Added CircularGridDistribution

FlorianPfaff · FlorianPfaff · commit 5d4a08721718 · 2025-03-27T19:53:32.000+01:00
diff --git a/pyrecest/distributions/circle/circular_grid_distribution.py b/pyrecest/distributions/circle/circular_grid_distribution.py
@@ -0,0 +1,218 @@
+from .abstract_circular_distribution import AbstractCircularDistribution
+from .circular_fourier_distribution import CircularFourierDistribution
+
+from pyrecest.backend import array, pi, where, sin, linspace, ceil, floor, arange, sqrt, sum, maximum, mod, round, isclose, \
+import numpy as np
+import matplotlib.pyplot as plt
+import warnings
+
+class CircularGridDistribution(AbstractCircularDistribution, HypertoroidalGridDistribution):
+    """
+    Density representation using function values on a grid with Fourier interpolation.
+    """
+
+    def __init__(self, gridValues, enforcePdfNonnegative=True):
+        gridValues = array(gridValues)
+        # Check if gridValues is already a distribution (in which case use fromDistribution)
+        if isinstance(gridValues, AbstractCircularDistribution):
+            raise ValueError("You gave a distribution as the first argument. "
+                             "To convert distributions to a distribution in grid representation, use fromDistribution.")
+        # Call parent constructor (HypertoroidalGridDistribution)
+        HypertoroidalGridDistribution.__init__(self, None, gridValues, enforcePdfNonnegative)
+        self.gridValues = gridValues
+        self.enforcePdfNonnegative = enforcePdfNonnegative
+
+    def pdf(self, xs, useSinc=False, sincRepetitions=5):
+        xs = array(xs)
+        if useSinc:
+            if sincRepetitions % 2 != 1:
+                raise ValueError("sincRepetitions must be an odd integer.")
+            N = len(self.gridValues)
+            step_size = 2 * pi / N
+
+            # Define MATLAB-style sinc: sinc(x) = sin(x)/x with sinc(0)=1
+            def matlab_sinc(x):
+                return where(x == 0, 1.0, sin(x) / x)
+
+            # Create the range vector: from -floor(sincRepetitions/2)*N to ceil(sincRepetitions/2)*N - 1
+            lower = int(floor(sincRepetitions / 2) * N)
+            upper = int(ceil(sincRepetitions / 2) * N)
+            r = arange(-lower, upper)
+
+            # Compute the sinc values. (xs/step_size) becomes a column vector.
+            sincVals = matlab_sinc((xs / step_size)[:, None] - r[None, :])
+            # Tile the grid values; note that MATLAB’s repmat(gridValues', [1, sincRepetitions])
+            if self.enforcePdfNonnegative:
+                coeffs = np.tile(sqrt(self.gridValues), sincRepetitions)
+                p = sum(coeffs * sincVals, axis=1) ** 2
+            else:
+                coeffs = np.tile(self.gridValues, sincRepetitions)
+                p = sum(coeffs * sincVals, axis=1)
+            return p
+        else:
+            N = len(self.gridValues)
+            noCoeffs = N
+            if N % 2 == 0:
+                noCoeffs += 1  # extra coefficient as in the MATLAB code
+            transform = 'sqrt' if self.enforcePdfNonnegative else 'identity'
+            fd = CircularFourierDistribution.fromFunctionValues(self.gridValues, noCoeffs, transform)
+            return fd.pdf(xs)
+
+    def pdfOnGrid(self, noOfDesiredGridpoints):
+        N = len(self.gridValues)
+        xGrid = np.linspace(0, 2*np.pi, N, endpoint=False)
+        step = N / noOfDesiredGridpoints
+        if not float(step).is_integer():
+            raise ValueError("Number of function values must be a multiple of noOfDesiredGridpoints")
+        step = int(step)
+        vals = self.gridValues[::step]
+        return vals, xGrid
+
+    def trigonometricMoment(self, n):
+        N = len(self.gridValues)
+        noCoeffs = N
+        if N % 2 == 0:
+            noCoeffs += 1
+            # In MATLAB a warning is suppressed here; in Python you might use warnings.filterwarnings.
+        fd = CircularFourierDistribution.fromFunctionValues(self.gridValues, noCoeffs, 'identity')
+        return fd.trigonometricMoment(n)
+
+    def plot(self, *args, **kwargs):
+        N = len(self.gridValues)
+        gridPoints = np.linspace(0, 2*np.pi, N, endpoint=False)
+        # Optionally, call a parent plot if available.
+        super().plot(*args, **kwargs)
+        # Then also plot the grid points as markers.
