LinearGPRLearner.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_LINEARGPRLEARNER__
#define LM_LINEARGPRLEARNER__
 
#include <string>
#include <vector>
 
#include <yarp/sig/Matrix.h>
 
#include "iCub/learningMachine/IFixedSizeLearner.h"
 
 
namespace iCub {
namespace learningmachine {
 
 
class LinearGPRLearner : public IFixedSizeLearner {
private:
    yarp::sig::Matrix R;
 
    yarp::sig::Matrix B;
 
    yarp::sig::Matrix W;
 
    double sigma;
 
    int sampleCount;
 
public:
    LinearGPRLearner(unsigned int dom = 1, unsigned int cod = 1, double sigma = 1.0);
 
    LinearGPRLearner(const LinearGPRLearner& other);
 
    virtual ~LinearGPRLearner();
 
    LinearGPRLearner& operator=(const LinearGPRLearner& other);
 
    /*
     * Inherited from IMachineLearner.
     */
    virtual void feedSample(const yarp::sig::Vector& input, const yarp::sig::Vector& output);
 
    /*
     * Inherited from IMachineLearner.
     */
    virtual void train();
 
    /*
     * Inherited from IMachineLearner.
     */
    virtual Prediction predict(const yarp::sig::Vector& input);
 
    /*
     * Inherited from IMachineLearner.
     */
    void reset();
 
    /*
     * Inherited from IMachineLearner.
     */
    LinearGPRLearner* clone() {
        return new LinearGPRLearner(*this);
    }
 
    /*
     * Inherited from IMachineLearner.
     */
    virtual std::string getInfo();
 
    /*
     * Inherited from IMachineLearner.
     */
    virtual std::string getConfigHelp();
 
    /*
     * Inherited from IMachineLearner.
     */
    virtual void writeBottle(yarp::os::Bottle& bot);
 
    /*
     * Inherited from IMachineLearner.
     */
    virtual void readBottle(yarp::os::Bottle& bot);
 
    /*
     * Inherited from IFixedSizeLearner.
     */
    void setDomainSize(unsigned int size);
 
    /*
     * Inherited from IFixedSizeLearner.
     */
    void setCoDomainSize(unsigned int size);
 
    void setSigma(double s);
 
    double getSigma();
 
    /*
     * Inherited from IMachineLearner.
     */
    virtual bool configure(yarp::os::Searchable& config);
 
};
 
} // learningmachine
} // iCub
#endif