Class implementing a histogram filter based solution of the maze-of-digits problem. More...

#include <HistogramFilterMazeLocalization.hpp>

Inheritance diagram for mic::application::HistogramFilterMazeLocalization:

Collaboration diagram for mic::application::HistogramFilterMazeLocalization:

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

virtual	~HistogramFilterMazeLocalization ()

Protected Member Functions
virtual void	initializePropertyDependentVariables ()

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

virtual bool	performSingleStep ()

void	createDataContainers ()

void	storeCurrentStateInDataContainers (bool synchronize_)

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

WindowCollectorChart< float > *	w_current_coordinate_x
	Window for displaying chart with statistics on current x coordinate. More...

WindowCollectorChart< float > *	w_current_coordinate_y
	Window for displaying chart with statistics on current y coordinate. More...

mic::utils::DataCollectorPtr < std::string, float >	max_probabilities_collector_ptr
	Data collector with maximal maze/x/y/ probabilities. More...

mic::utils::DataCollectorPtr < std::string, float >	maze_collector_ptr

mic::utils::DataCollectorPtr < std::string, float >	coordinate_x_collector_ptr

mic::utils::DataCollectorPtr < std::string, float >	coordinate_y_collector_ptr

WindowCollectorChart< float > *	w_max_probabilities_chart
	Window for displaying chart with maximal maze/x/y/ probabilities. 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 < std::string >	statistics_filename
	Property: name of the file to which the statistics will be exported. More...

Detailed Description

Class implementing a histogram filter based solution of the maze-of-digits problem.

Author: tkornuta

Definition at line 47 of file HistogramFilterMazeLocalization.hpp.

Constructor & Destructor Documentation

mic::application::HistogramFilterMazeLocalization::HistogramFilterMazeLocalization ( 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 39 of file HistogramFilterMazeLocalization.cpp.

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

mic::application::HistogramFilterMazeLocalization::~HistogramFilterMazeLocalization ( )

virtual

Destructor.

Definition at line 72 of file HistogramFilterMazeLocalization.cpp.

References w_current_coordinate_x, w_current_coordinate_y, w_current_maze_chart, and w_max_probabilities_chart.

Member Function Documentation

void mic::application::HistogramFilterMazeLocalization::createDataContainers ( )

protected

Creates data containers - for visualization/data export purposes.

Definition at line 177 of file HistogramFilterMazeLocalization.cpp.

References coordinate_x_collector_ptr, coordinate_y_collector_ptr, importer, max_probabilities_collector_ptr, maze_collector_ptr, mic::importers::MazeMatrixImporter::maze_height, and mic::importers::MazeMatrixImporter::maze_width.

Referenced by initializePropertyDependentVariables().

void mic::application::HistogramFilterMazeLocalization::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 HistogramFilterMazeLocalization.cpp.

References coordinate_x_collector_ptr, coordinate_y_collector_ptr, max_probabilities_collector_ptr, maze_collector_ptr, w_current_coordinate_x, w_current_coordinate_y, w_current_maze_chart, and w_max_probabilities_chart.

void mic::application::HistogramFilterMazeLocalization::initializePropertyDependentVariables ( )

protectedvirtual

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

Definition at line 103 of file HistogramFilterMazeLocalization.cpp.

bool mic::application::HistogramFilterMazeLocalization::performSingleStep ( )

protectedvirtual

Performs single step of computations.

Definition at line 289 of file HistogramFilterMazeLocalization.cpp.

References action, epsilon, exact_move_probability, hf, mic::algorithms::MazeHistogramFilter::hidden_maze_number, mic::algorithms::MazeHistogramFilter::hidden_x, mic::algorithms::MazeHistogramFilter::hidden_y, hit_factor, max_probabilities_collector_ptr, mic::algorithms::MazeHistogramFilter::maze_position_probabilities, mic::algorithms::MazeHistogramFilter::maze_probabilities, mic::algorithms::MazeHistogramFilter::maze_x_coordinate_probilities, mic::algorithms::MazeHistogramFilter::maze_y_coordinate_probilities, miss_factor, mic::algorithms::MazeHistogramFilter::mostUniquePatchActionSelection(), mic::algorithms::MazeHistogramFilter::obs, overshoot_move_probability, mic::algorithms::MazeHistogramFilter::probabilisticMove(), mic::algorithms::MazeHistogramFilter::sense(), statistics_filename, storeCurrentStateInDataContainers(), mic::algorithms::MazeHistogramFilter::sumOfMostUniquePatchesActionSelection(), undershoot_move_probability, and mic::algorithms::MazeHistogramFilter::updateAggregatedProbabilities().

void mic::application::HistogramFilterMazeLocalization::storeCurrentStateInDataContainers ( bool synchronize_ )

protected

Stores current state in data containers.

Parameters

synchronize_ If true enters critical section when adding data to containers.

Definition at line 227 of file HistogramFilterMazeLocalization.cpp.

