ModelParametersRBFN.hpp

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#ifndef MODELPARAMETERSRBFN_H
#define MODELPARAMETERSRBFN_H

#include "functionapproximators/ModelParameters.hpp"

#include <iosfwd>
#include <vector>

#include <eigen3/Eigen/Core>

namespace DmpBbo {

  // Forward declaration
class UnifiedModel;


class ModelParametersRBFN : public ModelParameters
{
  friend class FunctionApproximatorRBFN;
  
public:
  ModelParametersRBFN(const Eigen::MatrixXd& centers, const Eigen::MatrixXd& widths, const Eigen::MatrixXd& weights);
  
  std::string toString(void) const;
  
        ModelParameters* clone(void) const;
        
  int getExpectedInputDim(void) const  {
    return centers_.cols();
  };
  
  inline unsigned int getNumberOfBasisFunctions() const
  {
    return centers_.rows();
  }
  
  void kernelActivations(const Eigen::Ref<const Eigen::MatrixXd>& inputs, Eigen::MatrixXd& kernel_activations) const;
  
  void setParameterVectorModifierPrivate(std::string modifier, bool new_value);
  
  void getSelectableParameters(std::set<std::string>& selected_values_labels) const;
  void getParameterVectorMask(const std::set<std::string> selected_values_labels, Eigen::VectorXi& selected_mask) const;
  void getParameterVectorAll(Eigen::VectorXd& all_values) const;
  inline int getParameterVectorAllSize(void) const
  {
    return all_values_vector_size_;
  }
  
  const Eigen::VectorXd& weights(void) const { return weights_; }  
  
  inline void weights(Eigen::VectorXd& weights) const { weights=weights_; }  

protected:
  void setParameterVectorAll(const Eigen::VectorXd& values);
  
private:
  Eigen::MatrixXd centers_; // n_centers X n_dims
  Eigen::MatrixXd widths_;  // n_centers X n_dims
  Eigen::VectorXd weights_; //         1 X n_dims

  int  all_values_vector_size_;

public:
        inline void set_caching(bool caching)
        {
          caching_ = caching;
          if (!caching_) clearCache();
        }
        
  UnifiedModel* toUnifiedModel(void) const;
  
private:
  
  mutable Eigen::MatrixXd inputs_cached_;
  mutable Eigen::MatrixXd kernel_activations_cached_;
  bool caching_;
  inline void clearCache(void) 
  {
    inputs_cached_.resize(0,0);
    kernel_activations_cached_.resize(0,0);
  }
  
  ModelParametersRBFN(void) {};

  
  friend class boost::serialization::access;
  
  template<class Archive>
  void serialize(Archive & ar, const unsigned int version);

};

}

#include <boost/serialization/export.hpp>
BOOST_CLASS_EXPORT_KEY2(DmpBbo::ModelParametersRBFN, "ModelParametersRBFN")


BOOST_CLASS_IMPLEMENTATION(DmpBbo::ModelParametersRBFN,boost::serialization::object_serializable);

#endif        //  #ifndef MODELPARAMETERSRBFN_H