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/*********************************************************************
MLDemos: A User-Friendly visualization toolkit for machine learning
Copyright (C) 2010 Basilio Noris
Contact: mldemos@b4silio.com
This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public License,
version 3 as published by the Free Software Foundation.
This library is distributed in the hope that it will be useful, but
WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the Free
Software Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
*********************************************************************/
#ifndef _DYNAMICAL_H_
#define _DYNAMICAL_H_
#include "mymaths.h"
#include "obstacles.h"
#include <vector>
extern "C" enum {DYN_SVR, DYN_RVM, DYN_GMR, DYN_GPR, DYN_KNN, DYN_MLP, DYN_LINEAR, DYN_LWPR, DYN_KRLS, DYN_SEDS, DYN_NONE} dynamicalType;
class Dynamical
{
protected:
std::vector< std::vector<fvec> > trajectories;
ivec classes;
ivec labels;
u32 dim;
public:
std::vector<fvec> crossval;
fvec fmeasures;
fvec trainErrors, testErrors;
int type;
float dT;
u32 count;
ObstacleAvoidance *avoid;
Dynamical(): type(DYN_NONE), count(100), dT(0.02f), avoid(0){}
virtual ~Dynamical(){if(avoid) delete avoid;}
std::vector< std::vector<fvec> > GetTrajectories(){return trajectories;}
int Dim(){return dim;}
virtual void Train(std::vector< std::vector<fvec> > trajectories, ivec labels){}
virtual std::vector<fvec> Test( const fvec &sample, const int count){ return std::vector<fvec>(); }
virtual fvec Test( const fvec &sample){ return fvec(); }
virtual fVec Test(const fVec &sample){ return fVec(Test((fvec)sample)); }
virtual const char *GetInfoString(){return NULL;}
virtual void SaveModel(std::string filename){}
virtual bool LoadModel(std::string filename){return false;}
};
#endif // _DYNAMICAL_H_
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