ModelParametersRRRFF.hpp

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#ifndef MODELPARAMETERSRRRFF_H
#define MODELPARAMETERSRRRFF_H

#include <iosfwd>

#include "functionapproximators/ModelParameters.hpp"

namespace DmpBbo {

class ModelParametersRRRFF : public ModelParameters
{
  friend class FunctionApproximatorRRRFF;
  
public:
  ModelParametersRRRFF(Eigen::VectorXd linear_models, Eigen::MatrixXd cosines_periodes, Eigen::VectorXd cosines_phase);
        
        int getExpectedInputDim(void) const;
        
        std::string toString(void) const;

  ModelParameters* clone(void) const;

  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_;
  }

  UnifiedModel* toUnifiedModel(void) const;
  
  const Eigen::VectorXd& weights(void) const { return weights_; }  

  
  void cosineActivations(const Eigen::Ref<const Eigen::MatrixXd>& inputs, Eigen::MatrixXd& cosine_activations) const;
  
protected:
  void setParameterVectorAll(const Eigen::VectorXd& values);
  
private:
  
  Eigen::VectorXd weights_;
  Eigen::MatrixXd cosines_periodes_;
  Eigen::VectorXd cosines_phase_;

  int nb_in_dim_;

  int  all_values_vector_size_;
  
public:
        inline void set_caching(bool caching)
        {
          caching_ = caching;
          if (!caching_) clearCache();
        }
        
private:
  
  mutable Eigen::MatrixXd inputs_cached_;
  mutable Eigen::MatrixXd cosine_activations_cached_;
  bool caching_;
  inline void clearCache(void) 
  {
    inputs_cached_.resize(0,0);
    cosine_activations_cached_.resize(0,0);
  }
  
  ModelParametersRRRFF(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::ModelParametersRRRFF, "ModelParametersRRRFF")


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

#endif        //  #ifndef MODELPARAMETERSRRRFF_H