void Controller::calculateAfter() {
assert(devs!=0);
assert(motor!=0);
if (mmdcSafe())
{
calculateSetpoint();
calculateModel();
}
else
{
disableController();
}
}
int main(int argc, char** argv)
{
//srand(getpid());
//srand48(getpid());
srand(0);
srand48(0);
properties props = TrainParameters(&argc, &argv);
if (argc != 3) {
printInstructions();
return 4;
}
char * data_file = argv[1];
char * data_model = argv[2];
svm_dataset dataset = readTrainFile(data_file);
printf("\nDataset Loaded from file: %s\n\nTraining samples: %d\nNumber of features: %d\n\n",data_file, dataset.l,dataset.maxdim);
struct timeval tiempo1, tiempo2;
omp_set_num_threads(props.Threads);
printf("Running IRWLS\n");
gettimeofday(&tiempo1, NULL);
initMemory(props.Threads,(props.MaxSize+1));
double * W = trainFULL(dataset,props);
gettimeofday(&tiempo2, NULL);
printf("\nWeights calculated in %ld\n\n",((tiempo2.tv_sec-tiempo1.tv_sec)*1000+(tiempo2.tv_usec-tiempo1.tv_usec)/1000));
model modelo = calculateModel(props, dataset, W);
printf("Saving model in file: %s\n\n",data_model);
FILE *Out = fopen(data_model, "w+");
storeModel(&modelo, Out);
fclose(Out);
return 0;
}