static void _nnAddRm(uint8_t type, bor_nn_params_t *params)
{
bor_rand_mt_t *rand;
bor_nn_t *nn;
static bor_list_t els_list;
static int els_len = ADD_ELS_LEN;
static el_t els[ADD_ELS_LEN];
int i, j;
rand = borRandMTNewAuto();
params->type = type;
nn = borNNNew(params);
borListInit(&els_list);
for (i = 0; i < els_len; i++){
borVec2Set(&els[i].w, borRandMT(rand, -3, 3), borRandMT(rand, -3, 3));
borNNElInit(nn, &els[i].el, (const bor_vec_t *)&els[i].w);
borListAppend(&els_list, &els[i].list);
}
for (i = 0; i < ADD_ELS_LEN; i++){
//fprintf(stdout, "%02d:\n", i);
borNNAdd(nn, &els[i].el);
//borNNDump(vp, stdout);
}
for (i = 0; i < ADD_ELS_LEN; i += 3){
borNNRemove(nn, &els[i].el);
borListDel(&els[i].list);
}
for (i = 0; i < ADD_NUM_TESTS; i++){
for (j = 1; j <= ADD_NUM_NNS; j++){
test2(rand, nn, &els_list, j);
}
}
borNNDel(nn);
borRandMTDel(rand);
}
svo_gng_eu_t *svoGNGEuNew(const svo_gng_eu_ops_t *ops,
const svo_gng_eu_params_t *params)
{
svo_gng_eu_t *gng_eu;
bor_nn_params_t nnp;
size_t i;
bor_real_t maxbeta;
gng_eu = BOR_ALLOC(svo_gng_eu_t);
gng_eu->net = borNetNew();
gng_eu->ops = *ops;
gng_eu->params = *params;
// set up ops data pointers
if (!gng_eu->ops.new_node_data)
gng_eu->ops.new_node_data = gng_eu->ops.data;
if (!gng_eu->ops.del_node_data)
gng_eu->ops.del_node_data = gng_eu->ops.data;
if (!gng_eu->ops.input_signal_data)
gng_eu->ops.input_signal_data = gng_eu->ops.data;
if (!gng_eu->ops.terminate_data)
gng_eu->ops.terminate_data = gng_eu->ops.data;
if (!gng_eu->ops.callback_data)
gng_eu->ops.callback_data = gng_eu->ops.data;
// initialize error heap
gng_eu->err_heap = borPairHeapNew(errHeapLT, (void *)gng_eu);
// precompute beta^n
gng_eu->beta_n = BOR_ALLOC_ARR(bor_real_t, gng_eu->params.lambda);
gng_eu->beta_n[0] = gng_eu->params.beta;
for (i = 1; i < gng_eu->params.lambda; i++){
gng_eu->beta_n[i] = gng_eu->beta_n[i - 1] * gng_eu->params.beta;
}
// precompute beta^(n * lambda)
maxbeta = gng_eu->beta_n[gng_eu->params.lambda - 1];
gng_eu->beta_lambda_n_len = 1000;
gng_eu->beta_lambda_n = BOR_ALLOC_ARR(bor_real_t, gng_eu->beta_lambda_n_len);
gng_eu->beta_lambda_n[0] = maxbeta;
for (i = 1; i < gng_eu->beta_lambda_n_len; i++){
gng_eu->beta_lambda_n[i] = gng_eu->beta_lambda_n[i - 1] * maxbeta;
}
gng_eu->cycle = 1L;
gng_eu->step = 1;
// initialize nncells
nnp = params->nn;
nnp.gug.dim = params->dim;
nnp.vptree.dim = params->dim;
nnp.linear.dim = params->dim;
gng_eu->nn = borNNNew(&nnp);
// initialize temporary vector
if (gng_eu->params.dim == 2){
gng_eu->tmpv = (bor_vec_t *)borVec2New(BOR_ZERO, BOR_ZERO);
}else if (gng_eu->params.dim == 3){
gng_eu->tmpv = (bor_vec_t *)borVec3New(BOR_ZERO, BOR_ZERO, BOR_ZERO);
}else{
gng_eu->tmpv = borVecNew(gng_eu->params.dim);
}
return gng_eu;
}
static void testCorrect(void)
{
bor_nn_params_t params;
bor_real_t range[4] = { -15., 15., -18., 17. };
el_t *ns, *near[3];
bor_nn_el_t *el_linear[50], *el_gug[50], *el_vp[50];
int i, j, k;
int len_linear, len_gug, len_vp;
int incorrect;
bor_vec2_t v;
borNNParamsInit(¶ms);
borNNParamsSetDim(¶ms, 2);
params.gug.num_cells = 0;
params.gug.max_dens = 1;
params.gug.expand_rate = 2.;
params.gug.aabb = range;
params.type = BOR_NN_LINEAR;
