Initial refactoring / cleanup

Author: David Cox

RatSLAM2/plot_graph.py

@@ -86,7 +86,7 @@ Classes -
 pc_network: Pose Cell Network
 
 Classes - 
-	pc_Network(ndarray shape)
+	PoseCellNetwork(ndarray shape)
 		attributes
 
 			shape: ndarray initially [PC_DIM_XY, PC_DIM_XY, PC_DIM_TH] == [61, 61, 36] for shape of pose cell network matrix
@@ -112,14 +112,14 @@ Classes -
 			avg_thwrap: ndarray initially [33, 34, ...35, 0, 1... 60, 0, 1, 2]
 			max_pc: tuple initially (0, 0, 0)
 
-		create_pcWeights(int dim, int var)
+		create_pc_weights(int dim, int var)
 
 			Takes in two integer arguments dim and var, creates 3D matrix with shape [dim, dim, dim], stores weight values depending on
 			distance from the matrix center, normalizes values in matrix, and returns matrix.
 
 			returns ndarray of weighted values
 
-		activityMatrix(ndarray xywrap, ndarray thwrap, int wdim, ndarray pcw)
+		compute_activity_matrix(ndarray xywrap, ndarray thwrap, int wdim, ndarray pcw)
 
 			Creates an zero matrix with same shape as pose cell network, and finds indices of nonzero values in pose cell network. Then multiplies
 			each nonzero value by the Gaussian weight distribution pcw which is added to the zero matrix indices that correspond with the nonzero value pose
@@ -192,7 +192,7 @@ Classes -
 			d: float initially 0
 			heading_rad: float initially 0
 
-	exp_map(pc_network pc_Network posecellnetwork, localView templateCollection tempCol)
+	exp_map(pc_network PoseCellNetwork posecellnetwork, localView templateCollection tempCol)
 		attributes
 
 			exps: list initially empty
@@ -260,13 +260,13 @@ Functions -
 
 		returns String of image directory
 
-	initialize_em(localView templateCollection tempCol, vod2 VisOdom vod, pc_network pc_Network pcnet)
+	initialize_em(localView templateCollection tempCol, vod2 VisOdom vod, pc_network PoseCellNetwork pcnet)
 
 		returns exp_map
 
 	initialize_pc(localView templateCollection tempCol, vod2 VisOdom vod)
 
-		returns pc_Network
+		returns PoseCellNetwork
 
 	initialize_lv
 

experience_map.py renamed to old/experience_map.py

@@ -0,0 +1,4 @@
+from experience_map import *
+from local_view_cell import *
+from pose_cell_network import *
+from visual_odometer import *

pose_cell_network.py renamed to old/pose_cell_network.py

@@ -40,7 +40,7 @@ def Get_Signed_Delta_Rad(angle1, angle2):
             angle = 0(2*pi-delta_angle)
     return angle
 
-class exp:
+class Experience:
     def __init__(self, **kwargs):
         self.x_pc = kwargs.pop('x_pc', 0)
         self.y_pc = kwargs.pop('y_pc', 0)
@@ -55,14 +55,14 @@ def __init__(self, **kwargs):
 
         self.facing_rad = kwargs.pop('facing_rad', 0)
 
-class link:
+class ExperienceLink:
     def __init__(self, **kwargs):
         self.exp_id = kwargs.pop('exp_id', 0)
         self.facing_rad = kwargs.pop('facing_rad', 0)
         self.d = kwargs.pop('d', 0)
         self.heading_rad = kwargs.pop('heading_rad', 0)
 
-class exp_map:
+class ExperienceMap:
     def __init__(self, posecellnetwork, tempcol):
         self.exps = []
         self.exp_id = kwargs.pop('exp_id', None)

ratslam.py renamed to old/ratslam.py

@@ -3,10 +3,10 @@
 
 @author: Christine
 '''
-from pylab import *
-import vod2
+#from pylab import *
+#import vod2
 
-class template: #same thing as local view cell
+class VisualTemplate: #same thing as local view cell
 
     def __init__ (self, curr_xsums, **kwargs):
 
