void ConnSW_BP::_commitGrad(float delta)
{
float *weight = getWeight().getData();
float *bias = getBias().getData();
const float *weight_grad = getWeightGrad().getData();
const float *bias_grad = getBiasGrad().getData();
const int weight_size = getWeight().getSize();
const int bias_size = getBias().getSize();
const float norm = delta/getBPCount();
for(int i = 0; i < weight_size; ++i)
{
weight[i] += weight_grad[i]*norm;
}
for(int i = 0; i < bias_size; ++i)
{
bias[i] += bias_grad[i]*norm;
}
getWeightGrad().clear();
getBiasGrad().clear();
}
VGfloat IPath::getParameterf( const VGint p ) const {
switch (p) {
case VG_PATH_SCALE:
return getScale();
break;
case VG_PATH_BIAS:
return getBias();
break;
default:
IContext::instance().setError( VG_ILLEGAL_ARGUMENT_ERROR );
return -1;
break;
}
}
void updateMatrices(const float *cameraView)
{
float bias = getBias();
if(shadowMap)
properties.targetPos = shadowMap->pos;
properties.resolutionX = 2 * SHADOW_WIDTH;
properties.resolutionY = 2 * SHADOW_HEIGHT;
properties.updateMatrices(cameraView, bias);
camera.SetPosition(properties.position);
camera.SetTarget(properties.position + properties.direction);
camera.SetFieldOfView(D3DXToRadian(properties.fov));
camera.SetVisibilityRange(properties.range);
}
void PoseEstimationTaskContext::updateOutputs()
{
getState(state_);
state_output_.write(state_);
if (imu_output_.connected()) {
imu_out_.header = state_.header;
imu_out_.orientation = state_.pose.pose.orientation;
getImuWithBiases(imu_out_.linear_acceleration, imu_out_.angular_velocity);
imu_output_.write(imu_out_);
}
if (pose_output_.connected()) {
pose_.header = state_.header;
pose_.pose = state_.pose.pose;
pose_output_.write(pose_);
}
if (velocity_output_.connected()) {
velocity_.header = state_.header;
velocity_.vector = state_.twist.twist.linear;
velocity_output_.write(velocity_);
}
if (global_position_output_.connected()) {
global_position_.header = state_.header;
getGlobalPosition(global_position_.latitude, global_position_.longitude, global_position_.altitude);
global_position_.latitude *= 180.0/M_PI;
global_position_.longitude *= 180.0/M_PI;
if (getSystemStatus() & STATE_XY_POSITION) {
global_position_.status.status = sensor_msgs::NavSatStatus::STATUS_FIX;
} else {
global_position_.status.status = sensor_msgs::NavSatStatus::STATUS_NO_FIX;
}
global_position_output_.write(global_position_);
}
if (angular_velocity_bias_output_.connected() || linear_acceleration_bias_output_.connected()) {
getHeader(angular_velocity_bias_.header);
getHeader(linear_acceleration_bias_.header);
getBias(angular_velocity_bias_, linear_acceleration_bias_);
angular_velocity_bias_output_.write(angular_velocity_bias_);
linear_acceleration_bias_output_.write(linear_acceleration_bias_);
}
}
void processAudio(AudioBuffer &buffer)
{
float bias = getBias(1 - getRampedParameterValue(PARAMETER_A));
float dryWetMix = getRampedParameterValue(PARAMETER_D);
int size = buffer.getSize();
for(int ch = 0; ch<buffer.getChannels(); ++ch)
{
float* buf = buffer.getSamples(ch);
for (int i=0; i<size; ++i)
{
float v =
powf(fabs(buf[i]), bias) * // bias
(buf[i] < 0 ? -1 : 1); // sign
buf[i] =
v * dryWetMix +
buf[i] * (1 - dryWetMix);
}
}
}
void PlumedMain::cmd(const std::string & word,void*val){
stopwatch.start();
std::vector<std::string> words=Tools::getWords(word);
unsigned nw=words.size();
if(nw==0){
// do nothing
} else {
int iword=-1;
double d;
std::map<std::string, int>::const_iterator it=plumedMainWordMap().find(words[0]);
if(it!=plumedMainWordMap().end()) iword=it->second;
switch(iword) {
case cmd_setBox:
CHECK_INIT(initialized,word);
CHECK_NOTNULL(val,word);
atoms.setBox(val);
break;
case cmd_setPositions:
CHECK_INIT(initialized,word);
atoms.setPositions(val);
break;
case cmd_setMasses:
CHECK_INIT(initialized,word);
atoms.setMasses(val);
break;
case cmd_setCharges:
CHECK_INIT(initialized,word);
atoms.setCharges(val);
break;
case cmd_setPositionsX:
CHECK_INIT(initialized,word);
atoms.setPositions(val,0);
