CommonPlacesLearner.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    MemoryX::CommonPlacesLearner
* @author     Alexey Kozlov ( kozlov at kit dot edu)
* @date       2013
* @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
*             GNU General Public License
*/
 
#pragma once
 
#include <ArmarXCore/core/Component.h>
#include <ArmarXCore/core/system/ImportExportComponent.h>
 
#include "GaussianMixtureAssociationMethod.h"
#include "GaussianMixturePositionFusion.h"
#include <MemoryX/interface/components/CommonPlacesLearnerInterface.h>
#include <MemoryX/interface/components/LongtermMemoryInterface.h>
#include <MemoryX/interface/components/PriorKnowledgeInterface.h>
 
// memoryx helpers
#include <MemoryX/libraries/helpers/GaussianMixtureHelpers/GMMReducer.h>
 
namespace memoryx
{
 
    class CommonPlacesLearnerPropertyDefinitions : public armarx::ComponentPropertyDefinitions
    {
    public:
        CommonPlacesLearnerPropertyDefinitions(std::string prefix) :
            ComponentPropertyDefinitions(prefix)
        {
            defineOptionalProperty<std::string>(
                "LTMSegment",
                "objects",
                "Name of segment in LTM to store learned CommonPlaces / to run queries on");
            defineOptionalProperty<float>(
                "AgingFactor", 0.8, "Discount factor to make older observations less significant");
            defineOptionalProperty<float>(
                "PruningThreshold", 0.0, "Maximum weight of Gauss component to be pruned");
            defineOptionalProperty<std::string>(
                "MergingDistanceType",
                "KL",
                "Distance type to be used for association/merging: Mahalanobis, ISD, KL");
            defineOptionalProperty<float>(
                "MergingThreshold",
                0.0,
                "Maximum distance value for association (meaning depends upon measure used)");
            defineOptionalProperty<std::string>(
                "GMMReducerAlgorithm",
                "West",
                "A GMM reducing algorithm to be used for queries: West, Runnalls, Williams");
        }
    };
 
    class ARMARXCOMPONENT_IMPORT_EXPORT CommonPlacesLearner :
        virtual public CommonPlacesLearnerInterface,
        virtual public armarx::Component
    {
    public:
        // inherited from Component
        std::string
        getDefaultName() const override
        {
            return "CommonPlacesLearner";
        };
 
        void onInitComponent() override;
        void onConnectComponent() override;
        void onExitComponent() override;
 
        // inherited from CommonPlacesLearnerInterface
        void setLTMSegmentName(const ::std::string& segmentName,
                               const ::Ice::Current& = Ice::emptyCurrent) override;
        void setAgingFactor(float factor, const ::Ice::Current& = Ice::emptyCurrent) override;
        void setMergingThreshold(float threshold,
                                 const ::Ice::Current& = Ice::emptyCurrent) override;
 
        void learnFromSnapshot(const ::std::string& snapshotName,
                               const ::Ice::Current& = Ice::emptyCurrent) override;
        void learnFromObject(const ObjectInstanceBasePtr& newObject,
                             const ::Ice::Current& = Ice::emptyCurrent) override;
        void learnFromObjectMCA(const ::std::string& objectName,
                                const MultivariateNormalDistributionBasePtr& posDist,
                                const ::Ice::Current& = Ice::emptyCurrent) override;
 
        // inherited from CommonPlacesQueryInterface
        GaussianMixtureDistributionBasePtr
        getPositionFull(const ::std::string& objectName,
                        const ::Ice::Current& = Ice::emptyCurrent) override;
        GaussianMixtureDistributionBasePtr
        getPositionReducedByComponentCount(const ::std::string& objectName,
                                           Ice::Int compCount,
                                           const ::Ice::Current& = Ice::emptyCurrent) override;
        GaussianMixtureDistributionBasePtr
        getPositionReducedByMaxDeviation(const ::std::string& objectName,
                                         Ice::Float maxDeviation,
                                         DeviationType devType,
                                         const ::Ice::Current& = Ice::emptyCurrent) override;
        NormalDistributionBasePtr
        getPositionAsGaussian(const ::std::string& objectName,
                              const ::Ice::Current& = Ice::emptyCurrent) override;
 
        Cluster3DList
        getPositionClustersByComponentCount(const ::std::string& objectName,
                                            Ice::Int compCount,
                                            const ::Ice::Current& = Ice::emptyCurrent) override;
        Cluster3DList
        getPositionClustersByMaxDeviation(const ::std::string& objectName,
                                          Ice::Float maxDeviation,
                                          DeviationType devType,
                                          const ::Ice::Current& = Ice::emptyCurrent) override;
 
    private:
        PriorKnowledgeInterfacePrx priorKnowledgePrx;
 
        LongtermMemoryInterfacePrx longtermMemoryPrx;
        PersistentObjectInstanceSegmentBasePrx ltmInstancesSegmentPrx;
 
        GaussianMixtureAssociationMethodPtr assMethod;
        GaussianMixturePositionFusionPtr fusionMethod;
        GMMReducerPtr gmmReducer;
 
        //
        DeviationMeasure convertDeviationType(DeviationType devType);
        Cluster3DList gmmToClusterList(const GaussianMixtureDistributionBasePtr& gmm);
        void getChildClasses(std::string className, NameList& result);
 
    public:
        /**
         * @see PropertyUser::createPropertyDefinitions()
         */
        armarx::PropertyDefinitionsPtr
        createPropertyDefinitions() override
        {
            return armarx::PropertyDefinitionsPtr(
                new CommonPlacesLearnerPropertyDefinitions(getConfigIdentifier()));
        }
    };
 
    using CommonPlacesLearnerPtr = IceUtil::Handle<CommonPlacesLearner>;
} // namespace memoryx