+        plt.plot(gridPoints, self.gridValues, 'x')
+        plt.xlabel("Angle")
+        plt.ylabel("Grid Values")
+        plt.show()
+        # Returning the list of line handles is optional in Python.
+        return
+
+    def value(self, xa):
+        """
+        Evaluate the density at points when interpreted as a probability mass function.
+        This implementation assumes that the grid points are used as indicators.
+        """
+        xa = np.array(xa)
+        grid = self.getGrid()
+        # Find exact matches (using np.isclose for floating-point comparisons)
+        result = np.zeros_like(xa)
+        for i, angle in enumerate(xa):
+            match = np.where(np.isclose(grid, angle))[0]
+            result[i] = self.gridValues[match[0]] if match.size > 0 else 0
+        return result
+
+    def getGrid(self):
+        N = len(self.gridValues)
+        return np.linspace(0, 2*np.pi, N, endpoint=False)
+
+    def getGridPoint(self, indices=None):
+        """
+        If indices is None, returns the entire grid.
+        Otherwise, returns grid points corresponding to (indices - 1)*2*pi/N.
+        (MATLAB indices are 1-based; here we mimic that conversion.)
+        """
+        N = len(self.gridValues)
+        if indices is None:
+            return self.getGrid()
+        else:
+            indices = np.array(indices)
+            return (indices - 1) * (2 * np.pi / N)
+
+    def convolve(self, f2):
+        if self.enforcePdfNonnegative != f2.enforcePdfNonnegative:
+            raise ValueError("Mismatch in enforcePdfNonnegative between the two distributions.")
+        if len(self.gridValues) != len(f2.gridValues):
+            raise ValueError("Grid sizes must be identical for convolution.")
+        N = len(self.gridValues)
+        # Circular convolution using FFTs
+        fft1 = np.fft.fft(self.gridValues)
+        fft2 = np.fft.fft(f2.gridValues)
+        convResult = np.real(np.fft.ifft(fft1 * fft2)) * (2 * np.pi / N)
+        convResult[convResult < 0] = 0  # Remove small negative values due to numerical error
+        return CircularGridDistribution(convResult, self.enforcePdfNonnegative)
+
+    def truncate(self, noOfGridpoints):
+        N = len(self.gridValues)
+        if noOfGridpoints - 1 <= 0:
+            raise ValueError("Number of coefficients must be an integer greater than zero")
+        step = N / noOfGridpoints
+        if float(step).is_integer():
+            new_vals = self.gridValues[::int(step)]
+            return CircularGridDistribution(new_vals, self.enforcePdfNonnegative)
+        elif N < noOfGridpoints:
+            warnings.warn("Less coefficients than desired, interpolate using Fourier while ensuring nonnegativity.")
+            self.enforcePdfNonnegative = True
+            return CircularGridDistribution.fromDistribution(self, noOfGridpoints, self.enforcePdfNonnegative)
+        else:
+            warnings.warn("Cannot downsample directly. Transforming to Fourier to interpolate.")
+            return CircularGridDistribution.fromDistribution(self, noOfGridpoints, self.enforcePdfNonnegative)
+
+    def normalize(self, tol=1e-2, warnUnnorm=True):
+        # Call normalization from the HypertoroidalGridDistribution
+        return super().normalize(tol=tol, warnUnnorm=warnUnnorm)
+
+    def shift(self, angle):
+        if not np.isscalar(angle):
+            raise ValueError("Angle must be a scalar.")
+        fd = CircularFourierDistribution.fromFunctionValues(self.gridValues, len(self.gridValues), 'identity')
+        fd = fd.shift(angle)
+        new_vals, _ = fd.pdfOnGrid(len(self.gridValues))
+        return CircularGridDistribution(new_vals, self.enforcePdfNonnegative)
+
+    def getClosestPoint(self, xa):
+        xa = np.array(xa)
+        N = len(self.gridValues)
+        # MATLAB: indices = mod(round(xa/(2*pi/N)), N) + 1 (1-indexed)
+        # In Python, we compute zero-indexed indices.
+        indices = (np.round(xa / (2 * np.pi / N)) % N).astype(int)
+        points = indices * (2 * np.pi / N)
+        return points, indices
+
+    # --- Static methods ---
+    @staticmethod
+    def fromDistribution(distribution, noOfGridpoints, enforcePdfNonnegative=True):
+        if isinstance(distribution, CicularFourierDistribution):
+            with warnings.catch_warnings():
+                warnings.simplefilter("ignore")
+                fdToConv = distribution.truncate(noOfGridpoints)
+            # The MATLAB code uses ifftshift and then ifft; here we mimic that:
+            c_shifted = np.fft.ifftshift(fdToConv.c)
+            valsOnGrid = np.real(np.fft.ifft(c_shifted)) * (len(fdToConv.a) + len(fdToConv.b))
+            if fdToConv.transformation == 'identity':
+                if np.any(valsOnGrid < 0):
+                    warnings.warn("This is an inaccurate transformation because negative values occurred. They are increased to 0.")
