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a/learning_folder/elmmodel/info b/learning_folder/elmmodel/info new file mode 100644 index 0000000..01b5fdf --- /dev/null +++ b/learning_folder/elmmodel/info @@ -0,0 +1 @@ +elm+datascale \ No newline at end of file diff --git a/learning_folder/learner/algorithms/ELM.m b/learning_folder/learner/algorithms/ELM.m new file mode 100644 index 0000000..bb14166 --- /dev/null +++ b/learning_folder/learner/algorithms/ELM.m @@ -0,0 +1,150 @@ +classdef ELM < Learner + %ELM Extreme Learning Machine + % Single layer feed-forward network + + properties + hidDim = 10; %number of neurons in the hidden layer + wInp = []; %weights from input layer to hidden layer + wOut = []; %weights from hidden layer to output layer + a = []; %slope parameters of activation functions + b = []; %bias parameters of activation functions + + reg = 1e-6; %regularization parameter for ridge regression + BIP = 1; %flag for using Batch Intrinsic Plasticity (BIP) + mu = 0.2; %desired mean activity parameter for BIP + + batchSize = 5000; %number of samples used for a minibatch + + confest=[]; + end + + methods + function l = ELM(inpDim, outDim, spec) + l = l@Learner(inpDim, outDim, spec); + end + + function init(l, X) + l.a = ones(1,l.hidDim); + l.b = 2 * rand(1,l.hidDim) - ones(1,l.hidDim); + l.wInp = 2 * rand(l.hidDim,l.inpDim) - ones(l.hidDim,l.inpDim); + l.wOut = 2 * rand(l.hidDim,l.outDim) - ones(l.hidDim,l.outDim); + + if nargin > 1 && l.BIP + if iscell(X) + X = l.normalizeIO(cell2mat(X)); + else + X = l.normalizeIO(X); + end + l.bip(X); + end + end + + function train(l, X, Y) + if iscell(X) + [X Y] = l.normalizeIO(cell2mat(X), cell2mat(Y)); + else + [X Y] = l.normalizeIO(X, Y); + end + if size(X,1) < l.batchSize + hs = l.calcHiddenStates(X); + l.wOut = (hs'*hs + l.reg * eye(l.hidDim))\(hs' * Y); + else + HTH = zeros(l.hidDim, l.hidDim); + HTY = zeros(l.hidDim, l.outDim); + numBatches = floor(size(X,1)/l.batchSize); + rest = mod(size(X,1),l.batchSize); + for b=1:numBatches + H = l.calcHiddenStates(X((b-1)*l.batchSize+1:b*l.batchSize,:)); + HTH = HTH + H' * H; + HTY = HTY + H' * Y((b-1)*l.batchSize+1:b*l.batchSize,:); + end + if rest > 0 + H = l.calcHiddenStates(X(numBatches*l.batchSize+1:end,:)); + HTH = HTH + H' * H; + HTY = HTY + H' * Y(numBatches*l.batchSize+1:end,:); + end + HTH = HTH + diag(repmat(l.reg, 1, l.hidDim)); + l.wOut = HTH\HTY; + end + end + + function [Y] = apply(l, X) + conf=[]; + if iscell(X) + Y = cell(length(X),1); + for i=1:length(X) + Y{i} = l.apply(X{i}); + end + else + X = range2norm(X, l.inpRange, l.inpOffset); + if size(X,1) < l.batchSize + H = l.calcHiddenStates(X); + Y = H * l.wOut; + + + else + Y = zeros(size(X,1), l.outDim); + numBatches = floor(size(X,1)/l.batchSize); + rest = mod(size(X,1),l.batchSize); + for b=1:numBatches + H = l.calcHiddenStates(X((b-1)*l.batchSize+1:b*l.batchSize,:)); + Y((b-1)*l.batchSize+1:b*l.batchSize,:) = H * l.wOut; + end + if rest > 0 + H = l.calcHiddenStates(X(numBatches*l.batchSize+1:end,:)); + Y(numBatches*l.batchSize+1:end,:) = H * l.wOut; + end + end + Y = norm2range(Y, l.outRange, l.outOffset); + l.out = Y(end,:); + end + end + + + function [H G] = calcHiddenStates(l, X) + numSamples = size(X,1); + + %TODO this is extremely costly, make mex call for fermi fct + atemp = repmat(l.a, numSamples, 1); + btemp = repmat(l.b, numSamples, 1); + % + + G = X * l.wInp'; + + H = 1./(1+exp(-atemp .* (G - btemp))); + end + + + + %batch intrinsic plasticity + function bip(l, X) + numSamples = size(X,1); + + PD = ProbDistUnivParam('exponential', l.mu); + G = X * l.wInp'; + + for hn = 1:l.hidDim + targets = random(PD, 1, numSamples); + + hightars = length([targets(targets>=1),targets(targets<=0)]); + while hightars > 0 + further_targets = random(PD, 1, hightars); + targets = [targets(targets<1&targets>0),further_targets]; + hightars = length([targets(targets>=1),targets(targets<=0)]); + end + targets = sort(targets); + + s = sort(G(:,hn)); + Phi = [s,ones(numSamples,1)]; + targetsinv = -log(1./targets - 1); %apply inverse activation function + + w = pinv(Phi)*targetsinv'; + + l.a(hn) = w(1); + l.b(hn) = w(2); + end + end + end + +end + diff --git a/learning_folder/learner/algorithms/Learner.m b/learning_folder/learner/algorithms/Learner.m new file mode 100644 index 0000000..abdbd7d --- /dev/null +++ b/learning_folder/learner/algorithms/Learner.m @@ -0,0 +1,70 @@ +classdef Learner < handle + %LEARNER Interface class for function approximator models. + % Detailed explanation goes here + + properties + inpDim = 0; %dimension of input + outDim = 0; %dimension of output + out = []; + outvar=NaN; + + inpOffset = []; + inpRange = []; + outOffset = []; + outRange = []; + end + + methods + function l = Learner(inpDim, outDim, spec) + l.inpDim = inpDim; + l.outDim = outDim; + l.out = zeros(1,l.outDim); + + if nargin > 2 + for s=1:size(spec,1) + if ~strcmp(spec{s,1}, 'class') + try + l.(spec{s,1}) = spec{s,2}; + catch me + disp(me.message); + end + end + end + end + end + + function [X Y] = normalizeIO(l, X, Y) + [X l.inpOffset l.inpRange] = normalize(X); + if exist('Y', 'var') + [Y l.outOffset l.outRange] = normalize(Y); + end + end + + function init(l, X) + end + + % expect X and Y to be either matrices or cell-arrays of matrices + function train(l, X, Y) + end + + function Y = apply(l, X) + + end + + function new = copy(this) + new = feval(class(this)); + p = properties(this); + for i = 1:length(p) + if( isa(this.(p{i}), 'handle')) + new.(p{i}) = this.(p{i}).copy(); + elseif isa(this.(p{i}),'cell') + new.(p{i}) = deepCopyCellArray(numel(this.(p{i}))); + else + new.(p{i}) = this.(p{i}); + end + end + end + end + +end + diff --git a/learning_folder/learner/metric/Metric.m b/learning_folder/learner/metric/Metric.m new file mode 100644 index 0000000..0395948 --- /dev/null +++ b/learning_folder/learner/metric/Metric.m @@ -0,0 +1,22 @@ +classdef Metric < handle + %METRIC Summary of this class goes here + % Detailed explanation goes here + + properties + end + + methods + function m = Metric() + end + + function d = distance(m, a, b) + if size(b,1) < size(a,1) + d = sqrt(sum((a-repmat(b,size(a,1),1)).^2,2)); + else + d = sqrt(sum((a-b).^2,2)); + end + end + end + +end + diff --git a/learning_folder/learner/metric/mexSqEucDistance.cpp b/learning_folder/learner/metric/mexSqEucDistance.cpp new file mode 100644 index 0000000..b53eda0 --- /dev/null +++ b/learning_folder/learner/metric/mexSqEucDistance.cpp @@ -0,0 +1,37 @@ +#include +#include +#include + +//input: vector a, vector b +//output: vector sum((a-b).^2) + +void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[]) { + //dx = l.alpha * sum(repmat(l.h', 1, l.visDim) .* (l.center.C - repmat(x, l.hidDim, 1)), 1); + + //get dimensions + int dim = mxGetDimensions(prhs[0])[1]; //row vector + int numSamples = mxGetDimensions(prhs[0])[0]; + int numSamplesB = mxGetDimensions(prhs[1])[0]; + + //get inputs + double *a = mxGetPr(prhs[0]); + double *b = mxGetPr(prhs[1]); + + //create output vector + plhs[0] = mxCreateDoubleMatrix(numSamples,1,mxREAL); //column vector + double *d = mxGetPr(plhs[0]); + + if (numSamples == numSamplesB) { + for (int i=numSamples-1; i>=0; i--) { + for (int j=dim-1; j>=0; j--) { + d[i] += pow(a[j*numSamples+i] - b[j*numSamples+i], 2); + } + } + } else { + for (int i=numSamples-1; i>=0; i--) { + for (int j=dim-1; j>=0; j--) { + d[i] += pow(a[j*numSamples+i] - b[j], 2); + } + } + } +} diff --git a/learning_folder/learner/metric/mexSqEucDistance.mexa64 b/learning_folder/learner/metric/mexSqEucDistance.mexa64 new file mode 100644 index 0000000..b5b52ef Binary files /dev/null and b/learning_folder/learner/metric/mexSqEucDistance.mexa64 differ diff --git a/learning_folder/learner/metric/mexSqEucDistance.mexa64_ b/learning_folder/learner/metric/mexSqEucDistance.mexa64_ new file mode 100644 index 0000000..4a9eafc Binary files /dev/null and b/learning_folder/learner/metric/mexSqEucDistance.mexa64_ differ diff --git a/learning_folder/learner/metric/mexWeightedSqEucDistance.cpp b/learning_folder/learner/metric/mexWeightedSqEucDistance.cpp new file mode 100644 index 0000000..2589371 --- /dev/null +++ b/learning_folder/learner/metric/mexWeightedSqEucDistance.cpp @@ -0,0 +1,38 @@ +#include +#include +#include + +//input: vector a, vector b, vector w +//output: vector sum(w .* (a-b).^2) + +void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[]) { + //dx = l.alpha * sum(repmat(l.h', 1, l.visDim) .* (l.center.C - repmat(x, l.hidDim, 1)), 1); + + //get dimensions + int dim = mxGetDimensions(prhs[0])[1]; //row vector + int numSamples = mxGetDimensions(prhs[0])[0]; + int numSamplesB = mxGetDimensions(prhs[1])[0]; + + //get inputs + double *a = mxGetPr(prhs[0]); + double *b = mxGetPr(prhs[1]); + double *w = mxGetPr(prhs[2]); + + //create output vector + plhs[0] = mxCreateDoubleMatrix(numSamples,1,mxREAL); //column vector + double *d = mxGetPr(plhs[0]); + + if (numSamples == numSamplesB) { + for (int i=numSamples-1; i>=0; i--) { + for (int j=dim-1; j>=0; j--) { + d[i] += w[j] * pow(a[j*numSamples+i] - b[j*numSamples+i], 2); + } + } + } else { + for (int i=numSamples-1; i>=0; i--) { + for (int j=dim-1; j>=0; j--) { + d[i] += w[j] * pow(a[j*numSamples+i] - b[j], 2); + } + } + } +} diff --git a/learning_folder/learner/metric/mexWeightedSqEucDistance.mexa64 b/learning_folder/learner/metric/mexWeightedSqEucDistance.mexa64 new file mode 100644 index 0000000..0305228 Binary files /dev/null and b/learning_folder/learner/metric/mexWeightedSqEucDistance.mexa64 differ diff --git a/learning_folder/learner/metric/mexWeightedSqEucDistance.mexa64_ b/learning_folder/learner/metric/mexWeightedSqEucDistance.mexa64_ new file mode 100644 index 0000000..d5b052c Binary files /dev/null and b/learning_folder/learner/metric/mexWeightedSqEucDistance.mexa64_ differ diff --git a/learning_folder/learner/utils/arrow.m b/learning_folder/learner/utils/arrow.m new file mode 100644 index 0000000..8729de8 --- /dev/null +++ b/learning_folder/learner/utils/arrow.m @@ -0,0 +1,1385 @@ +function [h,yy,zz] = arrow(varargin) +% ARROW Draw a line with an arrowhead. +% +% ARROW(Start,Stop) draws a line with an arrow from Start to Stop (points +% should be vectors of length 2 or 3, or matrices with 2 or 3 +% columns), and returns the graphics handle of the arrow(s). +% +% ARROW uses the mouse (click-drag) to create an arrow. +% +% ARROW DEMO & ARROW DEMO2 show 3-D & 2-D demos of the capabilities of ARROW. +% +% ARROW may be called with a normal argument list or a property-based list. +% ARROW(Start,Stop,Length,BaseAngle,TipAngle,Width,Page,CrossDir) is +% the full normal argument list, where all but the Start and Stop +% points are optional. If you need to specify a later argument (e.g., +% Page) but want default values of earlier ones (e.g., TipAngle), +% pass an empty matrix for the earlier ones (e.g., TipAngle=[]). +% +% ARROW('Property1',PropVal1,'Property2',PropVal2,...) creates arrows with the +% given properties, using default values for any unspecified or given as +% 'default' or NaN. Some properties used for line and patch objects are +% used in a modified fashion, others are passed directly to LINE, PATCH, +% or SET. For a detailed properties explanation, call ARROW PROPERTIES. +% +% Start The starting points. B +% Stop The end points. /|\ ^ +% Length Length of the arrowhead in pixels. /|||\ | +% BaseAngle Base angle in degrees (ADE). //|||\\ L| +% TipAngle Tip angle in degrees (ABC). ///|||\\\ e| +% Width Width of the base in pixels. ////|||\\\\ n| +% Page Use hardcopy proportions. /////|D|\\\\\ g| +% CrossDir Vector || to arrowhead plane. //// ||| \\\\ t| +% NormalDir Vector out of arrowhead plane. /// ||| \\\ h| +% Ends Which end has an arrowhead. //<----->|| \\ | +% ObjectHandles Vector of handles to update. / base ||| \ V +% E angle||<-------->C +% ARROW(H,'Prop1',PropVal1,...), where H is a |||tipangle +% vector of handles to previously-created arrows ||| +% and/or line objects, will update the previously- ||| +% created arrows according to the current view -->|A|<-- width +% and any specified properties, and will convert +% two-point line objects to corresponding arrows. ARROW(H) will update +% the arrows if the current view has changed. Root, figure, or axes +% handles included in H are replaced by all descendant Arrow objects. +% +% A property list can follow any specified normal argument list, e.g., +% ARROW([1 2 3],[0 0 0],36,'BaseAngle',60) creates an arrow from (1,2,3) to +% the origin, with an arrowhead of length 36 pixels and 60-degree base angle. +% +% The basic arguments or properties can generally be vectorized to create +% multiple arrows with the same call. This is done by passing a property +% with one row per arrow, or, if all arrows are to have the same property +% value, just one row may be specified. +% +% You may want to execute AXIS(AXIS) before calling ARROW so it doesn't change +% the axes on you; ARROW determines the sizes of arrow components BEFORE the +% arrow is plotted, so if ARROW changes axis limits, arrows may be malformed. +% +% This version of ARROW uses features of MATLAB 6.x and is incompatible with +% earlier MATLAB versions (ARROW for MATLAB 4.2c is available separately); +% some problems with perspective plots still exist. + +% Copyright (c)1995-2009, Dr. Erik A. Johnson , 5/20/2009 +% http://www.usc.edu/civil_eng/johnsone/ + +% Revision history: +% 5/20/09 EAJ Fix view direction in (3D) demo. +% 6/26/08 EAJ Replace eval('trycmd','catchcmd') with try, trycmd; catch, +% catchcmd; end; -- break's MATLAB 5 compatibility. +% 8/26/03 EAJ Eliminate OpenGL attempted fix since it didn't fix anyway. +% 11/15/02 EAJ Accomodate how MATLAB 6.5 handles NaN and logicals +% 7/28/02 EAJ Tried (but failed) work-around for MATLAB 6.x / OpenGL bug +% if zero 'Width' or not double-ended +% 11/10/99 EAJ Add logical() to eliminate zero index problem in MATLAB 5.3. +% 11/10/99 EAJ Corrected warning if axis limits changed on multiple axes. +% 11/10/99 EAJ Update e-mail address. +% 2/10/99 EAJ Some documentation updating. +% 2/24/98 EAJ Fixed bug if Start~=Stop but both colinear with viewpoint. +% 8/14/97 EAJ Added workaround for MATLAB 5.1 scalar logical transpose bug. +% 7/21/97 EAJ Fixed a few misc bugs. +% 7/14/97 EAJ Make arrow([],'Prop',...) do nothing (no old handles) +% 6/23/97 EAJ MATLAB 5 compatible version, release. +% 5/27/97 EAJ Added Line Arrows back in. Corrected a few bugs. +% 5/26/97 EAJ Changed missing Start/Stop to mouse-selected arrows. +% 5/19/97 EAJ MATLAB 5 compatible version, beta. +% 4/13/97 EAJ MATLAB 5 compatible version, alpha. +% 