References coordinate_x_collector_ptr, coordinate_y_collector_ptr, hf, importer, max_probabilities_collector_ptr, maze_collector_ptr, mic::importers::MazeMatrixImporter::maze_height, mic::algorithms::MazeHistogramFilter::maze_probabilities, mic::importers::MazeMatrixImporter::maze_width, mic::algorithms::MazeHistogramFilter::maze_x_coordinate_probilities, and mic::algorithms::MazeHistogramFilter::maze_y_coordinate_probilities.

Referenced by initializePropertyDependentVariables(), and performSingleStep().

Member Data Documentation

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

private

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

Definition at line 127 of file HistogramFilterMazeLocalization.hpp.

Referenced by HistogramFilterMazeLocalization(), and performSingleStep().

mic::utils::DataCollectorPtr<std::string, float> mic::application::HistogramFilterMazeLocalization::coordinate_x_collector_ptr

private

Definition at line 104 of file HistogramFilterMazeLocalization.hpp.

Referenced by createDataContainers(), initialize(), and storeCurrentStateInDataContainers().

mic::utils::DataCollectorPtr<std::string, float> mic::application::HistogramFilterMazeLocalization::coordinate_y_collector_ptr

private

Definition at line 105 of file HistogramFilterMazeLocalization.hpp.

Referenced by createDataContainers(), initialize(), and storeCurrentStateInDataContainers().

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

private

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

Definition at line 130 of file HistogramFilterMazeLocalization.hpp.

Referenced by HistogramFilterMazeLocalization(), and performSingleStep().

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

private

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

Definition at line 139 of file HistogramFilterMazeLocalization.hpp.

Referenced by HistogramFilterMazeLocalization(), and performSingleStep().

mic::algorithms::MazeHistogramFilter mic::application::HistogramFilterMazeLocalization::hf

private

Histogram filter.

Definition at line 114 of file HistogramFilterMazeLocalization.hpp.

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

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

private

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

Definition at line 117 of file HistogramFilterMazeLocalization.hpp.

Referenced by HistogramFilterMazeLocalization(), and initializePropertyDependentVariables().

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

private

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

Definition at line 120 of file HistogramFilterMazeLocalization.hpp.

Referenced by HistogramFilterMazeLocalization(), and initializePropertyDependentVariables().

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

private

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

Definition at line 123 of file HistogramFilterMazeLocalization.hpp.

Referenced by HistogramFilterMazeLocalization(), and initializePropertyDependentVariables().

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

private

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

Definition at line 133 of file HistogramFilterMazeLocalization.hpp.

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

mic::importers::MazeMatrixImporter mic::application::HistogramFilterMazeLocalization::importer

private

Importer responsible for loading mazes from file.

Definition at line 111 of file HistogramFilterMazeLocalization.hpp.

Referenced by createDataContainers(), initializePropertyDependentVariables(), and storeCurrentStateInDataContainers().

mic::utils::DataCollectorPtr<std::string, float> mic::application::HistogramFilterMazeLocalization::max_probabilities_collector_ptr

private

Data collector with maximal maze/x/y/ probabilities.

Definition at line 101 of file HistogramFilterMazeLocalization.hpp.

Referenced by createDataContainers(), initialize(), performSingleStep(), and storeCurrentStateInDataContainers().

mic::utils::DataCollectorPtr<std::string, float> mic::application::HistogramFilterMazeLocalization::maze_collector_ptr

private

Definition at line 103 of file HistogramFilterMazeLocalization.hpp.

Referenced by createDataContainers(), initialize(), and storeCurrentStateInDataContainers().

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

private

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

Definition at line 136 of file HistogramFilterMazeLocalization.hpp.

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

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

private

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

Definition at line 142 of file HistogramFilterMazeLocalization.hpp.

Referenced by HistogramFilterMazeLocalization(), and performSingleStep().

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

private

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

Definition at line 148 of file HistogramFilterMazeLocalization.hpp.

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

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

private

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

Definition at line 145 of file HistogramFilterMazeLocalization.hpp.

Referenced by HistogramFilterMazeLocalization(), and performSingleStep().

WindowCollectorChart<float>* mic::application::HistogramFilterMazeLocalization::w_current_coordinate_x

private

Window for displaying chart with statistics on current x coordinate.

Definition at line 95 of file HistogramFilterMazeLocalization.hpp.

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

WindowCollectorChart<float>* mic::application::HistogramFilterMazeLocalization::w_current_coordinate_y

private

Window for displaying chart with statistics on current y coordinate.

Definition at line 98 of file HistogramFilterMazeLocalization.hpp.

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

WindowCollectorChart<float>* mic::application::HistogramFilterMazeLocalization::w_current_maze_chart

private

Window for displaying chart with statistics on current maze number.

Definition at line 92 of file HistogramFilterMazeLocalization.hpp.

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

WindowCollectorChart<float>* mic::application::HistogramFilterMazeLocalization::w_max_probabilities_chart

private

Window for displaying chart with maximal maze/x/y/ probabilities.

Definition at line 108 of file HistogramFilterMazeLocalization.hpp.

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

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

src/application/HistogramFilterMazeLocalization.hpp
src/application/HistogramFilterMazeLocalization.cpp

Public Member Functions

Protected Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation