Implementation of Sparse Spectrum preprocessing. More...

#include <SparseSpectrumFeature.h>

Inheritance diagram for iCub::learningmachine::SparseSpectrumFeature:

Public Member Functions
	SparseSpectrumFeature (unsigned int dom=1, unsigned int cod=2, double sigma=1., yarp::sig::Vector ell=yarp::sig::Vector(0))
	Constructor.

virtual	~SparseSpectrumFeature ()
	Destructor (empty).

virtual SparseSpectrumFeature *	clone ()
	Asks the transformer to return a new object of its type.

virtual yarp::sig::Vector	transform (const yarp::sig::Vector &input)
	Transforms an input vector.

virtual std::string	getInfo ()
	Asks the transformer to return a string containing statistics on its operation so far.

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

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

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

virtual void	reset ()
	Forget everything and start over.

virtual bool	configure (yarp::os::Searchable &config)

virtual double	getSigma ()
	Accessor for the sigma parameter.

virtual void	setSigma (double s)
	Mutator for the sigma parameter.

virtual yarp::sig::Vector &	getEll ()
	Accessor for the characteristic length-scales parameter ell.

virtual void	setEll (yarp::sig::Vector &ell)
	Mutator for the characteristic length-scales parameter ell.

Public Member Functions inherited from iCub::learningmachine::IFixedSizeTransformer
	IFixedSizeTransformer (unsigned int dom=1, unsigned int cod=1)
	Constructor.

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).

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

virtual	~ITransformer ()
	Destructor (empty).

std::string	getName () const
	Retrieve the name of this transformer.

void	setName (std::string name)
	Set the name of this transformer.

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

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

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

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

Protected Member Functions
virtual void	writeBottle (yarp::os::Bottle &bot)

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

Protected Member Functions inherited from iCub::learningmachine::IFixedSizeTransformer
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 transformer into a bottle.

Protected Attributes
double	sigma
	Noise parameter sigma.

yarp::sig::Vector	ell
	Characteristic length-scales ell, analoguous to same parameter in asymmetric RBF kernel.

yarp::sig::Matrix	W
	Projection matrix W.

Protected Attributes inherited from iCub::learningmachine::IFixedSizeTransformer
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::ITransformer
std::string	name
	The name of this type of transformer.

int	sampleCount
	Number of samples transformed since initialization.

Detailed Description

Implementation of Sparse Spectrum preprocessing.

See also: iCub::learningmachine::RandomFeature

See: Sparse Spectrum Gaussian Process Regression. Miguel Lazaro-Gredilla, Joaquin Quinonero-Candela, Carl Edward Rasmussen, and Anibal R. Figueiras-Vidal. In Journal of Machine Learning Research (JMLR), 2010.

Author: Arjan Gijsberts

Definition at line 47 of file SparseSpectrumFeature.h.

Constructor & Destructor Documentation

◆ SparseSpectrumFeature()

iCub::learningmachine::SparseSpectrumFeature::SparseSpectrumFeature	(	unsigned int	dom = `1`,
		unsigned int	cod = `2`,
		double	sigma = `1.`,
		yarp::sig::Vector	ell = `yarp::sig::Vector(0)`
	)

Constructor.

Parameters

dom	initial domain size
cod	initial codomain size
sigma	initial value for sigma
ell	initial value for \ell

Definition at line 41 of file SparseSpectrumFeature.cpp.

◆ ~SparseSpectrumFeature()

virtual iCub::learningmachine::SparseSpectrumFeature::~SparseSpectrumFeature ( )

inlinevirtual

Destructor (empty).

Definition at line 90 of file SparseSpectrumFeature.h.

Member Function Documentation

◆ clone()

virtual SparseSpectrumFeature * iCub::learningmachine::SparseSpectrumFeature::clone ( )

inlinevirtual

Asks the transformer to return a new object of its type.

Returns: a fresh instance of the current class

Implements iCub::learningmachine::ITransformer.

Definition at line 95 of file SparseSpectrumFeature.h.

◆ configure()

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

virtual

Reimplemented from iCub::learningmachine::IFixedSizeTransformer.

Definition at line 143 of file SparseSpectrumFeature.cpp.

◆ getConfigHelp()

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

virtual

Asks the transformer 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::IFixedSizeTransformer.

