Cours 7

cours/inverted-pendulum/node_wrapping.py

@@ -0,0 +1,38 @@
+
+from sys import modules
+from inspect import getmembers, isfunction, isclass
+
+# This should probably be done using MetaClasses.
+
+def create_node_wrapper_class(name):
+    table = dict([ (n, o) for n, o in getmembers(modules[__name__]) \
+                   if isfunction(o) or isclass(o) ])
+    out_class = table[name + "_out"]
+    mem_class = table[name + "_mem"]
+    step_fun = table[name + "_step"]
+    reset_fun = table[name + "_reset"]
+
+    def wrapper_init(self):
+        self.mem = mem_class()
+        reset_fun(self.mem)
+
+    def wrapper_reset(self):
+        reset_fun(self.mem)
+
+    def wrapper_step(self, *args):
+        out = out_class()
+        step_fun(*args, out, self.mem)
+        return out
+
+    return type(name.capitalize(), (), {
+        '__init__': wrapper_init,
+        'step': wrapper_step,
+        'reset': wrapper_reset,
+    })
+
+# For now, we only create wrappers for nodes that have memory.
+
+for node_mem in [ n for n, o in getmembers(modules[__name__]) \
+                  if isclass(o) and n.endswith("_mem") ]:
+    node = node_mem.replace("_mem", "")
+    globals()[node.capitalize()] = create_node_wrapper_class(node)