7843 "output_type": "stream", 7844 "output_type": "stream",
7844 "stream": "stdout", 7845 "stream": "stdout",
7845 "text": [ 7846 "text": [
7846 "\n", 7847 "\n",
7847 "(957, 0.04095, -0.77707499999999996, -0.490425)" 7848 "(957, 0.04095, -0.77707499999999996, -0.490425)"
7848 ] 7849 ]
7849 }, 7850 },
7850 { 7851 {
7851 "output_type": "stream", 7852 "output_type": "stream",
7852 "stream": "stdout", 7853 "stream": "stdout",
7853 "text": [ 7854 "text": [
7854 "\n", 7855 "\n",
7855 "(958, -0.51285000000000003, -0.76732499999999992, 0.49383749999999998)" 7856 "(958, -0.51285000000000003, -0.76732499999999992, 0.49383749999999998)"
7856 ] 7857 ]
7857 }, 7858 },
7858 { 7859 {
7859 "output_type": "stream", 7860 "output_type": "stream",
7860 "stream": "stdout", 7861 "stream": "stdout",
7861 "text": [ 7862 "text": [
7862 "\n", 7863 "\n",
7863 "(959, -0.34076249999999997, -0.53186250000000002, 0.81168750000000001)" 7864 "(959, -0.34076249999999997, -0.53186250000000002, 0.81168750000000001)"
7864 ] 7865 ]
7865 }, 7866 },
7866 { 7867 {
7867 "output_type": "stream", 7868 "output_type": "stream",
7868 "stream": "stdout", 7869 "stream": "stdout",
7869 "text": [ 7870 "text": [
7870 "\n", 7871 "\n",
7871 "(960, -0.015599999999999999, -0.40413749999999998, 0.85507499999999992)" 7872 "(960, -0.015599999999999999, -0.40413749999999998, 0.85507499999999992)"
7872 ] 7873 ]
7873 }, 7874 },
7874 { 7875 {
7875 "output_type": "stream", 7876 "output_type": "stream",
7876 "stream": "stdout", 7877 "stream": "stdout",
7877 "text": [ 7878 "text": [
7878 "\n", 7879 "\n",
7879 "(961, 0.063375000000000001, -0.54015000000000002, 0.76342500000000002)" 7880 "(961, 0.063375000000000001, -0.54015000000000002, 0.76342500000000002)"
7880 ] 7881 ]
7881 }, 7882 },
7882 { 7883 {
7883 "output_type": "stream", 7884 "output_type": "stream",
7884 "stream": "stdout", 7885 "stream": "stdout",
7885 "text": [ 7886 "text": [
7886 "\n", 7887 "\n",
7887 "(962, 0.6552, -0.48457499999999998, 0.42802499999999999)" 7888 "(962, 0.6552, -0.48457499999999998, 0.42802499999999999)"
7888 ] 7889 ]
7889 }, 7890 },
7890 { 7891 {
7891 "output_type": "stream", 7892 "output_type": "stream",
7892 "stream": "stdout", 7893 "stream": "stdout",
7893 "text": [ 7894 "text": [
7894 "\n", 7895 "\n",
7895 "(963, 1.0105875, -0.033149999999999999, 0.66689999999999994)" 7896 "(963, 1.0105875, -0.033149999999999999, 0.66689999999999994)"
7896 ] 7897 ]
7897 }, 7898 },
7898 { 7899 {
7899 "output_type": "stream", 7900 "output_type": "stream",
7900 "stream": "stdout", 7901 "stream": "stdout",
7901 "text": [ 7902 "text": [
7902 "\n", 7903 "\n",
7903 "(964, 0.41291249999999996, -0.48749999999999999, 0.64642499999999992)" 7904 "(964, 0.41291249999999996, -0.48749999999999999, 0.64642499999999992)"
7904 ] 7905 ]
7905 }, 7906 },
7906 { 7907 {
7907 "output_type": "stream", 7908 "output_type": "stream",