+                    valsOnGrid = np.maximum(valsOnGrid, 0)
+                if enforcePdfNonnegative:
+                    warnings.warn("Interpolation differences may lead to inaccuracies; consider setting enforcePdfNonnegative to False.")
+            elif fdToConv.transformation == 'sqrt':
+                if np.any(valsOnGrid < 0) and enforcePdfNonnegative:
+                    warnings.warn("Negative values occurred in the sqrt transformation. Consider converting to identity first.")
+                elif (not enforcePdfNonnegative) and noOfGridpoints < (2 * (len(distribution.a) + len(distribution.b)) - 1):
+                    warnings.warn("Interpolation differences may lead to inaccuracies with too few coefficients.")
+                valsOnGrid = valsOnGrid ** 2
+            else:
+                raise ValueError("Transformation unsupported")
+            return CircularGridDistribution(valsOnGrid, enforcePdfNonnegative)
+        else:
+            return CircularGridDistribution.fromFunction(lambda x: distribution.pdf(x),
+                                                  noOfGridpoints,
+                                                  enforcePdfNonnegative)
+
+    @staticmethod
+    def fromFunction(fun, noOfCoefficients, enforcePdfNonnegative=True):
+        gridPoints = np.linspace(0, 2*np.pi, noOfCoefficients, endpoint=False)
+        gridValues = np.array(fun(gridPoints))
+        return CircularGridDistribution(gridValues, enforcePdfNonnegative)
+
+    @staticmethod
+    def fromFunctionValues(fvals, noOfGridpoints, enforcePdfNonnegative=True):
+        fvals = np.array(fvals)
+        step = len(fvals) / noOfGridpoints
+        if not float(step).is_integer():
+            raise ValueError("Number of function values has to be a multiple of noOfGridpoints")
+        step = int(step)
+        fvals_reduced = fvals[::step]
+        return CircularGridDistribution(fvals_reduced, enforcePdfNonnegative)
diff --git a/pyrecest/tests/distributions/test_circular_grid_distribution.py b/pyrecest/tests/distributions/test_circular_grid_distribution.py
@@ -0,0 +1,43 @@
+import unittest
+import numpy as np
+from pyrecest.distributions.circle.circular_grid_distribution import CircularGridDistribution
+from pyrecest.distributions import VonMisesDistribution, WrappedNormalDistribution
+
+class CircularGridDistributionTest(unittest.TestCase):
+
+    @staticmethod
+    def _test_grid_conversion(dist, coeffs, enforceNonnegative, tolerance):
+        figd = CircularGridDistribution.from_distribution(dist, coeffs, enforce_pdf_nonnegative=enforceNonnegative)
+        # Test grid values
+        xvals = np.linspace(0, 2*np.pi, coeffs, endpoint=False)
+        np.testing.assert_allclose(figd.pdf(xvals), dist.pdf(xvals), atol=tolerance)
+        # Test approximation of pdf
+        xvals = np.arange(-2 * np.pi, 3 * np.pi, 0.01)
+        np.testing.assert_allclose(figd.pdf(xvals), dist.pdf(xvals), atol=tolerance)
+
+    def test_VMToGridId(self):
+        mu = 0.4
+        for kappa in np.arange(.1, 2.1, .1):
+            dist = VonMisesDistribution(mu, kappa)
+            self._test_grid_conversion(dist, 101, False, 1E-8)
+
+    def test_VMToGridSqrt(self):
+        mu = 0.5
+        for kappa in np.arange(.1, 2.1, .1):
+            dist = VonMisesDistribution(mu, kappa)
+            self._test_grid_conversion(dist, 101, True, 1E-8)
+
+    def test_WNToGridId(self):
+        mu = 0.8
+        for sigma in np.arange(.2, 2.1, .1):
+            dist = WrappedNormalDistribution(mu, sigma)
+            self._test_grid_conversion(dist, 101, False, 1E-8)
+
+    def test_WNToGridSqrt(self):
+        mu = 0.9
+        for sigma in np.arange(.2, 2.1, .1):
+            dist = WrappedNormalDistribution(mu, sigma)
+            self._test_grid_conversion(dist, 101, True, 1E-8)
+
+if __name__ == "__main__":
+    unittest.main()
