ModelParametersLWPR Class Reference

Model parameters for the Locally Weighted Projection Regression (LWPR) function approximator. More...

#include <ModelParametersLWPR.hpp>

Inheritance diagram for ModelParametersLWPR:

Collaboration diagram for ModelParametersLWPR:

Public Member Functions
	ModelParametersLWPR (LWPR_Object *lwpr_object)
	Initializing constructor. More...
std::string	toString (void) const
	Returns a string representation of the object. More...
ModelParameters *	clone (void) const
	Return a pointer to a deep copy of the ModelParameters object. More...
int	getExpectedInputDim (void) const
	The expected dimensionality of the input data. More...
void	getSelectableParameters (std::set< std::string > &selected_values_labels) const
	Return all the names of the parameter types that can be selected. More...
void	getParameterVectorMask (const std::set< std::string > selected_values_labels, Eigen::VectorXi &selected_mask) const
	Get a mask for selecting parameters. More...
void	getParameterVectorAll (Eigen::VectorXd &all_values) const
	Return a vector that returns all available parameter values. More...
int	getParameterVectorAllSize (void) const
	Get the size of the parameter values vector when it contains all available parameter values. More...
UnifiedModel *	toUnifiedModel (void) const
	Convert these LWPR model parameters to unified model parameters. More...
Public Member Functions inherited from ModelParameters
virtual int	getExpectedOutputDim (void) const
	The expected dimensionality of the output data. More...
template<class Archive >
void	serialize (Archive &ar, const unsigned int version)
	Serialize class data members to boost archive. More...
Public Member Functions inherited from Parameterizable
virtual	~Parameterizable (void)
	Destructor.
virtual int	getParameterVectorSelectedSize (void) const
	Get the size of the vector of selected parameters, as returned by getParameterVectorSelected(. More...
virtual void	getParameterVectorSelected (Eigen::VectorXd &values, bool normalized=false) const
	Get the values of the selected parameters in one vector. More...
virtual void	getParameterVectorSelectedNormalized (Eigen::VectorXd &values) const
	Get the normalized values of the selected parameters in one vector. More...
void	getParameterVectorSelectedMinMax (Eigen::VectorXd &min, Eigen::VectorXd &max) const
	Get the minimum and maximum of the selected parameters in one vector. More...
void	getParameterVectorAllMinMax (Eigen::VectorXd &min, Eigen::VectorXd &max) const
	Get the minimum and maximum values of the current parameter vector. More...
void	getParameterVectorSelectedRanges (Eigen::VectorXd &ranges) const
	Get the ranges of the selected parameters, i.e. More...
virtual void	setParameterVectorSelected (const Eigen::VectorXd &values, bool normalized=false)
	Set all the values of the selected parameters with one vector. More...
virtual void	setParameterVectorSelectedNormalized (const Eigen::VectorXd &values)
	Set all the values of the selected parameters with one vector of normalized values. More...
virtual void	setSelectedParameters (const std::set< std::string > &selected_values_labels)
	Determine which subset of parameters is represented in the vector returned by Parameterizable::getParameterVectorSelected. More...
void	setSelectedParametersOne (std::string selected)
	Set the parameters that are currently selected. More...
void	setParameterVectorModifier (std::string modifier, bool new_value)
	Turn certain modifiers on or off. More...
void	setVectorLengthsPerDimension (const Eigen::VectorXi &lengths_per_dimension)
	The vector (VectorXd) with parameter values can be split into different parts (as vector<VectorXd>; this function specifices the length of each sub-vector. More...
Eigen::VectorXi	getVectorLengthsPerDimension (void) const
	Get the specified length of each vector in each dimension. More...
void	getParameterVectorSelected (std::vector< Eigen::VectorXd > &values, bool normalized=false) const
	Get the values of the selected parameters in one vector. More...
void	setParameterVectorSelected (const std::vector< Eigen::VectorXd > &values, bool normalized=false)
	Set all the values of the selected parameters with a vector of vectors. More...

Protected Member Functions
void	setParameterVectorAll (const Eigen::VectorXd &values)
	Set all available parameter values with one vector. More...

Friends
class	FunctionApproximatorLWPR
class	boost::serialization::access
	Give boost serialization access to private members. More...

