Esempio n. 1
0
void Split(const arma::Mat<T>& input,
           const arma::Row<U>& inputLabel,
           arma::Mat<T>& trainData,
           arma::Mat<T>& testData,
           arma::Row<U>& trainLabel,
           arma::Row<U>& testLabel,
           const double testRatio)
{
  const size_t testSize = static_cast<size_t>(input.n_cols * testRatio);
  const size_t trainSize = input.n_cols - testSize;
  trainData.set_size(input.n_rows, trainSize);
  testData.set_size(input.n_rows, testSize);
  trainLabel.set_size(trainSize);
  testLabel.set_size(testSize);

  const arma::Col<size_t> order =
      arma::shuffle(arma::linspace<arma::Col<size_t>>(0, input.n_cols - 1,
                                                      input.n_cols));

  for (size_t i = 0; i != trainSize; ++i)
  {
    trainData.col(i) = input.col(order[i]);
    trainLabel(i) = inputLabel(order[i]);
  }

  for (size_t i = 0; i != testSize; ++i)
  {
    testData.col(i) = input.col(order[i + trainSize]);
    testLabel(i) = inputLabel(order[i + trainSize]);
  }
}
    inline ParallelKinematicMachine3PRPR::ParallelKinematicMachine3PRPR() noexcept {
      setMinimalActiveJointActuations({0.1, 0.1, 0.1});
      setMinimalActiveJointActuations({1.2, 1.2, 1.2});

      setEndEffectorJointPositions({
        -0.000066580445834, 0.106954081945581,
        -0.092751709777083, -0.053477040972790,
        0.092818290222917, -0.053477040972790});

      setRedundantJointStartPositions({
        0.1, 1.0392,
        0.0, 0.8,
        1.2, 0.8});

      setRedundantJointEndPositions({
        1.1, 1.0392,
        0.0, -0.2,
        1.2, -0.2});

      redundantJointStartToEndPositions_ = redundantJointEndPositions_ - redundantJointStartPositions_;
      redundantJointIndicies_ = arma::find(arma::any(redundantJointStartToEndPositions_));

      redundantJointAngleSines_.set_size(redundantJointIndicies_.n_elem);
      redundantJointAngleCosines_.set_size(redundantJointIndicies_.n_elem);

      for (std::size_t n = 0; n < redundantJointIndicies_.n_elem; ++n) {
        const double redundantJointAngle = std::atan2(redundantJointStartToEndPositions_(1, n), redundantJointStartToEndPositions_(0, n));
        redundantJointAngleSines_(n) = std::sin(redundantJointAngle);
        redundantJointAngleCosines_(n) = std::cos(redundantJointAngle);
      }
    }
Esempio n. 3
0
std::vector<double> extract_row_vector(const arma::Mat<double>& data, long index) {
	if (index<0 || index >= long(data.n_rows))
		throw std::range_error(join("Index out of range: ", index));
	const arma::Row<double> row(data.row(index));
	const double* memptr = row.memptr();
	std::vector<double> result(memptr, memptr + row.n_elem);
	return std::move(result);
}
Esempio n. 4
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void AdaBoost<MatType, WeakLearner>::Classify(
    const MatType& test,
    arma::Row<size_t>& predictedLabels)
{
  arma::Row<size_t> tempPredictedLabels(test.n_cols);
  arma::mat cMatrix(classes, test.n_cols);

  cMatrix.zeros();
  predictedLabels.set_size(test.n_cols);

  for (size_t i = 0; i < wl.size(); i++)
  {
    wl[i].Classify(test, tempPredictedLabels);

    for (size_t j = 0; j < tempPredictedLabels.n_cols; j++)
      cMatrix(tempPredictedLabels(j), j) += (alpha[i] * tempPredictedLabels(j));
  }

  arma::colvec cMRow;
  arma::uword maxIndex;

  for (size_t i = 0; i < predictedLabels.n_cols; i++)
  {
    cMRow = cMatrix.unsafe_col(i);
    cMRow.max(maxIndex);
    predictedLabels(i) = maxIndex;
  }
}
void SoftmaxRegression<OptimizerType>::Predict(const arma::mat& testData,
                                               arma::Row<size_t>& predictions)
    const
{
  if (testData.n_rows != FeatureSize())
  {
    std::ostringstream oss;
    oss << "SoftmaxRegression::Predict(): test data has " << testData.n_rows
        << " dimensions, but model has " << FeatureSize() << "dimensions";
    throw std::invalid_argument(oss.str());
  }

