remove casadi code

EthanJamesLew · Apr 12, 2024 · 8bd658b · 8bd658b
1 parent c51b7db
commit 8bd658b
Showing 1 changed file with 0 additions and 63 deletions.
diff --git a/notebooks/weighted-cost-func.ipynb b/notebooks/weighted-cost-func.ipynb
@@ -228,69 +228,6 @@
     "plt.plot(trajectory_uw.states[:, 1], label='Trajectory Prediction')"
    ]
   },
-  {
-   "cell_type": "code",
-   "execution_count": null,
-   "id": "bbe8ef2b-3169-476f-ad8c-003f92469247",
-   "metadata": {},
-   "outputs": [],
-   "source": [
-    "from casadi import *\n"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": null,
-   "id": "b656fb35-a5e0-4405-9564-332d427bfe47",
-   "metadata": {},
-   "outputs": [],
-   "source": [
-    "X = np.vstack([t.states[:-1] for t in training_data])\n",
-    "Xp = np.vstack([t.states[1:] for t in training_data])\n",
-    "W = [w[:-1] for w in weights]\n",
-    "g = experiment_results['tuned_model'].obs_func\n",
-    "gd = experiment_results['tuned_model'].obs.obs_grad\n",
-    "G = np.vstack([np.atleast_2d(g(x)).T for x in X])\n",
-    "Gp = np.vstack([np.atleast_2d(g(x)).T for x in Xp])\n",
-    "\n",
-    "G, Gd = G.T, Gp.T\n",
-    "Js = [gd(xi) for xi in X]\n",
-    "Wy = np.vstack(\n",
-    "        [(np.abs(J) @ w.T).T \n",
-    "         for J, w in zip(Js, W)\n",
-    "    ])"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": null,
-   "id": "861fef48-3b9c-4686-ab7d-11183a80eff0",
-   "metadata": {},
-   "outputs": [],
-   "source": [
-    "(Js[0] @ W[0].T).shape"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": null,
-   "id": "ed116b64-098f-481b-bc5c-958b6a12c096",
-   "metadata": {},
-   "outputs": [],
-   "source": [
-    "Wy.T * G"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": null,
-   "id": "51ac108b-7e59-4248-adf0-4c0042dac586",
-   "metadata": {},
-   "outputs": [],
-   "source": [
-    "J.shape"
-   ]
-  },
   {
    "cell_type": "code",
    "execution_count": null,