Detailed Description

Model parameters for the Locally Weighted Projection Regression (LWPR) function approximator.

Definition at line 43 of file ModelParametersLWPR.hpp.

Constructor & Destructor Documentation

ModelParametersLWPR

(

LWPR_Object *

lwpr_object

)

Initializing constructor.

Initialize the LWPR model parameters with an LWPR object from the external library.

Parameters

[in]

lwpr_object

LWPR object from the external library

Definition at line 50 of file ModelParametersLWPR.cpp.

:
  lwpr_object_(lwpr_object)
{
  countLengths();
}

Member Function Documentation

string toString ( void  ) const

virtual

Returns a string representation of the object.

Returns

A string representation of the object.

Implements ModelParameters.

Definition at line 88 of file ModelParametersLWPR.cpp.

{
  RETURN_STRING_FROM_BOOST_SERIALIZATION_XML("ModelParametersLWPR");
  
  /*
  output << "{ \"ModelParametersLWPR\": { \"lwpr_object_xml_string\": \"";

  // Write file
  string filename("/tmp/lpwrfile_serialize.xml");
  lwpr_object_->writeXML(filename.c_str());
  
  // Read file into string stream (through file stream)
  ifstream t(filename);
  stringstream strstream;
  strstream << t.rdbuf(); 

  // Get the string and remove newlines  
  string str = strstream.str();
  str.erase(std::remove(str.begin(), str.end(), '\n'), str.end());
  
  // Output the XML string to the current output stream
  output << str;
  
  output << " \" } }";
  */
};

ModelParameters * clone ( void  ) const

virtual

Return a pointer to a deep copy of the ModelParameters object.

Returns

Pointer to a deep copy

Implements ModelParameters.

Definition at line 82 of file ModelParametersLWPR.cpp.

{
  LWPR_Object* lwpr_object_clone = new LWPR_Object(*lwpr_object_);
  return new ModelParametersLWPR(lwpr_object_clone);
}

int getExpectedInputDim ( void  ) const

virtual

The expected dimensionality of the input data.

Returns

Expected dimensionality of the input data

Implements ModelParameters.

Definition at line 117 of file ModelParametersLWPR.cpp.

{
  return lwpr_object_->nIn();
}

void getSelectableParameters ( std::set< std::string > &  selected_values_labels ) const

virtual

Return all the names of the parameter types that can be selected.

Parameters

[out]

selected_values_labels

Names of the parameter types that can be selected

Implements Parameterizable.

Definition at line 122 of file ModelParametersLWPR.cpp.

{
  selected_values_labels = set<string>();
  selected_values_labels.insert("centers");
  selected_values_labels.insert("widths");
  selected_values_labels.insert("slopes");
  selected_values_labels.insert("offsets");
}

void getParameterVectorMask ( const std::set< std::string >  selected_values_labels, Eigen::VectorXi &  selected_mask  ) const

virtual

Get a mask for selecting parameters.

Parameters

[in]	selected_values_labels	Labels of the selected parameter values
[out]	selected_mask	A mask indicating indices of selected parameters. 0 indicates not selected, >0 indicates selected.

For instance, if the parameters consists of centers, widths and slopes the parameter values vector will be something like

    centers     widths    slopes
[ 100 110 120 10 10 10 0.4 0.7 0.4 ]

In this case, if selected_values_labels contains "centers" and "slopes", the mask will be:

    centers     widths    slopes
[   1   1   1  0  0  0   3   3   3 ]

The '0' indicates that these parameters are not selected. The other ones have different numbers so that they may be discerned from one another (as required in Parameterizable::getParameterVectorSelectedMinMax for instance.

Implements Parameterizable.

Definition at line 134 of file ModelParametersLWPR.cpp.

{
  selected_mask.resize(getParameterVectorAllSize());
  selected_mask.fill(0);
  
  int offset = 0;
  int size;
  
  // Centers
  size = n_centers_;
  if (selected_values_labels.find("centers")!=selected_values_labels.end())
    selected_mask.segment(offset,size).fill(1);
  offset += size;
  
  // Widths
  size = n_widths_;
  if (selected_values_labels.find("widths")!=selected_values_labels.end())
    selected_mask.segment(offset,size).fill(2);
  offset += size;
  
  // Offsets
  size = n_offsets_;
  if (selected_values_labels.find("offsets")!=selected_values_labels.end())
    selected_mask.segment(offset,size).fill(3);
  offset += size;

  // Slopes
  size = n_slopes_;
  if (selected_values_labels.find("slopes")!=selected_values_labels.end())
    selected_mask.segment(offset,size).fill(4);
  offset += size;

  assert(offset == getParameterVectorAllSize());   
}

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void getParameterVectorAll ( Eigen::VectorXd &  values ) const

virtual

Return a vector that returns all available parameter values.

