iCub-main
iCub::ctrl::AWPolyEstimator Class Referenceabstract

#include <adaptWinPolyEstimator.h>

Inheritance diagram for iCub::ctrl::AWPolyEstimator:

## Public Member Functions

AWPolyEstimator (unsigned int _order, unsigned int _N, const double _D)
Create a polynomial estimator object of order _order on an adaptive window of a maximum length _N an threshold _D. More...

AWPolyListgetList ()
Return a reference to internal elements list. More...

void feedData (const AWPolyElement &el)
Feed data into the algorithm. More...

yarp::sig::Vector getWinLen ()
Return the current windows lengths. More...

yarp::sig::Vector getMSE ()
Return the mean squared error (MSE) computed over the current windows lengths between the predictions and the real data. More...

yarp::sig::Vector estimate ()
Execute the algorithm upon the elements list, with the max deviation threshold given by D. More...

yarp::sig::Vector estimate (const AWPolyElement &el)
Execute the algorithm upon the elements list, with the max deviation threshold given by D. More...

void reset ()
Reinitialize the internal state. More...

virtual ~AWPolyEstimator ()
Destructor. More...

## Protected Member Functions

virtual yarp::sig::Vector fit (const yarp::sig::Vector &x, const yarp::sig::Vector &y, const unsigned int n=0)
Find the regressor which best fits in least square sense the last n data sample couples, or all couples if n==0. More...

virtual double eval (double x)
Evaluate regressor at certain point. More...

virtual double getEsteeme ()=0
Return the current estimation. More...

## Protected Attributes

AWPolyList elemList

unsigned int order

unsigned int N

double D

yarp::sig::Vector t

yarp::sig::Vector x

yarp::sig::Vector coeff

yarp::sig::Vector winLen

yarp::sig::Vector mse

bool firstRun

## Detailed Description

Adaptive window polynomial fitting. Abstract class.

Definition at line 73 of file adaptWinPolyEstimator.h.

## ◆ AWPolyEstimator()

 AWPolyEstimator::AWPolyEstimator ( unsigned int _order, unsigned int _N, const double _D )

Create a polynomial estimator object of order _order on an adaptive window of a maximum length _N an threshold _D.

Parameters
 _order is the order of polynomial fitting. _N is the maximum windows length. _D is the threshold.

Definition at line 27 of file adaptWinPolyEstimator.cpp.

## ◆ ~AWPolyEstimator()

 virtual iCub::ctrl::AWPolyEstimator::~AWPolyEstimator ( )
inlinevirtual

Destructor.

Definition at line 174 of file adaptWinPolyEstimator.h.

## ◆ estimate() [1/2]

 Vector AWPolyEstimator::estimate ( )

Execute the algorithm upon the elements list, with the max deviation threshold given by D.

Returns
the current estimation.

Definition at line 100 of file adaptWinPolyEstimator.cpp.

## ◆ estimate() [2/2]

 Vector AWPolyEstimator::estimate ( const AWPolyElement & el )

Execute the algorithm upon the elements list, with the max deviation threshold given by D.

Parameters
 el is the new data of type AWPolyElement.
Returns
the current estimation.

Definition at line 185 of file adaptWinPolyEstimator.cpp.

## ◆ eval()

 double AWPolyEstimator::eval ( double x )
protectedvirtual

Evaluate regressor at certain point.

Parameters
 x the point.
Returns
regressor evaluated in x.

Definition at line 41 of file adaptWinPolyEstimator.cpp.

## ◆ feedData()

 void AWPolyEstimator::feedData ( const AWPolyElement & el )

Feed data into the algorithm.

Parameters
 el is the new data of type AWPolyElement.

Definition at line 93 of file adaptWinPolyEstimator.cpp.

## ◆ fit()

 Vector AWPolyEstimator::fit ( const yarp::sig::Vector & x, const yarp::sig::Vector & y, const unsigned int n = 0 )
protectedvirtual

Find the regressor which best fits in least square sense the last n data sample couples, or all couples if n==0.

Parameters
 x vector containing the input data. y vector containing the output data. n last n data sample couples to fit.
Returns
the regressor's coefficients.

Reimplemented in iCub::ctrl::AWLinEstimator.

Definition at line 55 of file adaptWinPolyEstimator.cpp.

## ◆ getEsteeme()

 virtual double iCub::ctrl::AWPolyEstimator::getEsteeme ( )
protectedpure virtual

Return the current estimation.

Note
needs to be defined.
Returns
esteeme.

## ◆ getList()

 AWPolyList& iCub::ctrl::AWPolyEstimator::getList ( )
inline

Return a reference to internal elements list.

Returns
reference to internal elements list.

Definition at line 128 of file adaptWinPolyEstimator.h.

## ◆ getMSE()

 yarp::sig::Vector iCub::ctrl::AWPolyEstimator::getMSE ( )
inline

Return the mean squared error (MSE) computed over the current windows lengths between the predictions and the real data.

Returns
the MSE.

Definition at line 147 of file adaptWinPolyEstimator.h.

## ◆ getWinLen()

 yarp::sig::Vector iCub::ctrl::AWPolyEstimator::getWinLen ( )
inline

Return the current windows lengths.

Returns
the current windows lengths.

Definition at line 140 of file adaptWinPolyEstimator.h.

## ◆ reset()

 void AWPolyEstimator::reset ( )

Reinitialize the internal state.

Note
Windows lengths are brought to the maximum value N and output remains zero as long as fed data size reaches N.

Definition at line 193 of file adaptWinPolyEstimator.cpp.

## ◆ coeff

 yarp::sig::Vector iCub::ctrl::AWPolyEstimator::coeff
protected

Definition at line 83 of file adaptWinPolyEstimator.h.

## ◆ D

 double iCub::ctrl::AWPolyEstimator::D
protected

Definition at line 79 of file adaptWinPolyEstimator.h.

## ◆ elemList

 AWPolyList iCub::ctrl::AWPolyEstimator::elemList
protected

Definition at line 76 of file adaptWinPolyEstimator.h.

## ◆ firstRun

 bool iCub::ctrl::AWPolyEstimator::firstRun
protected

Definition at line 87 of file adaptWinPolyEstimator.h.

## ◆ mse

 yarp::sig::Vector iCub::ctrl::AWPolyEstimator::mse
protected

Definition at line 85 of file adaptWinPolyEstimator.h.

## ◆ N

 unsigned int iCub::ctrl::AWPolyEstimator::N
protected

Definition at line 78 of file adaptWinPolyEstimator.h.

## ◆ order

 unsigned int iCub::ctrl::AWPolyEstimator::order
protected

Definition at line 77 of file adaptWinPolyEstimator.h.

## ◆ t

 yarp::sig::Vector iCub::ctrl::AWPolyEstimator::t
protected

Definition at line 81 of file adaptWinPolyEstimator.h.

## ◆ winLen

 yarp::sig::Vector iCub::ctrl::AWPolyEstimator::winLen
protected

Definition at line 84 of file adaptWinPolyEstimator.h.

## ◆ x

 yarp::sig::Vector iCub::ctrl::AWPolyEstimator::x
protected

Definition at line 82 of file adaptWinPolyEstimator.h.

The documentation for this class was generated from the following files: