103 lines
3.3 KiB
Python
Executable File
103 lines
3.3 KiB
Python
Executable File
#!/usr/bin/env python
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import math
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import sys
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def usage():
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print "Usage:"
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print "compute_client_error.py -f time,x1[,x2,x3....] server-data client-data"
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print "The files are expected to contain space separated fields. The"
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print "-f options specifies first the column in which the world time"
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print "is, followed by the list of columns to be compared."
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print "It computes for each data point in the client file the closest"
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print "the two data points with the closest time stamp in the server"
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print "and then interpolates the server position based on the client"
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print "time between these positions. The difference between the"
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print "intepolated position"
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print
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print "Example:"
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print "compute_client_error.py-multi -f 6,16,17,18 debug.server debug.client"
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print " to compute the differences between client and server for the"
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print " fields 16,17,18 (which atm is the velocity)"
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sys.exit()
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# -----------------------------------------------------------------------------
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def readFile(name, fields):
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f = open(name, "r")
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result = []
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for i in f.readlines():
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if i[:6] == "Rewind":
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continue
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l = i.split()
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try:
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l_values = [ float(l[index]) for index in fields ]
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except ValueError:
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pass
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result.append(l_values)
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f.close()
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return result
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# -----------------------------------------------------------------------------
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# Compares the client and server data. Each argument is a list of
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# triplets containing (time, x, z) data.
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#
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def computeDifferences(server, client):
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index_s = 0
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count = 0
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sum = 0.0
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min = 999999.9
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max = -1.0
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for items in client:
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time, x = items[0], items[1:]
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# Find largest entry in server data that is <= client's time:
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while index_s<len(server)-2:
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t1 = server[index_s+1][0]
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if t1>time: break
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index_s += 1
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#print "time", time, server[index_s][0], server[index_s+1][0]
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t1,x1 = server[index_s ][0],server[index_s ][1:]
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t2,x2 = server[index_s+1][0],server[index_s+1][1:]
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f = (time-t1)/(t2-t1)
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interp = []
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error = 0
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for i, x1_val in enumerate(x1):
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x2_val = x2[i]
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x_i = x1_val + f * (x2_val-x1_val)
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interp.append(x_i)
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error = error + (x[i]-x_i)**2
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error = math.sqrt(error)
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print time, error
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if (error < min): min=error
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if (error > max): max=error
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count += 1
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sum += error
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print "sum %f count %d min %f average %f max %f" \
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% (sum, count, min, sum/count, max)
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# -----------------------------------------------------------------------------
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if __name__=="__main__":
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if len(sys.argv)==5 and sys.argv[1]=="-f":
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fields = sys.argv[2]
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del sys.argv[1:3]
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else:
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fields = ["6", "9", "11"]
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if len(sys.argv)!=3:
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usage()
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# -1 to convert awk/gnuplot indices (starting with 1) to
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# python indices (starting with 0)
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field_indices = [int(item)-1 for item in fields.split(",")]
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server_name = sys.argv[1]
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client_name = sys.argv[2]
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server = readFile(server_name, field_indices)
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client = readFile(client_name, field_indices)
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computeDifferences(server, client)
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