# Path: python/py_quad_control/controller/sparc.py
# class SparcController:
# class DataCloud:
#     def __init__(self, control_range, ref_range, input_size, init_input, init_ref, init_y, monotonicity=1,
#                  dc_radius_const=0.5):
#     def update_reference_range(self, refmin, refmax):
#     def update(self, curr_x, curr_y, curr_ref, prev_u):
#     def get_global_density(self, z):
#     def __init__(self, z, initial_variance, radius_update_const=0.5):
#     def update_focal_point(self, z):
#     def __update_radius__(self):
#     def __update_variance_and_centroid__(self, curr_z):
#     def add_point(self, curr_z):
#     def get_local_density(self, x):
#     def update_consequent(self, prev_md, prev_ref, curr_y, prev_u, c, umin, umax):
#     def set_consequent(self, new_consequent):
#     def get_consequent(self):


from sys import argv
from ...controller import sparc
from matplotlib.patches import Ellipse
from socket_server import serve_socket
from geometry import rotate
import time
import struct
import math
import pickle
import matplotlib.pyplot as plt
import numpy as np
import navigationcontroller
                curr_u[0] = controller_alt.update(curr_x[0], curr_y[0], curr_ref[0], prev_u[0]) if control[0] else 0.0
            else:
                controller_alt = sparc.SparcController((UMIN_ALT, UMAX_ALT), (REFMIN_ALT, REFMAX_ALT),
                                                       X_SIZE, curr_x[0], curr_ref[0], curr_y[0])
                curr_u[0] = controller_alt.clouds[0].get_consequent() if control[0] else 0.0

            # Yaw Controller
            if readfiles[1]:
                controller_yaw = controller_yaw_init
                curr_u[1] = controller_yaw.update(curr_x[1], curr_y[1], curr_ref[1], prev_u[1]) if control[1] else 0.0
            else:
                controller_yaw = sparc.SparcController((UMIN_YAW, UMAX_YAW), (REFMIN_YAW, REFMAX_YAW),
                                                       X_SIZE, curr_x[1], curr_ref[1], curr_y[1])
                curr_u[1] = controller_yaw.clouds[0].get_consequent() if control[1] else 0.0

            # Pitch Controller
            if readfiles[2]:
                controller_pitch = controller_pitch_init
                curr_u[2] = controller_pitch.update(curr_x[2], curr_y[2], curr_ref[2], prev_u[2]) if control[2] else 0.0
            else:
                controller_pitch = sparc.SparcController((UMIN_PITCHROLL, UMAX_PITCHROLL),
                                                         (REFMIN_PITCHROLL, REFMAX_PITCHROLL),
                                                         X_SIZE, curr_x[2], curr_ref[2], curr_y[2])
                curr_u[2] = controller_pitch.clouds[0].get_consequent() if control[2] else 0.0

            # Roll Controller
            if readfiles[3]:
                controller_roll = controller_roll_init
                curr_u[3] = controller_roll.update(curr_x[3], curr_y[3], curr_ref[3], prev_u[3]) if control[3] else 0.0
            else:

# Path: python/py_quad_control/controller/sparc.py
# class SparcController:
# class DataCloud:
#     def __init__(self, control_range, ref_range, input_size, init_input, init_ref, init_y, monotonicity=1,
#                  dc_radius_const=0.5):
#     def update_reference_range(self, refmin, refmax):
#     def update(self, curr_x, curr_y, curr_ref, prev_u):
#     def get_global_density(self, z):
#     def __init__(self, z, initial_variance, radius_update_const=0.5):
#     def update_focal_point(self, z):
#     def __update_radius__(self):
#     def __update_variance_and_centroid__(self, curr_z):
#     def add_point(self, curr_z):
#     def get_local_density(self, x):
#     def update_consequent(self, prev_md, prev_ref, curr_y, prev_u, c, umin, umax):
#     def set_consequent(self, new_consequent):
#     def get_consequent(self):


# Path: python/py_quad_control/vrep_sim/sparc/test_drone_vrep_nav.py
from sys import argv
from ...controller import sparc
from matplotlib.patches import Ellipse
from socket_server import serve_socket
from geometry import rotate
import time
import struct
import math
import pickle
import matplotlib.pyplot as plt
import numpy as np
import navigationcontroller

                curr_u[0] = controller_alt.update(curr_x[0], curr_y[0], curr_ref[0], prev_u[0]) if control[0] else 0.0
            else:
                controller_alt = sparc.SparcController((UMIN_ALT, UMAX_ALT), (REFMIN_ALT, REFMAX_ALT),
                                                       X_SIZE, curr_x[0], curr_ref[0], curr_y[0])
                curr_u[0] = controller_alt.clouds[0].get_consequent() if control[0] else 0.0

            # Yaw Controller
            if readfiles[1]:
                controller_yaw = controller_yaw_init
                curr_u[1] = controller_yaw.update(curr_x[1], curr_y[1], curr_ref[1], prev_u[1]) if control[1] else 0.0
            else:
                controller_yaw = sparc.SparcController((UMIN_YAW, UMAX_YAW), (REFMIN_YAW, REFMAX_YAW),
                                                       X_SIZE, curr_x[1], curr_ref[1], curr_y[1])
                curr_u[1] = controller_yaw.clouds[0].get_consequent() if control[1] else 0.0

            # Pitch Controller
            if readfiles[2]:
                controller_pitch = controller_pitch_init
                curr_u[2] = controller_pitch.update(curr_x[2], curr_y[2], curr_ref[2], prev_u[2]) if control[2] else 0.0
            else:
                controller_pitch = sparc.SparcController((UMIN_PITCHROLL, UMAX_PITCHROLL),
                                                         (REFMIN_PITCHROLL, REFMAX_PITCHROLL),
                                                         X_SIZE, curr_x[2], curr_ref[2], curr_y[2])
                curr_u[2] = controller_pitch.clouds[0].get_consequent() if control[2] else 0.0

            # Roll Controller
            if readfiles[3]:
                controller_roll = controller_roll_init
                curr_u[3] = controller_roll.update(curr_x[3], curr_y[3], curr_ref[3], prev_u[3]) if control[3] else 0.0
            else:

                controller_roll = sparc.SparcController((UMIN_PITCHROLL, UMAX_PITCHROLL),