1/31/97 EAJ Fixed bug with multiple arrows and unspecified Z coords. +% 12/05/96 EAJ Fixed one more bug with log plots and NormalDir specified +% 10/24/96 EAJ Fixed bug with log plots and NormalDir specified +% 11/13/95 EAJ Corrected handling for 'reverse' axis directions +% 10/06/95 EAJ Corrected occasional conflict with SUBPLOT +% 4/24/95 EAJ A major rewrite. +% Fall 94 EAJ Original code. + +% Things to be done: +% - in the arrow_clicks section, prompt by printing to the screen so that +% the user knows what's going on; also make sure the figure is brought +% to the front. +% - segment parsing, computing, and plotting into separate subfunctions +% - change computing from Xform to Camera paradigms +% + this will help especially with 3-D perspective plots +% + if the WarpToFill section works right, remove warning code +% + when perpsective works properly, remove perspective warning code +% - add cell property values and struct property name/values (like get/set) +% - get rid of NaN as the "default" data label +% + perhaps change userdata to a struct and don't include (or leave +% empty) the values specified as default; or use a cell containing +% an empty matrix for a default value +% - add functionality of GET to retrieve current values of ARROW properties + +% Many thanks to Keith Rogers for his many excellent +% suggestions and beta testing. Check out his shareware package MATDRAW +% (at ftp://ftp.mathworks.com/pub/contrib/v5/graphics/matdraw/) -- he has +% permission to distribute ARROW with MATDRAW. + +% Permission is granted to distribute ARROW with the toolboxes for the book +% "Solving Solid Mechanics Problems with MATLAB 5", by F. Golnaraghi et al. +% (Prentice Hall, 1999). + +% Permission is granted to Dr. Josef Bigun to distribute ARROW with his +% software to reproduce the figures in his image analysis text. + +% global variable initialization +global ARROW_PERSP_WARN ARROW_STRETCH_WARN ARROW_AXLIMITS +if isempty(ARROW_PERSP_WARN ), ARROW_PERSP_WARN =1; end; +if isempty(ARROW_STRETCH_WARN), ARROW_STRETCH_WARN=1; end; + +% Handle callbacks +if (nargin>0 & isstr(varargin{1}) & strcmp(lower(varargin{1}),'callback')), + arrow_callback(varargin{2:end}); return; +end; + +% Are we doing the demo? +c = sprintf('\n'); +if (nargin==1 & isstr(varargin{1})), + arg1 = lower(varargin{1}); + if strncmp(arg1,'prop',4), arrow_props; + elseif strncmp(arg1,'demo',4) + clf reset + demo_info = arrow_demo; + if ~strncmp(arg1,'demo2',5), + hh=arrow_demo3(demo_info); + else, + hh=arrow_demo2(demo_info); + end; + if (nargout>=1), h=hh; end; + elseif strncmp(arg1,'fixlimits',3), + arrow_fixlimits(ARROW_AXLIMITS); + ARROW_AXLIMITS=[]; + elseif strncmp(arg1,'help',4), + disp(help(mfilename)); + else, + error([upper(mfilename) ' got an unknown single-argument string ''' deblank(arg1) '''.']); + end; + return; +end; + +% Check # of arguments +if (nargout>3), error([upper(mfilename) ' produces at most 3 output arguments.']); end; + +% find first property number +firstprop = nargin+1; +for k=1:length(varargin), if ~isnumeric(varargin{k}), firstprop=k; break; end; end; +lastnumeric = firstprop-1; + +% check property list +if (firstprop<=nargin), + for k=firstprop:2:nargin, + curarg = varargin{k}; + if ~isstr(curarg) | sum(size(curarg)>1)>1, + error([upper(mfilename) ' requires that a property name be a single string.']); + end; + end; + if (rem(nargin-firstprop,2)~=1), + error([upper(mfilename) ' requires that the property ''' ... + varargin{nargin} ''' be paired with a property value.']); + end; +end; + +% default output +if (nargout>0), h=[]; end; +if (nargout>1), yy=[]; end; +if (nargout>2), zz=[]; end; + +% set values to empty matrices +start = []; +stop = []; +len = []; +baseangle = []; +tipangle = []; +wid = []; +page = []; +crossdir = []; +ends = []; +ax = []; +oldh = []; +ispatch = []; +defstart = [NaN NaN NaN]; +defstop = [NaN NaN NaN]; +deflen = 16; +defbaseangle = 90; +deftipangle = 16; +defwid = 0; +defpage = 0; +defcrossdir = [NaN NaN NaN]; +defends = 1; +defoldh = []; +defispatch = 1; + +% The 'Tag' we'll put on our arrows +ArrowTag = 'Arrow'; + +% check for oldstyle arguments +if (firstprop==2), + % assume arg1 is a set of handles + oldh = varargin{1}(:); + if isempty(oldh), return; end; +elseif (firstprop>9), + error([upper(mfilename) ' takes at most 8 non-property arguments.']); +elseif (firstprop>2), + {start,stop,len,baseangle,tipangle,wid,page,crossdir}; + args = [varargin(1:firstprop-1) cell(1,length(ans)-(firstprop-1))]; + [start,stop,len,baseangle,tipangle,wid,page,crossdir] = deal(args{:}); +end; + +% parse property pairs +extraprops={}; +for k=firstprop:2:nargin, + prop = varargin{k}; + val = varargin{k+1}; + prop = [lower(prop(:)') ' ']; + if strncmp(prop,'start' ,5), start = val; + elseif strncmp(prop,'stop' ,4), stop = val; + elseif strncmp(prop,'len' ,3), len = val(:); + elseif strncmp(prop,'base' ,4), baseangle = val(:); + elseif strncmp(prop,'tip' ,3), tipangle = val(:); + elseif strncmp(prop,'wid' ,3), wid = val(:); + elseif strncmp(prop,'page' ,4), page = val; + elseif strncmp(prop,'cross' ,5), crossdir = val; + elseif strncmp(prop,'norm' ,4), if (isstr(val)), crossdir=val; else, crossdir=val*sqrt(-1); end; + elseif strncmp(prop,'end' ,3), ends = val; + elseif strncmp(prop,'object',6), oldh = val(:); + elseif strncmp(prop,'handle',6), oldh = val(:); + elseif strncmp(prop,'type' ,4), ispatch = val; + elseif strncmp(prop,'userd' ,5), %ignore it + else, + % make sure it is a valid patch or line property + try + get(0,['DefaultPatch' varargin{k}]); + catch + errstr = lasterr; + try + get(0,['DefaultLine' varargin{k}]); + catch + errstr(1:max(find(errstr==char(13)|errstr==char(10)))) = ''; + error([upper(mfilename) ' got ' errstr]); + end + end; + extraprops={extraprops{:},varargin{k},val}; + end; +end; + +% Check if we got 'default' values +start = arrow_defcheck(start ,defstart ,'Start' ); +stop = arrow_defcheck(stop ,defstop ,'Stop' ); +len = arrow_defcheck(len ,deflen ,'Length' ); +baseangle = arrow_defcheck(baseangle,defbaseangle,'BaseAngle' ); +tipangle = arrow_defcheck(tipangle ,deftipangle ,'TipAngle' ); +wid = arrow_defcheck(wid ,defwid ,'Width' ); +crossdir = arrow_defcheck(crossdir ,defcrossdir ,'CrossDir' ); +page = arrow_defcheck(page ,defpage ,'Page' ); +ends = arrow_defcheck(ends ,defends ,'' ); +oldh = arrow_defcheck(oldh ,[] ,'ObjectHandles'); +ispatch = arrow_defcheck(ispatch ,defispatch ,'' ); + +% check transpose on arguments +[m,n]=size(start ); if any(m==[2 3])&(n==1|n>3), start = start'; end; +[m,n]=size(stop ); if any(m==[2 3])&(n==1|n>3), stop = stop'; end; +[m,n]=size(crossdir); if any(m==[2 3])&(n==1|n>3), crossdir = crossdir'; end; + +% convert strings to numbers +if ~isempty(ends) & isstr(ends), + endsorig = ends; + [m,n] = size(ends); + col = lower([ends(:,1:min(3,n)) ones(m,max(0,3-n))*' ']); + ends = NaN*ones(m,1); + oo = ones(1,m); + ii=find(all(col'==['non']'*oo)'); if ~isempty(ii), ends(ii)=ones(length(ii),1)*0; end; + ii=find(all(col'==['sto']'*oo)'); if ~isempty(ii), ends(ii)=ones(length(ii),1)*1; end; + ii=find(all(col'==['sta']'*oo)'); if ~isempty(ii), ends(ii)=ones(length(ii),1)*2; end; + ii=find(all(col'==['bot']'*oo)'); if ~isempty(ii), ends(ii)=ones(length(ii),1)*3; end; + if any(isnan(ends)), + ii = min(find(isnan(ends))); + error([upper(mfilename) ' does not recognize ''' deblank(endsorig(ii,:)) ''' as a valid ''Ends'' value.']); + end; +else, + ends = ends(:); +end; +if ~isempty(ispatch) & isstr(ispatch), + col = lower(ispatch(:,1)); + patchchar='p'; linechar='l'; defchar=' '; + mask = col~=patchchar & col~=linechar & col~=defchar; + if any(mask), + error([upper(mfilename) ' does not recognize ''' deblank(ispatch(min(find(mask)),:)) ''' as a valid ''Type'' value.']); + end; + ispatch = (col==patchchar)*1 + (col==linechar)*0 + (col==defchar)*defispatch; +else, + ispatch = ispatch(:); +end; +oldh = oldh(:); + +% check object handles +if ~all(ishandle(oldh)), error([upper(mfilename) ' got invalid object handles.']); end; + +% expand root, figure, and axes handles +if ~isempty(oldh), + ohtype = get(oldh,'Type'); + mask = strcmp(ohtype,'root') | strcmp(ohtype,'figure') | strcmp(ohtype,'axes'); + if any(mask), + oldh = num2cell(oldh); + for ii=find(mask)', + oldh(ii) = {findobj(oldh{ii},'Tag',ArrowTag)}; + end; + oldh = cat(1,oldh{:}); + if isempty(oldh), return; end; % no arrows to modify, so just leave + end; +end; + +% largest argument length +[mstart,junk]=size(start); [mstop,junk]=size(stop); [mcrossdir,junk]=size(crossdir); +argsizes = [length(oldh) mstart mstop ... + length(len) length(baseangle) length(tipangle) ... + length(wid) length(page) mcrossdir length(ends) ]; +args=['length(ObjectHandle) '; ... + '#rows(Start) '; ... + '#rows(Stop) '; ... + 'length(Length) '; ... + 'length(BaseAngle) '; ... + 'length(TipAngle) '; ... + 'length(Width) '; ... + 'length(Page) '; ... + '#rows(CrossDir) '; ... + '#rows(Ends) ']; +if (any(imag(crossdir(:))~=0)), + args(9,:) = '#rows(NormalDir) '; +end; +if isempty(oldh), + narrows = max(argsizes); +else, + narrows = length(oldh); +end; +if (narrows<=0), narrows=1; end; + +% Check size of arguments +ii = find((argsizes~=0)&(argsizes~=1)&(argsizes~=narrows)); +if ~isempty(ii), + s = args(ii',:); + while ((size(s,2)>1)&((abs(s(:,size(s,2)))==0)|(abs(s(:,size(s,2)))==abs(' ')))), + s = s(:,1:size(s,2)-1); + end; + s = [ones(length(ii),1)*[upper(mfilename) ' requires that '] s ... + ones(length(ii),1)*[' equal the # of arrows (' num2str(narrows) ').' c]]; + s = s'; + s = s(:)'; + s = s(1:length(s)-1); + error(setstr(s)); +end; + +% check element length in Start, Stop, and CrossDir +if ~isempty(start), + [m,n] = size(start); + if (n==2), + start = [start NaN*ones(m,1)]; + elseif (n~=3), + error([upper(mfilename) ' requires 2- or 3-element Start points.']); + end; +end; +if ~isempty(stop), + [m,n] = size(stop); + if (n==2), + stop = [stop NaN*ones(m,1)]; + elseif (n~=3), + error([upper(mfilename) ' requires 2- or 3-element Stop points.']); + end; +end; +if ~isempty(crossdir), + [m,n] = size(crossdir); + if (n<3), + crossdir = [crossdir NaN*ones(m,3-n)]; + elseif (n~=3), + if (all(imag(crossdir(:))==0)), + error([upper(mfilename) ' requires 2- or 3-element CrossDir vectors.']); + else, + error([upper(mfilename) ' requires 2- or 3-element NormalDir vectors.']); + end; + end; +end; + +% fill empty arguments +if isempty(start ), start = [Inf Inf Inf]; end; +if isempty(stop ), stop = [Inf Inf Inf]; end; +if isempty(len ), len = Inf; end; +if isempty(baseangle ), baseangle = Inf; end; +if isempty(tipangle ), tipangle = Inf; end; +if isempty(wid ), wid = Inf; end; +if isempty(page ), page = Inf; end; +if isempty(crossdir ), crossdir = [Inf Inf Inf]; end; +if isempty(ends ), ends = Inf; end; +if isempty(ispatch ), ispatch = Inf; end; + +% expand single-column arguments +o = ones(narrows,1); +if (size(start ,1)==1), start = o * start ; end; +if (size(stop ,1)==1), stop = o * stop ; end; +if (length(len )==1), len = o * len ; end; +if (length(baseangle )==1), baseangle = o * baseangle ; end; +if (length(tipangle )==1), tipangle = o * tipangle ; end; +if (length(wid )==1), wid = o * wid ; end; +if (length(page )==1), page = o * page ; end; +if (size(crossdir ,1)==1), crossdir = o * crossdir ; end; +if (length(ends )==1), ends = o * ends ; end; +if (length(ispatch )==1), ispatch = o * ispatch ; end; +ax = o * gca; + +% if we've got handles, get the defaults from the handles +if ~isempty(oldh), + for k=1:narrows, + oh = oldh(k); + ud = get(oh,'UserData'); + ax(k) = get(oh,'Parent'); + ohtype = get(oh,'Type'); + if strcmp(get(oh,'Tag'),ArrowTag), % if it's an arrow already + if isinf(ispatch(k)), ispatch(k)=strcmp(ohtype,'patch'); end; + % arrow UserData format: [start' stop' len base tip wid page crossdir' ends] + start0 = ud(1:3); + stop0 = ud(4:6); + if (isinf(len(k))), len(k) = ud( 7); end; + if (isinf(baseangle(k))), baseangle(k) = ud( 8); end; + if (isinf(tipangle(k))), tipangle(k) = ud( 9); end; + if (isinf(wid(k))), wid(k) = ud(10); end; + if (isinf(page(k))), page(k) = ud(11); end; + if (isinf(crossdir(k,1))), crossdir(k,1) = ud(12); end; + if (isinf(crossdir(k,2))), crossdir(k,2) = ud(13); end; + if (isinf(crossdir(k,3))), crossdir(k,3) = ud(14); end; + if (isinf(ends(k))), ends(k) = ud(15); end; + elseif strcmp(ohtype,'line')|strcmp(ohtype,'patch'), % it's a non-arrow line or patch + convLineToPatch = 1; %set to make arrow patches when converting from lines. + if isinf(ispatch(k)), ispatch(k)=convLineToPatch|strcmp(ohtype,'patch'); end; + x=get(oh,'XData'); x=x(~isnan(x(:))); if isempty(x), x=NaN; end; + y=get(oh,'YData'); y=y(~isnan(y(:))); if isempty(y), y=NaN; end; + z=get(oh,'ZData'); z=z(~isnan(z(:))); if isempty(z), z=NaN; end; + start0 = [x(1) y(1) z(1) ]; + stop0 = [x(end) y(end) z(end)]; + else, + error([upper(mfilename) ' cannot convert ' ohtype ' objects.']); + end; + ii=find(isinf(start(k,:))); if ~isempty(ii), start(k,ii)=start0(ii); end; + ii=find(isinf(stop( k,:))); if ~isempty(ii), stop( k,ii)=stop0( ii); end; + end; +end; + +% convert Inf's to NaN's +start( isinf(start )) = NaN; +stop( isinf(stop )) = NaN; +len( isinf(len )) = NaN; +baseangle( isinf(baseangle)) = NaN; +tipangle( isinf(tipangle )) = NaN; +wid( isinf(wid )) = NaN; +page( isinf(page )) = NaN; +crossdir( isinf(crossdir )) = NaN; +ends( isinf(ends )) = NaN; +ispatch( isinf(ispatch )) = NaN; + +% set up the UserData data (here so not corrupted by log10's and such) +ud = [start stop len baseangle tipangle wid page crossdir ends]; + +% Set Page defaults +page = ~isnan(page) & trueornan(page); + +% Get axes limits, range, min; correct for aspect ratio and log scale +axm = zeros(3,narrows); +axr = zeros(3,narrows); +axrev = zeros(3,narrows); +ap = zeros(2,narrows); +xyzlog = zeros(3,narrows); +limmin = zeros(2,narrows); +limrange = zeros(2,narrows); +oldaxlims = zeros(narrows,7); +oneax = all(ax==ax(1)); +if (oneax), + T = zeros(4,4); + invT = zeros(4,4); +else, + T = zeros(16,narrows); + invT = zeros(16,narrows); +end; +axnotdone = logical(ones(size(ax))); +while (any(axnotdone)), + ii = min(find(axnotdone)); + curax = ax(ii); + curpage = page(ii); + % get axes limits and aspect ratio + axl = [get(curax,'XLim'); get(curax,'YLim'); get(curax,'ZLim')]; + oldaxlims(min(find(oldaxlims(:,1)==0)),:) = [curax reshape(axl',1,6)]; + % get axes size in pixels (points) + u = get(curax,'Units'); + axposoldunits = get(curax,'Position'); + really_curpage = curpage & strcmp(u,'normalized'); + if (really_curpage), + curfig = get(curax,'Parent'); + pu = get(curfig,'PaperUnits'); + set(curfig,'PaperUnits','points'); + pp = get(curfig,'PaperPosition'); + set(curfig,'PaperUnits',pu); + set(curax,'Units','pixels'); + curapscreen = get(curax,'Position'); + set(curax,'Units','normalized'); + curap = pp.