linear = borNNNew(¶ms);
params.type = BOR_NN_GUG;
gug = borNNNew(¶ms);
params.type = BOR_NN_VPTREE;
vp = borNNNew(¶ms);
ns = elsNew(arr_len);
for (k = 0; k < nearest_len; k++){
incorrect = 0;
for (i=0; i < loops; i++){
fprintf(stderr, "[%d] %08d / %08d\r", (int)k, (int)i, (int)loops);
borVec2Set(&v, borRand(&r, -10., 10.), borRand(&r, -10, 10));
len_linear = borNNNearest(linear, (const bor_vec_t *)&v, k + 1, el_linear);
len_gug = borNNNearest(gug, (const bor_vec_t *)&v, k + 1, el_gug);
len_vp = borNNNearest(vp, (const bor_vec_t *)&v, k + 1, el_vp);
if (len_linear != len_gug
|| len_linear != len_vp
|| len_vp != len_gug
|| len_linear != k + 1){
incorrect = 1;
}
for (j = 0; j < k + 1; j++){
near[0] = bor_container_of(el_linear[j], el_t, linear);
near[1] = bor_container_of(el_gug[j], el_t, gug);
near[2] = bor_container_of(el_vp[j], el_t, vp);
if (near[0] != near[1]
|| near[0] != near[2]
|| near[1] != near[2]){
incorrect = 1;
}
}
}
if (incorrect){
fprintf(stderr, "[%d] %08d / %08d FAIL\n", (int)k, (int)i, (int)loops);
}else{
fprintf(stderr, "[%d] %08d / %08d OK\n", (int)k, (int)i, (int)loops);
}
}
BOR_FREE(ns);
borNNDel(linear);
borNNDel(gug);
borNNDel(vp);
}
static void bench(void)
{
bor_nn_params_t params;
bor_real_t range[4] = { -15., 15., -18., 17. };
el_t *ns, *near;
bor_nn_el_t *el[50];
int i, j, k;
bor_vec2_t v;
int devnull;
bor_timer_t timer;
devnull = open("/dev/null", O_WRONLY);
if (devnull < 0){
perror("Error: ");
return;
}
borNNParamsInit(¶ms);
borNNParamsSetDim(¶ms, 2);
params.gug.num_cells = 0;
params.gug.max_dens = 1;
params.gug.expand_rate = 2.;
params.gug.aabb = range;
params.type = BOR_NN_LINEAR;
linear = borNNNew(¶ms);
params.type = BOR_NN_GUG;
gug = borNNNew(¶ms);
params.type = BOR_NN_VPTREE;
vp = borNNNew(¶ms);
ns = elsNew(arr_len);
for (k = 0; k < nearest_len; k++){
borTimerStart(&timer);
for (i=0; i < loops; i++){
//fprintf(stderr, "[%d] %08d / %08d\r", (int)k, (int)i, (int)loops);
borVec2Set(&v, borRand(&r, -10., 10.), borRand(&r, -10, 10));
borNNNearest(linear, (const bor_vec_t *)&v, k + 1, el);
for (j = 0; j < k + 1; j++){
near = bor_container_of(el[j], el_t, linear);
write(devnull, &near->v, 1);
}
}
borTimerStop(&timer);
borTimerPrintElapsed(&timer, stderr, " - [%d] - linear - \n", k);
borTimerStart(&timer);
for (i=0; i < loops; i++){
//fprintf(stderr, "[%d] %08d / %08d\r", (int)k, (int)i, (int)loops);
borVec2Set(&v, borRand(&r, -10., 10.), borRand(&r, -10, 10));
borNNNearest(gug, (const bor_vec_t *)&v, k + 1, el);
for (j = 0; j < k + 1; j++){
near = bor_container_of(el[j], el_t, gug);
write(devnull, &near->v, 1);
}
}
borTimerStop(&timer);
borTimerPrintElapsed(&timer, stderr, " - [%d] - gug - \n", k);
borTimerStart(&timer);
for (i=0; i < loops; i++){
//fprintf(stderr, "[%d] %08d / %08d\r", (int)k, (int)i, (int)loops);
borVec2Set(&v, borRand(&r, -10., 10.), borRand(&r, -10, 10));
borNNNearest(vp, (const bor_vec_t *)&v, k + 1, el);
for (j = 0; j < k + 1; j++){
near = bor_container_of(el[j], el_t, vp);
write(devnull, &near->v, 1);
}
}
borTimerStop(&timer);
borTimerPrintElapsed(&timer, stderr, " - [%d] - vptree - \n", k);
}
BOR_FREE(ns);
borNNDel(linear);
borNNDel(gug);
borNNDel(vp);
close(devnull);
}