break;
case cmd_setPositionsY:
CHECK_INIT(initialized,word);
atoms.setPositions(val,1);
break;
case cmd_setPositionsZ:
CHECK_INIT(initialized,word);
atoms.setPositions(val,2);
break;
case cmd_setVirial:
CHECK_INIT(initialized,word);
CHECK_NOTNULL(val,word);
atoms.setVirial(val);
break;
case cmd_setEnergy:
CHECK_INIT(initialized,word);
CHECK_NOTNULL(val,word);
atoms.setEnergy(val);
break;
case cmd_setForces:
CHECK_INIT(initialized,word);
atoms.setForces(val);
break;
case cmd_setForcesX:
CHECK_INIT(initialized,word);
atoms.setForces(val,0);
break;
case cmd_setForcesY:
CHECK_INIT(initialized,word);
atoms.setForces(val,1);
break;
case cmd_setForcesZ:
CHECK_INIT(initialized,word);
atoms.setForces(val,2);
break;
case cmd_calc:
CHECK_INIT(initialized,word);
calc();
break;
case cmd_prepareDependencies:
CHECK_INIT(initialized,word);
prepareDependencies();
break;
case cmd_shareData:
CHECK_INIT(initialized,word);
shareData();
break;
case cmd_prepareCalc:
CHECK_INIT(initialized,word);
prepareCalc();
break;
case cmd_performCalc:
CHECK_INIT(initialized,word);
performCalc();
break;
case cmd_performCalcNoUpdate:
CHECK_INIT(initialized,word);
performCalcNoUpdate();
break;
case cmd_update:
CHECK_INIT(initialized,word);
update();
break;
case cmd_setStep:
CHECK_INIT(initialized,word);
CHECK_NOTNULL(val,word);
step=(*static_cast<int*>(val));
atoms.startStep();
break;
case cmd_setStepLong:
CHECK_INIT(initialized,word);
CHECK_NOTNULL(val,word);
step=(*static_cast<long int*>(val));
atoms.startStep();
break;
// words used less frequently:
case cmd_setAtomsNlocal:
CHECK_INIT(initialized,word);
CHECK_NOTNULL(val,word);
atoms.setAtomsNlocal(*static_cast<int*>(val));
break;
case cmd_setAtomsGatindex:
CHECK_INIT(initialized,word);
atoms.setAtomsGatindex(static_cast<int*>(val),false);
break;
case cmd_setAtomsFGatindex:
CHECK_INIT(initialized,word);
atoms.setAtomsGatindex(static_cast<int*>(val),true);
break;
case cmd_setAtomsContiguous:
CHECK_INIT(initialized,word);
CHECK_NOTNULL(val,word);
atoms.setAtomsContiguous(*static_cast<int*>(val));
break;
case cmd_createFullList:
CHECK_INIT(initialized,word);
CHECK_NOTNULL(val,word);
atoms.createFullList(static_cast<int*>(val));
break;
case cmd_getFullList:
CHECK_INIT(initialized,word);
CHECK_NOTNULL(val,word);
atoms.getFullList(static_cast<int**>(val));
break;
case cmd_clearFullList:
CHECK_INIT(initialized,word);
atoms.clearFullList();
break;
case cmd_read:
CHECK_INIT(initialized,word);
if(val)readInputFile(static_cast<char*>(val));
else readInputFile("plumed.dat");
break;
case cmd_readInputLine:
CHECK_INIT(initialized,word);
CHECK_NOTNULL(val,word);
readInputLine(static_cast<char*>(val));
break;
case cmd_clear:
CHECK_INIT(initialized,word);
actionSet.clearDelete();
break;
case cmd_getApiVersion:
CHECK_NOTNULL(val,word);
*(static_cast<int*>(val))=4;
break;
// commands which can be used only before initialization:
case cmd_init:
CHECK_NOTINIT(initialized,word);
init();
break;
case cmd_setRealPrecision:
CHECK_NOTINIT(initialized,word);
CHECK_NOTNULL(val,word);
atoms.setRealPrecision(*static_cast<int*>(val));
break;
case cmd_setMDLengthUnits:
CHECK_NOTINIT(initialized,word);
CHECK_NOTNULL(val,word);
atoms.MD2double(val,d);
atoms.setMDLengthUnits(d);
break;
case cmd_setMDChargeUnits:
CHECK_NOTINIT(initialized,word);
CHECK_NOTNULL(val,word);
atoms.MD2double(val,d);
atoms.setMDChargeUnits(d);
break;
case cmd_setMDMassUnits:
CHECK_NOTINIT(initialized,word);
CHECK_NOTNULL(val,word);
atoms.MD2double(val,d);
atoms.setMDMassUnits(d);
break;
case cmd_setMDEnergyUnits:
CHECK_NOTINIT(initialized,word);
CHECK_NOTNULL(val,word);
atoms.MD2double(val,d);
atoms.setMDEnergyUnits(d);
break;
case cmd_setMDTimeUnits:
CHECK_NOTINIT(initialized,word);
CHECK_NOTNULL(val,word);
atoms.MD2double(val,d);
atoms.setMDTimeUnits(d);
break;
case cmd_setNaturalUnits:
// set the boltzman constant for MD in natural units (kb=1)
// only needed in LJ codes if the MD is passing temperatures to plumed (so, not yet...)
