int generate_with_symbol_space(void)
{
Behavior *tmp_beh, *beh;
WorkSpace *work = NULL;
work = new WorkSpace();
tl_message ("Now loading motionDBs...");
work->Load ("../../script/learning_scriptfile_3");
tl_message ("Now loading recogunits...");
work->SetRecogUnits ("../../script/learning_scriptfile_3");
work->SetLabelFromRecogUnit();
work->BeforeRecognize();
work->SetDisVector();
work->SymmentrizeDisVector();
work->SpaceCreate(3);
vector<double> tmp_dis;
vector<double> tmp_cord;
int span = 20, step = 5;
Pose *pose;
cur_beh = new Behavior();
for (int i=0; i<span; i++)
{
data = TOYOTA_GetMotionCaptureData();
joint_angle = TOYOTA_TransferCaptureToJoint(data);
pose = new Pose(dof, joint_angle); // dof = number of DoF, joint_angle : sequence of double
cur_beh->AddPose(pose);
}
for (int j=0; j<1000; j++)
{
cerr << "---------------- pop" << endl;
for (int i=0; i<step; i++)
{
cur_beh->PopFrontPose();
data = TOYOTA_GetMotionCaptureData();
joint_angle = TOYOTA_TransferCaptureToJoint(data);
pose = new Pose(dof, joint_angle); // dof = number of DoF, joint_angle : sequence of double
cur_beh->AddPose(pose);
}
cerr << "---------------- CalcDis" << endl;
// その一部分の動作を空間に射影した場合の，各既知原始シンボルからの距離を計測
tmp_dis = work->CalcDistanceOfInputBehavior(cur_beh);
cerr << "---------------- GetCoordinate" << endl;
// 求めた距離に応じて，空間に射影するべき座標を算出
tmp_cord = work->GetPsymbolSpace()->CoordinateFromDistanceData(tmp_dis);
cerr << "!!!!! " << j << "th Gene Start!" << endl;
// その座標における動作を生成する．
work->BehGeneFromTransition(tmp_cord);
cerr << "!!!!! " << j << "th Gene Finish!" << endl;
tmp_beh = work->GetLastBehavior ();
for (int i=0; i<step; i++)
{
TOYOTA_ActuateRobot (tmp_beh->NthPose(i));
}
}
return TRUE;
}
// Created on 2008-07-10
// Test for what's happen when the extrapolated motion patterns are recognized by mimesis
// also for RSJ conf. 2008
int test_extra_recognition(void)
{
tl_message ("start");
JHMM *hmm1 = NULL, *hmm2 = NULL, *hmm3 = NULL, *synthesis_hmm = NULL;
Behavior *beh = NULL;
JHMM *hmm_vec[3];
double weight[3];
int i;
hmm1 = new JHMM;
hmm2 = new JHMM;
hmm3 = new JHMM;
hmm1->Load("./.tmp/punch/punch.hmm");
hmm2->Load("./.tmp/squat/squat.hmm");
hmm3->Load("./.tmp/kick/kick.hmm");
hmm_vec[0] = hmm1;
hmm_vec[1] = hmm2;
hmm_vec[2] = hmm3;
WorkSpace *work = NULL;
work = new WorkSpace();
if (script_file[0]==0) { print_usage(); exit(0); }
work->LoadMotionDB (script_file);
work->SetHTKUnitsFromMotionDB ();
work->BeforeRecognize();
work->DistanceLoad ("../../script/symbol_data/tmp_distance_vector");
work->SpaceLoad ("../../script/symbol_data/tmp_dim.spc");
vector<double> tmp_dis, new_dis, hellinger, tmp_cord;
vector<double> likelihood;
tl_message ("# of motion db is : %d\n", work->GetNumOfMotionDB() );
cout << "c_1, c_2, ";
for (i=0; i<(int)(work->GetNumOfMotionDB()); i++)
cout << "old_KLdistance[" << i << "] ,";
for (i=0; i<(int)(work->GetNumOfMotionDB()); i++)
cout << "new_KLdivergence[" << i << "] ,";
for (i=0; i<(int)(work->GetNumOfMotionDB()); i++)
cout << "Hellinger Distance[" << i << "] ,";
for (i=0; i<(int)(work->GetPsymbolSpace()->GetDimension() ); i++)
cout << "x[" << i << "] , ";
cout << endl;
for (int i=-10; i<20; i++)
{
synthesis_hmm = new JHMM;
weight[0] = i * 0.1;
weight[1] = 1 - weight[0];
synthesis_hmm->InterpolationAny (hmm_vec, weight, 2);
beh = synthesis_hmm->GenerateBehavior(100, 30);
work->CalcHellingerDistanceOfOnlineBehavior(beh, hellinger);
tl_message ("step hoge %d.0", i);
for (int j=0; j<(int)(hellinger.size()); j++)
cout << hellinger[j] << " , ";
cout << endl;
tl_message ("step hoge %d.1", i);
work->CalcLikelihoodVector (beh, likelihood);
tl_message ("step hoge %d.2", i);
work->CalcDistanceOfInputBehavior (beh, tmp_dis);
tl_message ("step hoge %d.3", i);
work->CalcDistanceOfOnlineBehavior(beh, new_dis);
tl_message ("step hoge %d.4", i);
work->GetPsymbolSpace()->CoordinateFromDistanceData(tmp_dis, tmp_cord);
tl_message ("step hoge %d.5", i);
cout << weight[0] << " , " << weight[1] << " , ";
