MetaParametersGPR.cpp

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#include <boost/serialization/export.hpp>
#include <boost/archive/text_iarchive.hpp>
#include <boost/archive/text_oarchive.hpp>
#include <boost/archive/xml_iarchive.hpp>
#include <boost/archive/xml_oarchive.hpp>
#include "functionapproximators/MetaParametersGPR.hpp"

BOOST_CLASS_EXPORT_IMPLEMENT(DmpBbo::MetaParametersGPR);


#include "dmpbbo_io/BoostSerializationToString.hpp"
#include "dmpbbo_io/EigenBoostSerialization.hpp"

#include <iostream>
#include <unordered_map>

#include <boost/serialization/base_object.hpp>
#include <boost/serialization/nvp.hpp>
#include <boost/serialization/vector.hpp>



using namespace Eigen;
using namespace std;

namespace DmpBbo {

MetaParametersGPR::MetaParametersGPR(int expected_input_dim, double maximum_covariance, double length)
:
  MetaParameters(expected_input_dim),
  maximum_covariance_(maximum_covariance),
  sigmas_(VectorXd::Constant(expected_input_dim,length))
{
  assert(maximum_covariance_>0);
  assert(length>0);
}
  
MetaParametersGPR::MetaParametersGPR(int expected_input_dim, double maximum_covariance, const Eigen::VectorXd& sigmas)
:
  MetaParameters(expected_input_dim),
  maximum_covariance_(maximum_covariance),
  sigmas_(sigmas)
{
  assert(maximum_covariance_>0);
  assert(sigmas.size()==expected_input_dim);
}
  
MetaParametersGPR* MetaParametersGPR::clone(void) const
{
  return new MetaParametersGPR(getExpectedInputDim(),maximum_covariance_,sigmas_);
}

template<class Archive>
void MetaParametersGPR::serialize(Archive & ar, const unsigned int version)
{
  // serialize base class information
  ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(MetaParameters);

  ar & BOOST_SERIALIZATION_NVP(maximum_covariance_);
  ar & BOOST_SERIALIZATION_NVP(sigmas_);
}

string MetaParametersGPR::toString(void) const
{
  RETURN_STRING_FROM_BOOST_SERIALIZATION_XML("MetaParametersGPR");
}

}