Application for episodic testing of convergence of histogram filter based maze-of-digits localization. More...

#include <EpisodicHistogramFilterMazeLocalization.hpp>

Inheritance diagram for mic::application::EpisodicHistogramFilterMazeLocalization:

Collaboration diagram for mic::application::EpisodicHistogramFilterMazeLocalization:

Public Member Functions
	EpisodicHistogramFilterMazeLocalization (std::string node_name_="application")

virtual	~EpisodicHistogramFilterMazeLocalization ()

Protected Member Functions
virtual void	initialize (int argc, char *argv[])

virtual void	initializePropertyDependentVariables ()

virtual bool	performSingleStep ()

virtual void	startNewEpisode ()

virtual void	finishCurrentEpisode ()

Private Attributes
mic::utils::DataCollectorPtr < std::string, float >	collector_ptr
	Data collector. More...

WindowCollectorChart< float > *	w_localization_time_chart
	Window for displaying chart with statistics on current maze number. More...

mic::importers::MazeMatrixImporter	importer
	Importer responsible for loading mazes from file. More...

mic::algorithms::MazeHistogramFilter	hf
	Histogram filter. More...

mic::configuration::Property < short >	hidden_maze_number
	Property: variable denoting in which maze are we right now (unknown, to be determined). More...

mic::configuration::Property < short >	hidden_x
	Property: variable denoting the x position are we right now (unknown, to be determined). More...

mic::configuration::Property < short >	hidden_y
	Property: variable denoting the y position are we right now (unknown, to be determined). More...

mic::configuration::Property < short >	action
	Property: performed action (0-3: NESW, -3: random, -2: sumOfMostUniquePatchesActionSelection, -1: mostUniquePatchActionSelection). More...

mic::configuration::Property < double >	epsilon
	Property: variable denoting epsilon in aciton selection (the probability "below" which a random action will be selected). More...

mic::configuration::Property < double >	hit_factor
	Property: variable denoting the hit factor (the gain when the observation coincides with current position). More...

mic::configuration::Property < double >	miss_factor
	Property: variable denoting the miss factor (the gain when the observation does not coincide with current position). More...

mic::configuration::Property < double >	exact_move_probability
	Property: variable storing the probability that we made the exact move (x+dx). More...

mic::configuration::Property < double >	overshoot_move_probability
	Property: variable storing the probability that we made the "overshoot" move (d+dx+1). More...

mic::configuration::Property < double >	undershoot_move_probability
	Property: variable storing the probability that we made the "undershoot" move (d+dx-1). More...

mic::configuration::Property < short >	max_number_of_iterations
	Property: stop condition 1: maximal number of iterations - if exceeded, we finish the episode claiming that that it was a failure. More...

mic::configuration::Property < double >	min_maze_confidence
	Property: stop condition 2: minimal maze confidence - if exceeded, we finish the episode claiming that that it was a success. More...

double	max_pm
	Maximum maze probability for given episode. More...

mic::configuration::Property < std::string >	statistics_filename
	Property: name of the file to which the statistics (convergence) will be exported. More...

Detailed Description

Application for episodic testing of convergence of histogram filter based maze-of-digits localization.

Author: tkornuta

Definition at line 46 of file EpisodicHistogramFilterMazeLocalization.hpp.

Constructor & Destructor Documentation

mic::application::EpisodicHistogramFilterMazeLocalization::EpisodicHistogramFilterMazeLocalization ( std::string node_name_ = "application" )

Default Constructor. Sets the application/node name, default values of variables, initializes classifier etc.

Parameters

node_name_ Name of the application/node (in configuration file).

Definition at line 37 of file EpisodicHistogramFilterMazeLocalization.cpp.

References action, epsilon, exact_move_probability, hidden_maze_number, hidden_x, hidden_y, hit_factor, max_number_of_iterations, min_maze_confidence, miss_factor, overshoot_move_probability, statistics_filename, and undershoot_move_probability.

mic::application::EpisodicHistogramFilterMazeLocalization::~EpisodicHistogramFilterMazeLocalization ( )

virtual

Destructor.

Definition at line 75 of file EpisodicHistogramFilterMazeLocalization.cpp.

References w_localization_time_chart.

Member Function Documentation

void mic::application::EpisodicHistogramFilterMazeLocalization::finishCurrentEpisode ( )

protectedvirtual

Method called when given episode ends (goal: export collected statistics to file etc.) - abstract, to be overridden.

