PredictModule.h

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/*
 * Copyright (C) 2007-2010 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_PREDICTMODULE__
#define LM_PREDICTMODULE__
 
#include "iCub/learningMachine/IMachineLearnerModule.h"
#include "iCub/learningMachine/MachinePortable.h"
 
namespace iCub {
namespace learningmachine {
 
class IMachineProcessor {
protected:
    MachinePortable& machinePortable;
 
public:
    IMachineProcessor(MachinePortable& mp) : machinePortable(mp) { }
 
    virtual MachinePortable& getMachinePortable() {
        return this->machinePortable;
    }
 
    virtual IMachineLearner& getMachine() {
        return this->getMachinePortable().getWrapped();
    }
};
 
 
 
class PredictProcessor : public IMachineProcessor, public yarp::os::PortReader {
public:
    PredictProcessor(MachinePortable& mp) : IMachineProcessor(mp) { }
 
    /*
     * Inherited from PortReader.
     */
    virtual bool read(yarp::os::ConnectionReader& connection);
};
 
 
class PredictModule : public IMachineLearnerModule {
protected:
 
    yarp::os::BufferedPort<yarp::sig::Vector> predict_inout;
 
    MachinePortable machinePortable;
 
    PredictProcessor predictProcessor;
 
    yarp::os::Port model_in;
 
    PredictModule(const PredictModule& other);
 
    PredictModule& operator=(const PredictModule& other);
 
    /*
     * Inherited from IMachineLearnerModule.
     */
    void registerAllPorts();
 
    /*
     * Inherited from IMachineLearnerModule.
     */
    void unregisterAllPorts();
 
    /*
     * Inherited from IMachineLearnerModule.
     */
    void printOptions(std::string error = "");
 
public:
    PredictModule(std::string pp = "/lm/predict")
      : IMachineLearnerModule(pp), machinePortable((IMachineLearner*) 0),
        predictProcessor(machinePortable) { }
 
    virtual ~PredictModule() { }
 
    /*
     * Inherited from IMachineLearnerModule.
     */
    virtual bool configure(yarp::os::ResourceFinder& opt);
 
    /*
     * Inherited from IMachineLearnerModule.
     */
    virtual bool interruptModule();
 
    /*
     * Inherited from IMachineLearnerModule.
     */
    virtual bool respond(const yarp::os::Bottle& cmd, yarp::os::Bottle& reply);
 
    /*
     * Inherited from IMachineLearnerModule.
     */
    virtual bool close() {
        IMachineLearnerModule::close();
        if(this->getMachinePortable().hasWrapped()) {
            return this->getMachine().close();
        } else {
            return true;
        }
    }
 
    virtual IMachineLearner& getMachine() {
        return this->getMachinePortable().getWrapped();
    }
 
    virtual MachinePortable& getMachinePortable() {
        return this->machinePortable;
    }
 
};
 
} // learningmachine
} // iCub
 
#endif