An generalized interface for a learning machine with a fixed domain and codomain size. More...

#include <IFixedSizeLearner.h>

Inheritance diagram for iCub::learningmachine::IFixedSizeLearner:

Public Member Functions
	IFixedSizeLearner (unsigned int dom=1, unsigned int cod=1)
	Constructor.

virtual void	feedSample (const yarp::sig::Vector &input, const yarp::sig::Vector &output)
	Provide the learning machine with an example of the desired mapping.

virtual void	train ()
	Train the learning machine on the examples that have been supplied so far.

unsigned int	getDomainSize () const
	Returns the size (dimensionality) of the input domain.

unsigned int	getCoDomainSize () const
	Returns the size (dimensionality) of the output domain (codomain).

virtual void	setDomainSize (unsigned int size)
	Mutator for the domain size.

virtual void	setCoDomainSize (unsigned int size)
	Mutator for the codomain size.

virtual std::string	getInfo ()
	Asks the learning machine to return a string containing information on its operation so far.

virtual std::string	getConfigHelp ()
	Asks the learning machine to return a string containing the list of configuration options that it supports.

virtual bool	configure (yarp::os::Searchable &config)
	Change parameters.

Public Member Functions inherited from iCub::learningmachine::IMachineLearner
	IMachineLearner ()
	Constructor.

virtual	~IMachineLearner ()
	Destructor (empty).

virtual bool	open (yarp::os::Searchable &config)
	Initialize the object.

virtual bool	close ()
	Shut the object down.

virtual Prediction	predict (const yarp::sig::Vector &input)=0
	Ask the learning machine to predict the output for a given input.

virtual IMachineLearner *	clone ()=0
	Asks the learning machine to return a clone of its type.

virtual void	reset ()=0
	Forget everything and start over.

bool	write (yarp::os::ConnectionWriter &connection) const

bool	read (yarp::os::ConnectionReader &connection)

virtual std::string	toString ()
	Asks the learning machine to return a string serialization.

virtual bool	fromString (const std::string &str)
	Asks the learning machine to initialize from a string serialization.

std::string	getName () const
	Retrieve the name of this machine learning technique.

void	setName (const std::string &name)
	Set the name of this machine learning technique.

Protected Member Functions
virtual bool	checkDomainSize (const yarp::sig::Vector &input)
	Checks whether the input is of the desired dimensionality.

virtual bool	checkCoDomainSize (const yarp::sig::Vector &output)
	Checks whether the output is of the desired dimensionality.

void	validateDomainSizes (const yarp::sig::Vector &input, const yarp::sig::Vector &output)
	Validates whether the input and output are of the desired dimensionality.

virtual void	writeBottle (yarp::os::Bottle &bot) const
	Writes a serialization of the machine into a bottle.

virtual void	readBottle (yarp::os::Bottle &bot)
	Unserializes a machine from a bottle.

Protected Attributes
unsigned int	domainSize
	The dimensionality of the input domain.

unsigned int	coDomainSize
	The dimensionality of the output domain (codomain).

Protected Attributes inherited from iCub::learningmachine::IMachineLearner
std::string	name
	The name of this type of machine learner.

Detailed Description

An generalized interface for a learning machine with a fixed domain and codomain size.

Many machine learning techniques will fall in this category.

The learning machine can be used for regression and classification from R^M to R^N. M and N are here fixed sizes which should be respected by the samples that are fed into the system.

See also: iCub::contrib::IMachineLearner

Author: Arjan Gijsberts

Definition at line 44 of file IFixedSizeLearner.h.

Constructor & Destructor Documentation

◆ IFixedSizeLearner()

iCub::learningmachine::IFixedSizeLearner::IFixedSizeLearner	(	unsigned int	dom = `1`,
		unsigned int	cod = `1`
	)

inline

Constructor.

Parameters

dom	the initial domain size
cod	the initial codomain size

Definition at line 98 of file IFixedSizeLearner.h.

Member Function Documentation

◆ checkCoDomainSize()

bool iCub::learningmachine::IFixedSizeLearner::checkCoDomainSize ( const yarp::sig::Vector & output )

protectedvirtual

Checks whether the output is of the desired dimensionality.

Parameters

output a sample output

Returns: true if the dimensionality is correct

Definition at line 55 of file IFixedSizeLearner.cpp.

◆ checkDomainSize()

bool iCub::learningmachine::IFixedSizeLearner::checkDomainSize ( const yarp::sig::Vector & input )

protectedvirtual

Checks whether the input is of the desired dimensionality.

Parameters

input a sample input

Returns: true if the dimensionality is correct

Definition at line 51 of file IFixedSizeLearner.cpp.

◆ configure()

bool iCub::learningmachine::IFixedSizeLearner::configure ( yarp::os::Searchable & config )

virtual

Change parameters.

Reimplemented from iCub::learningmachine::IMachineLearner.

Reimplemented in iCub::learningmachine::LinearGPRLearner, iCub::learningmachine::LSSVMLearner, and iCub::learningmachine::RLSLearner.

Definition at line 35 of file IFixedSizeLearner.cpp.

◆ feedSample()

void iCub::learningmachine::IFixedSizeLearner::feedSample	(	const yarp::sig::Vector &	input,
		const yarp::sig::Vector &	output
	)

virtual

Provide the learning machine with an example of the desired mapping.

Parameters

input	a sample input
output	the corresponding output

Implements iCub::learningmachine::IMachineLearner.

Reimplemented in iCub::learningmachine::DummyLearner, iCub::learningmachine::LinearGPRLearner, iCub::learningmachine::LSSVMLearner, and iCub::learningmachine::RLSLearner.

Definition at line 28 of file IFixedSizeLearner.cpp.

