double cal_score(vector <size_t> instance){
//f(x)=(UW)(TV)' + Px
double score = 0.0;
DblVec UW;
DblVec TV;
int dimLatent = W.size() / getUserFeaCount();
for (size_t j = 0 ; j < dimLatent; j++){
UW.push_back(0);
TV.push_back(0);
}
for (size_t j = 0; j < instance.size(); j++){
score += P[instance[j]] * 1.0;
if(instance[j] < getAdFeaCount()){
for(size_t k = 0; k < dimLatent; k++){
int v_index = instance[j] * dimLatent + k;
TV[k]+=V[v_index];
}
}
else if(instance[j] < getAdFeaCount() + getUserFeaCount()){
for(size_t k = 0; k < dimLatent; k++){
int w_index = (instance[j] - getAdFeaCount())*dimLatent + k;
UW[k] += W[w_index];
}
}
}
for (size_t j = 0; j < dimLatent; j++){
score += UW[j]*TV[j];
}
return score;
}
int load_model(const char* model_path){
string line;
char model_file_name[50];
sprintf(model_file_name, "%sP", model_path);
double fea_weight;
//load P
ifstream pmodel(model_file_name);
if(!pmodel.good()){
cerr << "error model file " << model_file_name << endl;
exit(1);
}
while (getline(pmodel, line)){
fea_weight = atof(line.c_str());
P.push_back(fea_weight);
}
pmodel.close();
//load W
sprintf(model_file_name, "%sX", model_path);
ifstream xmodel(model_file_name);
if(!xmodel.good()){
cerr << "error model file " << model_file_name << endl;
exit(1);
}
while (getline(xmodel, line)){
fea_weight = atof(line.c_str());
X.push_back(fea_weight);
}
xmodel.close();
return 0;
}
void SingleTimestepCollisionEvaluator::CalcDists(const DblVec& x, DblVec& dists, DblVec& weights) {
DblVec dofvals = getDblVec(x, m_vars);
m_rad->SetDOFValues(dofvals);
vector<Collision> collisions;
GetCollisionsCached(dofvals, collisions);
dists.reserve(dists.size() + collisions.size());
weights.reserve(weights.size() + collisions.size());
BOOST_FOREACH(const Collision& col, collisions) {
Link2Int::iterator itA = m_link2ind.find(col.linkA),
itB = m_link2ind.find(col.linkB);
if (itA != m_link2ind.end() || itB != m_link2ind.end()) {
dists.push_back(col.distance);
weights.push_back(col.weight);
}
}
double NeedleCollisionClearanceCost::value(const vector<double>& x, Model* model) {
DblVec dists;
EnvironmentBasePtr env = helper->pis[0]->local_configs[0]->GetEnv();
BOOST_FOREACH(const CollisionEvaluatorPtr& cc, this->ccs) {
DblVec tmp_dists;
cc->CalcDists(x, tmp_dists);
for (int i = 0; i < tmp_dists.size(); ++i) {
dists.push_back(-tmp_dists[i]);
}
}
if (dists.size() > 0) {
return vecMax(dists) * this->coeff;
} else {
return - helper->collision_clearance_threshold * this->coeff;
}
}