security_vision/Trajectron-plus-plus
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Fixed the gradient calculations, going to make another big update to the codebase soon but wanted to get this out first. Fixes #40 and #26.

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BorisIvanovic 2021-08-28 18:08:32 -07:00
parent ef0165a93e
commit 03712b70a4
1 changed files with 7 additions and 3 deletions
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8
trajectron/environment/data_utils.py
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@ -20,10 +20,14 @@ def derivative_of(x, dt=1, radian=False):
if radian: if radian:
x = make_continuous_copy(x) x = make_continuous_copy(x)
if x[~np.isnan(x)].shape[-1] < 2: not_nan_mask = ~np.isnan(x)
masked_x = x[not_nan_mask]
if masked_x.shape[-1] < 2:
return np.zeros_like(x) return np.zeros_like(x)
dx = np.full_like(x, np.nan) dx = np.full_like(x, np.nan)
dx[~np.isnan(x)] = np.gradient(x[~np.isnan(x)], dt) dx[not_nan_mask] = np.ediff1d(masked_x, to_begin=(masked_x[1] - masked_x[0])) / dt
return dx return dx