Develop Reference

Python - Function not updating

I've been facing strange results in a numerical problem I've been working on and since I started to program in python recently, I would like to see if you can help me.
Basically, the program has a function that is minimized for different values in a nested loop. I'll skip the details of the function for simplicity but I checked it several times and it is working correctly. Basically, the code looks like that:
def function(mins,args):
#I'll skip those details for simplicity
return #Value
ranges = ((0+np.pi/100),(np.pi/2-np.pi/100),np.pi/100)
while Ri[0] < R:
Ri[1] = 0; Ri[n-1] = R-(sum(Ri)-Ri[n-1])
while Ri[1] < (R-Ri[0]):
res = opt.brute(function, ranges, args=[args], finish=None)
F = function(res,args)
print(f'F = {F}')
Ri[1] += dR
Ri[2] = R-(sum(Ri)-Ri[n-1])
Ri[0] += dR
So, ignoring the Ri[] meaning in the loop (which is a variable of the function), for every increment in Ri[] the program makes a minimization of mins by the scipy.optimize.brute obtaining res as the answer, then it should run the function with this answer and print the result F. The problem is that it always get the same answer, no matter what the parameters I get in the minimization (which is working fine, I checked). It's strange because if I get the values from the minimization (which is an n-sized array, being n an input) and create a new program to run the same function and just get the result of the function, it returns me the right answer.
Anyone can give me a hint why I'm getting this? If I didn't make myself clear please tell and I could provide more details about the function and variables. Thanks in advance!

max_iters doesn't seem to work with GLPK_MI solver in Python

I'm debugging my code right now and since it's running with some datas and not with other ones, I wanted to set the 'max_iters' option to 1 to see if it works in only 1 iteration or if it needs more. I realised it doesn't seem to even use it. I tried putting a string "hello" instead of an int and it even worked. Do someone knows if it's a known problem?
self.prob.solve(solver="GLPK_MI", max_iters=1)
I'm using the CVXPY module with CVXOPT.
EDIT:
I want to do this because I don't get an error, it just continues to run forever. And with the project I'm working on it can take a lot of time to run so I wonder if it's really not working or if it's just a question of time.

Wouldn't be better if you set the max iterations as a variable? (just a suggestion)
In any case, in CVXOPT you need to set the max number of iteration as
'maxiters' : 1
or you can set it as a variable and then call solver as per below
opts = {'maxiters' : 1}
self.prob.solve(solver="GLPK_MI", options = opts)

How to link interactive problems (w.r.t. CodeJam)?

I'm not sure if it's allowed to seek for help(if not, I don't mind not getting an answer until the competition period is over).
I was solving the Interactive Problem (Dat Bae) on CodeJam. On my local files, I can run the judge (testing_tool.py) and my program (<name>.py) separately and copy paste the I/O manually. However, I assume I need to find a way to make it automatically.
Edit: To make it clear, I want every output of x file to be input in y file and vice versa.
Some details:
I've used sys.stdout.write / sys.stdin.readline instead of print / input throughout my program
I tried running interactive_runner.py, but I don't seem to figure out how to use it.
I tried running it on their server, my program in first tab, the judge file in second. It's always throwing TLE error.
I don't seem to find any tutorial to do the same either, any help will be appreciated! :/

The usage is documented in comments inside the scripts:
interactive_runner.py
# Run this as:
# python interactive_runner.py <cmd_line_judge> -- <cmd_line_solution>
#
# For example:
# python interactive_runner.py python judge.py 0 -- ./my_binary
#
# This will run the first test set of a python judge called "judge.py" that
# receives the test set number (starting from 0) via command line parameter
# with a solution compiled into a binary called "my_binary".
testing_tool.py
# Usage: `testing_tool.py test_number`, where the argument test_number
# is 0 for Test Set 1 or 1 for Test Set 2.
So use them like this:
python interactive_runner.py python testing_tool.py 0 -- ./dat_bae.py

Python arrays issue

I tried writing the code for a problem, but the module won't run. It says invalid syntax, but it's not highlighting anything.
The code: http://pastebin.com/cJVNBcYE
The problem: http://pastebin.com/p8E0E0Nj
I don't understand why it's not working.
I have numDealers set as a variable so that info can be entered in the program. The arrays are all defined. I have index=0 and x=1 to set up the loop for the numDealer arrays for sales and commission. I have another array=index section to calculate commissions. And then I have the prints set up.
Why isn't the program working? I don't understand.

Please post code in future, with a full traceback of the error. However:
else print(sales[index]) and print(comm[index])
should be:
else:
print(sales[index]) and print(comm[index])
i.e. you are missing a colon
I'm a bit puzzled by the and. It means that the second print will only be executed if the first fails (unlikely). Did you mean:
else:
print(sales[index])
print(comm[index])
?
By the way, it appears you are not using arrays but lists. The Python standard library includes a module called array https://docs.python.org/3/library/array.html which you do not appear to be using. So don't have a list called array, that collides with the standard library module name, and can cause no end of confusion.

ROS frame transformation (camera to base)

I am working with Baxter robot and what I am trying to do is get the position of an object using augmented reality markers and move the hand to that position in order to grasp it.
I am using the ar_tools package to get the position/orientation of the object, but that with respect to the head_camera which I am using. The last couple of days I've been experimenting with how to change that reference frame (head_camera) to the base frame as this frame is used by moveit to make the plans. I have tried to set the frame_id of the header of the message I receive from the ar_tools manually to 'base':
pose_target.header.frame_id = 'base'
but the position and orientation I am getting are still WRT the head_camera. I also tried to do:
self.tl.lookupTransform("/base", "/head_camera", self.t)
where self.t = self.tl.getLatestCommonTime("/head_camera", "/base"), but I was getting an extrapolation error. It was something like
the transformation requires to extrapolate in the past
(I can't really remember now and I'm not in the lab.) Then I thought I might need to run the lookupTransform from the head_cam to head, from head to torso and from torso to Baxter's base.
Could someone guide me on how to change the frame of the marker of the ar_tools from head_camera to base?
Also, for the extrapolation error, is there a way to do this in a static way?

There is a slightly more straightforwards way to do this, presuming you're reviving a PoseStamped message from ar_tools:
on_received_pose(pose):
'''
Handler for your poses from ar_tools
'''
if self.tl.waitForTransform(pose.header.frame_id, "/base", pose.header.stamp, rospy.Duration(0.1)): # this line prevents your extrapolation error, it waits up to 0.1 seconds for the transform to become valid
transd_pose = self.tl.transformPose("/base",pose)
# do whatever with the transformed pose here
else:
rospy.logwarn('Couldn\'t Transform from "{}" to "/base" before timeout. Are you updating TF tree sufficiently?'.format(pose.header.frame_id))
You're getting that extrapolation error likely because the transform network wasn't fully formed at the time you got your first message; tf refuses to extrapolate, it will only interpolate, so if you haven't received at least one transform message for every frame both before and after (or exactly at) the timestamp you're trying to transform to, it will throw an exception. That added if statement checks to see if it can actually perform the transform before trying to do so. You could of course also just surround the transformPose() call in a try/catch block instead, but I feel that for tf this makes it more explicit what you're trying to do.
In general, check out the simple ROS tf Python Tutorial for more examples/modes of operation.