7908 "stream": "stdout", 7909 "stream": "stdout",
7909 "text": [ 7910 "text": [
7910 "\n", 7911 "\n",
7911 "(965, -0.72052499999999997, -0.61424999999999996, 0.11115)" 7912 "(965, -0.72052499999999997, -0.61424999999999996, 0.11115)"
7912 ] 7913 ]
7913 }, 7914 },
7914 { 7915 {
7915 "output_type": "stream", 7916 "output_type": "stream",
7916 "stream": "stdout", 7917 "stream": "stdout",
7917 "text": [ 7918 "text": [
7918 "\n", 7919 "\n",
7919 "(966, -0.53527499999999995, -0.48652499999999999, -0.93599999999999994)" 7920 "(966, -0.53527499999999995, -0.48652499999999999, -0.93599999999999994)"
7920 ] 7921 ]
7921 }, 7922 },
7922 { 7923 {
7923 "output_type": "stream", 7924 "output_type": "stream",
7924 "stream": "stdout", 7925 "stream": "stdout",
7925 "text": [ 7926 "text": [
7926 "\n", 7927 "\n",
7927 "(967, -0.12089999999999999, 0.30712499999999998, -0.93892500000000001)" 7928 "(967, -0.12089999999999999, 0.30712499999999998, -0.93892500000000001)"
7928 ] 7929 ]
7929 }, 7930 },
7930 { 7931 {
7931 "output_type": "stream", 7932 "output_type": "stream",
7932 "stream": "stdout", 7933 "stream": "stdout",
7933 "text": [ 7934 "text": [
7934 "\n", 7935 "\n",
7935 "(968, -0.82874999999999999, -0.26227499999999998, -0.43290000000000001)" 7936 "(968, -0.82874999999999999, -0.26227499999999998, -0.43290000000000001)"
7936 ] 7937 ]
7937 }, 7938 },
7938 { 7939 {
7939 "output_type": "stream", 7940 "output_type": "stream",
7940 "stream": "stdout", 7941 "stream": "stdout",
7941 "text": [ 7942 "text": [
7942 "\n", 7943 "\n",
7943 "(969, -0.66592499999999999, -0.45142499999999997, 0.87067499999999998)" 7944 "(969, -0.66592499999999999, -0.45142499999999997, 0.87067499999999998)"
7944 ] 7945 ]
7945 }, 7946 },
7946 { 7947 {
7947 "output_type": "stream", 7948 "output_type": "stream",
7948 "stream": "stdout", 7949 "stream": "stdout",
7949 "text": [ 7950 "text": [
7950 "\n", 7951 "\n",
7951 "(970, 0.223275, 0.23497499999999999, 0.52844999999999998)" 7952 "(970, 0.223275, 0.23497499999999999, 0.52844999999999998)"
7952 ] 7953 ]
7953 }, 7954 },
7954 { 7955 {
7955 "output_type": "stream", 7956 "output_type": "stream",
7956 "stream": "stdout", 7957 "stream": "stdout",
7957 "text": [ 7958 "text": [
7958 "\n", 7959 "\n",
7959 "(971, 0.51285000000000003, 0.60060000000000002, 0.45044999999999996)" 7960 "(971, 0.51285000000000003, 0.60060000000000002, 0.45044999999999996)"
7960 ] 7961 ]
7961 }, 7962 },
7962 { 7963 {
7963 "output_type": "stream", 7964 "output_type": "stream",
7964 "stream": "stdout", 7965 "stream": "stdout",
7965 "text": [ 7966 "text": [
7966 "\n", 7967 "\n",
7967 "(972, 0.57817499999999999, 0.82972499999999993, -0.156975)" 7968 "(972, 0.57817499999999999, 0.82972499999999993, -0.156975)"
7968 ] 7969 ]
7969 }, 7970 },
7970 { 7971 {
7971 "output_type": "stream", 7972 "output_type": "stream",
7972 "stream": "stdout", 7973 "stream": "stdout",
7973 "text": [ 7974 "text": [
