IScaler.h

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/*
 * Copyright (C) 2007-2011 RobotCub Consortium, European Commission FP6 Project IST-004370
 * author:  Arjan Gijsberts
 * email:   arjan.gijsberts@iit.it
 * website: www.robotcub.org
 * Permission is granted to copy, distribute, and/or modify this program
 * under the terms of the GNU General Public License, version 2 or any
 * later version published by the Free Software Foundation.
 *
 * A copy of the license can be found at
 * http://www.robotcub.org/icub/license/gpl.txt
 *
 * This program is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
 * Public License for more details
 */
 
#ifndef LM_ISCALER__
#define LM_ISCALER__
 
#include <string>
 
#include <yarp/os/Bottle.h>
 
namespace iCub {
namespace learningmachine {
 
class IScaler {
protected:
    double offset;
 
    double scale;
 
    std::string name;
 
    bool updateEnabled;
 
    virtual void writeBottle(yarp::os::Bottle& bot);
 
    virtual void readBottle(yarp::os::Bottle& bot);
 
public:
    IScaler(double s = 1., double o = 0.)
      : offset(o), scale(s), name(""), updateEnabled(true) { }
 
    virtual ~IScaler() { }
 
    virtual void update(double val) { }
 
    virtual double transform(double val);
 
    virtual double unTransform(double val) {
        return (val * this->scale) + this->offset;
    }
 
    virtual std::string getInfo();
 
    std::string getName() const { return this->name; }
 
    void setName(std::string name) { this->name = name; }
 
    virtual void setUpdateEnabled(bool u) { this->updateEnabled = u; }
 
    virtual bool getUpdateEnabled() { return this->updateEnabled; }
 
    virtual IScaler* clone() = 0;
 
    virtual std::string toString();
 
    virtual bool fromString(const std::string& str);
 
    /*
     * Configure.
     */
    virtual bool configure(yarp::os::Searchable& config);
};
 
class NullScaler : public IScaler {
private:
public:
    NullScaler() {
        this->setName("null");
    }
 
    /*
     * Inherited from IScaler.
     */
    virtual double transform(double val) {
        return val;
    }
 
    /*
     * Inherited from IScaler.
     */
    virtual double unTransform(double val) {
        return val;
    }
 
    /*
     * Inherited from IScaler.
     */
    virtual NullScaler* clone() {
        return new NullScaler(*this);
    }
};
 
} // learningmachine
} // iCub
 
#endif