Feed-Forward 2 layers Neural Network with a tansig function for the hidden nodes and a purelin for the output nodes. More...

#include <neuralNetworks.h>

Inheritance diagram for iCub::ctrl::ff2LayNN_tansig_purelin:

Public Member Functions
	ff2LayNN_tansig_purelin ()
	Create an empty network.

	ff2LayNN_tansig_purelin (const yarp::os::Property &options)
	Create and configure the network.

virtual yarp::sig::Vector	hiddenLayerFcn (const yarp::sig::Vector &x) const
	Hidden Layer Function.

virtual yarp::sig::Vector	outputLayerFcn (const yarp::sig::Vector &x) const
	Output Layer Function.

virtual yarp::sig::Vector	hiddenLayerGrad (const yarp::sig::Vector &x) const
	Gradient of the Hidden Layer Function.

virtual yarp::sig::Vector	outputLayerGrad (const yarp::sig::Vector &x) const
	Gradient of the Output Layer Function.

Public Member Functions inherited from iCub::ctrl::ff2LayNN
	ff2LayNN ()
	Create an empty network.

	ff2LayNN (const yarp::os::Property &options)
	Create and configure the network.

virtual bool	configure (const yarp::os::Property &options)
	Configure/reconfigure the network.

virtual bool	isValid () const
	Return the internal status after a configuration.

virtual yarp::sig::Vector	predict (const yarp::sig::Vector &x) const
	Predict the output given a certain input to the network.

virtual bool	getStructure (yarp::os::Property &options) const
	Retrieve the network structure as a Property object.

virtual bool	printStructure (std::ostream &stream=std::cout) const
	Dump tadily the network structure on the stream.

std::deque< yarp::sig::Vector > &	get_IW ()
	Retrieve first layer weights.

std::deque< yarp::sig::Vector > &	get_LW ()
	Retrieve second layer weights.

yarp::sig::Vector &	get_b1 ()
	Retrieve first layer bias.

yarp::sig::Vector &	get_b2 ()
	Retrieve second layer bias.

virtual yarp::sig::Vector	scaleInputToNetFormat (const yarp::sig::Vector &x) const
	Scale input to be used with the network.

virtual yarp::sig::Vector	scaleInputFromNetFormat (const yarp::sig::Vector &x) const
	Scale back input from the network's format.

virtual yarp::sig::Vector	scaleOutputToNetFormat (const yarp::sig::Vector &x) const
	Scale output to be used with the network.

virtual yarp::sig::Vector	scaleOutputFromNetFormat (const yarp::sig::Vector &x) const
	Scale back output from the network's format.

Additional Inherited Members
Protected Member Functions inherited from iCub::ctrl::ff2LayNN
void	prepare ()

void	setItem (yarp::os::Property &options, const std::string &tag, const yarp::sig::Vector &item) const

bool	getItem (const yarp::os::Property &options, const std::string &tag, yarp::sig::Vector &item) const

Protected Attributes inherited from iCub::ctrl::ff2LayNN
std::deque< yarp::sig::Vector >	IW

yarp::sig::Vector	b1

std::deque< yarp::sig::Vector >	LW

yarp::sig::Vector	b2

std::deque< minmax >	inMinMaxX

std::deque< minmax >	inMinMaxY

std::deque< minmax >	outMinMaxX

std::deque< minmax >	outMinMaxY

yarp::sig::Vector	inMinX

yarp::sig::Vector	inMinY

yarp::sig::Vector	inRatio

yarp::sig::Vector	outMinX

yarp::sig::Vector	outMinY

yarp::sig::Vector	outRatio

bool	configured

Detailed Description

Feed-Forward 2 layers Neural Network with a tansig function for the hidden nodes and a purelin for the output nodes.

Definition at line 261 of file neuralNetworks.h.

Constructor & Destructor Documentation

◆ ff2LayNN_tansig_purelin() [1/2]

ff2LayNN_tansig_purelin::ff2LayNN_tansig_purelin ( )

Create an empty network.

Definition at line 360 of file neuralNetworks.cpp.

◆ ff2LayNN_tansig_purelin() [2/2]

iCub::ctrl::ff2LayNN_tansig_purelin::ff2LayNN_tansig_purelin ( const yarp::os::Property & options )

Create and configure the network.

Parameters

options contains the parameters to configure the network.

See also: configure

Member Function Documentation

◆ hiddenLayerFcn()

Vector ff2LayNN_tansig_purelin::hiddenLayerFcn ( const yarp::sig::Vector & x ) const

virtual

Hidden Layer Function.

Parameters

x	is the input vector.

Returns: the output vector.

Implements iCub::ctrl::ff2LayNN.

Definition at line 374 of file neuralNetworks.cpp.

◆ hiddenLayerGrad()

Vector ff2LayNN_tansig_purelin::hiddenLayerGrad ( const yarp::sig::Vector & x ) const

virtual

Gradient of the Hidden Layer Function.

Parameters

x	is the input vector.

Returns: the output vector.

Implements iCub::ctrl::ff2LayNN.

Definition at line 392 of file neuralNetworks.cpp.

◆ outputLayerFcn()

Vector ff2LayNN_tansig_purelin::outputLayerFcn ( const yarp::sig::Vector & x ) const

virtual

Output Layer Function.

Parameters

x	is the input vector.

Returns: the output vector.

Implements iCub::ctrl::ff2LayNN.

Definition at line 385 of file neuralNetworks.cpp.

◆ outputLayerGrad()

Vector ff2LayNN_tansig_purelin::outputLayerGrad ( const yarp::sig::Vector & x ) const

virtual

Gradient of the Output Layer Function.

Parameters

x	is the input vector.

Returns: the output vector.

Implements iCub::ctrl::ff2LayNN.

Definition at line 407 of file neuralNetworks.cpp.

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

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

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ff2LayNN_tansig_purelin() [1/2]

◆ ff2LayNN_tansig_purelin() [2/2]

Member Function Documentation

◆ hiddenLayerFcn()

◆ hiddenLayerGrad()

◆ outputLayerFcn()

◆ outputLayerGrad()