7974 "\n", 7975 "\n",
7975 "(973, 0.72344999999999993, 0.19548749999999998, -0.65227499999999994)" 7976 "(973, 0.72344999999999993, 0.19548749999999998, -0.65227499999999994)"
7976 ] 7977 ]
7977 }, 7978 },
7978 { 7979 {
7979 "output_type": "stream", 7980 "output_type": "stream",
7980 "stream": "stdout", 7981 "stream": "stdout",
7981 "text": [ 7982 "text": [
7982 "\n", 7983 "\n",
7983 "(974, 0.55964999999999998, -0.8931, -0.48993749999999997)" 7984 "(974, 0.55964999999999998, -0.8931, -0.48993749999999997)"
7984 ] 7985 ]
7985 }, 7986 },
7986 { 7987 {
7987 "output_type": "stream", 7988 "output_type": "stream",
7988 "stream": "stdout", 7989 "stream": "stdout",
7989 "text": [ 7990 "text": [
7990 "\n", 7991 "\n",
7991 "(975, -0.1716, -0.89894999999999992, -0.34514999999999996)" 7992 "(975, -0.1716, -0.89894999999999992, -0.34514999999999996)"
7992 ] 7993 ]
7993 }, 7994 },
7994 { 7995 {
7995 "output_type": "stream", 7996 "output_type": "stream",
7996 "stream": "stdout", 7997 "stream": "stdout",
7997 "text": [ 7998 "text": [
7998 "\n", 7999 "\n",
7999 "(976, -0.2374125, -0.82484999999999997, -0.58109999999999995)" 8000 "(976, -0.2374125, -0.82484999999999997, -0.58109999999999995)"
8000 ] 8001 ]
8001 }, 8002 },
8002 { 8003 {
8003 "output_type": "stream", 8004 "output_type": "stream",
8004 "stream": "stdout", 8005 "stream": "stdout",
8005 "text": [ 8006 "text": [
8006 "\n", 8007 "\n",
8007 "(977, 0.1106625, -0.8097375, -0.62692499999999995)" 8008 "(977, 0.1106625, -0.8097375, -0.62692499999999995)"
8008 ] 8009 ]
8009 }, 8010 },
8010 { 8011 {
8011 "output_type": "stream", 8012 "output_type": "stream",
8012 "stream": "stdout", 8013 "stream": "stdout",
8013 "text": [ 8014 "text": [
8014 "\n", 8015 "\n",
8015 "(978, 0.55184999999999995, -0.68932499999999997, 0.080924999999999997)" 8016 "(978, 0.55184999999999995, -0.68932499999999997, 0.080924999999999997)"
8016 ] 8017 ]
8017 }, 8018 },
8018 { 8019 {
8019 "output_type": "stream", 8020 "output_type": "stream",
8020 "stream": "stdout", 8021 "stream": "stdout",
8021 "text": [ 8022 "text": [
8022 "\n", 8023 "\n",
8023 "(979, 0.57524999999999993, -0.13552500000000001, 1.005225)" 8024 "(979, 0.57524999999999993, -0.13552500000000001, 1.005225)"
8024 ] 8025 ]
8025 }, 8026 },
8026 { 8027 {
8027 "output_type": "stream", 8028 "output_type": "stream",
8028 "stream": "stdout", 8029 "stream": "stdout",
8029 "text": [ 8030 "text": [
8030 "\n", 8031 "\n",
8031 "(980, -0.229125, 0.19792499999999999, 0.91942499999999994)" 8032 "(980, -0.229125, 0.19792499999999999, 0.91942499999999994)"
8032 ] 8033 ]
8033 }, 8034 },
8034 { 8035 {
8035 "output_type": "stream", 8036 "output_type": "stream",
8036 "stream": "stdout", 8037 "stream": "stdout",
8037 "text": [ 8038 "text": [
8038 "\n", 8039 "\n",
8039 "(981, -0.59962499999999996, -0.17745, 0.17745)" 8040 "(981, -0.59962499999999996, -0.17745, 0.17745)"
8040 ] 8041 ]