Parameters

[out]

values

All available parameter values in one vector.

Remarks

Contrast this with Parameterizable::getParameterVectorSelected, which return only the SELECTED parameter values. Selecting parameters is done with Parameterizable::setSelectedParameters

Implements Parameterizable.

Definition at line 169 of file ModelParametersLWPR.cpp.

{
  values.resize(getParameterVectorAllSize());
  int ii=0;
  
  for (int iDim = 0; iDim < lwpr_object_->model.nOut; iDim++)
    for (int iRF = 0; iRF < lwpr_object_->model.sub[iDim].numRFS; iRF++)
      for (int j = 0; j < lwpr_object_->nIn(); j++)
       values[ii++] = lwpr_object_->model.sub[iDim].rf[iRF]->c[j];

  for (int iDim = 0; iDim < lwpr_object_->model.nOut; iDim++)
    for (int iRF = 0; iRF < lwpr_object_->model.sub[iDim].numRFS; iRF++)
      for (int j = 0; j < lwpr_object_->nIn(); j++)
        values[ii++] = lwpr_object_->model.sub[iDim].rf[iRF]->D[j*lwpr_object_->model.nInStore+j];

  for (int iDim = 0; iDim < lwpr_object_->model.nOut; iDim++)
    for (int iRF = 0; iRF < lwpr_object_->model.sub[iDim].numRFS; iRF++)
      for (int j = 0; j < lwpr_object_->model.sub[iDim].rf[iRF]->nReg; j++)
        values[ii++] = lwpr_object_->model.sub[iDim].rf[iRF]->beta[j];
      
  for (int iDim = 0; iDim < lwpr_object_->model.nOut; iDim++)
    for (int iRF = 0; iRF < lwpr_object_->model.sub[iDim].numRFS; iRF++)
      values[ii++] = lwpr_object_->model.sub[iDim].rf[iRF]->beta0;
  
  assert(ii == getParameterVectorAllSize()); 
  
};

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int getParameterVectorAllSize ( void  ) const

inlinevirtual

Get the size of the parameter values vector when it contains all available parameter values.

Returns

The size of the parameter vector

For instance, if the parameters consists of centers, widths and slopes the parameter values vector will be something like

    centers     widths    slopes
[ 100 110 120 10 10 10 0.4 0.7 0.4 ]

then getParameterVectorAllSize() will return 9

Implements Parameterizable.

Definition at line 68 of file ModelParametersLWPR.hpp.

  {
    return  n_centers_ + n_widths_ + n_slopes_ + n_offsets_;
  }

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UnifiedModel * toUnifiedModel ( void  ) const

virtual

Convert these LWPR model parameters to unified model parameters.

Returns

Unified model parameter representation

Remarks

Currently only works if input and output dimensionality are 1

Todo:

Convert for input dim >1

Implements ModelParameters.

Definition at line 228 of file ModelParametersLWPR.cpp.

{
  if (lwpr_object_->nIn()!=1)
  {
    //cout << "Warning: Can only call toUnifiedModel() when input dim of LWPR is 1" << endl;
    return NULL;
  }
  if (lwpr_object_->model.nOut!=1)
  {
    //cout << "Warning: Can only call toUnifiedModel() when output dim of LWPR is 1" << endl;
    return NULL;
  }
  
  int i_in = 0;
  int i_out = 0;

  int n_basis_functions = lwpr_object_->model.sub[i_out].numRFS;
  VectorXd centers(n_basis_functions);
  VectorXd widths(n_basis_functions);
  VectorXd offsets(n_basis_functions);
  VectorXd slopes(n_basis_functions);
  
  vector<double> tmp;
  
  for (int iRF = 0; iRF < lwpr_object_->model.sub[i_out].numRFS; iRF++)
  {
    LWPR_ReceptiveFieldObject rf = lwpr_object_->getRF(i_out,iRF);
    
    tmp = rf.center();
    centers[iRF] = tmp[i_in];
    
    offsets[iRF] = rf.beta0();
    
    tmp = rf.slope();
    slopes[iRF] = tmp[i_in];
    tmp = rf.beta();

    vector<vector<double> > D = rf.D();
    widths[iRF] = sqrt(1.0/D[i_in][i_in]);
    
