neuralNetworks.h

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/*
 * Copyright (C) 2006-2018 Istituto Italiano di Tecnologia (IIT)
 * Copyright (C) 2006-2010 RobotCub Consortium
 * All rights reserved.
 *
 * This software may be modified and distributed under the terms
 * of the BSD-3-Clause license. See the accompanying LICENSE file for
 * details.
*/
 
#ifndef __NEURALNETWORKS_H__
#define __NEURALNETWORKS_H__
 
#include <iostream>
#include <string>
#include <deque>
 
#include <yarp/os/Property.h>
#include <yarp/sig/Vector.h>
#include <iCub/ctrl/math.h>
 
 
namespace iCub
{
 
namespace ctrl
{
 
class ff2LayNN
{
protected:
    struct minmax
    {
       double min;
       double max;
    };
    
    // 1st layer data
    std::deque<yarp::sig::Vector> IW;
    yarp::sig::Vector b1;
    
    // 2nd layer data
    std::deque<yarp::sig::Vector> LW;
    yarp::sig::Vector b2;
    
    // process input
    std::deque<minmax> inMinMaxX;
    std::deque<minmax> inMinMaxY;
    
    // process output
    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;
 
    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;
 
public:
    ff2LayNN();
 
    ff2LayNN(const yarp::os::Property &options);
 
    virtual bool configure(const yarp::os::Property &options);    
 
    virtual bool isValid() const;
 
    virtual yarp::sig::Vector predict(const yarp::sig::Vector &x) const;
 
    virtual bool getStructure(yarp::os::Property &options) const;
 
    virtual bool printStructure(std::ostream &stream=std::cout) const;
 
    std::deque<yarp::sig::Vector> &get_IW() { return IW; }
 
    std::deque<yarp::sig::Vector> &get_LW() { return LW; }
 
    yarp::sig::Vector &get_b1() { return b1; }
 
    yarp::sig::Vector &get_b2() { return b2; }
 
    virtual yarp::sig::Vector scaleInputToNetFormat(const yarp::sig::Vector &x) const;
 
    virtual yarp::sig::Vector scaleInputFromNetFormat(const yarp::sig::Vector &x) const;
 
    virtual yarp::sig::Vector scaleOutputToNetFormat(const yarp::sig::Vector &x) const;
 
    virtual yarp::sig::Vector scaleOutputFromNetFormat(const yarp::sig::Vector &x) const;
 
    virtual yarp::sig::Vector hiddenLayerFcn(const yarp::sig::Vector &x) const=0;
 
    virtual yarp::sig::Vector outputLayerFcn(const yarp::sig::Vector &x) const=0;
 
    virtual yarp::sig::Vector hiddenLayerGrad(const yarp::sig::Vector &x) const=0;
 
    virtual yarp::sig::Vector outputLayerGrad(const yarp::sig::Vector &x) const=0;
};
 
 
class ff2LayNN_tansig_purelin : virtual public ff2LayNN
{
public:
    ff2LayNN_tansig_purelin();
 
    ff2LayNN_tansig_purelin(const yarp::os::Property &options);
 
    virtual yarp::sig::Vector hiddenLayerFcn(const yarp::sig::Vector &x) const;
 
    virtual yarp::sig::Vector outputLayerFcn(const yarp::sig::Vector &x) const;
 
    virtual yarp::sig::Vector hiddenLayerGrad(const yarp::sig::Vector &x) const;
 
    virtual yarp::sig::Vector outputLayerGrad(const yarp::sig::Vector &x) const;
};
 
}
 
}
 
 
#endif