8041 }, 8042 },
8042 { 8043 {
8043 "output_type": "stream", 8044 "output_type": "stream",
8044 "stream": "stdout", 8045 "stream": "stdout",
8045 "text": [ 8046 "text": [
8046 "\n", 8047 "\n",
8047 "(982, -0.64837499999999992, -0.57719999999999994, -0.82289999999999996)" 8048 "(982, -0.64837499999999992, -0.57719999999999994, -0.82289999999999996)"
8048 ] 8049 ]
8049 }, 8050 },
8050 { 8051 {
8051 "output_type": "stream", 8052 "output_type": "stream",
8052 "stream": "stdout", 8053 "stream": "stdout",
8053 "text": [ 8054 "text": [
8054 "\n", 8055 "\n",
8055 "(983, -0.014624999999999999, 0.034124999999999996, -1.1124749999999999)" 8056 "(983, -0.014624999999999999, 0.034124999999999996, -1.1124749999999999)"
8056 ] 8057 ]
8057 }, 8058 },
8058 { 8059 {
8059 "output_type": "stream", 8060 "output_type": "stream",
8060 "stream": "stdout", 8061 "stream": "stdout",
8061 "text": [ 8062 "text": [
8062 "\n", 8063 "\n",
8063 "(984, -0.52844999999999998, 0.07897499999999999, -0.57427499999999998)" 8064 "(984, -0.52844999999999998, 0.07897499999999999, -0.57427499999999998)"
8064 ] 8065 ]
8065 }, 8066 },
8066 { 8067 {
8067 "output_type": "stream", 8068 "output_type": "stream",
8068 "stream": "stdout", 8069 "stream": "stdout",
8069 "text": [ 8070 "text": [
8070 "\n", 8071 "\n",
8071 "(985, -0.61473749999999994, -0.72052499999999997, 0.37927499999999997)" 8072 "(985, -0.61473749999999994, -0.72052499999999997, 0.37927499999999997)"
8072 ] 8073 ]
8073 }, 8074 },
8074 { 8075 {
8075 "output_type": "stream", 8076 "output_type": "stream",
8076 "stream": "stdout", 8077 "stream": "stdout",
8077 "text": [ 8078 "text": [
8078 "\n", 8079 "\n",
8079 "(986, -0.38317499999999999, -0.096525, 0.99352499999999999)" 8080 "(986, -0.38317499999999999, -0.096525, 0.99352499999999999)"
8080 ] 8081 ]
8081 }, 8082 },
8082 { 8083 {
8083 "output_type": "stream", 8084 "output_type": "stream",
8084 "stream": "stdout", 8085 "stream": "stdout",
8085 "text": [ 8086 "text": [
8086 "\n", 8087 "\n",
8087 "(987, 0.2457, 0.55672500000000003, 0.59670000000000001)" 8088 "(987, 0.2457, 0.55672500000000003, 0.59670000000000001)"
8088 ] 8089 ]
8089 }, 8090 },
8090 { 8091 {
8091 "output_type": "stream", 8092 "output_type": "stream",
8092 "stream": "stdout", 8093 "stream": "stdout",
8093 "text": [ 8094 "text": [
8094 "\n", 8095 "\n",
8095 "(988, 0.3495375, 0.90041249999999995, 0.26422499999999999)" 8096 "(988, 0.3495375, 0.90041249999999995, 0.26422499999999999)"
8096 ] 8097 ]
8097 }, 8098 },
8098 { 8099 {
8099 "output_type": "stream", 8100 "output_type": "stream",
8100 "stream": "stdout", 8101 "stream": "stdout",
8101 "text": [ 8102 "text": [
8102 "\n", 8103 "\n",
8103 "(989, 0.069224999999999995, 1.0203374999999999, 0.22132499999999999)" 8104 "(989, 0.069224999999999995, 1.0203374999999999, 0.22132499999999999)"
8104 ] 8105 ]
8105 }, 8106 },
8106 { 8107 {
8107 "output_type": "stream", 8108 "output_type": "stream",
