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;
}
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);
}
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;
}