*get(curax,'Position'); + else, + set(curax,'Units','pixels'); + curapscreen = get(curax,'Position'); + curap = curapscreen; + end; + set(curax,'Units',u); + set(curax,'Position',axposoldunits); + % handle non-stretched axes position + str_stretch = { 'DataAspectRatioMode' ; ... + 'PlotBoxAspectRatioMode' ; ... + 'CameraViewAngleMode' }; + str_camera = { 'CameraPositionMode' ; ... + 'CameraTargetMode' ; ... + 'CameraViewAngleMode' ; ... + 'CameraUpVectorMode' }; + notstretched = strcmp(get(curax,str_stretch),'manual'); + manualcamera = strcmp(get(curax,str_camera),'manual'); + if ~arrow_WarpToFill(notstretched,manualcamera,curax), + % give a warning that this has not been thoroughly tested + if 0 & ARROW_STRETCH_WARN, + ARROW_STRETCH_WARN = 0; + strs = {str_stretch{1:2},str_camera{:}}; + strs = [char(ones(length(strs),1)*sprintf('\n ')) char(strs)]'; + warning([upper(mfilename) ' may not yet work quite right ' ... + 'if any of the following are ''manual'':' strs(:).']); + end; + % find the true pixel size of the actual axes + texttmp = text(axl(1,[1 2 2 1 1 2 2 1]), ... + axl(2,[1 1 2 2 1 1 2 2]), ... + axl(3,[1 1 1 1 2 2 2 2]),''); + set(texttmp,'Units','points'); + textpos = get(texttmp,'Position'); + delete(texttmp); + textpos = cat(1,textpos{:}); + textpos = max(textpos(:,1:2)) - min(textpos(:,1:2)); + % adjust the axes position + if (really_curpage), + % adjust to printed size + textpos = textpos * min(curap(3:4)./textpos); + curap = [curap(1:2)+(curap(3:4)-textpos)/2 textpos]; + else, + % adjust for pixel roundoff + textpos = textpos * min(curapscreen(3:4)./textpos); + curap = [curap(1:2)+(curap(3:4)-textpos)/2 textpos]; + end; + end; + if ARROW_PERSP_WARN & ~strcmp(get(curax,'Projection'),'orthographic'), + ARROW_PERSP_WARN = 0; + warning([upper(mfilename) ' does not yet work right for 3-D perspective projection.']); + end; + % adjust limits for log scale on axes + curxyzlog = [strcmp(get(curax,'XScale'),'log'); ... + strcmp(get(curax,'YScale'),'log'); ... + strcmp(get(curax,'ZScale'),'log')]; + if (any(curxyzlog)), + ii = find([curxyzlog;curxyzlog]); + if (any(axl(ii)<=0)), + error([upper(mfilename) ' does not support non-positive limits on log-scaled axes.']); + else, + axl(ii) = log10(axl(ii)); + end; + end; + % correct for 'reverse' direction on axes; + curreverse = [strcmp(get(curax,'XDir'),'reverse'); ... + strcmp(get(curax,'YDir'),'reverse'); ... + strcmp(get(curax,'ZDir'),'reverse')]; + ii = find(curreverse); + if ~isempty(ii), + axl(ii,[1 2])=-axl(ii,[2 1]); + end; + % compute the range of 2-D values + curT = get(curax,'Xform'); + lim = curT*[0 1 0 1 0 1 0 1;0 0 1 1 0 0 1 1;0 0 0 0 1 1 1 1;1 1 1 1 1 1 1 1]; + lim = lim(1:2,:)./([1;1]*lim(4,:)); + curlimmin = min(lim')'; + curlimrange = max(lim')' - curlimmin; + curinvT = inv(curT); + if (~oneax), + curT = curT.'; + curinvT = curinvT.'; + curT = curT(:); + curinvT = curinvT(:); + end; + % check which arrows to which cur corresponds + ii = find((ax==curax)&(page==curpage)); + oo = ones(1,length(ii)); + axr(:,ii) = diff(axl')' * oo; + axm(:,ii) = axl(:,1) * oo; + axrev(:,ii) = curreverse * oo; + ap(:,ii) = curap(3:4)' * oo; + xyzlog(:,ii) = curxyzlog * oo; + limmin(:,ii) = curlimmin * oo; + limrange(:,ii) = curlimrange * oo; + if (oneax), + T = curT; + invT = curinvT; + else, + T(:,ii) = curT * oo; + invT(:,ii) = curinvT * oo; + end; + axnotdone(ii) = zeros(1,length(ii)); +end; +oldaxlims(oldaxlims(:,1)==0,:)=[]; + +% correct for log scales +curxyzlog = xyzlog.'; +ii = find(curxyzlog(:)); +if ~isempty(ii), + start( ii) = real(log10(start( ii))); + stop( ii) = real(log10(stop( ii))); + if (all(imag(crossdir)==0)), % pulled (ii) subscript on crossdir, 12/5/96 eaj + crossdir(ii) = real(log10(crossdir(ii))); + end; +end; + +% correct for reverse directions +ii = find(axrev.'); +if ~isempty(ii), + start( ii) = -start( ii); + stop( ii) = -stop( ii); + crossdir(ii) = -crossdir(ii); +end; + +% transpose start/stop values +start = start.'; +stop = stop.'; + +% take care of defaults, page was done above +ii=find(isnan(start(:) )); if ~isempty(ii), start(ii) = axm(ii)+axr(ii)/2; end; +ii=find(isnan(stop(:) )); if ~isempty(ii), stop(ii) = axm(ii)+axr(ii)/2; end; +ii=find(isnan(crossdir(:) )); if ~isempty(ii), crossdir(ii) = zeros(length(ii),1); end; +ii=find(isnan(len )); if ~isempty(ii), len(ii) = ones(length(ii),1)*deflen; end; +ii=find(isnan(baseangle )); if ~isempty(ii), baseangle(ii) = ones(length(ii),1)*defbaseangle; end; +ii=find(isnan(tipangle )); if ~isempty(ii), tipangle(ii) = ones(length(ii),1)*deftipangle; end; +ii=find(isnan(wid )); if ~isempty(ii), wid(ii) = ones(length(ii),1)*defwid; end; +ii=find(isnan(ends )); if ~isempty(ii), ends(ii) = ones(length(ii),1)*defends; end; + +% transpose rest of values +len = len.'; +baseangle = baseangle.'; +tipangle = tipangle.'; +wid = wid.'; +page = page.'; +crossdir = crossdir.'; +ends = ends.'; +ax = ax.'; + +% given x, a 3xN matrix of points in 3-space; +% want to convert to X, the corresponding 4xN 2-space matrix +% +% tmp1=[(x-axm)./axr; ones(1,size(x,1))]; +% if (oneax), X=T*tmp1; +% else, tmp1=[tmp1;tmp1;tmp1;tmp1]; tmp1=T.*tmp1; +% tmp2=zeros(4,4*N); tmp2(:)=tmp1(:); +% X=zeros(4,N); X(:)=sum(tmp2)'; end; +% X = X ./ (ones(4,1)*X(4,:)); + +% for all points with start==stop, start=stop-(verysmallvalue)*(up-direction); +ii = find(all(start==stop)); +if ~isempty(ii), + % find an arrowdir vertical on screen and perpendicular to viewer + % transform to 2-D + tmp1 = [(stop(:,ii)-axm(:,ii))./axr(:,ii);ones(1,length(ii))]; + if (oneax), twoD=T*tmp1; + else, tmp1=[tmp1;tmp1;tmp1;tmp1]; tmp1=T(:,ii).*tmp1; + tmp2=zeros(4,4*length(ii)); tmp2(:)=tmp1(:); + twoD=zeros(4,length(ii)); twoD(:)=sum(tmp2)'; end; + twoD=twoD./(ones(4,1)*twoD(4,:)); + % move the start point down just slightly + tmp1 = twoD + [0;-1/1000;0;0]*(limrange(2,ii)./ap(2,ii)); + % transform back to 3-D + if (oneax), threeD=invT*tmp1; + else, tmp1=[tmp1;tmp1;tmp1;tmp1]; tmp1=invT(:,ii).*tmp1; + tmp2=zeros(4,4*length(ii)); tmp2(:)=tmp1(:); + threeD=zeros(4,length(ii)); threeD(:)=sum(tmp2)'; end; + start(:,ii) = (threeD(1:3,:)./(ones(3,1)*threeD(4,:))).*axr(:,ii)+axm(:,ii); +end; + +% compute along-arrow points +% transform Start points + tmp1=[(start-axm)./axr;ones(1,narrows)]; + if (oneax), X0=T*tmp1; + else, tmp1=[tmp1;tmp1;tmp1;tmp1]; tmp1=T.*tmp1; + tmp2=zeros(4,4*narrows); tmp2(:)=tmp1(:); + X0=zeros(4,narrows); X0(:)=sum(tmp2)'; end; + X0=X0./(ones(4,1)*X0(4,:)); +% transform Stop points + tmp1=[(stop-axm)./axr;ones(1,narrows)]; + if (oneax), Xf=T*tmp1; + else, tmp1=[tmp1;tmp1;tmp1;tmp1]; tmp1=T.*tmp1; + tmp2=zeros(4,4*narrows); tmp2(:)=tmp1(:); + Xf=zeros(4,narrows); Xf(:)=sum(tmp2)'; end; + Xf=Xf./(ones(4,1)*Xf(4,:)); +% compute pixel distance between points + D = sqrt(sum(((Xf(1:2,:)-X0(1:2,:)).*(ap./limrange)).^2)); + D = D + (D==0); %eaj new 2/24/98 +% compute and modify along-arrow distances + len1 = len; + len2 = len - (len.*tan(tipangle/180*pi)-wid/2).*tan((90-baseangle)/180*pi); + slen0 = zeros(1,narrows); + slen1 = len1 .* ((ends==2)|(ends==3)); + slen2 = len2 .* ((ends==2)|(ends==3)); + len0 = zeros(1,narrows); + len1 = len1 .* ((ends==1)|(ends==3)); + len2 = len2 .* ((ends==1)|(ends==3)); + % for no start arrowhead + ii=find((ends==1)&(D0), set(H,extraprops{:}); end; + % handle choosing arrow Start and/or Stop locations if unspecified + [H,oldaxlims,errstr] = arrow_clicks(H,ud,x,y,z,ax,oldaxlims); + if ~isempty(errstr), error([upper(mfilename) ' got ' errstr]); end; + % set the output + if (nargout>0), h=H; end; + % make sure the axis limits did not change + if isempty(oldaxlims), + ARROW_AXLIMITS = []; + else, + lims = get(oldaxlims(:,1),{'XLim','YLim','ZLim'})'; + lims = reshape(cat(2,lims{:}),6,size(lims,2)); + mask = arrow_is2DXY(oldaxlims(:,1)); + oldaxlims(mask,6:7) = lims(5:6,mask)'; + ARROW_AXLIMITS = oldaxlims(find(any(oldaxlims(:,2:7)'~=lims)),:); + if ~isempty(ARROW_AXLIMITS), + warning(arrow_warnlimits(ARROW_AXLIMITS,narrows)); + end; + end; +else, + % don't create the patch, just return the data + h=x; + yy=y; + zz=z; +end; + + + +function out = arrow_defcheck(in,def,prop) +% check if we got 'default' values + out = in; + if ~isstr(in), return; end; + if size(in,1)==1 & strncmp(lower(in),'def',3), + out = def; + elseif ~isempty(prop), + error([upper(mfilename) ' does not recognize ''' in(:)' ''' as a valid ''' prop ''' string.']); + end; + + + +function [H,oldaxlims,errstr] = arrow_clicks(H,ud,x,y,z,ax,oldaxlims) +% handle choosing arrow Start and/or Stop locations if necessary + errstr = ''; + if isempty(H)|isempty(ud)|isempty(x), return; end; + % determine which (if any) need Start and/or Stop + needStart = all(isnan(ud(:,1:3)'))'; + needStop = all(isnan(ud(:,4:6)'))'; + mask = any(needStart|needStop); + if ~any(mask), return; end; + ud(~mask,:)=[]; ax(:,~mask)=[]; + x(:,~mask)=[]; y(:,~mask)=[]; z(:,~mask)=[]; + % make them invisible for the time being + set(H,'Visible','off'); + % save the current axes and limits modes; set to manual for the time being + oldAx = gca; + limModes=get(ax(:),{'XLimMode','YLimMode','ZLimMode'}); + set(ax(:),{'XLimMode','YLimMode','ZLimMode'},{'manual','manual','manual'}); + % loop over each arrow that requires attention + jj = find(mask); + for ii=1:length(jj), + h = H(jj(ii)); + axes(ax(ii)); + % figure out correct call + if needStart(ii), prop='Start'; else, prop='Stop'; end; + [wasInterrupted,errstr] = arrow_click(needStart(ii)&needStop(ii),h,prop,ax(ii)); + % handle errors and control-C + if wasInterrupted, + delete(H(jj(ii:end))); + H(jj(ii:end))=[]; + oldaxlims(jj(ii:end),:)=[]; + break; + end; + end; + % restore the axes and limit modes + axes(oldAx); + set(ax(:),{'XLimMode','YLimMode','ZLimMode'},limModes); + +function [wasInterrupted,errstr] = arrow_click(lockStart,H,prop,ax) +% handle the clicks for one arrow + fig = get(ax,'Parent'); + % save some things + oldFigProps = {'Pointer','WindowButtonMotionFcn','WindowButtonUpFcn'}; + oldFigValue = get(fig,oldFigProps); + oldArrowProps = {'EraseMode'}; + oldArrowValue = get(H,oldArrowProps); + set(H,'EraseMode','background'); %because 'xor' makes shaft invisible unless Width>1 + global ARROW_CLICK_H ARROW_CLICK_PROP ARROW_CLICK_AX ARROW_CLICK_USE_Z + ARROW_CLICK_H=H; ARROW_CLICK_PROP=prop; ARROW_CLICK_AX=ax; + ARROW_CLICK_USE_Z=~arrow_is2DXY(ax)|~arrow_planarkids(ax); + set(fig,'Pointer','crosshair'); + % set up the WindowButtonMotion so we can see the arrow while moving around + set(fig,'WindowButtonUpFcn','set(gcf,''WindowButtonUpFcn'','''')', ... + 'WindowButtonMotionFcn',''); + if ~lockStart, + set(H,'Visible','on'); + set(fig,'WindowButtonMotionFcn',[mfilename '(''callback'',''motion'');']); + end; + % wait for the button to be pressed + [wasKeyPress,wasInterrupted,errstr] = arrow_wfbdown(fig); + % if we wanted to click-drag, set the Start point + if lockStart & ~wasInterrupted, + pt = arrow_point(ARROW_CLICK_AX,ARROW_CLICK_USE_Z); + feval(mfilename,H,'Start',pt,'Stop',pt); + set(H,'Visible','on'); + ARROW_CLICK_PROP='Stop'; + set(fig,'WindowButtonMotionFcn',[mfilename '(''callback'',''motion'');']); + % wait for the mouse button to be released + try + waitfor(fig,'WindowButtonUpFcn',''); + catch + errstr = lasterr; + wasInterrupted = 1; + end; + end; + if ~wasInterrupted, feval(mfilename,'callback','motion'); end; + % restore some things + set(gcf,oldFigProps,oldFigValue); + set(H,oldArrowProps,oldArrowValue); + +function arrow_callback(varargin) +% handle redrawing callbacks + if nargin==0, return; end; + str = varargin{1}; + if ~isstr(str), error([upper(mfilename) ' got an invalid Callback command.']); end; + s = lower(str); + if strcmp(s,'motion'), + % motion callback + global ARROW_CLICK_H ARROW_CLICK_PROP ARROW_CLICK_AX ARROW_CLICK_USE_Z + feval(mfilename,ARROW_CLICK_H,ARROW_CLICK_PROP,arrow_point(ARROW_CLICK_AX,ARROW_CLICK_USE_Z)); + drawnow; + else, + error([upper(mfilename) ' does not recognize ''' str(:).' ''' as a valid Callback option.']); + end; + +function out = arrow_point(ax,use_z) +% return the point on the given axes + if nargin==0, ax=gca; end; + if nargin<2, use_z=~arrow_is2DXY(ax)|~arrow_planarkids(ax); end; + out = get(ax,'CurrentPoint'); + out = out(1,:); + if ~use_z, out=out(1:2); end; + +function [wasKeyPress,wasInterrupted,errstr] = arrow_wfbdown(fig) +% wait for button down ignoring object ButtonDownFcn's + if nargin==0, fig=gcf; end; + errstr = ''; + % save ButtonDownFcn values + objs = findobj(fig); + buttonDownFcns = get(objs,'ButtonDownFcn'); + mask=~strcmp(buttonDownFcns,''); objs=objs(mask); buttonDownFcns=buttonDownFcns(mask); + set(objs,'ButtonDownFcn',''); + % save other figure values + figProps = {'KeyPressFcn','WindowButtonDownFcn'}; + figValue = get(fig,figProps); + % do the real work + set(fig,'KeyPressFcn','set(gcf,''KeyPressFcn'','''',''WindowButtonDownFcn'','''');', ... + 'WindowButtonDownFcn','set(gcf,''WindowButtonDownFcn'','''')'); + lasterr(''); + try + waitfor(fig,'WindowButtonDownFcn',''); + wasInterrupted = 0; + catch + wasInterrupted = 1; + end + wasKeyPress = ~wasInterrupted & strcmp(get(fig,'KeyPressFcn'),''); + if wasInterrupted, errstr=lasterr; end; + % restore ButtonDownFcn and other figure values + set(objs,'ButtonDownFcn',buttonDownFcns); + set(fig,figProps,figValue); + + + +function [out,is2D] = arrow_is2DXY(ax) +% check if axes are 2-D X-Y plots + % may not work for modified camera angles, etc. + out = logical(zeros(size(ax))); % 2-D X-Y plots + is2D = out; % any 2-D plots + views = get(ax(:),{'View'}); + views = cat(1,views{:}); + out(:) = abs(views(:,2))==90; + is2D(:) = out(:) | all(rem(views',90)==0)'; + +function out = arrow_planarkids(ax) +% check if axes descendents all have empty ZData (lines,patches,surfaces) + out = logical(ones(size(ax))); + allkids = get(ax(:),{'Children'}); + for k=1:length(allkids), + kids = get([findobj(allkids{k},'flat','Type','line') + findobj(allkids{k},'flat','Type','patch') + findobj(allkids{k},'flat','Type','surface')],{'ZData'}); + for j=1:length(kids), + if ~isempty(kids{j}), out(k)=logical(0); break; end; + end; + end; + + + +function arrow_fixlimits(axlimits) +% reset the axis limits as necessary + if isempty(axlimits), disp([upper(mfilename) ' does not remember any axis limits to reset.']); end; + for k=1:size(axlimits,1), + if any(get(axlimits(k,1),'XLim')~=axlimits(k,2:3)), set(axlimits(k,1),'XLim',axlimits(k,2:3)); end; + if