imat.py

import numpy as np
 
def compose_imat(sup, *, compose_type="controller", controller_id=0):
    """ Return an interaction matrix
 
    return either the specified controller interaction matrix (if compose_type="controller")
    or an imat composed of all controller interaction matrices (if compose_type="splitTomo")
 
    Args:
        sup : (compasSSupervisor) : supervisor
 
    Kargs:
        compose_type : (str) : (optional), default "controller" possibility to specify split tomography case ("controller" or "splitTomo")
 
        controller_id : (int) : (optional), default 0 controller index
 
    Returns:
        imat : (np.ndarray[ndim=1, dtype=np.float32]) : interaction matrix
    """
    if(compose_type=="controller"):
        return sup.rtc.get_interaction_matrix(controller_id)
    elif(compose_type=="splitTomo"):
        n_actu = 0
        n_meas = 0
        for c in range(len(sup.config.p_controllers)):
            imShape = sup.rtc.get_interaction_matrix(c).shape
            n_meas += imShape[0]
            n_actu += imShape[1]
        imat=np.zeros((n_meas, n_actu))
        n_meas = 0
        n_actu = 0
        for c in range(len(sup.config.p_controllers)):
            im = sup.rtc.get_interaction_matrix(c)
            imat[n_meas:n_meas+im.shape[0],n_actu:n_actu+im.shape[1]]=np.copy(im)
            n_meas += im.shape[0]
            n_actu += im.shape[1]
        return imat
 
    else:
        print("Unknown composition type")