void LibSVMRunner::arma_prediction(SVMConfiguration& config) {
struct svm_model* m;
struct svm_node ** train;
svm_parameter *params;
int training_examples = config.getDataExamplesNumber();
params = configuration_to_problem(config);
m = load_model_from_config(config, params);
// TODO: READ MODEL FROM PARAMETERS
if(config.isSparse()) {
train = ArmaSpMatToSvmNode(config.sparse_data);
} else {
train = armatlib(config.data);
}
double* ret = Malloc(double, training_examples);
for (int i = 0; i < training_examples; i++)
ret[i] = svm_predict(m, train[i],config.log);
arma::vec ret_vec(ret, training_examples);
config.result = ret_vec;
/* TODO: CLEAN MEMORY IN BETTER WAY THINK OF OTHER PARAMETERS
* Clean memory:
* -array matrix
* -model
*/
for (int i = 0; i < training_examples; i++)
free(train[i]);
free(train);
//TODO: THIS SHOULD WORK WITH PREDICTIONS 2X, now it's not working
// svm_free_and_destroy_model(&m);
svm_destroy_param(params,config.log);
free(ret);
}
std::vector<std::string>
planning_models::KinematicModel::getChildJointModelNames(const KinematicModel::JointModel *parent) const
{
std::vector<const KinematicModel::JointModel*> joints;
getChildJointModels(parent,joints);
std::vector<std::string> ret_vec(joints.size());
for(unsigned int i = 0; i < joints.size(); i++) {
ret_vec[i] = joints[i]->getName();
}
return ret_vec;
}
std::vector<std::string>
planning_models::KinematicModel::getChildLinkModelNames(const KinematicModel::JointModel *parent) const
{
std::vector<const KinematicModel::LinkModel*> links;
getChildLinkModels(parent,links);
std::vector<std::string> ret_vec(links.size());
for(unsigned int i = 0; i < links.size(); i++) {
ret_vec[i] = links[i]->getName();
}
return ret_vec;
}
std::vector< String > ServerConnection::getItemsList( OPCBROWSEFILTER type, const String& from_branch, const String& name_filter, const String& vendor_filter )
{
FRL_EXCEPT_GUARD();
checkIsConnect();
ComPtr<IOPCBrowse> br_ptr;
getInterface( IID_IOPCBrowse, br_ptr );
LPWSTR item_id = util::duplicateString( unicodeCompatibility( from_branch ) );
LPWSTR cont_pint = NULL;
LPWSTR name_filter_str = util::duplicateString( unicodeCompatibility( name_filter ) );
LPWSTR vendor_filter_str = util::duplicateString( unicodeCompatibility( vendor_filter ) );
DWORD *property_ids = os::win32::com::allocMemory<DWORD>();
DWORD count;
OPCBROWSEELEMENT *browse_elements;
BOOL m = FALSE;
HRESULT val = br_ptr->Browse( item_id, &cont_pint, 0, type, name_filter_str, vendor_filter_str, FALSE, FALSE, 0, property_ids, &m, &count, &browse_elements );
if( FAILED( val ) )
{
os::win32::com::freeMemory( property_ids );
os::win32::com::freeMemory( item_id );
os::win32::com::freeMemory( name_filter_str );
os::win32::com::freeMemory( vendor_filter_str );
FRL_THROW_OPC( val );
}
std::vector< String > ret_vec( count );
for( DWORD i = 0; i < count; ++i )
{
ret_vec[i] = similarCompatibility( browse_elements[i].szName );
os::win32::com::freeMemory( browse_elements[i].szName );
os::win32::com::freeMemory( browse_elements[i].szItemID );
os::win32::com::freeMemory( browse_elements[i].ItemProperties.pItemProperties );
}
os::win32::com::freeMemory( property_ids );
os::win32::com::freeMemory( item_id );
os::win32::com::freeMemory( name_filter_str );
os::win32::com::freeMemory( vendor_filter_str );
os::win32::com::freeMemory( browse_elements );
return ret_vec;
}
Vector_double stfio::vec_vec_div(const Vector_double& vec1, const Vector_double& vec2) {
Vector_double ret_vec(vec1.size());
std::transform(vec1.begin(), vec1.end(), vec2.begin(), ret_vec.begin(), std::divides<double>());
return ret_vec;
}
Vector_double stfio::vec_scal_div(const Vector_double& vec, double scalar) {
Vector_double ret_vec(vec.size(), scalar);
std::transform(vec.begin(), vec.end(), ret_vec.begin(), ret_vec.begin(), std::divides<double>());
return ret_vec;
}