any(get(axlimits(k,1),'YLim')~=axlimits(k,4:5)), set(axlimits(k,1),'YLim',axlimits(k,4:5)); end; + if any(get(axlimits(k,1),'ZLim')~=axlimits(k,6:7)), set(axlimits(k,1),'ZLim',axlimits(k,6:7)); end; + end; + + + +function out = arrow_WarpToFill(notstretched,manualcamera,curax) +% check if we are in "WarpToFill" mode. + out = strcmp(get(curax,'WarpToFill'),'on'); + % 'WarpToFill' is undocumented, so may need to replace this by + % out = ~( any(notstretched) & any(manualcamera) ); + + + +function out = arrow_warnlimits(axlimits,narrows) +% create a warning message if we've changed the axis limits + msg = ''; + switch (size(axlimits,1)) + case 1, msg=''; + case 2, msg='on two axes '; + otherwise, msg='on several axes '; + end; + msg = [upper(mfilename) ' changed the axis limits ' msg ... + 'when adding the arrow']; + if (narrows>1), msg=[msg 's']; end; + out = [msg '.' sprintf('\n') ' Call ' upper(mfilename) ... + ' FIXLIMITS to reset them now.']; + + + +function arrow_copyprops(fm,to) +% copy line properties to patches + props = {'EraseMode','LineStyle','LineWidth','Marker','MarkerSize',... + 'MarkerEdgeColor','MarkerFaceColor','ButtonDownFcn', ... + 'Clipping','DeleteFcn','BusyAction','HandleVisibility', ... + 'Selected','SelectionHighlight','Visible'}; + lineprops = {'Color', props{:}}; + patchprops = {'EdgeColor',props{:}}; + patch2props = {'FaceColor',patchprops{:}}; + fmpatch = strcmp(get(fm,'Type'),'patch'); + topatch = strcmp(get(to,'Type'),'patch'); + set(to( fmpatch& topatch),patch2props,get(fm( fmpatch& topatch),patch2props)); %p->p + set(to(~fmpatch&~topatch),lineprops, get(fm(~fmpatch&~topatch),lineprops )); %l->l + set(to( fmpatch&~topatch),lineprops, get(fm( fmpatch&~topatch),patchprops )); %p->l + set(to(~fmpatch& topatch),patchprops, get(fm(~fmpatch& topatch),lineprops) ,'FaceColor','none'); %l->p + + + +function arrow_props +% display further help info about ARROW properties + c = sprintf('\n'); + disp([c ... + 'ARROW Properties: Default values are given in [square brackets], and other' c ... + ' acceptable equivalent property names are in (parenthesis).' c c ... + ' Start The starting points. For N arrows, B' c ... + ' this should be a Nx2 or Nx3 matrix. /|\ ^' c ... + ' Stop The end points. For N arrows, this /|||\ |' c ... + ' should be a Nx2 or Nx3 matrix. //|||\\ L|' c ... + ' Length Length of the arrowhead (in pixels on ///|||\\\ e|' c ... + ' screen, points on a page). [16] (Len) ////|||\\\\ n|' c ... + ' BaseAngle Angle (degrees) of the base angle /////|D|\\\\\ g|' c ... + ' ADE. For a simple stick arrow, use //// ||| \\\\ t|' c ... + ' BaseAngle=TipAngle. [90] (Base) /// ||| \\\ h|' c ... + ' TipAngle Angle (degrees) of tip angle ABC. //<----->|| \\ |' c ... + ' [16] (Tip) / base ||| \ V' c ... + ' Width Width of the base in pixels. Not E angle ||<-------->C' c ... + ' the ''LineWidth'' prop. [0] (Wid) |||tipangle' c ... + ' Page If provided, non-empty, and not NaN, |||' c ... + ' this causes ARROW to use hardcopy |||' c ... + ' rather than onscreen proportions. A' c ... + ' This is important if screen aspect --> <-- width' c ... + ' ratio and hardcopy aspect ratio are ----CrossDir---->' c ... + ' vastly different. []' c... + ' CrossDir A vector giving the direction towards which the fletches' c ... + ' on the arrow should go. [computed such that it is perpen-' c ... + ' dicular to both the arrow direction and the view direction' c ... + ' (i.e., as if it was pasted on a normal 2-D graph)] (Note' c ... + ' that CrossDir is a vector. Also note that if an axis is' c ... + ' plotted on a log scale, then the corresponding component' c ... + ' of CrossDir must also be set appropriately, i.e., to 1 for' c ... + ' no change in that direction, >1 for a positive change, >0' c ... + ' and <1 for negative change.)' c ... + ' NormalDir A vector normal to the fletch direction (CrossDir is then' c ... + ' computed by the vector cross product [Line]x[NormalDir]). []' c ... + ' (Note that NormalDir is a vector. Unlike CrossDir,' c ... + ' NormalDir is used as is regardless of log-scaled axes.)' c ... + ' Ends Set which end has an arrowhead. Valid values are ''none'',' c ... + ' ''stop'', ''start'', and ''both''. [''stop''] (End)' c... + ' ObjectHandles Vector of handles to previously-created arrows to be' c ... + ' updated or line objects to be converted to arrows.' c ... + ' [] (Object,Handle)' c ]); + + + +function out = arrow_demo + % demo + % create the data + [x,y,z] = peaks; + [ddd,out.iii]=max(z(:)); + out.axlim = [min(x(:)) max(x(:)) min(y(:)) max(y(:)) min(z(:)) max(z(:))]; + + % modify it by inserting some NaN's + [m,n] = size(z); + m = floor(m/2); + n = floor(n/2); + z(1:m,1:n) = NaN*ones(m,n); + + % graph it + clf('reset'); + out.hs=surf(x,y,z); + out.x=x; out.y=y; out.z=z; + xlabel('x'); ylabel('y'); + +function h = arrow_demo3(in) + % set the view + axlim = in.axlim; + axis(axlim); + zlabel('z'); + %set(in.hs,'FaceColor','interp'); + view(3); % view(viewmtx(-37.5,30,20)); + title(['Demo of the capabilities of the ARROW function in 3-D']); + + % Normal blue arrow + h1 = feval(mfilename,[axlim(1) axlim(4) 4],[-.8 1.2 4], ... + 'EdgeColor','b','FaceColor','b'); + + % Normal white arrow, clipped by the surface + h2 = feval(mfilename,axlim([1 4 6]),[0 2 4]); + t=text(-2.4,2.7,7.7,'arrow clipped by surf'); + + % Baseangle<90 + h3 = feval(mfilename,[3 .125 3.5],[1.375 0.125 3.5],30,50); + t2=text(3.1,.125,3.5,'local maximum'); + + % Baseangle<90, fill and edge colors different + h4 = feval(mfilename,axlim(1:2:5)*.5,[0 0 0],36,60,25, ... + 'EdgeColor','b','FaceColor','c'); + t3=text(axlim(1)*.5,axlim(3)*.5,axlim(5)*.5-.75,'origin'); + set(t3,'HorizontalAlignment','center'); + + % Baseangle>90, black fill + h5 = feval(mfilename,[-2.9 2.9 3],[-1.3 .4 3.2],30,120,[],6, ... + 'EdgeColor','r','FaceColor','k','LineWidth',2); + + % Baseangle>90, no fill + h6 = feval(mfilename,[-2.9 2.9 1.3],[-1.3 .4 1.5],30,120,[],6, ... + 'EdgeColor','r','FaceColor','none','LineWidth',2); + + % Stick arrow + h7 = feval(mfilename,[-1.6 -1.65 -6.5],[0 -1.65 -6.5],[],16,16); + t4=text(-1.5,-1.65,-7.25,'global mininum'); + set(t4,'HorizontalAlignment','center'); + + % Normal, black fill + h8 = feval(mfilename,[-1.4 0 -7.2],[-1.4 0 -3],'FaceColor','k'); + t5=text(-1.5,0,-7.75,'local minimum'); + set(t5,'HorizontalAlignment','center'); + + % Gray fill, crossdir specified, 'LineStyle' -- + h9 = feval(mfilename,[-3 2.2 -6],[-3 2.2 -.05],36,[],27,6,[],[0 -1 0], ... + 'EdgeColor','k','FaceColor',.75*[1 1 1],'LineStyle','--'); + + % a series of normal arrows, linearly spaced, crossdir specified + h10y=(0:4)'/3; + h10 = feval(mfilename,[-3*ones(size(h10y)) h10y -6.5*ones(size(h10y))], ... + [-3*ones(size(h10y)) h10y -.05*ones(size(h10y))], ... + 12,[],[],[],[],[0 -1 0]); + + % a series of normal arrows, linearly spaced + h11x=(1:.33:2.8)'; + h11 = feval(mfilename,[h11x -3*ones(size(h11x)) 6.5*ones(size(h11x))], ... + [h11x -3*ones(size(h11x)) -.05*ones(size(h11x))]); + + % series of magenta arrows, radially oriented, crossdir specified + h12x=2; h12y=-3; h12z=axlim(5)/2; h12xr=1; h12zr=h12z; ir=.15;or=.81; + h12t=(0:11)'/6*pi; + h12 = feval(mfilename, ... + [h12x+h12xr*cos(h12t)*ir h12y*ones(size(h12t)) ... + h12z+h12zr*sin(h12t)*ir],[h12x+h12xr*cos(h12t)*or ... + h12y*ones(size(h12t)) h12z+h12zr*sin(h12t)*or], ... + 10,[],[],[],[], ... + [-h12xr*sin(h12t) zeros(size(h12t)) h12zr*cos(h12t)],... + 'FaceColor','none','EdgeColor','m'); + + % series of normal arrows, tangentially oriented, crossdir specified + or13=.91; h13t=(0:.5:12)'/6*pi; + locs = [h12x+h12xr*cos(h13t)*or13 h12y*ones(size(h13t)) h12z+h12zr*sin(h13t)*or13]; + h13 = feval(mfilename,locs(1:end-1,:),locs(2:end,:),6); + + % arrow with no line ==> oriented downwards + h14 = feval(mfilename,[3 3 .100001],[3 3 .1],30); + t6=text(3,3,3.6,'no line'); set(t6,'HorizontalAlignment','center'); + + % arrow with arrowheads at both ends + h15 = feval(mfilename,[-.5 -3 -3],[1 -3 -3],'Ends','both','FaceColor','g', ... + 'Length',20,'Width',3,'CrossDir',[0 0 1],'TipAngle',25); + + h=[h1;h2;h3;h4;h5;h6;h7;h8;h9;h10;h11;h12;h13;h14;h15]; + +function h = arrow_demo2(in) + axlim = in.axlim; + dolog = 1; + if (dolog), set(in.hs,'YData',10.^get(in.hs,'YData')); end; + shading('interp'); + view(2); + title(['Demo of the capabilities of the ARROW function in 2-D']); + hold on; [C,H]=contour(in.x,in.y,in.z,20,'-'); hold off; + for k=H', + set(k,'ZData',(axlim(6)+1)*ones(size(get(k,'XData'))),'Color','k'); + if (dolog), set(k,'YData',10.^get(k,'YData')); end; + end; + if (dolog), axis([axlim(1:2) 10.^axlim(3:4)]); set(gca,'YScale','log'); + else, axis(axlim(1:4)); end; + + % Normal blue arrow + start = [axlim(1) axlim(4) axlim(6)+2]; + stop = [in.x(in.iii) in.y(in.iii) axlim(6)+2]; + if (dolog), start(:,2)=10.^start(:,2); stop(:,2)=10.^stop(:,2); end; + h1 = feval(mfilename,start,stop,'EdgeColor','b','FaceColor','b'); + + % three arrows with varying fill, width, and baseangle + start = [-3 -3 10; -3 -1.5 10; -1.5 -3 10]; + stop = [-.03 -.03 10; -.03 -1.5 10; -1.5 -.03 10]; + if (dolog), start(:,2)=10.^start(:,2); stop(:,2)=10.^stop(:,2); end; + h2 = feval(mfilename,start,stop,24,[90;60;120],[],[0;0;4],'Ends',str2mat('both','stop','stop')); + set(h2(2),'EdgeColor',[0 .35 0],'FaceColor',[0 .85 .85]); + set(h2(3),'EdgeColor','r','FaceColor',[1 .5 1]); + h=[h1;h2]; + +function out = trueornan(x) +if isempty(x), + out=x; +else, + out = isnan(x); + out(~out) = x(~out); +end; diff --git a/learning_folder/learner/utils/axis2dcm.m b/learning_folder/learner/utils/axis2dcm.m new file mode 100644 index 0000000..eca5788 --- /dev/null +++ b/learning_folder/learner/utils/axis2dcm.m @@ -0,0 +1,40 @@ +function [R]= axis2dcm(v) + +if length(v) < 4 + nv = norm(v); + v = [v./nv; nv]; +end + +R=eye(4,4); + +theta=v(4); + +if (~theta) +return ; +end +c=cos(theta); +s=sin(theta); +C=1-c; + +xs =v(1)*s; +ys =v(2)*s; +zs =v(3)*s; +xC =v(1)*C; +yC =v(2)*C; +zC =v(3)*C; +xyC=v(1)*yC; +yzC=v(2)*zC; +zxC=v(3)*xC; + +R(1,1)=v(1)*xC+c; +R(1,2)=xyC-zs; +R(1,3)=zxC+ys; +R(2,1)=xyC+zs; +R(2,2)=v(2)*yC+c; +R(2,3)=yzC-xs; +R(3,1)=zxC-ys; +R(3,2)=yzC+xs; +R(3,3)=v(3)*zC+c; + + +end \ No newline at end of file diff --git a/learning_folder/learner/utils/blendLASA.m b/learning_folder/learner/utils/blendLASA.m new file mode 100644 index 0000000..54de9ac --- /dev/null +++ b/learning_folder/learner/utils/blendLASA.m @@ -0,0 +1,16 @@ +function [X] = blendLASA(T) + N = size(T,3); + n = size(T,2); + + X = zeros(2,n,N^2); + + k = 1; + for i=1:N + for j=1:N + %if i~=j + X(:,:,k) = blendTrajectories(T(:,:,i),T(:,:,j)); + k = k+1; + %end + end + end +end \ No newline at end of file diff --git a/learning_folder/learner/utils/blendTrajectories.m b/learning_folder/learner/utils/blendTrajectories.m new file mode 100644 index 0000000..6b4f986 --- /dev/null +++ b/learning_folder/learner/utils/blendTrajectories.m @@ -0,0 +1,6 @@ +function R = blendTrajectories(T1, T2) + n = size(T1,2); + d = size(T1,1); + alpha = repmat(0:n-1,d,1)/(n-1); + R = T2.*alpha + T1.*(1-alpha); +end \ No newline at end of file diff --git a/learning_folder/learner/utils/clip.m b/learning_folder/learner/utils/clip.m new file mode 100644 index 0000000..eb174fb --- /dev/null +++ b/learning_folder/learner/utils/clip.m @@ -0,0 +1,5 @@ +function y = clip( x, lo, hi ) + % ============> FAST VERSION <============= + % (uses matrix Logicals to replace Loops) + y = (x .* [x<=hi]) + (hi .* [x>hi]); + y = (y .* [x>=lo]) + (lo .* [x 0) || (cg.minmax(d,2) < 0) + % set(cg.ctrls(d,3),'Value',(cg.minmax(d,2)-cg.minmax(d,1))/2); + %end + end + end + + function setValues(cg, values) + for i=1:min(length(values), cg.dims) + cg.values(i) = min(cg.minmax(i,2), max(values(i), cg.minmax(i,1))); + set(cg.ctrls(i,3), 'Value', cg.values(i)); + set(cg.ctrls(i,4),'String',num2str(cg.values(i))); + end + end + + function setEnabled(cg, dims) + for i=1:min(length(dims), cg.dims) + set(cg.ctrls(i,2),'Value',dims(i)); + cg.enable(i) = dims(i); + end + end + + function dimctrl_Callback(cg,source,event) + [dim typ] = find(cg.ctrls==source); + if typ == 2 + cg.enable(dim) = get(source,'Value'); + %enable + notify(cg,'EnableUpdate'); + elseif typ == 3 + cg.values(dim) = get(source,'Value'); + set(cg.ctrls(dim,4),'String',num2str(cg.values(dim))); + %values + notify(cg,'ValuesUpdate'); + end + end + end + + events + ValuesUpdate + EnableUpdate + end + +end + diff --git a/learning_folder/learner/utils/dcm2angles.m b/learning_folder/learner/utils/dcm2angles.m new file mode 100644 index 0000000..795fe57 --- /dev/null +++ b/learning_folder/learner/utils/dcm2angles.m @@ -0,0 +1,243 @@ +function [r1 r2 r3] = dcm2angles( dcm, varargin ) +% DCM2ANGLE Create rotation angles from direction cosine matrix. +% [R1 R2 R3] = DCM2ANGLE( N ) calculates the set of rotation angles, +% R1, R2, R3, for a given direction cosine matrix, N. N is a 3-by-3-by-M +% matrix containing M orthogonal direction cosine matrices. R1 returns +% an M array of first rotation angles. R2 returns an M array of second +% rotation angles. R3 returns an M array of third rotation angles. +% Rotation angles are output in radians. +% +% [R1 R2 R3] = DCM2ANGLE( N, S ) calculates the set of rotation +% angles, R1, R2, R3, for a given direction cosine matrix, N, and a +% specified rotation sequence, S. +% +% The default rotation sequence is 'ZYX' where the order of rotation +% angles for the default rotation are R1 = Z Axis Rotation, R2 = Y Axis +% Rotation, and R3 = X Axis Rotation. +% +% All rotation sequences, S, are supported: 'ZYX', 'ZYZ', 'ZXY', 'ZXZ', +% 'YXZ', 'YXY', 'YZX', 'YZY', 'XYZ', 'XYX', 'XZY', and 'XZX'. +% +% [R1 R2 R3] = DCM2ANGLE( N, S, LIM ) calculates the set of rotation +% angles, R1, R2, R3, for a given direction cosine matrix, N, a specified +% rotation sequence, S, and a specified angle constraint, LIM. LIM +% is a string specifying either 'Default' or 'ZeroR3'. See the Limitations +% section for full definitions of angle constraints. +% +% Limitations: +% +% In general, the R1 and R3 angles lie between +/- 180 degrees and R2 +% lies either between +/- 90 degrees or between 0 and 180 degrees. For +% more information see the documentation. +% +% Examples: +% +% Determine the rotation angles from direction cosine matrix: +% dcm = [1 0 0; 0 1 0; 0 0 1]; +% [yaw, pitch, roll] = dcm2angle( dcm ) +% +% Determine the rotation angles from multiple direction cosine matrices: +% dcm = [ 1 0 0; 0 1 0; 0 0 1]; +% dcm(:,:,2) = [ 0.85253103550038 0.47703040785184 -0.21361840626067; ... +% -0.43212157513194 0.87319830445628 0.22537893734811; ... +% 0.29404383655186 -0.09983341664683 0.95056378592206]; +% [pitch, roll, yaw] = dcm2angle( dcm, 