  }

  
  vector<double> norm_out = lwpr_object_->normOut();
  vector<double> norm_in = lwpr_object_->normIn();
  //cout << "  centers=" << centers.transpose() << endl;
  //cout << "  widths=" << widths.transpose() << endl;
  //cout << "  offsets=" << offsets.transpose() << endl;
  //cout << "  slopes=" << slopes.transpose() << endl;
  //cout << "  norm_out[i_out]=" << norm_out[i_out] << endl;
  //cout << "  norm_in[i_in]=" << norm_out[i_in] << endl;

  offsets /= norm_out[i_out];
  slopes /= norm_out[i_out];
  centers /= norm_in[i_in];
  widths /= norm_in[i_in];
  
  //cout << "  centers=" << centers.transpose() << endl;
  //cout << "  widths=" << widths.transpose() << endl;
  //cout << "  offsets=" << offsets.transpose() << endl;
  //cout << "  slopes=" << slopes.transpose() << endl;

  //bool asymmetric_kernels=false;
  bool normalized_basis_functions=true;
  bool lines_pivot_at_max_activation=true;

  return new UnifiedModel(centers,widths,slopes,offsets,
                                    normalized_basis_functions, lines_pivot_at_max_activation);
}

void setParameterVectorAll ( const Eigen::VectorXd &  values )

protectedvirtual

Set all available parameter values with one vector.

Parameters

[in]

values

All available parameter values in one vector.

Remarks

Contrast this with Parameterizable::setParameterVectorSelected, which sets only the SELECTED parameter values. Selecting parameters is done with Parameterizable::setSelectedParameters

Implements Parameterizable.

Definition at line 197 of file ModelParametersLWPR.cpp.

                                                                      {
  if (getParameterVectorAllSize() != values.size())
  {
    cerr << __FILE__ << ":" << __LINE__ << ": values is of wrong size." << endl;
    return;
  }
  
  int ii=0;
  for (int iDim = 0; iDim < lwpr_object_->model.nOut; iDim++)
    for (int iRF = 0; iRF < lwpr_object_->model.sub[iDim].numRFS; iRF++)
      for (int j = 0; j < lwpr_object_->nIn(); j++)
      lwpr_object_->model.sub[iDim].rf[iRF]->c[j] = values[ii++];

  for (int iDim = 0; iDim < lwpr_object_->model.nOut; iDim++)
    for (int iRF = 0; iRF < lwpr_object_->model.sub[iDim].numRFS; iRF++)
      for (int j = 0; j < lwpr_object_->nIn(); j++)
      lwpr_object_->model.sub[iDim].rf[iRF]->D[j*lwpr_object_->model.nInStore+j] = values[ii++];

  for (int iDim = 0; iDim < lwpr_object_->model.nOut; iDim++)
    for (int iRF = 0; iRF < lwpr_object_->model.sub[iDim].numRFS; iRF++)
      for (int j = 0; j < lwpr_object_->model.sub[iDim].rf[iRF]->nReg; j++)
        lwpr_object_->model.sub[iDim].rf[iRF]->beta[j] = values[ii++];

  for (int iDim = 0; iDim < lwpr_object_->model.nOut; iDim++)
    for (int iRF = 0; iRF < lwpr_object_->model.sub[iDim].numRFS; iRF++)
      lwpr_object_->model.sub[iDim].rf[iRF]->beta0 = values[ii++];

  assert(ii == getParameterVectorAllSize());   
};

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Friends And Related Function Documentation

friend class boost::serialization::access

friend

Give boost serialization access to private members.

Definition at line 99 of file ModelParametersLWPR.hpp.

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The documentation for this class was generated from the following files:

• ModelParametersLWPR.hpp
• ModelParametersLWPR.cpp