8108 "stream": "stdout", 8109 "stream": "stdout",
8109 "text": [ 8110 "text": [
8110 "\n", 8111 "\n",
8111 "(990, -0.4080375, 0.86628749999999999, 0.114075)" 8112 "(990, -0.4080375, 0.86628749999999999, 0.114075)"
8112 ] 8113 ]
8113 }, 8114 },
8114 { 8115 {
8115 "output_type": "stream", 8116 "output_type": "stream",
8116 "stream": "stdout", 8117 "stream": "stdout",
8117 "text": [ 8118 "text": [
8118 "\n", 8119 "\n",
8119 "(991, -0.85117500000000001, 0.43338749999999998, 0.024374999999999997)" 8120 "(991, -0.85117500000000001, 0.43338749999999998, 0.024374999999999997)"
8120 ] 8121 ]
8121 }, 8122 },
8122 { 8123 {
8123 "output_type": "stream", 8124 "output_type": "stream",
8124 "stream": "stdout", 8125 "stream": "stdout",
8125 "text": [ 8126 "text": [
8126 "\n", 8127 "\n",
8127 "(992, -0.85507499999999992, -0.64544999999999997, -0.50017499999999993)" 8128 "(992, -0.85507499999999992, -0.64544999999999997, -0.50017499999999993)"
8128 ] 8129 ]
8129 }, 8130 },
8130 { 8131 {
8131 "output_type": "stream", 8132 "output_type": "stream",
8132 "stream": "stdout", 8133 "stream": "stdout",
8133 "text": [ 8134 "text": [
8134 "\n", 8135 "\n",
8135 "(993, -0.29152499999999998, -0.45922499999999999, -0.99449999999999994)" 8136 "(993, -0.29152499999999998, -0.45922499999999999, -0.99449999999999994)"
8136 ] 8137 ]
8137 }, 8138 },
8138 { 8139 {
8139 "output_type": "stream", 8140 "output_type": "stream",
8140 "stream": "stdout", 8141 "stream": "stdout",
8141 "text": [ 8142 "text": [
8142 "\n", 8143 "\n",
8143 "(994, -0.18427499999999999, 0.48359999999999997, -0.89212499999999995)" 8144 "(994, -0.18427499999999999, 0.48359999999999997, -0.89212499999999995)"
8144 ] 8145 ]
8145 }, 8146 },
8146 { 8147 {
8147 "output_type": "stream", 8148 "output_type": "stream",
8148 "stream": "stdout", 8149 "stream": "stdout",
8149 "text": [ 8150 "text": [
8150 "\n", 8151 "\n",
8151 "(995, -0.19597499999999998, 0.47921249999999999, -0.93599999999999994)" 8152 "(995, -0.19597499999999998, 0.47921249999999999, -0.93599999999999994)"
8152 ] 8153 ]
8153 }, 8154 },
8154 { 8155 {
8155 "output_type": "stream", 8156 "output_type": "stream",
8156 "stream": "stdout", 8157 "stream": "stdout",
8157 "text": [ 8158 "text": [
8158 "\n", 8159 "\n",
8159 "(996, -0.36367499999999997, 0.67079999999999995, -0.66251249999999995)" 8160 "(996, -0.36367499999999997, 0.67079999999999995, -0.66251249999999995)"
8160 ] 8161 ]
8161 }, 8162 },
8162 { 8163 {
8163 "output_type": "stream", 8164 "output_type": "stream",
8164 "stream": "stdout", 8165 "stream": "stdout",
8165 "text": [ 8166 "text": [
8166 "\n", 8167 "\n",
8167 "(997, -0.28079999999999999, 0.86872499999999997, 0.03705)" 8168 "(997, -0.28079999999999999, 0.86872499999999997, 0.03705)"
8168 ] 8169 ]
8169 }, 8170 },
8170 { 8171 {
8171 "output_type": "stream", 8172 "output_type": "stream",
8172 "stream": "stdout", 8173 "stream": "stdout",
