bool updateModule()
{
++updateCount;
if (updateCount > numPred)
{
cout << "Specified number of predictions reached. Shutting down the module." << endl;
return false;
}
// DEBUG
if(verbose) cout << "updateModule #" << updateCount << endl;
// Recursive update support and storage variables declaration and initialization
gMat2D<T> Xnew(1,d);
gMat2D<T> ynew(1,t);
gVec<T> Xnew_v(d);
gVec<T> ynew_v(t);
gMat2D<T> *resptr = 0;
// Wait for input feature vector
if(verbose) cout << "Expecting input vector" << endl;
Bottle *bin = inVec.read(); // blocking call
if (bin != 0)
{
if(verbose) cout << "Got it!" << endl << bin->toString() << endl;
//Store the received sample in gMat2D format for it to be compatible with gurls++
for (int i = 0 ; i < bin->size() ; ++i)
{
if ( i < d )
{
Xnew(0,i) = bin->get(i).asDouble();
}
else if ( (i>=d) && (i<d+t) )
{
ynew(0, i - d ) = bin->get(i).asDouble();
}
}
if(verbose) cout << "Xnew: " << endl << Xnew << endl;
if(verbose) cout << "ynew: " << endl << ynew.rows() << " x " << ynew.cols() << endl;
if(verbose) cout<< ynew << endl;
//-----------------------------------
// Prediction
//-----------------------------------
// Test on the incoming sample
resptr = estimator.eval(Xnew);
Bottle& bpred = pred.prepare(); // Get a place to store things.
bpred.clear(); // clear is important - b might be a reused object
for (int i = 0 ; i < t ; ++i)
{
bpred.addDouble((*resptr)(0 , i));
}
if(verbose) printf("Sending prediction!!! %s\n", bpred.toString().c_str());
pred.write();
if(verbose) printf("Prediction written to port\n");
//----------------------------------
// performance
Bottle& bperf = perf.prepare(); // Get a place to store things.
bperf.clear(); // clear is important - b might be a reused object
if (perfType == "nMSE") // WARNING: The estimated variance could be unreliable...
{
// Compute nMSE and store
//NOTE: In GURLS, "/" operator works like matlab's "\".
error += varCols / ( ynew - *resptr )*( ynew - *resptr ) ;
gMat2D<T> tmp = error / (updateCount); // WARNING: Check
for (int i = 0 ; i < t ; ++i)
{
bperf.addDouble(tmp(0 , i));
}
}
else if (perfType == "RMSE")
{
gMat2D<T> tmp(1,t);
tmp = ( ynew - *resptr )*( ynew - *resptr );
//error = ( error * (updateCount-1) + sqrt(( ynew - *resptr )*( ynew - *resptr )) ) / updateCount;
error = error * (updateCount-1);
for (int i = 0 ; i < ynew.cols() ; ++i)
error(0,i) += sqrt(tmp(0,i));
error = error / updateCount;
/* for (int i = 0 ; i < t ; ++i)
{
bperf.addDouble(sqrt(MSE(0 , i)));
} */
// WARNING: Temporary avg RMSE computation
bperf.addDouble( (error(0 , 0) + error(0 , 1) + error(0 , 2))/ 3.0); // Average MSE on forces
bperf.addDouble( (error(0 , 3) + error(0 , 4) + error(0 , 5))/ 3.0); // Average MSE on torques
}
else if (perfType == "MSE")
{
//Compute MSE and store
error = ( error * (updateCount-1) + ( ynew - *resptr )*( ynew - *resptr ) ) / updateCount;
for (int i = 0 ; i < t ; ++i)
{
bperf.addDouble(error(0 , i));
}
}
// Error storage matrix management
// Update error storage matrix
if (updateCount <= savedPerfNum)
{
gVec<T> errRow = error[0];
storedError.setRow( errRow, updateCount-1);
}
// Save to CSV file
if (updateCount == savedPerfNum)
{
std::ostringstream ss;
ss << experimentCount;
//string tmp(std::to_string(experimentCount));
storedError.saveCSV("storedError" + ss.rdbuf()->str() + ".csv");
cout << "Error measurement matrix saved." << endl;
}
// Write computed error to output port
if(verbose) printf("Sending %s measurement: %s\n", perfType.c_str(), bperf.toString().c_str());
perf.write();
//-----------------------------------
// Update
//-----------------------------------
// Update estimator with a new input pair
//if(verbose) std::cout << "Update # " << i+1 << std::endl;
if(verbose) cout << "Now performing RRLS update" << endl;
if(verbose) cout << "Xnew" << Xnew << endl;
if(verbose) cout << "ynew" << ynew << endl;
estimator.update(Xnew, ynew);
if(verbose) cout << "Update completed" << endl;
}
if ( numPred >=0 && (updateCount == numPred) )
{
cout << "Specified number of predictions reached. Shutting down the module." << endl;
return false;
}
return true;
}
