C++ (Cpp) Trajectory::duration Examples

Example #1

File: Dmp.cpp Project: humm/dovecot

void Dmp::train(const Trajectory& trajectory, string save_directory, bool overwrite)
{
  
  // Set tau, initial_state and attractor_state from the trajectory 
  set_tau(trajectory.duration());
  set_initial_state(trajectory.initial_y());
  set_attractor_state(trajectory.final_y());
  
  VectorXd fa_input_phase;
  MatrixXd f_target;
  computeFunctionApproximatorInputsAndTargets(trajectory, fa_input_phase, f_target);
  
  // Some checks before training function approximators
  assert(!function_approximators_.empty());
  
  for (unsigned int dd=0; dd<function_approximators_.size(); dd++)
  {
    // This is just boring stuff to figure out if and where to store the results of training
    string save_directory_dim;
    if (!save_directory.empty())
    {
      if (function_approximators_.size()==1)
        save_directory_dim = save_directory;
      else
        save_directory_dim = save_directory + "/dim" + boost::lexical_cast<string>(dd);
    }
    
    // Actual training is happening here.
    VectorXd fa_target = f_target.col(dd);
    if (function_approximators_[dd]->isTrained())
      function_approximators_[dd]->reTrain(fa_input_phase,fa_target,save_directory_dim,overwrite);
    else
      function_approximators_[dd]->train(fa_input_phase,fa_target,save_directory_dim,overwrite);
  }
}