8173 "text": [ 8174 "text": [
8174 "\n", 8175 "\n",
8175 "(998, -0.40365000000000001, 0.81119999999999992, 0.33296249999999999)" 8176 "(998, -0.40365000000000001, 0.81119999999999992, 0.33296249999999999)"
8176 ] 8177 ]
8177 }, 8178 },
8178 { 8179 {
8179 "output_type": "stream", 8180 "output_type": "stream",
8180 "stream": "stdout", 8181 "stream": "stdout",
8181 "text": [ 8182 "text": [
8182 "\n", 8183 "\n",
8183 "(999, -0.51528750000000001, 0.53039999999999998, 0.71662499999999996)" 8184 "(999, -0.51528750000000001, 0.53039999999999998, 0.71662499999999996)"
8184 ] 8185 ]
8185 }, 8186 },
8186 { 8187 {
8187 "output_type": "stream", 8188 "output_type": "stream",
8188 "stream": "stdout", 8189 "stream": "stdout",
8189 "text": [ 8190 "text": [
8190 "\n" 8191 "\n"
8191 ] 8192 ]
8192 } 8193 }
8193 ], 8194 ],
8194 "prompt_number": 72 8195 "prompt_number": 72
8195 }, 8196 },
8196 { 8197 {
8197 "cell_type": "code", 8198 "cell_type": "code",
8198 "collapsed": false, 8199 "collapsed": false,
8199 "input": [ 8200 "input": [
8200 "np.savez(\"calibration_data_set\", x=x, y=y, z=z)" 8201 "np.savez(\"calibration_data_set\", x=x, y=y, z=z)"
8201 ], 8202 ],
8202 "language": "python", 8203 "language": "python",
8203 "metadata": {}, 8204 "metadata": {},
8204 "outputs": [], 8205 "outputs": [],
8205 "prompt_number": 73 8206 "prompt_number": 73
8206 }, 8207 },
8207 { 8208 {
8208 "cell_type": "code", 8209 "cell_type": "markdown",
8209 "collapsed": false, -  
8210 "input": [ -  
8211 "from mpl_toolkits.mplot3d.axes3d import Axes3D" -  
8212 ], -  
8213 "language": "python", -  
8214 "metadata": {}, 8210 "metadata": {},
8215 "outputs": [], 8211 "source": [
-   8212 "Nam\u011b\u0159en\u00e1 data m\u016f\u017eeme tak\u00e9 z\u00edskat z p\u0159edem ulo\u017een\u00e9ho souboru. V n\u00e1sleduj\u00edc\u00edm bloku je otev\u0159en soubor s referen\u010dn\u00edmi daty. "
8216 "prompt_number": 53 8213 ]
8217 }, 8214 },
8218 { 8215 {
8219 "cell_type": "code", 8216 "cell_type": "code",
8220 "collapsed": false, 8217 "collapsed": false,
8221 "input": [ 8218 "input": [
8222 "data = np.load('./calibration_data_set.npz')\n", 8219 "data = np.load('./calibration_data_set.npz')\n",
8223 "x=data['x']\n", 8220 "x=data['x']\n",
8224 "y=data['y']\n", 8221 "y=data['y']\n",
8225 "z=data['z']" 8222 "z=data['z']"
8226 ], 8223 ],
8227 "language": "python", 8224 "language": "python",
8228 "metadata": {}, 8225 "metadata": {},
8229 "outputs": [], 8226 "outputs": [],
8230 "prompt_number": 74 8227 "prompt_number": 1
8231 }, 8228 },
8232 { 8229 {
8233 "cell_type": "code", 8230 "cell_type": "code",
8234 "collapsed": false, 8231 "collapsed": false,
8235 "input": [ 8232 "input": [
-   8233 "from mpl_toolkits.mplot3d.axes3d import Axes3D\n",
8236 "%pylab qt\n", 8234 "%pylab qt\n",
8237 "#%pylab inline\n", 8235 "#%pylab inline\n",
8238 "#x, y, z) = np.load('./calibration_data_set.npz')\n", -  