// use as cmd("setNaturalUnits")
CHECK_NOTINIT(initialized,word);
atoms.setMDNaturalUnits(true);
break;
case cmd_setNoVirial:
CHECK_NOTINIT(initialized,word);
novirial=true;
break;
case cmd_setPlumedDat:
CHECK_NOTINIT(initialized,word);
CHECK_NOTNULL(val,word);
plumedDat=static_cast<char*>(val);
break;
case cmd_setMPIComm:
CHECK_NOTINIT(initialized,word);
comm.Set_comm(val);
atoms.setDomainDecomposition(comm);
break;
case cmd_setMPIFComm:
CHECK_NOTINIT(initialized,word);
comm.Set_fcomm(val);
atoms.setDomainDecomposition(comm);
break;
case cmd_setMPImultiSimComm:
CHECK_NOTINIT(initialized,word);
multi_sim_comm.Set_comm(val);
break;
case cmd_setNatoms:
CHECK_NOTINIT(initialized,word);
CHECK_NOTNULL(val,word);
atoms.setNatoms(*static_cast<int*>(val));
break;
case cmd_setTimestep:
CHECK_NOTINIT(initialized,word);
CHECK_NOTNULL(val,word);
atoms.setTimeStep(val);
break;
/* ADDED WITH API==2 */
case cmd_setKbT:
CHECK_NOTINIT(initialized,word);
CHECK_NOTNULL(val,word);
atoms.setKbT(val);
break;
/* ADDED WITH API==3 */
case cmd_setRestart:
CHECK_NOTINIT(initialized,word);
CHECK_NOTNULL(val,word);
if(*static_cast<int*>(val)!=0) restart=true;
break;
case cmd_setMDEngine:
CHECK_NOTINIT(initialized,word);
CHECK_NOTNULL(val,word);
MDEngine=static_cast<char*>(val);
break;
case cmd_setLog:
CHECK_NOTINIT(initialized,word);
log.link(static_cast<FILE*>(val));
break;
case cmd_setLogFile:
CHECK_NOTINIT(initialized,word);
CHECK_NOTNULL(val,word);
log.open(static_cast<char*>(val));
break;
// other commands that should be used after initialization:
case cmd_setStopFlag:
CHECK_INIT(initialized,word);
CHECK_NOTNULL(val,word);
stopFlag=static_cast<int*>(val);
break;
case cmd_getExchangesFlag:
CHECK_INIT(initialized,word);
CHECK_NOTNULL(val,word);
exchangePatterns.getFlag((*static_cast<int*>(val)));
break;
case cmd_setExchangesSeed:
CHECK_INIT(initialized,word);
CHECK_NOTNULL(val,word);
exchangePatterns.setSeed((*static_cast<int*>(val)));
break;
case cmd_setNumberOfReplicas:
CHECK_INIT(initialized,word);
CHECK_NOTNULL(val,word);
exchangePatterns.setNofR((*static_cast<int*>(val)));
break;
case cmd_getExchangesList:
CHECK_INIT(initialized,word);
CHECK_NOTNULL(val,word);
exchangePatterns.getList((static_cast<int*>(val)));
break;
case cmd_runFinalJobs:
CHECK_INIT(initialized,word);
runJobsAtEndOfCalculation();
break;
case cmd_isEnergyNeeded:
CHECK_INIT(initialized,word);
CHECK_NOTNULL(val,word);
if(atoms.isEnergyNeeded()) *(static_cast<int*>(val))=1;
else *(static_cast<int*>(val))=0;
break;
case cmd_getBias:
CHECK_INIT(initialized,word);
CHECK_NOTNULL(val,word);
atoms.double2MD(getBias()/(atoms.getMDUnits().getEnergy()/atoms.getUnits().getEnergy()),val);
break;
case cmd_checkAction:
CHECK_NOTNULL(val,word);
plumed_assert(nw==2);
*(static_cast<int*>(val))=(actionRegister().check(words[1]) ? 1:0);
break;
case cmd_GREX:
if(!grex) grex=new GREX(*this);
plumed_massert(grex,"error allocating grex");
{
std::string kk=words[1];
for(unsigned i=2;i<words.size();i++) kk+=" "+words[i];
grex->cmd(kk.c_str(),val);
}
break;
case cmd_CLTool:
CHECK_NOTINIT(initialized,word);
if(!cltool) cltool=new CLToolMain;
{
std::string kk=words[1];
for(unsigned i=2;i<words.size();i++) kk+=" "+words[i];
cltool->cmd(kk.c_str(),val);
}
break;
default:
plumed_merror("cannot interpret cmd(\"" + word + "\"). check plumed developers manual to see the available commands.");
break;
}
}
stopwatch.pause();
}