'YXZ' ) +% +% See also ANGLE2DCM, DCM2QUAT, QUAT2DCM, QUAT2ANGLE. + +% Copyright 2000-2007 The MathWorks, Inc. +% $Revision: 1.1.6.6 $ $Date: 2007/11/07 18:12:45 $ + +% Limitations: +% The 'Default' limitations for the 'ZYX', 'ZXY', 'YXZ', 'YZX', 'XYZ', +% and 'XZY' implementations generate an R2 angle that lies between +/- 90 +% degrees, and R1 and R3 angles that lie between +/- 180 degrees. +% +% The 'Default' limitations for the 'ZYZ', 'ZXZ', 'YXY', 'YZY', 'XYX', +% and 'XZX' implementations generate an R2 angle that lies between 0 and +% 180 degrees, and R1 and R3 angles that lie between +/- 180 degrees. +% +% The 'ZeroR3' limitations for the 'ZYX', 'ZXY', 'YXZ', 'YZX', 'XYZ', +% and 'XZY' implementations generate an R2 angle that lies between +/- 90 +% degrees, and R1 and R3 angles that lie between +/- 180 degrees. +% However, when R2 is +/- 90 degrees, R3 is set to 0 degrees. +% +% The 'ZeroR3' limitations for the 'ZYZ', 'ZXZ', 'YXY', 'YZY', 'XYX', +% and 'XZX' implementations generate an R2 angle that lies between 0 and 180 +% degrees, and R1 and R3 angles that lie between +/- 180 degrees. +% However, when R2 is 0 or +/- 180 degrees, R3 is set to 0 degrees. + +error(nargchk(1, 3, nargin,'struct')); + +if any(~isreal(dcm) || ~isnumeric(dcm)) + error('aero:dcm2angle:isnotreal', 'Input elements are not real numbers.'); +end + +if ((size(dcm,1) ~= 3) || (size(dcm,2) ~= 3)) + error('aero:dcm2angle:wrongdim','Input dimension is not 3-by-3-by-M.'); +end + +lim = 'default'; + +if nargin == 1 + type = 'zyx'; +else + if ischar( varargin{1} ) + type = varargin{1}; + else + error('aero:dcm2angle:notchar','Rotation sequence is not a string.'); + end + if nargin == 3 + if ischar( varargin{2} ) + lim = varargin{2}; + else + error('aero:dcm2angle:notchar1','Angle constraint is not a string.'); + end + end +end + +switch lower( type ) + case 'zyx' + % [ cy*cz, cy*sz, -sy] + % [ sy*sx*cz-sz*cx, sy*sx*sz+cz*cx, cy*sx] + % [ sy*cx*cz+sz*sx, sy*cx*sz-cz*sx, cy*cx] + + [r1 r2 r3] = threeaxisrot( dcm(1,2,:), dcm(1,1,:), -dcm(1,3,:), ... + dcm(2,3,:), dcm(3,3,:), ... + -dcm(2,1,:), dcm(2,2,:)); + + case 'zyz' + % [ cz2*cy*cz-sz2*sz, cz2*cy*sz+sz2*cz, -cz2*sy] + % [ -sz2*cy*cz-cz2*sz, -sz2*cy*sz+cz2*cz, sz2*sy] + % [ sy*cz, sy*sz, cy] + + [r1 r2 r3] = twoaxisrot( dcm(3,2,:), dcm(3,1,:), dcm(3,3,:), ... + dcm(2,3,:), -dcm(1,3,:), ... + -dcm(2,1,:), dcm(2,2,:)); + + case 'zxy' + % [ cy*cz-sy*sx*sz, cy*sz+sy*sx*cz, -sy*cx] + % [ -sz*cx, cz*cx, sx] + % [ sy*cz+cy*sx*sz, sy*sz-cy*sx*cz, cy*cx] + + [r1 r2 r3] = threeaxisrot( -dcm(2,1,:), dcm(2,2,:), dcm(2,3,:), ... + -dcm(1,3,:), dcm(3,3,:), ... + dcm(1,2,:), dcm(1,1,:)); + + case 'zxz' + % [ cz2*cz-sz2*cx*sz, cz2*sz+sz2*cx*cz, sz2*sx] + % [ -sz2*cz-cz2*cx*sz, -sz2*sz+cz2*cx*cz, cz2*sx] + % [ sz*sx, -cz*sx, cx] + + [r1 r2 r3] = twoaxisrot( dcm(3,1,:), -dcm(3,2,:), dcm(3,3,:), ... + dcm(1,3,:), dcm(2,3,:), ... + dcm(1,2,:), dcm(1,1,:)); + + case 'yxz' + % [ cy*cz+sy*sx*sz, sz*cx, -sy*cz+cy*sx*sz] + % [ -cy*sz+sy*sx*cz, cz*cx, sy*sz+cy*sx*cz] + % [ sy*cx, -sx, cy*cx] + + [r1 r2 r3] = threeaxisrot( dcm(3,1,:), dcm(3,3,:), -dcm(3,2,:), ... + dcm(1,2,:), dcm(2,2,:), ... + -dcm(1,3,:), dcm(1,1,:)); + + case 'yxy' + % [ cy2*cy-sy2*cx*sy, sy2*sx, -cy2*sy-sy2*cx*cy] + % [ sy*sx, cx, cy*sx] + % [ sy2*cy+cy2*cx*sy, -cy2*sx, -sy2*sy+cy2*cx*cy] + + [r1 r2 r3] = twoaxisrot( dcm(2,1,:), dcm(2,3,:), dcm(2,2,:), ... + dcm(1,2,:), -dcm(3,2,:), ... + -dcm(1,3,:), dcm(1,1,:)); + + case 'yzx' + % [ cy*cz, sz, -sy*cz] + % [ -sz*cx*cy+sy*sx, cz*cx, sy*cx*sz+cy*sx] + % [ cy*sx*sz+sy*cx, -cz*sx, -sy*sx*sz+cy*cx] + + [r1 r2 r3] = threeaxisrot( -dcm(1,3,:), dcm(1,1,:), dcm(1,2,:), ... + -dcm(3,2,:), dcm(2,2,:), ... + dcm(3,1,:), dcm(3,3,:)); + + case 'yzy' + % [ cy2*cz*cy-sy2*sy, cy2*sz, -cy2*cz*sy-sy2*cy] + % [ -cy*sz, cz, sy*sz] + % [ sy2*cz*cy+cy2*sy, sy2*sz, -sy2*cz*sy+cy2*cy] + + [r1 r2 r3] = twoaxisrot( dcm(2,3,:), -dcm(2,1,:), dcm(2,2,:), ... + dcm(3,2,:), dcm(1,2,:), ... + dcm(3,1,:), dcm(3,3,:)); + + case 'xyz' + % [ cy*cz, sz*cx+sy*sx*cz, sz*sx-sy*cx*cz] + % [ -cy*sz, cz*cx-sy*sx*sz, cz*sx+sy*cx*sz] + % [ sy, -cy*sx, cy*cx] + + [r1 r2 r3] = threeaxisrot( -dcm(3,2,:), dcm(3,3,:), dcm(3,1,:), ... + -dcm(2,1,:), dcm(1,1,:), ... + dcm(2,3,:), dcm(2,2,:)); + + case 'xyx' + % [ cy, sy*sx, -sy*cx] + % [ sx2*sy, cx2*cx-sx2*cy*sx, cx2*sx+sx2*cy*cx] + % [ cx2*sy, -sx2*cx-cx2*cy*sx, -sx2*sx+cx2*cy*cx] + + [r1 r2 r3] = twoaxisrot( dcm(1,2,:), -dcm(1,3,:), dcm(1,1,:), ... + dcm(2,1,:), dcm(3,1,:), ... + dcm(2,3,:), dcm(2,2,:)); + + case 'xzy' + % [ cy*cz, sz*cx*cy+sy*sx, cy*sx*sz-sy*cx] + % [ -sz, cz*cx, cz*sx] + % [ sy*cz, sy*cx*sz-cy*sx, sy*sx*sz+cy*cx] + + [r1 r2 r3] = threeaxisrot( dcm(2,3,:), dcm(2,2,:), -dcm(2,1,:), ... + dcm(3,1,:), dcm(1,1,:), ... + -dcm(3,2,:), dcm(3,3,:)); + + case 'xzx' + % [ cz, sz*cx, sz*sx] + % [ -cx2*sz, cx2*cz*cx-sx2*sx, cx2*cz*sx+sx2*cx] + % [ sx2*sz, -sx2*cz*cx-cx2*sx, -sx2*cz*sx+cx2*cx] + + [r1 r2 r3] = twoaxisrot( dcm(1,3,:), dcm(1,2,:), dcm(1,1,:), ... + dcm(3,1,:), -dcm(2,1,:), ... + -dcm(3,2,:), dcm(3,3,:)); + + otherwise + error('aero:dcm2angle:unknownrotation', ... + 'Unknown rotation sequence, %s', type); +end + +r1 = r1(:); +r2 = r2(:); +r3 = r3(:); + + function [r1 r2 r3] = threeaxisrot(r11, r12, r21, r31, r32, r11a, r12a) + % find angles for rotations about X, Y, and Z axes + r1 = atan2( r11, r12 ); + r2 = asin( r21 ); + r3 = atan2( r31, r32 ); + if strcmpi( lim, 'zeror3') + for i = find(abs( r21 ) >= 1.0) + r1(i) = atan2( r11a(i), r12a(i) ); + r2(i) = asin( r21(i) ); + r3(i) = 0; + end + end + end + + function [r1 r2 r3] = twoaxisrot(r11, r12, r21, r31, r32, r11a, r12a) + r1 = atan2( r11, r12 ); + r2 = acos( r21 ); + r3 = atan2( r31, r32 ); + if strcmpi( lim, 'zeror3') + for i = find(abs( r21 ) >= 1.0) + r1(i) = atan2( r11a(i), r12a(i) ); + r2(i) = acos( r21(i) ); + r3(i) = 0; + end + end + end +end diff --git a/learning_folder/learner/utils/dcm2axis.m b/learning_folder/learner/utils/dcm2axis.m new file mode 100644 index 0000000..264d798 --- /dev/null +++ b/learning_folder/learner/utils/dcm2axis.m @@ -0,0 +1,38 @@ +function [v] = dcm2axis(R) + +if size(R,2)<3 || size(R,1)<3 + error('dcm2axis'); + return ; +end +v =zeros(4,1); +v(1)=R(3,2)-R(2,3); +v(2)=R(1,3)-R(3,1); +v(3)=R(2,1)-R(1,2); +r= norm(v); +theta=atan2(0.5*r,0.5*(R(1,1)+R(2,2)+R(3,3)-1)); + +if (r<1e-9) + +% if we enter here, then +% R is symmetric; this can +% happen only if the rotation +% angle is 0 (R=I) or 180 degrees +A=R(1:3,1:3); +% A=I+sin(theta)*S+(1-cos(theta))*S^2 +% where S is the skew matrix. +% Given a point x, A*x is the rotated one, +% hence if Ax=x then x belongs to the rotation +% axis. We have therefore to find the kernel of +% the linear application (A-I). +[U,S,V]= svd(A-eye(3,3)); + +v(1)=V(1,3); +v(2)=V(2,3); +v(3)=V(3,3); +r=norm(v); +end + +v=(1.0/r)*v; +v(4)=theta; + +end \ No newline at end of file diff --git a/learning_folder/learner/utils/dcm2euler.m b/learning_folder/learner/utils/dcm2euler.m new file mode 100644 index 0000000..e002a76 --- /dev/null +++ b/learning_folder/learner/utils/dcm2euler.m @@ -0,0 +1,34 @@ +function [v]=dcm2euler(R, verbose) +%v=zeros(3,1); +if nargin < 2 + verbose = 0; +end +if (size(R,1)<3 || size(R,2)<3) + 'test' + if (verbose) + error('dcm2euler() failed\n'); + end + return +end + + +r2 = R(3,1)*R(3,1) + R(3,2)*R(3,2); +if (r2 > 0) + + v(2)=atan2(sqrt(r2), R(3,3)); + v(1)=atan2(R(2,3)/sin(v(2)), R(1,3)/sin(v(2))); + v(3)=atan2(R(3,2)/sin(v(2)),-R(3,1)/sin(v(2))); + +else + + if (verbose) + disp('dcm2euler() in singularity: choosing one solution among multiple\n'); + end + v(2)=0; + v(1)=atan2(R(2,1), R(1,1)); + v(3)=0; +end + + +end + diff --git a/learning_folder/learner/utils/deg2rad.m b/learning_folder/learner/utils/deg2rad.m new file mode 100644 index 0000000..d6ea02a --- /dev/null +++ b/learning_folder/learner/utils/deg2rad.m @@ -0,0 +1,7 @@ +function [radians] = deg2rad(degrees) +%DEG2RAD Summary of this function goes here +% Detailed explanation goes here + +radians = (pi/180) * degrees; + +end diff --git a/learning_folder/learner/utils/draw_circle.m b/learning_folder/learner/utils/draw_circle.m new file mode 100644 index 0000000..02feb7d --- /dev/null +++ b/learning_folder/learner/utils/draw_circle.m @@ -0,0 +1,14 @@ +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +%%% Copyright (c) 2013 R. F. Reinhart, CoR-Lab %%% +%%% Bielefeld University, Germany, http://cor-lab.de %%% +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +function [h] = draw_circle(x, y, radius, color) + +if nargin < 4 + color = [0 0 0]; +end + +h = rectangle('Position',[x-radius,y-radius,2*radius,2*radius],'Curvature',[1,1],'FaceColor',color); + +end diff --git a/learning_folder/learner/utils/drawtraj.m b/learning_folder/learner/utils/drawtraj.m new file mode 100644 index 0000000..c9377b8 --- /dev/null +++ b/learning_folder/learner/utils/drawtraj.m @@ -0,0 +1,159 @@ +function [negdata] = drawtraj(posx, posy, ink) + +lengthscale=1; +xoffset = 5.5; +yoffset = 6; %%positive is downwards; + +[numcases, maxtime] = size(posx); + +images= zeros(36,36,numcases); +% NOTE: A digit is drawn in a 36x36 image. +% Then a 28x28 image is cut out from its center. + + +%%now rescale and translate; +posx=posx*lengthscale + xoffset; +posy=posy*lengthscale + yoffset; +for t=1:maxtime + x=posx(:,t); + y=posy(:,t); + + % discretize (x,y) coordinates so that they are on the pixel grid + xlo=floor(x); xhi=ceil(x); + ylo=floor(y); yhi=ceil(y); + xhi=xhi+(xlo==xhi); + yhi=yhi+(ylo==yhi); + + wxlo=xhi-x; wxhi=x-xlo; + wylo=yhi-y; wyhi=y-ylo; + + xlo=min(36,xlo); xlo=max(1,xlo); %%HACK: Put out of range ink in margins. + ylo=min(36,ylo); ylo=max(1,ylo); + xhi=min(36,xhi); xhi=max(1,xhi); + yhi=min(36,yhi); yhi=max(1,yhi); + + loloinc=wylo.*wxlo; + hiloinc=wyhi.*wxlo; + lohiinc=wylo.*wxhi; + hihiinc=wyhi.*wxhi; + + for nc=1:numcases + images(ylo(nc),xlo(nc),nc)=images(ylo(nc),xlo(nc),nc)+2*loloinc(nc); + images(yhi(nc),xlo(nc),nc)=images(yhi(nc),xlo(nc),nc)+2*hiloinc(nc); + images(ylo(nc),xhi(nc),nc)=images(ylo(nc),xhi(nc),nc)+2*lohiinc(nc); + images(yhi(nc),xhi(nc),nc)=images(yhi(nc),xhi(nc),nc)+2*hihiinc(nc); + end; +end; + + + +for t=2:maxtime + x = 0.25*posx(:,t) + 0.75*posx(:,t-1); + y = 0.25*posy(:,t) + 0.75*posy(:,t-1); + separation = sqrt((posx(:,t) - posx(:,t-1)).^2 + ... + (posy(:,t) - posy(:,t-1)).^2 ); + intense = 2*max(0, min(1, separation-1)); %%rises from 0 to 1 as sep goes from 1 to 2 + xlo=floor(x); xhi=ceil(x); + ylo=floor(y); yhi=ceil(y); + xhi=xhi+(xlo==xhi); + yhi=yhi+(ylo==yhi); + wxlo=xhi-x; wxhi=x-xlo; + wylo=yhi-y; wyhi=y-ylo; + xlo=min(36,xlo); xlo=max(1,xlo); %%HACK: Put out of range ink in margins. + ylo=min(36,ylo); ylo=max(1,ylo); + xhi=min(36,xhi); xhi=max(1,xhi); + yhi=min(36,yhi); yhi=max(1,yhi); + %fprintf(1,'%2.1f %2.1f %2.1f %2.1f \n',xlo(1),xhi(1),ylo(1),yhi(1)); + loloinc=wylo.*wxlo; + hiloinc=wyhi.*wxlo; + lohiinc=wylo.*wxhi; + hihiinc=wyhi.*wxhi; + for nc=1:numcases + images(ylo(nc),xlo(nc),nc)=images(ylo(nc),xlo(nc),nc)+intense(nc)*loloinc(nc); + images(yhi(nc),xlo(nc),nc)=images(yhi(nc),xlo(nc),nc)+intense(nc)*hiloinc(nc); + images(ylo(nc),xhi(nc),nc)=images(ylo(nc),xhi(nc),nc)+intense(nc)*lohiinc(nc); + images(yhi(nc),xhi(nc),nc)=images(yhi(nc),xhi(nc),nc)+intense(nc)*hihiinc(nc); + end; +end; + + +for t=2:maxtime + x = 0.5*posx(:,t) + 0.5*posx(:,t-1); + y = 0.5*posy(:,t) + 0.5*posy(:,t-1); + separation = sqrt((posx(:,t) - posx(:,t-1)).^2 + ... + (posy(:,t) - posy(:,t-1)).^2 ); + intense = 2*max(0, min(1, separation-1)); %%rises from 0 to 1 as sep goes from 1 to 2 + xlo=floor(x); xhi=ceil(x); + ylo=floor(y); yhi=ceil(y); + xhi=xhi+(xlo==xhi); + yhi=yhi+(ylo==yhi); + wxlo=xhi-x; wxhi=x-xlo; + wylo=yhi-y; wyhi=y-ylo; + xlo=min(36,xlo); xlo=max(1,xlo); %%HACK: Put out of range ink in margins. + ylo=min(36,ylo); ylo=max(1,ylo); + xhi=min(36,xhi); xhi=max(1,xhi); + yhi=min(36,yhi); yhi=max(1,yhi); + %fprintf(1,'%2.1f %2.1f %2.1f %2.1f \n',xlo(1),xhi(1),ylo(1),yhi(1)); + loloinc=wylo.*wxlo; + hiloinc=wyhi.*wxlo; + lohiinc=wylo.*wxhi; + hihiinc=wyhi.*wxhi; + for nc=1:numcases + images(ylo(nc),xlo(nc),nc)=images(ylo(nc),xlo(nc),nc)+intense(nc)*loloinc(nc); + images(yhi(nc),xlo(nc),nc)=images(yhi(nc),xlo(nc),nc)+intense(nc)*hiloinc(nc); + images(ylo(nc),xhi(nc),nc)=images(ylo(nc),xhi(nc),nc)+intense(nc)*lohiinc(nc); + images(yhi(nc),xhi(nc),nc)=images(yhi(nc),xhi(nc),nc)+intense(nc)*hihiinc(nc); + end; +end; + +for t=2:maxtime + x = 0.75*posx(:,t) + 0.25*posx(:,t-1); + y = 0.75*posy(:,t) + 0.25*posy(:,t-1); + separation = sqrt((posx(:,t) - posx(:,t-1)).^2 + ... + (posy(:,t) - posy(:,t-1)).^2 ); + intense = 2*max(0, min(1, separation-1)); + %%rises from 0 to 1 as sep goes from 1 to 2 + + xlo=floor(x); xhi=ceil(x); + ylo=floor(y); yhi=ceil(y); + xhi=xhi+(xlo==xhi); + yhi=yhi+(ylo==yhi); + wxlo=xhi-x; wxhi=x-xlo; + wylo=yhi-y; wyhi=y-ylo; + xlo=min(36,xlo); xlo=max(1,xlo); %%HACK: Put out of range ink in margins. + ylo=min(36,ylo); ylo=max(1,ylo); + xhi=min(36,xhi); xhi=max(1,xhi); + yhi=min(36,yhi); yhi=max(1,yhi); + %fprintf(1,'%2.1f %2.1f %2.1f %2.1f \n',xlo(1),xhi(1),ylo(1),yhi(1)); + loloinc=wylo.*wxlo; + hiloinc=wyhi.*wxlo; + lohiinc=wylo.*wxhi; + hihiinc=wyhi.*wxhi; + for nc=1:numcases + images(ylo(nc),xlo(nc),nc)=images(ylo(nc),xlo(nc),nc)+intense(nc)*loloinc(nc); + images(yhi(nc),xlo(nc),nc)=images(yhi(nc),xlo(nc),nc)+intense(nc)*hiloinc(nc); + images(ylo(nc),xhi(nc),nc)=images(ylo(nc),xhi(nc),nc)+intense(nc)*lohiinc(nc); + images(yhi(nc),xhi(nc),nc)=images(yhi(nc),xhi(nc),nc)+intense(nc)*hihiinc(nc); + end; +end; + + +smallimages=zeros(28,28,numcases); +negdata = zeros(numcases,784); +bigimages=zeros(44,44,numcases); %%now allows big kernel + + +%%hinton(bigkernel); + +%%kernel = [4 6 4; 6 8 6; 4 6 4]/40; +%%kernel = [1,4,1; 4,16,4; 1,4,1]/50; +for n=1:numcases + th=ink(n,1)/2; %%controls width of convolution kernel. + %%second entry in INK controls brightness. + kernel = 1.5 * ink(n,2) * (1+th)* ... + [th/12, th/6, th/12; th/6, 1-th, th/6;th/12, th/6, th/12]; + bigkernel = real(conv2(conv2(conv2(kernel,kernel),kernel),kernel)); + bigimages(:,:,n)=real(conv2(images(:,:,n), bigkernel)); + smallimages(:,:,n)=min(bigimages(9:36,9:36,n),1)'; + negdata(n,:)=reshape(smallimages(:,:,n),1,784); +end; \ No newline at end of file diff --git a/learning_folder/learner/utils/euler2dcm.m b/learning_folder/learner/utils/euler2dcm.m new file mode 100644 index 0000000..42f525c --- /dev/null +++ b/learning_folder/learner/utils/euler2dcm.m @@ -0,0 +1,23 @@ +function [result]=euler2dcm(v, verbose) + +if (length(v)<3) + + if (verbose) + error('euler2dcm() failed\n'); + end + + result=zeros(3); + return; +end + +Rza=eye(4,4); Ryb=eye(4,4); Rzg=eye(4,4); +alpha = v(1); ca=cos(alpha); sa=sin(alpha); +beta = v(2); cb=cos(beta); sb=sin(beta); +gamma = v(3); cg=cos(gamma); sg=sin(gamma); + +Rza(1,1)=ca; Rza(2,2)=ca; Rza(2,1)=sa; Rza(1,2)=-sa; +Rzg(1,1)=cg; Rzg(2,2)=cg; Rzg(2,1)=sg; Rzg(1,2)=-sg; +Ryb(1,1)=cb; Ryb(3,3)=cb; Ryb(3,1)=-sb; Ryb(1,3)= sb; + +result= Rza*Ryb*Rzg; +end \ No newline at end of file diff --git a/learning_folder/learner/utils/fkineNDOFArm.m b/learning_folder/learner/utils/fkineNDOFArm.m new file mode 100644 index 0000000..a0dc4de --- /dev/null +++ b/learning_folder/learner/utils/fkineNDOFArm.m @@ -0,0 +1,27 @@ +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +%%% Copyright (c) 2013 R. F. Reinhart, CoR-Lab %%% +%%% Bielefeld University, Germany, http://cor-lab.de %%% +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +function [X,Q] = fkineNDOFArm(Q, l) + + n = size(Q,2); + numSamples = size(Q,1); + + X = zeros(numSamples,2); + + for s=1:numSamples + for i=1:n + tmp = sum(Q(s,1:i)); + X(s,:) = X(s,:) + [cos(tmp) sin(tmp)]; + end + end + + if nargin < 2 + X = (1/n) .