29 lines
858 B
Python
29 lines
858 B
Python
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import numpy as np
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def make_continuous_copy(alpha):
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alpha = (alpha + np.pi) % (2.0 * np.pi) - np.pi
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continuous_x = np.zeros_like(alpha)
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continuous_x[0] = alpha[0]
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for i in range(1, len(alpha)):
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if not (np.sign(alpha[i]) == np.sign(alpha[i - 1])) and np.abs(alpha[i]) > np.pi / 2:
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continuous_x[i] = continuous_x[i - 1] + (
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alpha[i] - alpha[i - 1]) - np.sign(
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(alpha[i] - alpha[i - 1])) * 2 * np.pi
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else:
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continuous_x[i] = continuous_x[i - 1] + (alpha[i] - alpha[i - 1])
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return continuous_x
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def derivative_of(x, dt=1, radian=False):
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if radian:
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x = make_continuous_copy(x)
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if x[~np.isnan(x)].shape[-1] < 2:
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return np.zeros_like(x)
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dx = np.full_like(x, np.nan)
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dx[~np.isnan(x)] = np.gradient(x[~np.isnan(x)], dt)
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return dx
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