@@ -22,7 +22,7 @@ def __init__ (self, curr_xsums, **kwargs):
 
         self.exps = [] #list of exp_id associated with visual template
 
-class templateCollection:
+class VisualTemplateCollection:
 
     def __init__ (self, **kwargs):
 

simple_vision.py renamed to old/simple_vision.py

@@ -3,10 +3,10 @@
 
 @author: Christine
 '''
-import localView as lv
+import local_view_cell as lv
 from pylab import *
 
-class pc_Network:
+class PoseCellNetwork:
 
     def __init__(self, shape, **kwargs):
 
@@ -24,14 +24,14 @@ def __init__(self, shape, **kwargs):
         e_dim_half = self.e_wdim/2
         self.e_xywrap = append(append(arange(PC_DIM_XY-e_dim_half, PC_DIM_XY), arange(0, PC_DIM_XY)), arange(0, PC_DIM_XY-e_dim_half)) 
         self.e_thwrap = append(append(arange(PC_DIM_TH-e_dim_half, PC_DIM_TH), arange(0, PC_DIM_TH)), arange(0, PC_DIM_TH-e_dim_half))
-        self.e_pcw = self.create_pcWeights(self.e_wdim, 1)
+        self.e_pcw = self.create_pc_weights(self.e_wdim, 1)
 
         #inhibition constants
         self.i_wdim = kwargs.pop('i_wdim', 5)
         i_dim_half = self.i_wdim/2
         self.i_xywrap = append(append(arange(PC_DIM_XY-i_dim_half, PC_DIM_XY), arange(0, PC_DIM_XY)), arange(0, PC_DIM_XY-i_dim_half))
         self.i_thwrap = append(append(arange(PC_DIM_TH-i_dim_half, PC_DIM_TH), arange(0, PC_DIM_TH)), arange(0, PC_DIM_TH-i_dim_half))
-        self.i_pcw = self.create_pcWeights(self.i_wdim, 2)
+        self.i_pcw = self.create_pc_weights(self.i_wdim, 2)
 
         self.global_inhibition = kwargs.pop('global_pc_inhibition', 0.00002)
         self.c_size_th = kwargs.pop('c_size_th', 2*float64(pi)/36)
@@ -50,7 +50,7 @@ def __init__(self, shape, **kwargs):
 
         self.max_pc = [0, 0, 0]
 
-    def create_pcWeights(self, dim, var): #dim is dimension and var is variance
+    def create_pc_weights(self, dim, var): #dim is dimension and var is variance
         weight = zeros([dim, dim, dim])
         dim_centre = math.floor(dim/2)
 
@@ -64,7 +64,7 @@ def create_pcWeights(self, dim, var): #dim is dimension and var is variance
 
         return weight
 
-    def activityMatrix(self, xywrap, thwrap, wdim, pcw): 
+    def compute_activity_matrix(self, xywrap, thwrap, wdim, pcw): 
 
         #returns gaussian distribution of excitation/inhibition pc activity
         pca_new = zeros(self.shape)  
@@ -113,10 +113,10 @@ def update(self, ododelta, v_temp):
                 self.posecells[act_x, act_y, act_th] += energy;
 
         #excitation weighted matrix                                                            
-        self.posecells = self.activityMatrix(self.e_xywrap, self.e_thwrap, self.e_wdim, self.e_pcw) 
+        self.posecells = self.compute_activity_matrix(self.e_xywrap, self.e_thwrap, self.e_wdim, self.e_pcw) 
 
         #inhibition weighted matrix
-        self.posecells = self.posecells - self.activityMatrix(self.i_xywrap, self.i_thwrap, self.i_wdim, self.i_pcw) 
+        self.posecells = self.posecells - self.compute_activity_matrix(self.i_xywrap, self.i_thwrap, self.i_wdim, self.i_pcw) 
 
         #global inhibition
         self.posecells[self.posecells<self.global_inhibition] = 0

sketch.py renamed to old/sketch.py

@@ -38,7 +38,7 @@ def rs_compare_segments(seg1, seg2, slen, cwl):
 
     return (offset, sdif)
 
-class VisOdom:
+class VisualOdometer:
 
     def __init__(self, **kwargs):