* X; + else +% X = l .* (1/n) .* X; + X = l .* X; + end + +end \ No newline at end of file diff --git a/learning_folder/learner/utils/func_AddRadius.m b/learning_folder/learner/utils/func_AddRadius.m new file mode 100644 index 0000000..3937ef7 --- /dev/null +++ b/learning_folder/learner/utils/func_AddRadius.m @@ -0,0 +1,7 @@ +function val = func_AddRadius(x,r) + [sX,~] = size(x); + val = zeros(sX,3); + for i = 1:sX + val(i,:) = [r,x(i,1),x(i,2)]; + end +end \ No newline at end of file diff --git a/learning_folder/learner/utils/func_FromAngularCoords2CartesianCoords.m b/learning_folder/learner/utils/func_FromAngularCoords2CartesianCoords.m new file mode 100644 index 0000000..e56db44 --- /dev/null +++ b/learning_folder/learner/utils/func_FromAngularCoords2CartesianCoords.m @@ -0,0 +1,21 @@ +function output = func_FromAngularCoords2CartesianCoords(input) + [~,sY] = size(input); + output = zeros(3,sY); + + for i = 1:sY + inp = input(:,i); + + r = inp(1); + aX = inp(2); + aY = inp(3); + + x = cos(aX) * abs(r); + y = cos(aY) * abs(r); + rZ = max(0.0, r*r - x*x - y*y ); + z = sqrt(rZ) * sign(r); + + out = [x;y;z]; + + output(:,i) = out; + end +end \ No newline at end of file diff --git a/learning_folder/learner/utils/func_FromCartesianCoords2AngularCoords.m b/learning_folder/learner/utils/func_FromCartesianCoords2AngularCoords.m new file mode 100644 index 0000000..931f627 --- /dev/null +++ b/learning_folder/learner/utils/func_FromCartesianCoords2AngularCoords.m @@ -0,0 +1,9 @@ +function phi = func_FromCartesianCoords2AngularCoords(x) + [sX,sY] = size(x); + x1 = [1;0;0]; x2 = [0;1;0]; + phi = zeros(sX,sY); + for i = 1:sX + vec = x(i,:); + phi(i,:) = [sign(vec(3))*norm(vec), acos((vec*x1)/(norm(vec))), acos((vec*x2)/(norm(vec)))]; + end +end \ No newline at end of file diff --git a/learning_folder/learner/utils/func_FromCartesianCoords2SpericalCoords.m b/learning_folder/learner/utils/func_FromCartesianCoords2SpericalCoords.m new file mode 100644 index 0000000..2ab832b --- /dev/null +++ b/learning_folder/learner/utils/func_FromCartesianCoords2SpericalCoords.m @@ -0,0 +1,9 @@ +function phi = func_FromCartesianCoords2SpericalCoords(x) + [sX,sY] = size(x); + x1 = [1;0;0]; x2 = [0;1;0]; + phi = zeros(sX,sY); + for i = 1:sX + vec = x(i,:); + phi(i,:) = [sign(vec(3))*norm(vec), acos((vec*x1)/(norm(vec))), acos((vec*x2)/(norm(vec)))]; + end +end \ No newline at end of file diff --git a/learning_folder/learner/utils/func_FromPolarCoords2CartesianCoords.m b/learning_folder/learner/utils/func_FromPolarCoords2CartesianCoords.m new file mode 100644 index 0000000..33e6f4f --- /dev/null +++ b/learning_folder/learner/utils/func_FromPolarCoords2CartesianCoords.m @@ -0,0 +1,5 @@ +function cc = func_FromPolarCoords2CartesianCoords(pc) + rad = pc(1,:); + phi = pc(2,:); + cc = [rad.*cos(phi);rad.*sin(phi)]; +end \ No newline at end of file diff --git a/learning_folder/learner/utils/func_FromSpericalCoords2CartesianCoords.m b/learning_folder/learner/utils/func_FromSpericalCoords2CartesianCoords.m new file mode 100644 index 0000000..5e13de3 --- /dev/null +++ b/learning_folder/learner/utils/func_FromSpericalCoords2CartesianCoords.m @@ -0,0 +1,6 @@ +function cc = func_FromSpericalCoords2CartesianCoords(pc) + rad = pc(1,:); + phi = pc(2,:); + theta = pc(3,:); + cc = [rad.*sin(theta).*cos(phi);rad.*sin(theta).*sin(phi);rad.*cos(theta)]; +end \ No newline at end of file diff --git a/learning_folder/learner/utils/func_MakeGridFromSeq.m b/learning_folder/learner/utils/func_MakeGridFromSeq.m new file mode 100644 index 0000000..634972a --- /dev/null +++ b/learning_folder/learner/utils/func_MakeGridFromSeq.m @@ -0,0 +1,14 @@ + +function Z = func_MakeGridFromSeq(seq,sX,sY) + + Z = zeros(sX,sY); + + count = 1; + for i = 1:sX + for j = 1:sY + Z(i,j) = seq(1,count); + count = count + 1; + end + end + +end \ No newline at end of file diff --git a/learning_folder/learner/utils/func_MakeSeqFromGrid.m b/learning_folder/learner/utils/func_MakeSeqFromGrid.m new file mode 100644 index 0000000..61dac08 --- /dev/null +++ b/learning_folder/learner/utils/func_MakeSeqFromGrid.m @@ -0,0 +1,26 @@ + +function seq = func_MakeSeqFromGrid(X,Y,Z) + + if nargin == 2 + [sX,sY] = size(X); + seq = []; + + for i = 1:sX + for j = 1:sY + seq = [seq,[X(i,j);Y(i,j)]]; + end + end + else + [sX,sY,sZ] = size(X); + seq = []; + + for i = 1:sX + for j = 1:sY + for k = 1:sZ + seq = [seq,[X(i,j,k);Y(i,j,k);Z(i,j,k)]]; + end + end + end + end + +end \ No newline at end of file diff --git a/learning_folder/learner/utils/func_OmitRadius.m b/learning_folder/learner/utils/func_OmitRadius.m new file mode 100644 index 0000000..4760634 --- /dev/null +++ b/learning_folder/learner/utils/func_OmitRadius.m @@ -0,0 +1,7 @@ +function val = func_OmitRadius(x) + [sX,sY] = size(x); + val = zeros(sX,2); + for i = 1:sX + val(i,:) = [x(i,2),x(i,3)]; + end +end \ No newline at end of file diff --git a/learning_folder/learner/utils/func_TransposeArgs.m b/learning_folder/learner/utils/func_TransposeArgs.m new file mode 100644 index 0000000..6584562 --- /dev/null +++ b/learning_folder/learner/utils/func_TransposeArgs.m @@ -0,0 +1,3 @@ +function [xt,yt] = func_TransposeArgs(x) + [xt,yt] = [x',y']; +end \ No newline at end of file diff --git a/learning_folder/learner/utils/func_wrapperfwdkin.m b/learning_folder/learner/utils/func_wrapperfwdkin.m new file mode 100644 index 0000000..05034db --- /dev/null +++ b/learning_folder/learner/utils/func_wrapperfwdkin.m @@ -0,0 +1,8 @@ +function [a3,b] = func_wrapperfwdkin(bha,lens) + [sX,sY] = size(lens); + for i = 1:sX + [a(i,:),b(i,:)] = bha.fwdkinematics(lens(i,:)); + a2(i,:) = func_FromCartesianCoords2SpericalCoords(a(i,:)); + a3(i,:) = func_OmitRadius(a2(i,:)); + end +end \ No newline at end of file diff --git a/learning_folder/learner/utils/funclocal_Matrix2TXT.m b/learning_folder/learner/utils/funclocal_Matrix2TXT.m new file mode 100644 index 0000000..742afbd --- /dev/null +++ b/learning_folder/learner/utils/funclocal_Matrix2TXT.m @@ -0,0 +1,32 @@ + +function funclocal_matrix2txt(mat, name, FORCEMATRIX) + fid = fopen(name,'wt'); + [sX,sY] = size(mat); + + if nargin<3 + FORCEMATRIX=false; + end + + if (sX == 1 || sY == 1) && ~FORCEMATRIX + str = sprintf('%d\n', max(sX,sY)); + fprintf(fid,str); + + for i = 1:max(sX,sY) + str = sprintf('%16.16f ', mat(i)); + fprintf(fid,str); + end + fclose(fid); + else + str = sprintf('%d\n%d\n', sX, sY); + fprintf(fid,str); + + for i = 1:sX + for j = 1:sY + str = sprintf('%16.16f ', mat(i,j)); + fprintf(fid,str); + end + fprintf(fid,'\n'); + end + fclose(fid); + end +end \ No newline at end of file diff --git a/learning_folder/learner/utils/knn.m b/learning_folder/learner/utils/knn.m new file mode 100644 index 0000000..657d997 --- /dev/null +++ b/learning_folder/learner/utils/knn.m @@ -0,0 +1,12 @@ +function [Wk indices distances] = knn(X, w, K) +%KNN K-nearest neighbor search/vector quantization +% [Wk indices distances] = knn(X, w, K) + +D = sum((X - repmat(w, size(X,1), 1)).^2, 2); +[distances indices] = sort(D, 1, 'ascend'); +distances = distances(1:min(K,size(distances,1))); +indices = indices(1:min(K,size(indices,1))); +Wk = X(indices,:); + +end + diff --git a/learning_folder/learner/utils/lor2cor.m b/learning_folder/learner/utils/lor2cor.m new file mode 100644 index 0000000..55358f8 --- /dev/null +++ b/learning_folder/learner/utils/lor2cor.m @@ -0,0 +1,61 @@ +function [x] = lor2cor(y, numCells, minval, maxval) +%LOR2COR Summary of this function goes here +% Detailed explanation goes here + +if nargin < 2 + numCells = 50; +end + +if nargin < 4 + minval = -1; + maxval = 1; +end + +threshold = 1e-4; + + +K = size(y,1); +if length(numCells) == 1 + dim = size(y,2)/numCells; +else + dim = length(numCells); +end + +if mod(dim,1) + error('bad dimensions'); +end + +x = zeros(K, dim); + +if length(minval) == 1 + v = linspace(minval, maxval, numCells); + dx = (maxval - minval)/(numCells-1); + + for k=1:K + for d=1:dim + %binarize + %x(k,d) = mean(v( y(k, (d-1)*numCells+1:d*numCells) > threshold)); + + %smooth + tmp = y(k, (d-1)*numCells+1:d*numCells); + tmp = tmp/sum(tmp); + x(k,d) = sum(v .* tmp); + end + end +else + numCellsDim = 0; + for d=1:dim + v = linspace(minval(d), maxval(d), numCells(d)); + dx = (maxval(d) - minval(d))/(numCells(d)-1); + + for k=1:K + tmp = y(k, numCellsDim+1:numCellsDim+numCells(d)); + tmp = tmp/sum(tmp); + x(k,d) = sum(v .* tmp); + end + numCellsDim = numCellsDim + numCells(d); + end +end + +end + diff --git a/learning_folder/learner/utils/morphLASA.m b/learning_folder/learner/utils/morphLASA.m new file mode 100644 index 0000000..3d415ef --- /dev/null +++ b/learning_folder/learner/utils/morphLASA.m @@ -0,0 +1,30 @@ +function [X] = morphLASA(T, n_morph, sigma) + + N = size(T,3); + n = size(T,2); + d = size(T,1); + + X = zeros(d,n,N * (n_morph + 1)); + idx = 1; + %cb = jet(n_morph); + + for s = 1:N + %figure + %add the orignal trajectory to new data set + t = T(:,:,s); + X(:,:,idx) = t; + idx = idx + 1; + %plot(t(1,:),t(2,:),'k'); + %hold on; + for m = 1:n_morph + tm = morphTrajectory(t, sigma); + X(:,:,idx) = tm; + idx = idx + 1; + %plot(tm(1,:),tm(2,:),'Color',cb(m,:)); + end + + %axis([0,1,0,1]); + %pause; + end +end + diff --git a/learning_folder/learner/utils/morphLASA2.m b/learning_folder/learner/utils/morphLASA2.m new file mode 100644 index 0000000..471566c --- /dev/null +++ b/learning_folder/learner/utils/morphLASA2.m @@ -0,0 +1,61 @@ +function [X] = morphLASA2(T, n_morph, sigma) + + maxMomentum = 0.9; + minMomentum = 0.85; + %M = [0.9 0.95 0.96]; + maxGravitation = 0.3; + minGravitation = 0.01; + %G = [0.01 0.03 0.5 0.1 0.15 0.2 0.3]; + + N = size(T,3); + n = size(T,2); + d = size(T,1); + %R = randperm(N); + %T = T(:,:,R); + + X = zeros(d,n,N * (n_morph + 1)); + idx = 1; + %cb = jet(n_morph); + %figure + for s = 1:N + %add the orignal trajectory to new data set + t = T(:,:,s); + X(:,:,idx) = t; + idx = idx + 1; + %hold off; + %plot(t(1,:),t(2,:),'k.'); + %hold on; + for i = 1:n_morph + m = rand*(maxMomentum - minMomentum) + minMomentum; + g = rand*(maxGravitation - minGravitation) + minGravitation; + tm = morphTrajectory2(t, m, g, sigma); + X(:,:,idx) = tm; + idx = idx + 1; + %plot(tm(1,:),tm(2,:),'Color',cb(i,:)); + end + + %{ + p = 1; + for m = 1:numel(M) + for g = 1:numel(G) + tm = morphTrajectory2(t, M(m), G(g), sigma); + X(:,:,idx) = tm; + idx = idx + 1; + + subplot(numel(M),numel(G),p); + plot(t(1,:),t(2,:),'k'); + title(['m=' num2str(M(m)) '; g=' num2str(G(g))]); + hold on; + plot(tm(1,:),tm(2,:),'r'); + hold off; + p = p + 1; + end + end + %} + + + %axis([0,1,0,1]); + %pause; + end +end + diff --git a/learning_folder/learner/utils/morphTrajectory.m b/learning_folder/learner/utils/morphTrajectory.m new file mode 100644 index 0000000..43ef3cd --- /dev/null +++ b/learning_folder/learner/utils/morphTrajectory.m @@ -0,0 +1,39 @@ +function tm = morphTrajectory(t, sigma) + n = size(t,2); + d = size(t,1); + min_centers = 3; + max_centers = 5; + n_centers = randInRange(min_centers, max_centers); + centers = zeros(n_centers + 2,d,2); + %start point + centers(1,:,1)=1; + centers(1,:,2)=0; + %end point + centers(end,:,1)=n; + centers(end,:,2)=0; + + %compute 'n_centers' centers of displacement that will act as markers for + %the spline interpolation + lower = zeros(d,1); + for k = 1:n_centers + upper = floor(lower + ([n;n] - lower)./(n_centers - (k - 1))); + c = zeros(d,1); + for dim = 1:d + %generate new center with 'sigma' noise, that (probably) keeps a certain + %distance to the previous marker + c(dim) = randInRange(lower(dim), upper(dim), true); + centers(k+1,dim,1) = c(dim); + centers(k+1,dim,2) = randn*sigma; + end + lower = c; + end + %generate displacement for each datapoint via spline + %interpolation of centers + noise = zeros(d,n); + for dim=1:d + noise(dim,:)=spline(centers(:,dim,1),centers(:,dim,2),1:n); + end + %perturb trajectory with noise + tm = t + noise; + %tm = normalizeTrajectory0to1(tm); +end \ No newline at end of file diff --git a/learning_folder/learner/utils/morphTrajectory2.m b/learning_folder/learner/utils/morphTrajectory2.m new file mode 100644 index 0000000..6beda09 --- /dev/null +++ b/learning_folder/learner/utils/morphTrajectory2.m @@ -0,0 +1,18 @@ +function tm = morphTrajectory2(t, momentum, gc, sigma) + n = size(t,2); + d = size(t,1); + tm = zeros(size(t)); + tm(:,1) = t(:,1) + randn(d,1)*sigma; + vs = t(:,2:end) - t(:,1:end-1); + v_m = vs(:,1); + for i = 2:n + g = t(:,i-1) - tm(:,i-1); + v = vs(:,i-1); + v_r = (1 - gc) * v + gc * g; + + v_m = momentum * v_m + (1 - momentum) * v_r; + p = tm(:,i-1) + v_m; + tm(:,i) = p; + end + %tm = normalizeTrajectory0to1(tm); +end \ No newline at end of file diff --git a/learning_folder/learner/utils/norm2range.m b/learning_folder/learner/utils/norm2range.m new file mode 100644 index 0000000..cf9d4cb --- /dev/null +++ b/learning_folder/learner/utils/norm2range.m @@ -0,0 +1,27 @@ +function [y] = norm2range(x, ra, offset, minmax) +%NORM2RANGE y = norm2range(x, ra, minmax) +% ra is a dim x 2 matrix holding min and max values per dimension +% minmax is repmat([-1 1], dim, 1) by default + +if nargin < 3 + offset = zeros(1, size(x,2)); +end + +if nargin < 4 + minmax = repmat([-1 1]', 1, size(x,2)); +end + +%cut exceeding dimensions +ra = ra(:,1:min(size(ra,2), size(x,2))); +x = x(:,1:min(size(ra,2), size(x,2))); + +tmp = minmax(2,:) - minmax(1,:); +tmp(tmp==0) = 1; +scale = 1./(tmp); +range = (ra(2,:) - ra(1,:)); + +y = zeros(size(x)); +for i=1:size(x,1) + y(i,:) = (scale .