Definition at line 133 of file EpisodicHistogramFilterMazeLocalization.cpp.

References collector_ptr, max_number_of_iterations, max_pm, and statistics_filename.

void mic::application::EpisodicHistogramFilterMazeLocalization::initialize	(	int	argc,
		char *	argv[]
	)

protectedvirtual

Method initializes GLUT and OpenGL windows.

Parameters

argc	Number of application parameters.
argv	Array of application parameters.

Definition at line 80 of file EpisodicHistogramFilterMazeLocalization.cpp.

References collector_ptr, and w_localization_time_chart.

void mic::application::EpisodicHistogramFilterMazeLocalization::initializePropertyDependentVariables ( )

protectedvirtual

Initializes all variables that are property-dependent (input patches, SDRs etc.).

Definition at line 95 of file EpisodicHistogramFilterMazeLocalization.cpp.

References hf, mic::importers::MazeMatrixImporter::importData(), importer, and mic::algorithms::MazeHistogramFilter::setMazes().

bool mic::application::EpisodicHistogramFilterMazeLocalization::performSingleStep ( )

protectedvirtual

void mic::application::EpisodicHistogramFilterMazeLocalization::startNewEpisode ( )

protectedvirtual

Method called at the beginning of new episode (goal: to reset the statistics etc.) - abstract, to be overridden.

Definition at line 116 of file EpisodicHistogramFilterMazeLocalization.cpp.

References mic::algorithms::MazeHistogramFilter::assignInitialProbabilities(), hf, hidden_maze_number, hidden_x, hidden_y, hit_factor, miss_factor, mic::algorithms::MazeHistogramFilter::sense(), mic::algorithms::MazeHistogramFilter::setHiddenPose(), and mic::algorithms::MazeHistogramFilter::updateAggregatedProbabilities().

Member Data Documentation

mic::configuration::Property<short> mic::application::EpisodicHistogramFilterMazeLocalization::action

private

Property: performed action (0-3: NESW, -3: random, -2: sumOfMostUniquePatchesActionSelection, -1: mostUniquePatchActionSelection).

Definition at line 113 of file EpisodicHistogramFilterMazeLocalization.hpp.

Referenced by EpisodicHistogramFilterMazeLocalization(), and performSingleStep().

mic::utils::DataCollectorPtr<std::string, float> mic::application::EpisodicHistogramFilterMazeLocalization::collector_ptr

private

Data collector.

Definition at line 92 of file EpisodicHistogramFilterMazeLocalization.hpp.

Referenced by finishCurrentEpisode(), and initialize().

mic::configuration::Property<double> mic::application::EpisodicHistogramFilterMazeLocalization::epsilon

private

Property: variable denoting epsilon in aciton selection (the probability "below" which a random action will be selected).

Definition at line 116 of file EpisodicHistogramFilterMazeLocalization.hpp.

Referenced by EpisodicHistogramFilterMazeLocalization(), and performSingleStep().

mic::configuration::Property<double> mic::application::EpisodicHistogramFilterMazeLocalization::exact_move_probability

private

Property: variable storing the probability that we made the exact move (x+dx).

Definition at line 125 of file EpisodicHistogramFilterMazeLocalization.hpp.

Referenced by EpisodicHistogramFilterMazeLocalization(), and performSingleStep().

mic::algorithms::MazeHistogramFilter mic::application::EpisodicHistogramFilterMazeLocalization::hf

private

Histogram filter.

Definition at line 101 of file EpisodicHistogramFilterMazeLocalization.hpp.

Referenced by initializePropertyDependentVariables(), performSingleStep(), and startNewEpisode().

mic::configuration::Property<short> mic::application::EpisodicHistogramFilterMazeLocalization::hidden_maze_number

private

Property: variable denoting in which maze are we right now (unknown, to be determined).

Definition at line 104 of file EpisodicHistogramFilterMazeLocalization.hpp.

Referenced by EpisodicHistogramFilterMazeLocalization(), and startNewEpisode().

mic::configuration::Property<short> mic::application::EpisodicHistogramFilterMazeLocalization::hidden_x

private

Property: variable denoting the x position are we right now (unknown, to be determined).

Definition at line 107 of file EpisodicHistogramFilterMazeLocalization.hpp.

