Back-constraints via Periodic topological constraint.
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#include <FgPeriodicTopologicalConstraint.h>
Public Member Functions | |
PTC () | |
Default constructor. More... | |
virtual | ~PTC () |
Destructor. More... | |
virtual void | Init (const af::array &Y, const af::array &X, const af::array &segments) |
Initializes this object. More... | |
virtual int | GetNumParameters () |
Gets number of to be optimized parameters. More... | |
virtual void | SetParameters (const af::array ¶m) |
Sets the parameters. More... | |
virtual af::array | GetParameters () |
Gets the parameters. More... | |
virtual af::array | GetConstraintX () |
Gets constraint x coordinates. More... | |
virtual af::array | BackconstraintGradient (const af::array &gX) |
Back-constraint gradient. More... | |
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IBackconstraint (BackConstType type) | |
Constructor. More... | |
virtual | ~IBackconstraint () |
Destructor. More... | |
virtual void | Init (const af::array &Y, const af::array &X, const af::array &segments)=0 |
Initializes this object. More... | |
virtual int | GetNumParameters ()=0 |
Gets number of to be optimized parameters. More... | |
virtual void | SetParameters (const af::array ¶m)=0 |
Sets the parameters. More... | |
virtual af::array | GetParameters ()=0 |
Gets the parameters. More... | |
virtual af::array | GetConstraintX ()=0 |
Gets constraint x coordinates. More... | |
virtual af::array | BackconstraintGradient (const af::array &gX)=0 |
Back-constraint gradient. More... | |
BackConstType | GetType () |
Gets the back-constraint type. More... | |
Protected Attributes | |
af::array | afA |
std::vector< int > | pSegments |
int | iNumSegments |
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int | iN |
dataset length More... | |
int | iq |
latent dimension More... | |
af::dtype | m_dType |
floating point precision flag for af::array More... | |
Private Member Functions | |
template<class Archive > | |
void | serialize (Archive &ar, unsigned int version) |
Friends | |
class | boost::serialization::access |
Back-constraints via Periodic topological constraint.
For PTC the content vectors are restricted to lie on a unit circle. The low-dimensional coordinates are parameterized by a phase parameter \(\phi_t\), such that \(\mathbf{x}_t = [\cos \phi_t, \sin\phi_t]^T\). Phase is linear as a function of time, parameterized by offset \(\phi_0\) and step-size \(\Delta\phi: \phi_t = \phi_0 + t\Delta\phi\). Each sequence is then parameterized only by \(\phi_0\) and \(\Delta\phi\). The step-size accounts for the different frequencies of different gaits.
Reference:
HmetalT, 26.10.2017.
Definition at line 53 of file FgPeriodicTopologicalConstraint.h.
NeuralEngine::MachineLearning::GPModels::PTC< Scalar >::PTC | ( | ) |
Default constructor.
Hmetal T, 17/09/2020.
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virtual |
Destructor.
Hmetal T, 17/09/2020.
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virtual |
Initializes this object.
Hmetal T, 17/09/2020.
Y | An af::array to process. |
X | An af::array to process. |
Implements NeuralEngine::MachineLearning::GPModels::IBackconstraint< Scalar >.
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Gets number of to be optimized parameters.
Hmetal T, 17/09/2020.
Implements NeuralEngine::MachineLearning::GPModels::IBackconstraint< Scalar >.
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Sets the parameters.
Hmetal T, 17/09/2020.
param | The parameter. |
Implements NeuralEngine::MachineLearning::GPModels::IBackconstraint< Scalar >.
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virtual |
Gets the parameters.
Hmetal T, 17/09/2020.
Implements NeuralEngine::MachineLearning::GPModels::IBackconstraint< Scalar >.
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virtual |
Gets constraint x coordinates.
Hmetal T, 17/09/2020.
Implements NeuralEngine::MachineLearning::GPModels::IBackconstraint< Scalar >.
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virtual |
Back-constraint gradient.
Hmetal T, 17/09/2020.
gX | The gradient of \(\mathbf{X}\). |
Implements NeuralEngine::MachineLearning::GPModels::IBackconstraint< Scalar >.
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inlineprivate |
Definition at line 138 of file FgPeriodicTopologicalConstraint.h.
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friend |
Definition at line 135 of file FgPeriodicTopologicalConstraint.h.
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protected |
Definition at line 129 of file FgPeriodicTopologicalConstraint.h.
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protected |
Definition at line 130 of file FgPeriodicTopologicalConstraint.h.
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protected |
Definition at line 132 of file FgPeriodicTopologicalConstraint.h.