* (x(i,:) - minmax(1,:))) .* range + ra(1,:); + y(i,:) = y(i,:) + offset; +end diff --git a/learning_folder/learner/utils/normalize.m b/learning_folder/learner/utils/normalize.m new file mode 100644 index 0000000..ff8754e --- /dev/null +++ b/learning_folder/learner/utils/normalize.m @@ -0,0 +1,11 @@ +function [data offset range] = normalize(data) +%NORMALIZE Summary of this function goes here +% Detailed explanation goes here + +offset = mean(data, 1); +data = data - repmat(offset, size(data,1), 1); + +range = [min(data, [], 1); max(data, [], 1)]; +data = range2norm(data, range); + +end diff --git a/learning_folder/learner/utils/normalizeDiscreteMotion.m b/learning_folder/learner/utils/normalizeDiscreteMotion.m new file mode 100644 index 0000000..8fe030f --- /dev/null +++ b/learning_folder/learner/utils/normalizeDiscreteMotion.m @@ -0,0 +1,55 @@ +function [Y] = normalizeDiscreteMotion(X, targetLength, yalignment) +%NORMALIZEDISCRETEMOTION Summary of this function goes here +% Detailed explanation goes here + +if nargin < 2 + targetLength = 100; +end + +if nargin < 3 + yalignment = 1; +end + +% resample +%X = resample(X, targetLength); + +% end in origin +X = X - repmat(X(end,:), size(X,1), 1); + +s = norm(X(1,:)); +X = bsxfun(@rdivide, X, -s * ones(1,size(X,2))); + +% rotate to bring start position to [1 0 (0)] +if size(X,2) == 2 + alpha = atan2(X(1,2), X(1,1)); + R = [cos(alpha) sin(alpha); -sin(alpha) cos(alpha)]; + Y = X * R'; + + if yalignment + m = mean(Y,1); + if m(2) < 0 + Y(:,2) = -Y(:,2); + end + %if length(find(Y(:,2) < 0)) > 0.25 * targetLength + % Y(:,2) = -Y(:,2); + %end + end +elseif size(X,2) == 3 + target_dir = X(1,:); + R = align2x(eye(3), target_dir); + Y = X * R; + + if yalignment + m = mean(Y,1); + xangle = acos(m(2:3) * [1; 0] / norm(m(2:3))); + if m(3) < 0 + xangle = -xangle; + end + Y = Y * rotx(xangle); + end +else + warning('not implemented'); +end + +Y = -Y; + diff --git a/learning_folder/learner/utils/normalizeTrajectory.m b/learning_folder/learner/utils/normalizeTrajectory.m new file mode 100644 index 0000000..4cc7e72 --- /dev/null +++ b/learning_folder/learner/utils/normalizeTrajectory.m @@ -0,0 +1,13 @@ +function N=normalizeTrajectory(T) + n = size(T,2); + a = T(:,1); + + N = T - repmat(a,1,n); + zn = N(:,end); + alpha = atan2(zn(2),zn(1))-atan2(0,1); + rotation = [cos(-alpha) -sin(-alpha); sin(-alpha) cos(-alpha)]; + rotAndScale = rotation/norm(zn); + + N = rotAndScale*N; + %N = N - repmat([1;0],1,n); +end diff --git a/learning_folder/learner/utils/normalizeTrajectory0to1.m b/learning_folder/learner/utils/normalizeTrajectory0to1.m new file mode 100644 index 0000000..916ccda --- /dev/null +++ b/learning_folder/learner/utils/normalizeTrajectory0to1.m @@ -0,0 +1,5 @@ +function N=normalizeTrajectory0to1(T) + n = size(T,2); + N = T - repmat(min(T,[],2),1,n); + N = N/max(max(N)); +end diff --git a/learning_folder/learner/utils/plotArmLink.m b/learning_folder/learner/utils/plotArmLink.m new file mode 100644 index 0000000..33a616a --- /dev/null +++ b/learning_folder/learner/utils/plotArmLink.m @@ -0,0 +1,31 @@ +function [p2] = plotArmLink(a1,d1,p1,sz,c,cface) +% +% This function plots an a link of the robotic arm in 2D space. +% +% Author: Sylvain Calinon, 2009 +% http://programming-by-demonstration.org +% +% Adopted by Felix Reinhart, 2013 + +if nargin < 5 + c = [0 0 0]; +end + +if nargin < 6 + cface = [1 1 1]; +end + +nbSegm = 50; + +t1 = linspace(0,-pi,nbSegm/2); +t2 = linspace(pi,0,nbSegm/2); +xTmp(1,:) = [sz.*sin(t1) d1+sz.*sin(t2)]; +xTmp(2,:) = [sz.*cos(t1) sz.*cos(t2)]; +R = [cos(a1) -sin(a1); sin(a1) cos(a1)]; +x = R*xTmp + repmat(p1,1,nbSegm); +p2 = R*[d1;0] + p1; +fill(x(1,:),x(2,:),cface); +rectangle('Position',[p1(1)-sz*.4,p1(2)-sz*.4,sz*.8,sz*.8], 'Curvature',[1,1], ... + 'LineWidth',1,'LineStyle','-','facecolor',cface,'edgeColor',c) +rectangle('Position',[p2(1)-sz*.4,p2(2)-sz*.4,sz*.8,sz*.8],'Curvature',[1,1], ... + 'LineWidth',1,'LineStyle','-','facecolor',cface,'edgeColor',c) diff --git a/learning_folder/learner/utils/plotCircle3D.m b/learning_folder/learner/utils/plotCircle3D.m new file mode 100644 index 0000000..4389b2b --- /dev/null +++ b/learning_folder/learner/utils/plotCircle3D.m @@ -0,0 +1,8 @@ +function plotCircle3D(center,normal,radius) + + theta=0:0.1:2*pi; + v=null(normal); + points=repmat(center',1,size(theta,2))+radius*(v(:,1)*cos(theta)+v(:,2)*sin(theta)); + plot3(points(1,:),points(2,:),points(3,:),'k-'); + +end \ No newline at end of file diff --git a/learning_folder/learner/utils/plotMotionMap.m b/learning_folder/learner/utils/plotMotionMap.m new file mode 100644 index 0000000..2052870 --- /dev/null +++ b/learning_folder/learner/utils/plotMotionMap.m @@ -0,0 +1,53 @@ +function [h] = plotMotionMap(X, E, alims, asize, cl, cmds, h) +%PLOTMOTIONMAP Summary of this function goes here +% Detailed explanation goes here + +if nargin < 7 + h = figure; + axis off; + hold on; +end + +if nargin < 4 + asize = 0.1; +end + +if nargin < 5 + cl = '-k'; +end + +x1 = 1:size(X,2)/2; +x2 = x1(end)+1:size(X,2); + +Eoffset = mean(E, 1); +E = E - repmat(Eoffset, size(E,1), 1); +Erange = [min(E, [], 1); max(E, [], 1)]; +E = range2norm(E, Erange, [0 0], repmat([asize 1-asize]', 1, 2)); + +for i=1:size(X,1) + axes('Position', [E(i,1)-asize/2 E(i,2)-asize/2 asize asize]); + if iscell(cl) + if length(cl) == 3 + plot(X(i,x1), X(i,x2), 'LineStyle', cl{1}, 'Color', cl{2}, 'LineWidth', cl{3}); + else + plot(X(i,x1), X(i,x2), 'LineStyle', cl{i,1}, 'Color', cl{i,2}, 'LineWidth', cl{i,3}); + end + else + plot(X(i,x1), X(i,x2), cl); + end + + if nargin > 5 + hold on; + cmd = cmds(i,:); + for j=1:length(cmd) + eval(cmd{j}); + end + end + + axis(alims); + daspect([1 1 1]); + axis off; +end + +end + diff --git a/learning_folder/learner/utils/plotNDOFArm.m b/learning_folder/learner/utils/plotNDOFArm.m new file mode 100644 index 0000000..a365cb8 --- /dev/null +++ b/learning_folder/learner/utils/plotNDOFArm.m @@ -0,0 +1,50 @@ +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +%%% Copyright (c) 2013 R. F. Reinhart, CoR-Lab %%% +%%% Bielefeld University, Germany, http://cor-lab.de %%% +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +function [h] = plotNDOFArm(q, c, clinks) + +%robot configuration +n = size(q,2); +l = 1/n; +x0 = [0 0]; + +%colors and sizes +if nargin < 2 + c = 'k'; +end +if nargin < 3 + clinks = [1 1 1]; +end +jointRadius = 0.025; +sz = 0.05; + +%for many joints +jointRadius = 0.02; +sz = 0.03; + +h = gcf(); +hold on; box on; grid on; +%xlim([-1.2 1.2]); +%ylim([-1.2 1.2]); +xlim([-0.75 1.1]); +ylim([-1.1 1.1]); +daspect([1 1 1]); +xlabel('x [m]'); +ylabel('y [m]'); + +%draw base +br = sz + 0.75 * jointRadius; +rectangle('Position',[-br,-br,2*br,2*br],'Curvature',[1,1],'LineWidth',1,'LineStyle','-','EdgeColor',c); + +%draw links +for i=1:n + x1 = fkineNDOFArm(q(1:i), l); + plotArmLink(sum(q(1:i)), l, x0', sz, c, clinks); + x0 = x1; +end + +%draw EE +draw_circle(x1(1), x1(2), jointRadius, c); + diff --git a/learning_folder/learner/utils/print_img.m b/learning_folder/learner/utils/print_img.m new file mode 100644 index 0000000..732b4d7 --- /dev/null +++ b/learning_folder/learner/utils/print_img.m @@ -0,0 +1,34 @@ +function [] = print_img(name, ext, trim, width, height) +%PRINT_IMG Summary of this function goes here +% Detailed explanation goes here + +if nargin < 1 + error(['no filename specified']); + return +end + +if nargin < 2 + ext = 'png'; +end + +if nargin < 3 + trim = 1; +end + +if numel(name) < 5 || ~strcmpi(name(end-3:end), ['.' ext]) + name = [name '.' ext]; % Add the missing extension +end + +if nargin < 5 + print(name, ['-d' ext]); +else + set(gcf,'PaperUnits','inches','PaperPosition',[0 0 width/100 height/100]); + print(name, ['-d' ext], '-r100'); +end + +if trim + system(['convert ' name ' -trim ' name]); +end + +end + diff --git a/learning_folder/learner/utils/print_pdf.m b/learning_folder/learner/utils/print_pdf.m new file mode 100644 index 0000000..717ebc3 --- /dev/null +++ b/learning_folder/learner/utils/print_pdf.m @@ -0,0 +1,95 @@ +%PRINT_PDF Prints figures to pdfs better than MATLAB does +% +% Examples: +% print_pdf filename +% print_pdf(filename, fig_handle) +% print_pdf(name, fig, eps, bw, zbuffer) +% +% This function saves a figure as a pdf nicely, without the need to specify +% multiple options. It improves on MATLAB's print command (using default +% options) in several ways: +% - The figure borders are cropped +% - Fonts are embedded (as subsets) +% - Lossless compression is used on vector graphics +% - High quality jpeg compression is used on bitmaps +% +% This function requires that you have ghostscript installed on your system +% and that the executable binary is on your system's path. +% +%IN: +% filename - string containing the name (not path) of the file the figure +% is to be saved as. A ".pdf" extension is added if not there +% already. The figure is saved in the current directory. +% fig_handle - The handle of the figure to be saved. Default: current +% figure. +% +% Copyright (C) Oliver Woodford 2008 + +% This function is inspired by Peder Axensten's SAVEFIG (fex id: 10889) +% which is itself inspired by EPS2PDF (fex id: 5782) + +% $Id: print_pdf.m,v 1.9 2008/11/08 00:36:06 ojw Exp $ + +function print_pdf(name, fig, eps, bw, zbuffer) +if nargin < 2 + fig = gcf; +end +if nargin < 3 + eps = false; +end +if nargin < 4 + bw = false; +end +if nargin < 5 + zbuffer = false; +end +% Get current image dimensions +set(fig, 'Units', 'Inches'); +sz = get(fig, 'Position'); +sz(1:2) = 0; +% Set paper units +set(fig, 'PaperUnits', 'Inches', 'PaperSize', sz(3:4), 'PaperPosition', sz); + +% Construct the filename +if numel(name) < 5 || ~strcmpi(name(end-3:end), '.pdf') + name = [name '.pdf']; % Add the missing extension +end +seps = strfind(name, filesep); +if size(seps,2) == 0 + name = [cd filesep name]; % Add the path to the current directory +else + if seps(1) ~= 1 + name = [cd filesep name]; % Add the path to the current directory + end +end + +% Print to eps file +%tmp_nam = [tempname '.eps']; +tmp_nam = [name(1:end-3) 'eps']; +device = '-depsc2'; +if bw + device = '-deps2'; +end +render = '-painters'; +cropping = ''; +if zbuffer + render = '-zbuffer'; + %render = '-opengl'; + cropping = '-loose'; +end +print(device, '-noui', render, cropping, ['-f' num2str(fig)], '-r600', tmp_nam); + +% Construct the command string for ghostscript. This assumes that the +% ghostscript binary is on your path - you can also give the complete path. +cmd = 'gs'; +if ispc + cmd = [cmd 'win32c.exe']; +end +cmd = [cmd ' -q -dNOPAUSE -dBATCH -dEPSCrop -sDEVICE=pdfwrite -dPDFSETTINGS=/prepress -sOutputFile="' name '" -f "' tmp_nam '"']; +% Convert to pdf +system(cmd); + +% Delete the temporary file +if ~eps + delete(tmp_nam); +end diff --git a/learning_folder/learner/utils/rad2deg.m b/learning_folder/learner/utils/rad2deg.m new file mode 100644 index 0000000..1c4691c --- /dev/null +++ b/learning_folder/learner/utils/rad2deg.m @@ -0,0 +1,8 @@ +function [degrees] = rad2deg(radians) +%RAD2DEG Summary of this function goes here +% Detailed explanation goes here + +degrees = (180/pi) * radians; + +end + diff --git a/learning_folder/learner/utils/randInRange.m b/learning_folder/learner/utils/randInRange.m new file mode 100644 index 0000000..adc69b6 --- /dev/null +++ b/learning_folder/learner/utils/randInRange.m @@ -0,0 +1,14 @@ +function r = randInRange(mn, mx, binom) + %Generates a randm number in a specific range. If the binom flag is set, + %random number will be generated according to a binomial distribution + %with its center at the mean of the range (mx - mn)/2 + if(~exist('binom','var')) + binom=false; + end + if(binom) + r = binornd(mx - mn, 0.5) + mn; + else + r = floor(rand*(mx - mn + 1) + mn); + end +end + \ No newline at end of file diff --git a/learning_folder/learner/utils/randu.m b/learning_folder/learner/utils/randu.m new file mode 100644 index 0000000..68339c5 --- /dev/null +++ b/learning_folder/learner/utils/randu.m @@ -0,0 +1,12 @@ +function [ R ] = randu(rows, cols, range) +%RANDU Summary of this function goes here +% Detailed explanation goes here + +if nargin < 3 + range = 1; +end + +R = range * 2.0 * (rand(rows, cols) - 0.5); + +end + diff --git a/learning_folder/learner/utils/range2norm.m b/learning_folder/learner/utils/range2norm.m new file mode 100644 index 0000000..9b02396 --- /dev/null +++ b/learning_folder/learner/utils/range2norm.m @@ -0,0 +1,27 @@ +function [y] = range2norm(x, ra, offset, minmax) +%RANGE2NORM y = range2norm(x, ra, minmax) +% ra is a dim x 2 matrix holding min and max values per dimension +% minmax is repmat([-1 1], dim, 1) by default + +if nargin < 3 + offset = zeros(1, size(x,2)); +end + +if nargin < 4 + minmax = repmat([-1 1]', 1, size(x,2)); +end + +%cut exceeding dimensions +ra = ra(:,1:min(size(ra,2), size(x,2))); +x = x(:,1:min(size(ra,2), size(x,2))); + +tmp = ra(2,:) - ra(1,:); +tmp(tmp==0) = 1; +scale = 1 ./ (tmp); + +y = zeros(size(x)); +for i=1:size(x,1) + y(i,:) = x(i,:) - offset; + %y(i,:) = 2 * (((y(i,:) - ra(1,:)) .* scale) - 0.5); + y(i,:) = ((minmax(2,:) - minmax(1,:)) .* ((y(i,:) - ra(1,:)) .* scale)) + minmax(1,:); +end diff --git a/learning_folder/learner/utils/resample.m b/learning_folder/learner/utils/resample.m new file mode 100644 index 0000000..37eb46b --- /dev/null +++ b/learning_folder/learner/utils/resample.m @@ -0,0 +1,31 @@ +function [Y] = resample(X, targetlength) +%RESAMPLE Summary of this function goes here +% Detailed explanation goes here + +if iscell(X) + Y = cell(length(X),1); + for i=1:length(X) + currentlength = size(X{i},1); + if currentlength == targetlength + Y{i} = X{i}; + else + Y{i} = zeros(targetlength,size(X{i},2)); + for j=1:size(X{i},2) + Y{i}(:,j) = decimate(interp(X{i}(:,j), targetlength), currentlength); + end + end + end +else + currentlength = size(X,1); + if currentlength == targetlength + Y = X; + else + Y = zeros(targetlength,size(X,2)); + for j=1:size(X,2) + Y(:,j) = decimate(interp(X(:,j), targetlength), currentlength); + end + end +end + +end + diff --git a/learning_folder/learner/utils/rmse.m b/learning_folder/learner/utils/rmse.m new file mode 100644 index 0000000..ef018f4 --- /dev/null +++ b/learning_folder/learner/utils/rmse.m @@ -0,0 +1,12 @@ +function [ err ] = rmse( X, Y ) +%UNTITLED Summary of this function goes here +% Detailed explanation goes here + D = X - Y; + % average error over dimensions + MSE = sum(D.