FunctionApproximator.h

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/*
 * This file is part of ArmarX.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * ArmarX 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 General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program. If not, see <http://www.gnu.org/licenses/>.
 *
 * @package    RobotComponents::ArmarXObjects::FunctionApproximator
 * @author     zhou ( you dot zhou at kit dot edu )
 * @date       2016
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
 
#include <boost/archive/binary_iarchive.hpp>
#include <boost/archive/binary_oarchive.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 <ArmarXCore/core/Component.h>
 
#include <RobotComponents/interface/components/FunctionApproximatorBase.h>
 
#include <dmp/functionapproximation/functionapproximation.h>
#include <dmp/functionapproximation/functionapproximationregistration.h>
#include <dmp/functionapproximation/locallyweightedlearning.h>
#include <dmp/functionapproximation/radialbasisfunctioninterpolator.h>
 
namespace armarx
{
    /**
     * @class FunctionApproximatorPropertyDefinitions
     * @brief
     */
    class FunctionApproximatorPropertyDefinitions : public armarx::ComponentPropertyDefinitions
    {
    public:
        FunctionApproximatorPropertyDefinitions(std::string prefix) :
            armarx::ComponentPropertyDefinitions(prefix)
        {
            //defineRequiredProperty<std::string>("PropertyName", "Description");
            //defineOptionalProperty<std::string>("PropertyName", "DefaultValue", "Description");
        }
    };
 
    /**
     * @defgroup Component-FunctionApproximator FunctionApproximator
     * @ingroup RobotComponents-Components
     * A description of the component FunctionApproximator.
     *
     * @class FunctionApproximator
     * @ingroup Component-FunctionApproximator
     * @brief Brief description of class FunctionApproximator.
     *
     * Detailed description of class FunctionApproximator.
     */
    using FuncAppMap = std::map<std::string, DMP::FunctionApproximationInterfacePtr>;
    using FuncAppPair = std::pair<std::string, DMP::FunctionApproximationInterfacePtr>;
 
    class FunctionApproximator :
        virtual public Component,
        virtual public armarx::FunctionApproximatorBase
    {
    public:
        FunctionApproximator() : dimension(2)
        {
            DMP::DVec widthFactor;
            widthFactor.push_back(10);
            widthFactor.push_back(10);
        }
 
        /**
         * @see armarx::ManagedIceObject::getDefaultName()
         */
        std::string
        getDefaultName() const override
        {
            return "FunctionApproximator";
        }
 
 
    protected:
        /**
         * @see armarx::ManagedIceObject::onInitComponent()
         */
        void onInitComponent() override;
 
        /**
         * @see armarx::ManagedIceObject::onConnectComponent()
         */
        void onConnectComponent() override;
 
        /**
         * @see armarx::ManagedIceObject::onDisconnectComponent()
         */
        void onDisconnectComponent() override;
 
        /**
         * @see armarx::ManagedIceObject::onExitComponent()
         */
        void onExitComponent() override;
 
        /**
         * @see PropertyUser::createPropertyDefinitions()
         */
        //        virtual armarx::PropertyDefinitionsPtr createPropertyDefinitions();
 
        // FunctionApproximatorBase interface
    public:
        void initialize(const std::string& fappName,
                        const Ice::DoubleSeq& factors,
                        const Ice::Current&) override;
        void learn(const std::string& name,
                   const DVector2d&,
                   const DVector2d&,
                   const Ice::Current&) override;
        Ice::Double
        predict(const std::string& name, const Ice::DoubleSeq&, const Ice::Current&) override;
        void ilearn(const std::string& name,
                    const Ice::DoubleSeq&,
                    Ice::Double,
                    const Ice::Current&) override;
        void blearn(const std::string& name,
                    const Ice::DoubleSeq&,
                    const Ice::DoubleSeq&,
                    const Ice::Current&) override;
        Ice::DoubleSeq
        bpredict(const std::string& name, const Ice::DoubleSeq& x, const Ice::Current&) override;
 
        void getFunctionApproximatorFromFile(const std::string& funcName,
                                             const std::string& name,
                                             const Ice::Current&) override; //TODO: deserialization;
        void getFunctionApproximatorsFromFile(const std::vector<std::string>& funcNameList,
                                              const std::string& filename,
                                              const Ice::Current&) override;
        void saveFunctionApproximatorInFile(const std::string& funcName,
                                            const std::string& name,
                                            const Ice::Current&) override; //TODO:  serialization;
 
        //        void getWeightsFromFile(const std::string & funcName, const std::string& filename, const Ice::Current&);
        //        void writeWeightsToFile(const std::string & funcName, const std::string& filename, const Ice::Current&);
 
        void reset(const Ice::Current&) override;
 
        void saveFunctionApproximatorInFileTest(const std::string& funcName,
                                                const std::string& name);
        void initializeTest(const std::string& fappName, const Ice::DoubleSeq& widthFactors);
 
    private:
        FuncAppMap funcAppPool;
        int dimension;
        int num;
    };
 
    using FunctionApproximatorPtr = ::IceInternal::Handle<::armarx::FunctionApproximator>;
 
} // namespace armarx