logprob_type logprob_buffer(Iterator first, Iterator last, void* buffer) const
{
matrix_type input(reinterpret_cast<parameter_type*>(buffer), dimension_embedding_ * (order_ - 1), 1);
if (last - first < order_) {
size_type i = 0;
for (/**/; i < order_ - (last - first); ++ i)
input.block(dimension_embedding_ * i, 0, dimension_embedding_, 1) = embedding_input_().col(id_eps_);
for (/**/; first != last - 1; ++ first, ++ i)
input.block(dimension_embedding_ * i, 0, dimension_embedding_, 1) = embedding_input_().col(*first);
} else {
size_type i = 0;
for (/**/; first != last - 1; ++ first, ++ i)
input.block(dimension_embedding_ * i, 0, dimension_embedding_, 1) = embedding_input_().col(*first);
}
if (normalize_) {
matrix_type hidden(reinterpret_cast<parameter_type*>(buffer) + dimension_embedding_ * (order_ - 1),
dimension_embedding_,
1);
hidden = (Wh_() * (Wc_() * input + bc_()).array().unaryExpr(hinge()).matrix() + bh_()).array().unaryExpr(hinge());
double logsum = - std::numeric_limits<double>::infinity();
double logprob = 0.0;
const word_type word = *(last - 1);
for (id_type id = 0; id != embedding_size_; ++ id)
if (id != id_bos_ && id != id_eps_) {
const double lp = (embedding_output_().col(id).block(0, 0, dimension_embedding_, 1).transpose() * hidden
+ embedding_output_().col(id).block(dimension_embedding_, 0, 1, 1))(0, 0);
logsum = utils::mathop::logsum(logsum, lp);
if (id == word.id())
logprob = lp;
}
return logprob - logsum;
} else
return (embedding_output_().col(*(last - 1)).block(0, 0, dimension_embedding_, 1).transpose()
* (Wh_() * (Wc_() * input
+ bc_()).array().unaryExpr(hinge()).matrix()
+ bh_()).array().unaryExpr(hinge()).matrix()
+ embedding_output_().col(*(last - 1)).block(dimension_embedding_, 0, 1, 1))(0, 0);
}
bool CarSuspension::Load(
const PTree & cfg_wheel,
CarSuspension *& suspension,
std::ostream & error_output)
{
CarSuspensionInfo info;
std::vector<btScalar> p(3);
if (!cfg_wheel.get("position", p, error_output)) return false;
if (!cfg_wheel.get("camber", info.camber, error_output)) return false;
if (!cfg_wheel.get("caster", info.caster, error_output)) return false;
if (!cfg_wheel.get("toe", info.toe, error_output)) return false;
cfg_wheel.get("steering", info.steering_angle);
cfg_wheel.get("ackermann", info.ackermann);
info.position.setValue(p[0], p[1], p[2]);
const PTree * cfg_coil;
if (!cfg_wheel.get("coilover", cfg_coil, error_output)) return false;
if (!LoadCoilover(*cfg_coil, info, error_output)) return false;
const PTree * cfg_susp;
if (cfg_wheel.get("macpherson-strut", cfg_susp))
{
std::vector<btScalar> strut_top(3), strut_end(3), hinge(3);
if (!cfg_susp->get("hinge", hinge, error_output)) return false;
if (!cfg_susp->get("strut-top", strut_top, error_output)) return false;
if (!cfg_susp->get("strut-end", strut_end, error_output)) return false;
MacPhersonSuspension * mps = new MacPhersonSuspension();
mps->Init(info, strut_top, strut_end, hinge);
suspension = mps;
}
/* else if (cfg_wheel.get("double-wishbone", cfg_susp))
{
std::vector<btScalar> up_ch0(3), up_ch1(3), lo_ch0(3), lo_ch1(3), up_hub(3), lo_hub(3);
if (!cfg_susp->get("upper-chassis-front", up_ch0, error_output)) return false;
if (!cfg_susp->get("upper-chassis-rear", up_ch1, error_output)) return false;
if (!cfg_susp->get("lower-chassis-front", lo_ch0, error_output)) return false;
if (!cfg_susp->get("lower-chassis-rear", lo_ch1, error_output)) return false;
if (!cfg_susp->get("upper-hub", up_hub, error_output)) return false;
if (!cfg_susp->get("lower-hub", lo_hub, error_output)) return false;
WishboneSuspension * wbs = new WishboneSuspension();
wbs->Init(info, up_ch0, up_ch1, lo_ch0, lo_ch1, up_hub, lo_hub);
suspension = wbs;
}*/
else
{
std::vector<btScalar> ch(3, 0), wh(3, 0);
if (!cfg_wheel.get("hinge", cfg_susp, error_output)) return false;
if (!cfg_susp->get("chassis", ch, error_output)) return false;
if (!cfg_susp->get("wheel", wh, error_output)) return false;
BasicSuspension * bs = new BasicSuspension();
bs->Init(info, ch, wh);
suspension = bs;
}
return true;
}
