TrainModule.h

Go to the documentation of this file.

/*
 * 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_TRAINMODULE__
#define LM_TRAINMODULE__
 
#include <yarp/os/PortablePair.h>
 
#include "iCub/learningMachine/PredictModule.h"
 
 
namespace iCub {
namespace learningmachine {
 
 
class TrainProcessor : public IMachineProcessor, public yarp::os::TypedReaderCallback< yarp::os::PortablePair<yarp::sig::Vector,yarp::sig::Vector> > {
private:
    bool enabled;
 
public:
    TrainProcessor(MachinePortable& mp) : IMachineProcessor(mp), enabled(true) { }
 
    virtual void setEnabled(bool val) {
        this->enabled = val;
    }
 
    /*
     * Inherited from TypedReaderCallback.
     */
    virtual void onRead(yarp::os::PortablePair<yarp::sig::Vector,yarp::sig::Vector>& sample);
 
};
 
 
class TrainModule : public PredictModule {
private:
    yarp::os::BufferedPort< yarp::os::PortablePair<yarp::sig::Vector,yarp::sig::Vector> > train_in;
 
    yarp::os::Port model_out;
 
    TrainProcessor trainProcessor;
 
    TrainModule(const TrainModule& other);
 
    TrainModule& operator=(const TrainModule& other);
 
    /*
     * Inherited from IMachineLearnerModule.
     */
    void registerAllPorts();
 
    /*
     * Inherited from IMachineLearnerModule.
     */
    void unregisterAllPorts();
 
    /*
     * Inherited from IMachineLearnerModule.
     */
    void printOptions(std::string error = "");
 
    void printMachineList();
 
public:
    TrainModule(std::string pp = "/lm/train")
      : PredictModule(pp), trainProcessor(machinePortable) { }
 
    virtual ~TrainModule() { };
 
    /*
     * 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);
};
 
} // learningmachine
} // iCub
 
#endif