| import numpy as np |
| def features(cfg,source,prog,result,history): |
| n=cfg['n'] |
| jf=np.zeros((15,15),np.float32) |
| parents=np.asarray(cfg['parents']);q0=np.asarray(prog['segments'][0]['q0'],float);qf=np.asarray(prog['segments'][-1]['q1'],float) |
| arm=np.asarray(cfg['arm_id']) |
| |
| for i in range(n): |
| jf[i]=[float(cfg['mass'][i])/15.,float(cfg['coms'][i][0])*2., |
| float(cfg['inertia'][i][0]),float(cfg['inertia'][i][1]),float(cfg['inertia'][i][2]), |
| float(cfg['axes'][i][0]),float(cfg['axes'][i][1]),float(cfg['axes'][i][2]), |
| float(parents[i])/15.,float(arm[i]==0),float(arm[i]==1),float(arm[i]==2), |
| float(q0[i]),float(qf[i]),float(abs(qf[i]-q0[i]))] |
| wf=prog['setting'];arc_count=sum(s['kind']=='arc' for s in prog['segments']) |
| g=np.asarray([n/15.,float(cfg['topology']=='dual'),float(cfg['topology']=='torso_dual'), |
| float(prog['thickness_mm']),float(prog['material']=='stainless'),float(prog['material']=='aluminum'), |
| float(wf['wire_diameter_mm']),float(wf['wire_feed_m_min']),float(wf['current_A']), |
| float(wf['voltage_V']),float(wf['travel_speed_mm_s']),float(wf['gas_flow_L_min']), |
| float(source['cooling_nominal_W']),float(source['fume_extraction_nominal_W']), |
| float(wf['transfer_mode']=='spray'),float(prog['shielding_preflow_s']), |
| float(prog['shielding_postflow_s']),float(prog['cooling_tail_s']),float(arc_count), |
| float(cfg['motor_nominal_eff']),float(cfg['regen_capability']), |
| float(source['source_nominal_efficiency']),float(source['source_nameplate_W']), |
| float(np.mean(cfg['mass'])),float(np.sum(cfg['mass']))],np.float32) |
| return jf,g |
|
|