Definition at line 135 of file SparseSpectrumFeature.cpp.

◆ getEll()

virtual yarp::sig::Vector & iCub::learningmachine::SparseSpectrumFeature::getEll ( )

inlinevirtual

Accessor for the characteristic length-scales parameter ell.

Returns: ell.

Definition at line 157 of file SparseSpectrumFeature.h.

◆ getInfo()

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

virtual

Asks the transformer to return a string containing statistics on its operation so far.

Returns: the statistics of the transformer

Reimplemented from iCub::learningmachine::IFixedSizeTransformer.

Definition at line 127 of file SparseSpectrumFeature.cpp.

◆ getSigma()

virtual double iCub::learningmachine::SparseSpectrumFeature::getSigma ( )

inlinevirtual

Accessor for the sigma parameter.

Returns: sigma.

Definition at line 139 of file SparseSpectrumFeature.h.

◆ readBottle()

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

protectedvirtual

Unserializes a transformer 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

Reimplemented from iCub::learningmachine::IFixedSizeTransformer.

Definition at line 107 of file SparseSpectrumFeature.cpp.

◆ reset()

void iCub::learningmachine::SparseSpectrumFeature::reset ( )

virtual

Forget everything and start over.

Reimplemented from iCub::learningmachine::ITransformer.

Definition at line 83 of file SparseSpectrumFeature.cpp.

◆ setCoDomainSize()

void iCub::learningmachine::SparseSpectrumFeature::setCoDomainSize ( unsigned int size )

virtual

Mutator for the codomain size.

Parameters

size	the desired codomain size

Reimplemented from iCub::learningmachine::IFixedSizeTransformer.

Definition at line 72 of file SparseSpectrumFeature.cpp.

◆ setDomainSize()

void iCub::learningmachine::SparseSpectrumFeature::setDomainSize ( unsigned int size )

virtual

Mutator for the domain size.

Parameters

size	the desired domain size

Reimplemented from iCub::learningmachine::IFixedSizeTransformer.

Definition at line 65 of file SparseSpectrumFeature.cpp.

◆ setEll()

void iCub::learningmachine::SparseSpectrumFeature::setEll ( yarp::sig::Vector & ell )

virtual

Mutator for the characteristic length-scales parameter ell.

Parameters

ell	the desired ell.

Definition at line 116 of file SparseSpectrumFeature.cpp.

◆ setSigma()

virtual void iCub::learningmachine::SparseSpectrumFeature::setSigma ( double s )

inlinevirtual

Mutator for the sigma parameter.

Parameters

s	the desired sigma.

Definition at line 148 of file SparseSpectrumFeature.h.

◆ transform()

yarp::sig::Vector iCub::learningmachine::SparseSpectrumFeature::transform ( const yarp::sig::Vector & input )

virtual

Transforms an input vector.

Parameters

input the input vector

Returns: the output vector

Reimplemented from iCub::learningmachine::IFixedSizeTransformer.

Definition at line 52 of file SparseSpectrumFeature.cpp.

◆ writeBottle()

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

protectedvirtual

Definition at line 100 of file SparseSpectrumFeature.cpp.

Member Data Documentation

◆ ell

yarp::sig::Vector iCub::learningmachine::SparseSpectrumFeature::ell

protected

Characteristic length-scales ell, analoguous to same parameter in asymmetric RBF kernel.

Definition at line 58 of file SparseSpectrumFeature.h.

◆ sigma

double iCub::learningmachine::SparseSpectrumFeature::sigma

protected

Noise parameter sigma.

Definition at line 52 of file SparseSpectrumFeature.h.

◆ W

yarp::sig::Matrix iCub::learningmachine::SparseSpectrumFeature::W

protected

Projection matrix W.

Definition at line 63 of file SparseSpectrumFeature.h.

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

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

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ SparseSpectrumFeature()

◆ ~SparseSpectrumFeature()

Member Function Documentation

◆ clone()

◆ configure()

◆ getConfigHelp()

◆ getEll()

◆ getInfo()

◆ getSigma()

◆ readBottle()

◆ reset()

◆ setCoDomainSize()

◆ setDomainSize()

◆ setEll()

◆ setSigma()

◆ transform()

◆ writeBottle()

Member Data Documentation

◆ ell

◆ sigma

◆ W