8239 "fig = plt.figure()\n", 8236 "fig = plt.figure()\n",
8240 "ax = Axes3D(fig)\n", 8237 "ax = Axes3D(fig)\n",
8241 "p = ax.scatter(x, y, z)\n", 8238 "p = ax.scatter(x, y, z)\n",
8242 "#pyplot.show()\n" 8239 "#pyplot.show()\n"
8243 ], 8240 ],
8244 "language": "python", 8241 "language": "python",
8245 "metadata": {}, 8242 "metadata": {},
8246 "outputs": [ 8243 "outputs": [
8247 { 8244 {
8248 "output_type": "stream", 8245 "output_type": "stream",
8249 "stream": "stdout", 8246 "stream": "stdout",
8250 "text": [ 8247 "text": [
8251 "Populating the interactive namespace from numpy and matplotlib\n" 8248 "Populating the interactive namespace from numpy and matplotlib\n"
8252 ] 8249 ]
8253 } 8250 }
8254 ], 8251 ],
8255 "prompt_number": 76 8252 "prompt_number": 3
8256 }, 8253 },
8257 { 8254 {
8258 "cell_type": "code", 8255 "cell_type": "code",
8259 "collapsed": false, 8256 "collapsed": false,
8260 "input": [ 8257 "input": [
8261 "amin(p)" 8258 "amin(p)"
8262 ], 8259 ],
8263 "language": "python", 8260 "language": "python",
8264 "metadata": {}, 8261 "metadata": {},
8265 "outputs": [ 8262 "outputs": [
8266 { 8263 {
8267 "metadata": {}, 8264 "metadata": {},
8268 "output_type": "pyout", 8265 "output_type": "pyout",
8269 "prompt_number": 7, 8266 "prompt_number": 7,
8270 "text": [ 8267 "text": [
8271 "96972.25" 8268 "96972.25"
8272 ] 8269 ]
8273 } 8270 }
8274 ], 8271 ],
8275 "prompt_number": 7 8272 "prompt_number": 7
8276 }, 8273 },
8277 { 8274 {
8278 "cell_type": "code", 8275 "cell_type": "code",
8279 "collapsed": false, 8276 "collapsed": false,
8280 "input": [ 8277 "input": [
8281 "amax(p)" 8278 "amax(p)"
8282 ], 8279 ],
8283 "language": "python", 8280 "language": "python",
8284 "metadata": {}, 8281 "metadata": {},
8285 "outputs": [ 8282 "outputs": [
8286 { 8283 {
8287 "metadata": {}, 8284 "metadata": {},
8288 "output_type": "pyout", 8285 "output_type": "pyout",
8289 "prompt_number": 8, 8286 "prompt_number": 8,
8290 "text": [ 8287 "text": [
8291 "96838.75" 8288 "96838.75"
8292 ] 8289 ]
8293 } 8290 }
8294 ], 8291 ],
8295 "prompt_number": 8 8292 "prompt_number": 8
8296 }, 8293 },
8297 { 8294 {
8298 "cell_type": "code", 8295 "cell_type": "code",
8299 "collapsed": false, 8296 "collapsed": false,
8300 "input": [ 8297 "input": [
8301 "std(p)" 8298 "std(p)"
8302 ], 8299 ],
8303 "language": "python", 8300 "language": "python",
8304 "metadata": {}, 8301 "metadata": {},
8305 "outputs": [ 8302 "outputs": [
8306 { 8303 {
8307 "metadata": {}, 8304 "metadata": {},
8308 "output_type": "pyout", 8305 "output_type": "pyout",
8309 "prompt_number": 9, 8306 "prompt_number": 9,
8310 "text": [ 8307 "text": [
8311 "2.3585270827361722" 8308 "2.3585270827361722"
8312 ] 8309 ]
8313 } 8310 }
8314 ], 8311 ],
8315 "prompt_number": 9 8312 "prompt_number": 9
8316 }, 8313 },
8317 { 8314 {
8318 "cell_type": "code", 8315 "cell_type": "code",