for (int j=0; j<(int)(tmp_dis.size()); j++)
cout << tmp_dis[j] << " , ";
for (int j=0; j<(int)(new_dis.size()); j++)
cout << new_dis[j] << " , ";
for (int j=0; j<(int)(hellinger.size()); j++)
cout << hellinger[j] << " , ";
for (int j=0; j<(int)(tmp_cord.size()); j++)
cout << tmp_cord[j] << " , ";
cout << endl;
delete synthesis_hmm;
}
delete beh;
delete hmm1;
delete hmm2;
delete hmm3;
delete synthesis_hmm;
return TRUE;
}
int main(int argc, char **argv)
{
srand (getpid());
Common_SetDebug (TRUE);
get_args(argc, argv);
JHMM *synthesis_hmm = NULL, *hmm[10];
Behavior *beh = NULL;
tl_message ("Loading hmm factor for synthesis");
hmm[0] = new JHMM;
hmm[1] = new JHMM;
hmm[2] = new JHMM;
hmm[0]->Load("./.tmp/squat/squat.hmm");
hmm[1]->Load("./.tmp/kick/kick.hmm");
hmm[2]->Load("./.tmp/punch/punch.hmm");
WorkSpace *work = NULL;
work = new WorkSpace();
work->LoadMotionDB ("../../script/learning_scriptfile_2");
//work->LoadHTKUnits ("../../script/htkunit_scriptfile_2");
work->SetHTKUnitsFromMotionDB ();
work->SetLabelFromHTKUnit();
work->BeforeRecognize();
//work->DisVectorLoad("../../script/symbol_data/tmp_distance_vector");
work->SpaceLoad ("../../script/symbol_data/tmp_dim.spc");
cerr << "num of htk_units = " << work->NumOfHTKUnits() << endl;
#if 0
work->CalcKLDivergenceMatrix();
work->SpaceFileOut ("./tmp_space_output.txt");
tl_message ("KL distance from 0 to 1 (by new algo.) = %g", work->GetNthHTKUnit(0)->CalcKLDistance ( work->GetNthHTKUnit(1) ) );
tl_message ("KL distance from 1 to 0 (by new algo.) = %g", work->GetNthHTKUnit(1)->CalcKLDistance ( work->GetNthHTKUnit(0) ) );
tl_message ("KL distance from 0 to 2 (by new algo.) = %g", work->GetNthHTKUnit(0)->CalcKLDistance ( work->GetNthHTKUnit(2) ) );
tl_message ("KL distance from 2 to 0 (by new algo.) = %g", work->GetNthHTKUnit(2)->CalcKLDistance ( work->GetNthHTKUnit(0) ) );
tl_message ("KL distance from 1 to 2 (by new algo.) = %g", work->GetNthHTKUnit(1)->CalcKLDistance ( work->GetNthHTKUnit(2) ) );
tl_message ("KL distance from 2 to 1 (by new algo.) = %g", work->GetNthHTKUnit(2)->CalcKLDistance ( work->GetNthHTKUnit(1) ) );
#else
work->CalcHellingerMatrix();
work->SpaceFileOut ("./tmp_space_output.txt");
tl_message ("Hellinger Distance from 0 to 1 = %g", work->GetNthHTKUnit(0)->CalcHellingerDistance ( *(work->GetNthHTKUnit(1)) ) );
tl_message ("Hellinger Distance from 1 to 0 = %g", work->GetNthHTKUnit(1)->CalcHellingerDistance ( *(work->GetNthHTKUnit(0)) ) );
tl_message ("Hellinger Distance from 0 to 2 = %g", work->GetNthHTKUnit(0)->CalcHellingerDistance ( *(work->GetNthHTKUnit(2)) ) );
//tl_message ("Hellinger Distance from 2 to 0 = %g", work->GetNthHTKUnit(2)->CalcHellingerDistance ( work->GetNthHTKUnit(0) ) );
tl_message ("Hellinger Distance from 1 to 2 = %g", work->GetNthHTKUnit(1)->CalcHellingerDistance ( *(work->GetNthHTKUnit(2)) ) );
//tl_message ("Hellinger Distance from 2 to 1 = %g", work->GetNthHTKUnit(2)->CalcHellingerDistance ( work->GetNthHTKUnit(1) ) );
#endif
vector<double> tmp_dis, tmp_cord;
tl_message ("Now generate a general synthesised HMM");
ofstream fout("./result.dat");
fout << "weight[0], weight[1], pseudo_distance to [0], pseudo_distance to [1], position_1, position_2" << endl;
for (int i=-20; i<=20; i++)
{
synthesis_hmm = new JHMM;
weight[0] = 0.1 * i;
weight[1] = 1.0 - 0.1 * i;
synthesis_hmm->InterpolationAny (hmm, weight, 2);
beh = synthesis_hmm->GenerateBehavior(100, 30);
delete synthesis_hmm;
work->CalcDistanceOfInputBehavior(beh, tmp_dis);
work->GetPsymbolSpace()->CoordinateFromDistanceData(tmp_dis, tmp_cord);
fout << weight[0] << "," << weight[1] << ",";
for (int i=0; i<(int)(tmp_dis.size()); i++)
fout << tmp_dis[i] << ",";
for (int i=0; i<(int)(tmp_cord.size()); i++)
fout << tmp_cord[i] << ",";
fout << endl;
cerr << "size of distance vector = " << tmp_dis.size() << ", and size of coordinate = " << tmp_cord.size() << endl;
}
delete beh;
for (int i=0; i<3; i++)
delete hmm[i];
return TRUE;
return TRUE;
}