int test_for_iros08_method2(void)
{
tl_message ("start");
JHMM *hmm1 = NULL, *hmm2 = NULL, *inter_hmm = NULL, *extra_hmm = NULL;
Behavior *beh = NULL;
hmm1 = new JHMM;
hmm2 = new JHMM;
inter_hmm = new JHMM;
extra_hmm = new JHMM;
hmm1->Load("./.tmp/squat/squat.hmm");
hmm2->Load("./.tmp/punch/punch.hmm");
hmm1->Show();
hmm2->Show();
tl_message ("Hellinger Distance between squat and punch = %g", hmm1->HellingerDistance(*hmm2));
tl_message ("Now generate a interpolation HMM");
inter_hmm->Interpolation (*hmm1, *hmm2, 0.5, 0.5);
inter_hmm->Show();
beh = inter_hmm->GenerateBehavior(100, 30);
beh->FileOut("interpolation_any2.beh");
tl_message ("Now generate a extrapolation HMM");
extra_hmm->Interpolation (*hmm1, *hmm2, -1.0, 2.0);
extra_hmm->Show();
beh = extra_hmm->GenerateBehavior(100, 30);
beh->FileOut("extrapolation_any2.beh");
delete beh;
delete hmm1;
delete hmm2;
delete inter_hmm;
delete extra_hmm;
return TRUE;
}
int test_extrapolation(void)
{
tl_message ("start");
JHMM *hmm1 = NULL, *hmm2 = NULL, *hmm3 = NULL, *extra_hmm = NULL;
JHMM *hmm_vec[3];
double weight[3];
Behavior *beh = NULL;
hmm1 = new JHMM;
hmm2 = new JHMM;
hmm3 = new JHMM;
extra_hmm = new JHMM;
hmm1->Load("./.tmp/squat/squat.hmm");
hmm2->Load("./.tmp/punch/punch.hmm");
hmm3->Load("./.tmp/kick/kick.hmm");
hmm1->Show();
hmm2->Show();
hmm3->Show();
hmm_vec[0] = hmm1; weight[0] = -1.0;
hmm_vec[1] = hmm2; weight[1] = -13;
hmm_vec[2] = hmm3; weight[2] = 1.3;
tl_message ("Now generate a extrapolation HMM");
extra_hmm->InterpolationAny (hmm_vec, weight, 3);
extra_hmm->Show();
beh = extra_hmm->GenerateBehavior(100, 30);
beh->FileOut("interpolation_any.beh");
delete beh;
delete hmm1;
delete hmm2;
delete hmm3;
delete extra_hmm;
return TRUE;
}
int test_for_iros08(void)
{
tl_message ("start");
JHMM *hmm1 = NULL, *hmm2 = NULL, *inter_hmm = NULL, *extra_hmm = NULL;
JHMM *hmm_vec[3];
double weight[3];
Behavior *beh = NULL;
hmm1 = new JHMM;
hmm2 = new JHMM;
inter_hmm = new JHMM;
extra_hmm = new JHMM;
hmm1->Load("./.tmp/squat/squat.hmm");
hmm2->Load("./.tmp/punch/punch.hmm");
hmm1->Show();
hmm2->Show();
hmm_vec[0] = hmm1; weight[0] = 0.5;
hmm_vec[1] = hmm2; weight[1] = 0.5;
tl_message ("Now generate a interpolation HMM");
inter_hmm->InterpolationAny (hmm_vec, weight, 2);
inter_hmm->Show();
beh = inter_hmm->GenerateBehavior(100, 30);
beh->FileOut("interpolation_any.beh");
hmm_vec[0] = hmm1; weight[0] = -0.5;
hmm_vec[1] = hmm2; weight[1] = 1.5;
tl_message ("Now generate a extrapolation HMM");
extra_hmm->InterpolationAny (hmm_vec, weight, 2);
extra_hmm->Show();
beh = extra_hmm->GenerateBehavior(100, 30);
beh->FileOut("extrapolation_any.beh");
delete beh;
delete hmm1;
delete hmm2;
delete inter_hmm;
delete extra_hmm;
return TRUE;
}
// Created on 2006-09-07
// Trying to generate new proto-symbol by exterior division
int generate_exterior_division(void)
{
Behavior *behavior = NULL;
vector<double> tmp_dis, tmp_cord(3);
vector<double> coord[NUM_MOTION], vec_sum(3);
PsymbolSpace *pspace = NULL;
int i, j;
work = new WorkSpace();
//work->Load ("../../script/learning_scriptfile_3");
work->LoadMotionDB ("../../script/four_motions");
work->SetHTKUnitsFromMotionDB ();
//work->SetLabelFromRecogUnit();
work->BeforeRecognize();
work->DistanceLoad ("../../script/symbol_data/tmp_distance_vector");
work->SpaceLoad ("../../script/symbol_data/tmp_dim.spc");
pspace = work->GetPsymbolSpace();
hmm[KICK] = new JHMM();
hmm[WALK] = new JHMM();
hmm[BANZAI] = new JHMM();
hmm[SQUAT] = new JHMM();
#if 0
hmm[THROW] = new JHMM();
hmm[DANCE] = new JHMM();
#endif
hmm[KICK] ->Load ("./.tmp/kick/kick.hmm");
hmm[WALK] ->Load ("./.tmp/ashibum/ashibum.hmm");
hmm[SQUAT] ->Load ("./.tmp/squat/squat.hmm");
hmm[BANZAI]->Load ("./.tmp/banzai/banzai.hmm");
#if 0
hmm[THROW] ->Load ("./.tmp/squat/squat.hmm");
hmm[DANCE] ->Load ("./.tmp/banzai/banzai.hmm");
#endif
vector<double> cops(3); // Center of Proto-symbols
for (i=0; i<3; i++)
{
cops[i] = 0.0;
vec_sum[i] = 0.0;
}
tl_message ("step 1");
for (i=0; i<NUM_MOTION; i++)
{
tl_message ("step 2-%d-1", i);
coord[i].resize(3);
tl_message ("step 2-%d-2", i);
behavior = hmm[i]->GenerateBehavior(GEN_NUM, GEN_NUM_Q);
tl_message ("step 2-%d-3", i);
work->CalcDistanceOfInputBehavior(behavior, tmp_dis);
tl_message ("step 2-%d-4", i);
pspace->CoordinateFromDistanceData(tmp_dis, coord[i]);
tl_message ("step 2-%d-5", i);
for (j=0; j<3; j++) vec_sum[j] += coord[i][j];
}
for (i=0; i<NUM_MOTION; i++)
fprintf (stderr, "Pos of No.%d motion = (%g, %g, %g)\n", i, coord[i][0], coord[i][1], coord[i][2]);
for (j=0; j<3; j++) cops[j] = vec_sum[j] / NUM_MOTION;
fprintf (stderr, "Center of proto-symbol = (%g, %g, %g)\n", cops[0], cops[1], cops[2]);
behavior = create_behavior_from_coord (cops);
behavior->FileOut ("./center.beh");
hmm_center = new JHMM();
hmm_center->SetDefault();
hmm_center->Initialize(LEFT_TO_RIGHT);
hmm_center->Verify();
// 重心から外側に向かって kick を２倍
for (j=0; j<3; j++)
tmp_cord[j] = 2 * (coord[KICK][j] - cops[j]) + cops[j];
behavior = create_behavior_from_coord (tmp_cord);
behavior->FileOut ("./output.beh");
return TRUE;
}