8319 "collapsed": false, 8316 "collapsed": false,
8320 "input": [ 8317 "input": [
8321 "plt.plot(p)" 8318 "plt.plot(p)"
8322 ], 8319 ],
8323 "language": "python", 8320 "language": "python",
8324 "metadata": {}, 8321 "metadata": {},
8325 "outputs": [ 8322 "outputs": [
8326 { 8323 {
8327 "metadata": {}, 8324 "metadata": {},
8328 "output_type": "pyout", 8325 "output_type": "pyout",
8329 "prompt_number": 9, 8326 "prompt_number": 9,
8330 "text": [ 8327 "text": [
8331 "[<matplotlib.lines.Line2D at 0xa00bb2c>]" 8328 "[<matplotlib.lines.Line2D at 0xa00bb2c>]"
8332 ] 8329 ]
8333 }, 8330 },
8334 { 8331 {
8335 "metadata": {}, 8332 "metadata": {},
8336 "output_type": "display_data", 8333 "output_type": "display_data",
8337 "png": 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lM5Md3A0Nxt5nV+TiJkE3WuEC2OPQ4+OZiFlxL1gRtchFa0yC0w5dPvhK3Ffk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\nHr14Uf2G0lLIoXMIL4Lety/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8334 "png": 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lM5Md3A0Nxt5nV+TiJkE3WuEC2OPQ4+OZiFlxL1gRtchFa0yC0w5dPvhK3Ffk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\n3AENN2mnAAAAAElFTkSuQmCC\n",
8338 "text": [ 8335 "text": [
8339 "<matplotlib.figure.Figure at 0x9eb46cc>" 8336 "<matplotlib.figure.Figure at 0x9eb46cc>"
8340 ] 8337 ]
8341 } 8338 }
8342 ], 8339 ],
8343 "prompt_number": 9 8340 "prompt_number": 9
8344 }, 8341 },
8345 { 8342 {
8346 "cell_type": "code", 8343 "cell_type": "code",
8347 "collapsed": false, 8344 "collapsed": false,
8348 "input": [ 8345 "input": [
8349 "plt.plot(t)" 8346 "plt.plot(t)"
8350 ], 8347 ],
8351 "language": "python", 8348 "language": "python",
8352 "metadata": {}, 8349 "metadata": {},
8353 "outputs": [ 8350 "outputs": [
8354 { 8351 {
8355 "metadata": {}, 8352 "metadata": {},
8356 "output_type": "pyout", 8353 "output_type": "pyout",
8357 "prompt_number": 11, 8354 "prompt_number": 11,
8358 "text": [ 8355 "text": [
8359 "[<matplotlib.lines.Line2D at 0x9ee51ec>]" 8356 "[<matplotlib.lines.Line2D at 0x9ee51ec>]"
8360 ] 8357 ]
8361 }, 8358 },
8362 { 8359 {
8363 "metadata": {}, 8360 "metadata": {},
8364 "output_type": "display_data", 8361 "output_type": "display_data",
8365 "png": 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8366 "text": [ 8363 "text": [
8367 "<matplotlib.figure.Figure at 0x9d764cc>" 8364 "<matplotlib.figure.Figure at 0x9d764cc>"
8368 ] 8365 ]
8369 } 8366 }
8370 ], 8367 ],
8371 "prompt_number": 11 8368 "prompt_number": 11
8372 }, 8369 },
8373 { 8370 {
8374 "cell_type": "code", 8371 "cell_type": "code",
8375 "collapsed": false, 8372 "collapsed": false,
8376 "input": [], 8373 "input": [],
8377 "language": "python", 8374 "language": "python",
8378 "metadata": {}, 8375 "metadata": {},
8379 "outputs": [] 8376 "outputs": []
8380 } 8377 }
8381 ], 8378 ],
8382 "metadata": {} 8379 "metadata": {}
8383 } 8380 }
8384 ] 8381 ]
8385 } 8382 }