◆ getCoDomainSize()

unsigned int iCub::learningmachine::IFixedSizeLearner::getCoDomainSize ( ) const

inline

Returns the size (dimensionality) of the output domain (codomain).

Returns: the size of the codomain

Definition at line 122 of file IFixedSizeLearner.h.

◆ getConfigHelp()

std::string iCub::learningmachine::IFixedSizeLearner::getConfigHelp ( )

virtual

Asks the learning machine to return a string containing the list of configuration options that it supports.

Returns: an informative description of the configuration options

Reimplemented from iCub::learningmachine::IMachineLearner.

Reimplemented in iCub::learningmachine::LinearGPRLearner, iCub::learningmachine::LSSVMLearner, and iCub::learningmachine::RLSLearner.

Definition at line 86 of file IFixedSizeLearner.cpp.

◆ getDomainSize()

unsigned int iCub::learningmachine::IFixedSizeLearner::getDomainSize ( ) const

inline

Returns the size (dimensionality) of the input domain.

Returns: the size of the input domain

Definition at line 115 of file IFixedSizeLearner.h.

◆ getInfo()

std::string iCub::learningmachine::IFixedSizeLearner::getInfo ( )

virtual

Asks the learning machine to return a string containing information on its operation so far.

Returns: the information on the machine

Reimplemented from iCub::learningmachine::IMachineLearner.

Reimplemented in iCub::learningmachine::DummyLearner, iCub::learningmachine::LinearGPRLearner, iCub::learningmachine::LSSVMLearner, and iCub::learningmachine::RLSLearner.

Definition at line 78 of file IFixedSizeLearner.cpp.

◆ readBottle()

void iCub::learningmachine::IFixedSizeLearner::readBottle ( yarp::os::Bottle & bot )

protectedvirtual

Unserializes a machine from a bottle.

This method is internally referenced by the read method. Typically, subclasses should override this method instead of overriding the read method directly.

Parameters

bot	the bottle

Implements iCub::learningmachine::IMachineLearner.

Reimplemented in iCub::learningmachine::DummyLearner, iCub::learningmachine::LinearGPRLearner, iCub::learningmachine::LSSVMLearner, and iCub::learningmachine::RLSLearner.

Definition at line 73 of file IFixedSizeLearner.cpp.

◆ setCoDomainSize()

virtual void iCub::learningmachine::IFixedSizeLearner::setCoDomainSize ( unsigned int size )

inlinevirtual

Mutator for the codomain size.

Parameters

size	the desired codomain size

Reimplemented in iCub::learningmachine::LinearGPRLearner, iCub::learningmachine::LSSVMLearner, and iCub::learningmachine::RLSLearner.

Definition at line 136 of file IFixedSizeLearner.h.

◆ setDomainSize()

virtual void iCub::learningmachine::IFixedSizeLearner::setDomainSize ( unsigned int size )

inlinevirtual

Mutator for the domain size.

Parameters

size	the desired domain size

Reimplemented in iCub::learningmachine::LinearGPRLearner, iCub::learningmachine::LSSVMLearner, and iCub::learningmachine::RLSLearner.

Definition at line 129 of file IFixedSizeLearner.h.

◆ train()

void iCub::learningmachine::IFixedSizeLearner::train ( )

virtual

Train the learning machine on the examples that have been supplied so far.

This method is primarily intended to be used for offline/batch learning machines. It explicitly initiates the training routine on those machines for the samples that have been collected so far.

Reimplemented from iCub::learningmachine::IMachineLearner.

Reimplemented in iCub::learningmachine::DummyLearner, iCub::learningmachine::LinearGPRLearner, iCub::learningmachine::LSSVMLearner, and iCub::learningmachine::RLSLearner.

Definition at line 32 of file IFixedSizeLearner.cpp.

◆ validateDomainSizes()

void iCub::learningmachine::IFixedSizeLearner::validateDomainSizes	(	const yarp::sig::Vector &	input,
		const yarp::sig::Vector &	output
	)

protected

Validates whether the input and output are of the desired dimensionality.

An exception will be thrown if this is not the case.

Parameters

input	a sample input
output	the corresponding output

Definition at line 59 of file IFixedSizeLearner.cpp.

◆ writeBottle()

void iCub::learningmachine::IFixedSizeLearner::writeBottle ( yarp::os::Bottle & bot ) const

protectedvirtual

Writes a serialization of the machine into a bottle.

This method is internally referenced by the write method. Typically, subclasses should override this method instead of overriding the write method directly.

Parameters

bot	the bottle containing the machine serialization

Implements iCub::learningmachine::IMachineLearner.

Reimplemented in iCub::learningmachine::DummyLearner.

Definition at line 68 of file IFixedSizeLearner.cpp.

Member Data Documentation

◆ coDomainSize

unsigned int iCub::learningmachine::IFixedSizeLearner::coDomainSize

protected

The dimensionality of the output domain (codomain).

Definition at line 54 of file IFixedSizeLearner.h.

◆ domainSize

unsigned int iCub::learningmachine::IFixedSizeLearner::domainSize

protected

The dimensionality of the input domain.

Definition at line 49 of file IFixedSizeLearner.h.

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

icub-main/src/libraries/learningMachine/include/iCub/learningMachine/IFixedSizeLearner.h
icub-main/src/libraries/learningMachine/src/IFixedSizeLearner.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ IFixedSizeLearner()

Member Function Documentation

◆ checkCoDomainSize()

◆ checkDomainSize()

◆ configure()

◆ feedSample()

◆ getCoDomainSize()

◆ getConfigHelp()

◆ getDomainSize()

◆ getInfo()

◆ readBottle()

◆ setCoDomainSize()

◆ setDomainSize()

◆ train()

◆ validateDomainSizes()

◆ writeBottle()

Member Data Documentation

◆ coDomainSize

◆ domainSize