Referenced by EpisodicHistogramFilterMazeLocalization(), and startNewEpisode().

mic::configuration::Property<short> mic::application::EpisodicHistogramFilterMazeLocalization::hidden_y

private

Property: variable denoting the y position are we right now (unknown, to be determined).

Definition at line 110 of file EpisodicHistogramFilterMazeLocalization.hpp.

Referenced by EpisodicHistogramFilterMazeLocalization(), and startNewEpisode().

mic::configuration::Property<double> mic::application::EpisodicHistogramFilterMazeLocalization::hit_factor

private

Property: variable denoting the hit factor (the gain when the observation coincides with current position).

Definition at line 119 of file EpisodicHistogramFilterMazeLocalization.hpp.

Referenced by EpisodicHistogramFilterMazeLocalization(), performSingleStep(), and startNewEpisode().

mic::importers::MazeMatrixImporter mic::application::EpisodicHistogramFilterMazeLocalization::importer

private

Importer responsible for loading mazes from file.

Definition at line 98 of file EpisodicHistogramFilterMazeLocalization.hpp.

Referenced by initializePropertyDependentVariables(), and performSingleStep().

mic::configuration::Property<short> mic::application::EpisodicHistogramFilterMazeLocalization::max_number_of_iterations

private

Property: stop condition 1: maximal number of iterations - if exceeded, we finish the episode claiming that that it was a failure.

Definition at line 134 of file EpisodicHistogramFilterMazeLocalization.hpp.

Referenced by EpisodicHistogramFilterMazeLocalization(), finishCurrentEpisode(), and performSingleStep().

double mic::application::EpisodicHistogramFilterMazeLocalization::max_pm

private

Maximum maze probability for given episode.

Definition at line 140 of file EpisodicHistogramFilterMazeLocalization.hpp.

Referenced by finishCurrentEpisode(), and performSingleStep().

mic::configuration::Property<double> mic::application::EpisodicHistogramFilterMazeLocalization::min_maze_confidence

private

Property: stop condition 2: minimal maze confidence - if exceeded, we finish the episode claiming that that it was a success.

Definition at line 137 of file EpisodicHistogramFilterMazeLocalization.hpp.

Referenced by EpisodicHistogramFilterMazeLocalization(), and performSingleStep().

mic::configuration::Property<double> mic::application::EpisodicHistogramFilterMazeLocalization::miss_factor

private

Property: variable denoting the miss factor (the gain when the observation does not coincide with current position).

Definition at line 122 of file EpisodicHistogramFilterMazeLocalization.hpp.

Referenced by EpisodicHistogramFilterMazeLocalization(), performSingleStep(), and startNewEpisode().

mic::configuration::Property<double> mic::application::EpisodicHistogramFilterMazeLocalization::overshoot_move_probability

private

Property: variable storing the probability that we made the "overshoot" move (d+dx+1).

Definition at line 128 of file EpisodicHistogramFilterMazeLocalization.hpp.

Referenced by EpisodicHistogramFilterMazeLocalization(), and performSingleStep().

mic::configuration::Property<std::string> mic::application::EpisodicHistogramFilterMazeLocalization::statistics_filename

private

Property: name of the file to which the statistics (convergence) will be exported.

Definition at line 143 of file EpisodicHistogramFilterMazeLocalization.hpp.

Referenced by EpisodicHistogramFilterMazeLocalization(), and finishCurrentEpisode().

mic::configuration::Property<double> mic::application::EpisodicHistogramFilterMazeLocalization::undershoot_move_probability

private

Property: variable storing the probability that we made the "undershoot" move (d+dx-1).

Definition at line 131 of file EpisodicHistogramFilterMazeLocalization.hpp.

Referenced by EpisodicHistogramFilterMazeLocalization(), and performSingleStep().

WindowCollectorChart<float>* mic::application::EpisodicHistogramFilterMazeLocalization::w_localization_time_chart

private

Window for displaying chart with statistics on current maze number.

Definition at line 95 of file EpisodicHistogramFilterMazeLocalization.hpp.

Referenced by initialize(), and ~EpisodicHistogramFilterMazeLocalization().

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

src/application/EpisodicHistogramFilterMazeLocalization.hpp
src/application/EpisodicHistogramFilterMazeLocalization.cpp

Public Member Functions

Protected Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation