Adaptive window polynomial fitting. More...

#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...

AWPolyList &	getList ()
	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.

Constructor & Destructor Documentation

◆ 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.

Member Function Documentation

◆ 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.

Implemented in iCub::ctrl::AWQuadEstimator, and iCub::ctrl::AWLinEstimator.

◆ 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.

Member Data Documentation

◆ 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:

icub-main/src/libraries/ctrlLib/include/iCub/ctrl/adaptWinPolyEstimator.h
icub-main/src/libraries/ctrlLib/src/adaptWinPolyEstimator.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ AWPolyEstimator()

◆ ~AWPolyEstimator()

Member Function Documentation

◆ estimate() [1/2]

◆ estimate() [2/2]

◆ eval()

◆ feedData()

◆ fit()

◆ getEsteeme()

◆ getList()

◆ getMSE()

◆ getWinLen()

◆ reset()

Member Data Documentation

◆ coeff

◆ D

◆ elemList

◆ firstRun

◆ mse

◆ N

◆ order

◆ t

◆ winLen

◆ x