  // Calculate the probabilities for each test input.
  arma::mat hypothesis, probabilities;
  if (fitIntercept)
  {
    // In order to add the intercept term, we should compute following matrix:
    //     [1; data] = arma::join_cols(ones(1, data.n_cols), data)
    //     hypothesis = arma::exp(parameters * [1; data]).
    //
    // Since the cost of join maybe high due to the copy of original data,
    // split the hypothesis computation to two components.
    hypothesis = arma::exp(
      arma::repmat(parameters.col(0), 1, testData.n_cols) +
      parameters.cols(1, parameters.n_cols - 1) * testData);
  }
  else
  {
    hypothesis = arma::exp(parameters * testData);
  }

  probabilities = hypothesis / arma::repmat(arma::sum(hypothesis, 0),
                                            numClasses, 1);

  // Prepare necessary data.
  predictions.zeros(testData.n_cols);
  double maxProbability = 0;

  // For each test input.
  for (size_t i = 0; i < testData.n_cols; i++)
  {
    // For each class.
    for (size_t j = 0; j < numClasses; j++)
    {
      // If a higher class probability is encountered, change prediction.
      if (probabilities(j, i) > maxProbability)
      {
        maxProbability = probabilities(j, i);
        predictions(i) = j;
      }
    }

    // Set maximum probability to zero for the next input.
    maxProbability = 0;
  }
}
    arma::Cube<double> MultiLevelStewartPlatform::getModelImplementation(
        const arma::Col<double>& endEffectorPose,
        const arma::Row<double>& redundantJointsActuation) const {
      assert(redundantJointsActuation.n_elem == numberOfRedundantJoints_);
      assert(arma::all(redundantJointsActuation >= 0) && arma::all(redundantJointsActuation <= 1));

      arma::Cube<double> model = platformLevels_.at(0).getModel(endEffectorPose, {});
      for (arma::uword n = 1; n < platformLevels_.size(); ++n) {
        arma::join_slices(model, platformLevels_.at(n).getModel(redundantJointsActuation.subvec(6 * n - 6, 6 * n - 1), {}));
      }

      return model;
    }
void NaiveBayesClassifier<MatType>::Classify(const MatType& data,
                                             arma::Row<size_t>& results)
{
  // Check that the number of features in the test data is same as in the
  // training data.
  Log::Assert(data.n_rows == means.n_rows);

  arma::vec probs = arma::log(probabilities);
  arma::mat invVar = 1.0 / variances;

  arma::mat testProbs = arma::repmat(probs.t(), data.n_cols, 1);

  results.set_size(data.n_cols); // No need to fill with anything yet.

  Log::Info << "Running Naive Bayes classifier on " << data.n_cols
      << " data points with " << data.n_rows << " features each." << std::endl;

  // Calculate the joint probability for each of the data points for each of the
  // means.n_cols.

  // Loop over every class.
  for (size_t i = 0; i < means.n_cols; i++)
  {
    // This is an adaptation of gmm::phi() for the case where the covariance is
    // a diagonal matrix.
    arma::mat diffs = data - arma::repmat(means.col(i), 1, data.n_cols);
    arma::mat rhs = -0.5 * arma::diagmat(invVar.col(i)) * diffs;
    arma::vec exponents(diffs.n_cols);
    for (size_t j = 0; j < diffs.n_cols; ++j) // log(exp(value)) == value
      exponents(j) = arma::accu(diffs.col(j) % rhs.unsafe_col(j));

    // Calculate probability as sum of logarithm to decrease floating point
    // errors.
    testProbs.col(i) += (data.n_rows / -2.0 * log(2 * M_PI) - 0.5 *
        log(arma::det(arma::diagmat(variances.col(i)))) + exponents);
  }

  // Now calculate the label.
  for (size_t i = 0; i < data.n_cols; ++i)
  {
    // Find the index of the class with maximum probability for this point.
    arma::uword maxIndex = 0;
    arma::vec pointProbs = testProbs.row(i).t();
    pointProbs.max(maxIndex);

    results[i] = maxIndex;
  }

  return;
}
DecisionStump<MatType>::DecisionStump(const MatType& data,
                                      const arma::Row<size_t>& labels,
                                      const size_t classes,
                                      size_t inpBucketSize)
{
  numClass = classes;
  bucketSize = inpBucketSize;

  // If classLabels are not all identical, proceed with training.
  int bestAtt = 0;
  double entropy;
  const double rootEntropy = CalculateEntropy<size_t>(
      labels.subvec(0, labels.n_elem - 1));

  double gain, bestGain = 0.0;
  for (int i = 0; i < data.n_rows; i++)
  {
    // Go through each attribute of the data.
    if (IsDistinct<double>(data.row(i)))
    {
      // For each attribute with non-identical values, treat it as a potential
      // splitting attribute and calculate entropy if split on it.
      entropy = SetupSplitAttribute(data.row(i), labels);

      // Rcpp::Rcout << "Entropy for attribute " << i << " is " << entropy << ".\n";
      gain = rootEntropy - entropy;
      // Find the attribute with the best entropy so that the gain is
      // maximized.

      // if (entropy < bestEntropy)
      // Instead of the above rule, we are maximizing gain, which was
      // what is returned from SetupSplitAttribute.
      if (gain < bestGain)
      {
        bestAtt = i;
        bestGain = gain;
      }
    }
  }
  splitAttribute = bestAtt;

  // Once the splitting column/attribute has been decided, train on it.
  TrainOnAtt<double>(data.row(splitAttribute), labels);
}
Esempio n. 9
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void DecisionStump<MatType>::Classify(const MatType& test,
                                      arma::Row<size_t>& predictedLabels)
{
  predictedLabels.set_size(test.n_cols);
  for (size_t i = 0; i < test.n_cols; i++)
  {
    // Determine which bin the test point falls into.
    // Assume first that it falls into the first bin, then proceed through the
    // bins until it is known which bin it falls into.
    size_t bin = 0;
    const double val = test(splitDimension, i);

    while (bin < split.n_elem - 1)
    {
      if (val < split(bin + 1))
        break;

      ++bin;
    }

    predictedLabels(i) = binLabels(bin);
  }
}
Esempio n. 10
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void RefinedStart::Cluster(const MatType& data,
                           const size_t clusters,
                           arma::Row<size_t>& assignments) const
{
  // Perform the Bradley-Fayyad refined start algorithm, and get initial
  // centroids back.
  arma::mat centroids;
  Cluster(data, clusters, centroids);

  // Turn the final centroids into assignments.
  assignments.set_size(data.n_cols);
  for (size_t i = 0; i < data.n_cols; ++i)
  {
    // Find the closest centroid to this point.
    double minDistance = std::numeric_limits<double>::infinity();
    size_t closestCluster = clusters;

    for (size_t j = 0; j < clusters; ++j)
    {
      // This is restricted to the L2 distance, and unfortunately it would take
      // a lot of refactoring and redesign to make this more general... we would
      // probably need to have KMeans take a template template parameter for the
      // initial partition policy.  It's not clear how to best do this.
      const double distance = metric::EuclideanDistance::Evaluate(data.col(i),
          centroids.col(j));

      if (distance < minDistance)
      {
        minDistance = distance;
        closestCluster = j;
      }
    }

    // Assign the point to its closest cluster.
    assignments[i] = closestCluster;
  }
}
    double MultiLevelStewartPlatform::getEndEffectorPoseErrorImplementation(
        const arma::Col<double>& endEffectorPose,
        const arma::Row<double>& redundantJointsActuation) const {
      assert(redundantJointsActuation.n_elem == numberOfRedundantJoints_);
      assert(arma::all(redundantJointsActuation >= 0) && arma::all(redundantJointsActuation <= 1));

      double endEffectorPoseError = platformLevels_.at(0).getEndEffectorPoseError(endEffectorPose, {});
      for (arma::uword n = 1; n < platformLevels_.size(); ++n) {
        const double partialEndEffectorPoseError = platformLevels_.at(n).getEndEffectorPoseError(redundantJointsActuation.subvec(6 * n - 6, 6 * n - 1), {});

        assert(partialEndEffectorPoseError >= 0);

        endEffectorPoseError += partialEndEffectorPoseError;
      }

      return endEffectorPoseError;
    }
    arma::Row<double> MultiLevelStewartPlatform::getActuationImplementation(
        const arma::Col<double>& endEffectorPose,
        const arma::Row<double>& redundantJointsActuation) const {
      assert(redundantJointsActuation.n_elem == numberOfRedundantJoints_);
      assert(arma::all(redundantJointsActuation >= 0) && arma::all(redundantJointsActuation <= 1));

      arma::Row<double> actuation = platformLevels_.at(0).getActuation(endEffectorPose, {});
      for (arma::uword n = 1; n < platformLevels_.size(); ++n) {
        const arma::Row<double>& partialActuation = platformLevels_.at(n).getActuation(redundantJointsActuation.subvec(6 * n - 6, 6 * n - 1), {});

        assert(partialActuation.n_elem == numberOfActiveJoints_);
        assert(arma::all(partialActuation >= platformLevels_.at(n).minimalActiveJointsActuation_) && arma::all(partialActuation <= platformLevels_.at(n).maximalActiveJointsActuation_));

        actuation = arma::join_rows(actuation, partialActuation);
      }

      return actuation;
    }