mathutil: Move coordinate_descent() to new file

Add a new python file (mathutil.py) and move the coordinate_descent()
code to it.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2018-03-02 18:18:35 -05:00
parent 7290ed5f73
commit fa07be9346
4 changed files with 45 additions and 39 deletions

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@ -4,7 +4,7 @@
# #
# This file may be distributed under the terms of the GNU GPLv3 license. # This file may be distributed under the terms of the GNU GPLv3 license.
import logging import logging
import probe import probe, mathutil
class BedTilt: class BedTilt:
def __init__(self, config): def __init__(self, config):
@ -73,7 +73,8 @@ class BedTiltCalibrate:
for pos in positions: for pos in positions:
total_error += adjusted_height(pos, params)**2 total_error += adjusted_height(pos, params)**2
return total_error return total_error
new_params = probe.coordinate_descent(params.keys(), params, errorfunc) new_params = mathutil.coordinate_descent(
params.keys(), params, errorfunc)
logging.info("Calculated bed_tilt parameters: %s", new_params) logging.info("Calculated bed_tilt parameters: %s", new_params)
for pos in positions: for pos in positions:
logging.info("orig: %s new: %s", adjusted_height(pos, params), logging.info("orig: %s new: %s", adjusted_height(pos, params),

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@ -4,7 +4,7 @@
# #
# This file may be distributed under the terms of the GNU GPLv3 license. # This file may be distributed under the terms of the GNU GPLv3 license.
import math, logging import math, logging
import probe, delta import probe, delta, mathutil
class DeltaCalibrate: class DeltaCalibrate:
def __init__(self, config): def __init__(self, config):
@ -51,7 +51,7 @@ class DeltaCalibrate:
x, y, z = delta.get_position_from_stable(spos, params) x, y, z = delta.get_position_from_stable(spos, params)
total_error += (z - self.probe_z_offset)**2 total_error += (z - self.probe_z_offset)**2
return total_error return total_error
new_params = probe.coordinate_descent( new_params = mathutil.coordinate_descent(
adj_params, params, delta_errorfunc) adj_params, params, delta_errorfunc)
logging.info("Calculated delta_calibrate parameters: %s", new_params) logging.info("Calculated delta_calibrate parameters: %s", new_params)
for spos in positions: for spos in positions:

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@ -3,7 +3,6 @@
# Copyright (C) 2017-2018 Kevin O'Connor <kevin@koconnor.net> # Copyright (C) 2017-2018 Kevin O'Connor <kevin@koconnor.net>
# #
# This file may be distributed under the terms of the GNU GPLv3 license. # This file may be distributed under the terms of the GNU GPLv3 license.
import logging
import pins, homing import pins, homing
class PrinterProbe: class PrinterProbe:
@ -137,39 +136,5 @@ class ProbePointsHelper:
if success: if success:
self.callback.finalize(self.results) self.callback.finalize(self.results)
# Helper code that implements coordinate descent
def coordinate_descent(adj_params, params, error_func):
# Define potential changes
params = dict(params)
dp = {param_name: 1. for param_name in adj_params}
# Calculate the error
best_err = error_func(params)
threshold = 0.00001
rounds = 0
while sum(dp.values()) > threshold and rounds < 10000:
rounds += 1
for param_name in adj_params:
orig = params[param_name]
params[param_name] = orig + dp[param_name]
err = error_func(params)
if err < best_err:
# There was some improvement
best_err = err
dp[param_name] *= 1.1
continue
params[param_name] = orig - dp[param_name]
err = error_func(params)
if err < best_err:
# There was some improvement
best_err = err
dp[param_name] *= 1.1
continue
params[param_name] = orig
dp[param_name] *= 0.9
logging.info("Coordinate descent best_err: %s rounds: %d", best_err, rounds)
return params
def load_config(config): def load_config(config):
return PrinterProbe(config) return PrinterProbe(config)

40
klippy/mathutil.py Normal file
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@ -0,0 +1,40 @@
# Simple math helper functions
#
# Copyright (C) 2018 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import logging
# Helper code that implements coordinate descent
def coordinate_descent(adj_params, params, error_func):
# Define potential changes
params = dict(params)
dp = {param_name: 1. for param_name in adj_params}
# Calculate the error
best_err = error_func(params)
threshold = 0.00001
rounds = 0
while sum(dp.values()) > threshold and rounds < 10000:
rounds += 1
for param_name in adj_params:
orig = params[param_name]
params[param_name] = orig + dp[param_name]
err = error_func(params)
if err < best_err:
# There was some improvement
best_err = err
dp[param_name] *= 1.1
continue
params[param_name] = orig - dp[param_name]
err = error_func(params)
if err < best_err:
# There was some improvement
best_err = err
dp[param_name] *= 1.1
continue
params[param_name] = orig
dp[param_name] *= 0.9
logging.info("Coordinate descent best_err: %s rounds: %d", best_err, rounds)
return params