^2, 2); + RMSE = sqrt(MSE)/ size(X, 2); + % average error of samples + err = mean(RMSE); + +end + diff --git a/learning_folder/learner/utils/rotateLASA.m b/learning_folder/learner/utils/rotateLASA.m new file mode 100644 index 0000000..4d2a430 --- /dev/null +++ b/learning_folder/learner/utils/rotateLASA.m @@ -0,0 +1,24 @@ +function [X] = rotateLASA(T, n_rot) + + N=size(T,3); + n=size(T,2); + d=size(T,1); + + X = zeros(d,n,N * (n_rot + 1)); + i=1; + for s=1:N + t = T(:,:,s); + X(:,:,i) = t; + i = i + 1; + + for r=1:n_rot + alpha = rand * 2*pi; + rot = [cos(alpha) -sin(alpha); sin(alpha) cos(alpha)]; + + tr = rot*t; + tr = normalizeTrajectory0to1(tr); + X(:,:,i) = tr; + i = i + 1; + end + end +end \ No newline at end of file diff --git a/learning_folder/learner/utils/smaxFct.m b/learning_folder/learner/utils/smaxFct.m new file mode 100644 index 0000000..0af7a50 --- /dev/null +++ b/learning_folder/learner/utils/smaxFct.m @@ -0,0 +1,19 @@ +function [Y] = smaxFct(X) +%SMAXFCT Summary of this function goes here +% Detailed explanation goes here + +% if isvector(X) +% Y = softmax(X); +% else +% Y = softmax(X')'; +% end + +if isvector(X) + ex = exp(X); + de = sum(ex); + Y = ex./(de + (de == 0)); +else + ex = exp(X); + de = repmat(sum(ex,1), size(X,1), 1); + Y = ex./(de + (de == 0)); +end diff --git a/learning_folder/learner/utils/softmaxPmtk.m b/learning_folder/learner/utils/softmaxPmtk.m new file mode 100644 index 0000000..af0ae45 --- /dev/null +++ b/learning_folder/learner/utils/softmaxPmtk.m @@ -0,0 +1,16 @@ +function mu = softmaxPmtk(eta) +% Softmax function +% mu(i,c) = exp(eta(i,c))/sum_c' exp(eta(i,c')) + +% This file is from matlabtools.googlecode.com + +tmp = exp(eta); +denom = sum(tmp, 2); +[D, C] = size(eta); %#ok +%mu = tmp ./ repmat(denom, 1, C); +mu = bsxfun(@rdivide, tmp, denom); + +end + + + diff --git a/learning_folder/learner/utils/softmax_sample.m b/learning_folder/learner/utils/softmax_sample.m new file mode 100644 index 0000000..5248068 --- /dev/null +++ b/learning_folder/learner/utils/softmax_sample.m @@ -0,0 +1,13 @@ +function[oneofn] = softmax_sample(probmat) +oneofn = zeros(size(probmat)); +probmat = probmat./repmat(sum(probmat,2),1,size(probmat,2)); +for i=1:size(probmat,1) + probs = probmat(i,:); + sample = cumsum(probs); + sample = sample>rand(); + index = find(max(sample) == sample); + index = min(index); + sample = zeros(1,length(probs)); + sample(index) = 1; + oneofn(i,:) = sample; +end \ No newline at end of file diff --git a/learning_folder/learner/utils/space2time.m b/learning_folder/learner/utils/space2time.m new file mode 100644 index 0000000..ca22d5a --- /dev/null +++ b/learning_folder/learner/utils/space2time.m @@ -0,0 +1,28 @@ +function [T] = space2time(X, dim) +%SPACE2TIME Summary of this function goes here +% Detailed explanation goes here + +if nargin < 2 + dim = 2; +end + +dimsteps = size(X,2); +steps = dimsteps/dim; + +if isvector(X) + T = zeros(steps,dim); + for d=1:dim + T(:,d) = X((d-1)*steps+1:d*steps); + end +else + T = cell(size(X,1),1); + for i=1:length(T) + T{i} = zeros(steps,dim); + for d=1:dim + T{i}(:,d) = X(i,(d-1)*steps+1:d*steps); + end + end +end + +end + diff --git a/learning_folder/learner/utils/subaxis.m b/learning_folder/learner/utils/subaxis.m new file mode 100644 index 0000000..be08e0d --- /dev/null +++ b/learning_folder/learner/utils/subaxis.m @@ -0,0 +1,234 @@ +function h=subaxis(varargin) +%SUBAXIS Create axes in tiled positions. (just like subplot) +% Usage: +% h=subaxis(rows,cols,cellno[,settings]) +% h=subaxis(rows,cols,cellx,celly[,settings]) +% h=subaxis(rows,cols,cellx,celly,spanx,spany[,settings]) +% +% SETTINGS: Spacing,SpacingHoriz,SpacingVert +% Padding,PaddingRight,PaddingLeft,PaddingTop,PaddingBottom +% Margin,MarginRight,MarginLeft,MarginTop,MarginBottom +% Holdaxis +% +% all units are relative (e.g from 0 to 1) +% +% Abbreviations of parameters can be used.. (Eg MR instead of MarginRight) +% (holdaxis means that it wont delete any axes below.) +% +% +% Example: +% +% >> subaxis(2,1,1,'SpacingVert',0,'MR',0); +% >> imagesc(magic(3)) +% >> subaxis(2,'p',.02); +% >> imagesc(magic(4)) +% +% 2001 / Aslak Grinsted (Feel free to modify this code.) +f=gcf; + + +Args=[]; +UserDataArgsOK=0; +Args=get(f,'UserData'); +if isstruct(Args) + UserDataArgsOK=isfield(Args,'SpacingHorizontal')&isfield(Args,'Holdaxis')&isfield(Args,'rows')&isfield(Args,'cols'); +end +OKToStoreArgs=isempty(Args)|UserDataArgsOK; + +if isempty(Args)&(~UserDataArgsOK) + Args=struct('Holdaxis',0, ... + 'SpacingVertical',0.05,'SpacingHorizontal',0.05, ... + 'PaddingLeft',0,'PaddingRight',0,'PaddingTop',0,'PaddingBottom',0, ... + 'MarginLeft',.1,'MarginRight',.1,'MarginTop',.1,'MarginBottom',.1, ... + 'rows',[],'cols',[]); +end +Args=parseArgs(varargin,Args,{'Holdaxis'},{'Spacing' {'sh','sv'}; 'Padding' {'pl','pr','pt','pb'}; 'Margin' {'ml','mr','mt','mb'}}); + +if (length(Args.NumericArguments)>1) + Args.rows=Args.NumericArguments{1}; + Args.cols=Args.NumericArguments{2}; +%remove these 2 numerical arguments + Args.NumericArguments={Args.NumericArguments{3:end}}; +end + +if OKToStoreArgs + set(f,'UserData',Args); +end + + + + +switch length(Args.NumericArguments) + case 0 + return % no arguments but rows/cols.... + case 1 + x1=mod((Args.NumericArguments{1}-1),Args.cols)+1; x2=x1; + y1=floor((Args.NumericArguments{1}-1)/Args.cols)+1; y2=y1; + case 2 + x1=Args.NumericArguments{1};x2=x1; + y1=Args.NumericArguments{2};y2=y1; + case 4 + x1=Args.NumericArguments{1};x2=x1+Args.NumericArguments{3}-1; + y1=Args.NumericArguments{2};y2=y1+Args.NumericArguments{4}-1; + otherwise + error('subaxis argument error') +end + + +cellwidth=((1-Args.MarginLeft-Args.MarginRight)-(Args.cols-1)*Args.SpacingHorizontal)/Args.cols; +cellheight=((1-Args.MarginTop-Args.MarginBottom)-(Args.rows-1)*Args.SpacingVertical)/Args.rows; +xpos1=Args.MarginLeft+Args.PaddingLeft+cellwidth*(x1-1)+Args.SpacingHorizontal*(x1-1); +xpos2=Args.MarginLeft-Args.PaddingRight+cellwidth*x2+Args.SpacingHorizontal*(x2-1); +ypos1=Args.MarginTop+Args.PaddingTop+cellheight*(y1-1)+Args.SpacingVertical*(y1-1); +ypos2=Args.MarginTop-Args.PaddingBottom+cellheight*y2+Args.SpacingVertical*(y2-1); + +if Args.Holdaxis + h=axes('position',[xpos1 1-ypos2 xpos2-xpos1 ypos2-ypos1]); +else + h=subplot('position',[xpos1 1-ypos2 xpos2-xpos1 ypos2-ypos1]); +end + + +set(h,'box','on'); +%h=axes('position',[x1 1-y2 x2-x1 y2-y1]); +set(h,'units',get(gcf,'defaultaxesunits')); +set(h,'tag','subaxis'); + + + +if (nargout==0) clear h; end; + + + + + + + + +function ArgStruct=parseArgs(args,ArgStruct,varargin) +% Helper function for parsing varargin. +% +% +% ArgStruct=parseArgs(varargin,ArgStruct[,FlagtypeParams[,Aliases]]) +% +% * ArgStruct is the structure full of named arguments with default values. +% * Flagtype params is params that don't require a value. (the value will be set to 1 if it is present) +% * Aliases can be used to map one argument-name to several argstruct fields +% +% +% example usage: +% -------------- +% function parseargtest(varargin) +% +% %define the acceptable named arguments and assign default values +% Args=struct('Holdaxis',0, ... +% 'SpacingVertical',0.05,'SpacingHorizontal',0.05, ... +% 'PaddingLeft',0,'PaddingRight',0,'PaddingTop',0,'PaddingBottom',0, ... +% 'MarginLeft',.1,'MarginRight',.1,'MarginTop',.1,'MarginBottom',.1, ... +% 'rows',[],'cols',[]); +% +% %The capital letters define abrreviations. +% % Eg. parseargtest('spacingvertical',0) is equivalent to parseargtest('sv',0) +% +% Args=parseArgs(varargin,Args, ... % fill the arg-struct with values entered by the user +% {'Holdaxis'}, ... %this argument has no value (flag-type) +% {'Spacing' {'sh','sv'}; 'Padding' {'pl','pr','pt','pb'}; 'Margin' {'ml','mr','mt','mb'}}); +% +% disp(Args) +% +% +% +% +% % Aslak Grinsted 2003 + +Aliases={}; +FlagTypeParams=''; + +if (length(varargin)>0) + FlagTypeParams=strvcat(varargin{1}); + if length(varargin)>1 + Aliases=varargin{2}; + end +end + + +%---------------Get "numeric" arguments +NumArgCount=1; +while (NumArgCount<=size(args,2))&(~ischar(args{NumArgCount})) + NumArgCount=NumArgCount+1; +end +NumArgCount=NumArgCount-1; +if (NumArgCount>0) + ArgStruct.NumericArguments={args{1:NumArgCount}}; +else + ArgStruct.NumericArguments={}; +end + + +%--------------Make an accepted fieldname matrix (case insensitive) +Fnames=fieldnames(ArgStruct); +for i=1:length(Fnames) + name=lower(Fnames{i,1}); + Fnames{i,2}=name; %col2=lower + AbbrevIdx=find(Fnames{i,1}~=name); + Fnames{i,3}=[name(AbbrevIdx) ' ']; %col3=abreviation letters (those that are uppercase in the ArgStruct) e.g. SpacingHoriz->sh + %the space prevents strvcat from removing empty lines + Fnames{i,4}=isempty(strmatch(Fnames{i,2},FlagTypeParams)); %Does this parameter have a value? (e.g. not flagtype) +end +FnamesFull=strvcat(Fnames{:,2}); +FnamesAbbr=strvcat(Fnames{:,3}); + +if length(Aliases)>0 + for i=1:length(Aliases) + name=lower(Aliases{i,1}); + FieldIdx=strmatch(name,FnamesAbbr,'exact'); %try abbreviations (must be exact) + if isempty(FieldIdx) + FieldIdx=strmatch(name,FnamesFull); %&??????? exact or not? + end + Aliases{i,2}=FieldIdx; + AbbrevIdx=find(Aliases{i,1}~=name); + Aliases{i,3}=[name(AbbrevIdx) ' ']; %the space prevents strvcat from removing empty lines + Aliases{i,1}=name; %dont need the name in uppercase anymore for aliases + end + %Append aliases to the end of FnamesFull and FnamesAbbr + FnamesFull=strvcat(FnamesFull,strvcat(Aliases{:,1})); + FnamesAbbr=strvcat(FnamesAbbr,strvcat(Aliases{:,3})); +end + +%--------------get parameters-------------------- +l=NumArgCount+1; +while (l<=length(args)) + a=args{l}; + if ischar(a) + paramHasValue=1; % assume that the parameter has is of type 'param',value + a=lower(a); + FieldIdx=strmatch(a,FnamesAbbr,'exact'); %try abbreviations (must be exact) + if isempty(FieldIdx) + FieldIdx=strmatch(a,FnamesFull); + end + if (length(FieldIdx)>1) %shortest fieldname should win + [mx,mxi]=max(sum(FnamesFull(FieldIdx,:)==' ',2)); + FieldIdx=FieldIdx(mxi); + end + if FieldIdx>length(Fnames) %then it's an alias type. + FieldIdx=Aliases{FieldIdx-length(Fnames),2}; + end + + if isempty(FieldIdx) + error(['Unknown named parameter: ' a]) + end + for curField=FieldIdx' %if it is an alias it could be more than one. + if (Fnames{curField,4}) + val=args{l+1}; + else + val=1; %parameter is of flag type and is set (1=true).... + end + ArgStruct.(Fnames{curField,1})=val; + end + l=l+1+Fnames{FieldIdx(1),4}; %if a wildcard matches more than one + else + error(['Expected a named parameter: ' num2str(a)]) + end +end + + diff --git a/learning_folder/learner/utils/tilefigs.m b/learning_folder/learner/utils/tilefigs.m new file mode 100644 index 0000000..aeab5f9 --- /dev/null +++ b/learning_folder/learner/utils/tilefigs.m @@ -0,0 +1,265 @@ +function tilefigs(handles,resize,nRows,nCols,leftRightSpacing,topBottomSpacing,... + border,monitor,monitorLocation,monitorSize) +% TILEFIGS Tile figures (spread them out). Tile figs has a number of +% arguments, which may either be specified, or entered as [] to use the +% default +% TILEFIGS(handles,resize,nRows,nCols,leftRightSpacing,... +% topBottomSpacing,border,monitor,monitorLocation,monitorSize) +% TILEFIGS , by itself, resizes and tiles all open figures on to the primary monitor +% TILEFIGS(handles) Resizes and tiles the figures specified in handles, +% with the first handle in the upper left corner +% TILEFIGS(...,resize) If resize is set to false, the figures will be +% moved but not resized. Effort has been made to have minimal overlap, +% but some may still occur. +% TILEFIGS(...,nRows) Specifies a number of rows for the tile grid +% TILEFIGS(...,nCols) Specifies a number of column for the tile grid. +% Note that the figures are still included row by row, so if one has 8 +% open figures and tilefigs([],[],[],5) is called, the figures will be +% put into a 4 x 2 grid with space left for a 5th column. +% TILEFIGS(...,leftRightSpacing) leaves a horizontal space between the +% figures. Spacing is specified in pixels. This may have no effect if +% resize is set to false. +% TILEFIGS(...,topBottomSpacing) Same as above, except for vertical +% spacing +% TILEFIGS(...,border) Leaves a border around the tiling of figures. +% border is a 1 x 4 matrix, which is [leftSpace bottomSpace rightSpace +% topSpace]. If the primary monitor is used, the default is [0 35 0 0] +% which is approximately the size of the taskbar in Windows 7. If a +% secondary monitor is used, the default is [0 0 0 0] +% TILEFIGS(...,monitor , monitorLocation,monitorSize) Specifies a monitor to use, +% which is the row of the call get(0,'MonitorPositions'). MATLAB does not +% officially support dual monitors. The author has found that the +% MonitorPositions call correctly gets the size of the monitor (in +% pixels), but not the location of the monitor. monitorLocation and +% monitorSize overrides the location and size of the monitor. + +% Written by Brendan Tracey October 11th, 2012. + +% Inspirational credit to: +%Charles Plum Nichols Research Corp. +% 70 Westview Street +%Tel: (781) 862-9400 Kilnbrook IV +%Fax: (781) 862-9485 Lexington, MA 02173 + +% Nomenclature -- first number is width, second is length +% x is left to right, y is up and down + +if ~exist('topBottomSpacing','var') || isempty(topBottomSpacing) + topBottomSpacing = 0; +end +if ~exist('leftRightSpacing','var') || isempty(leftRightSpacing) + leftRightSpacing = 0; +end + +%% Select the monitor and get the location and size of the monitor + +monitorPositions = get(0,'MonitorPositions'); +matlabMonitorLocation = monitorPositions(:,1:2); +matlabMonitorSize = monitorPositions(:,3:4) - monitorPositions(:,1:2) + 1; + +if ~exist('monitor','var') || isempty(monitor) + % No monitor specified, use the primary + monitor = 1; +end + +if ~exist('monitorSize','var') || isempty(monitorSize) + % No monitor size specified, use what Matlab says + monitorSize = matlabMonitorSize(monitor,:); +end + +if ~exist('monitorLocation','var') || isempty(monitorLocation) + % No monitor location specified, use what Matlab says + monitorLocation = matlabMonitorLocation(monitor,1:2); +end + +% Set the default border if none is specified [left, bottom, right, top] +if monitor > 1 + if ~exist('border','var') || isempty(border) + border = [0 0 0 0]; + end +else + if ~exist('border','var') || isempty(border) + border = [0 30 0 0]; + end +end +% Modify the monitor size and location to account for the border +monitorLocation = monitorLocation + border(1:2); +monitorSize(1) = monitorSize(1) - border(1) - border(3); +monitorSize(2) = monitorSize(2) - border(2) - border(4); + +%% Select figures to use +if ~exist('handles','var') || isempty(handles) + % No figure handles specified, select all figures + handles = get (0,'Children'); % locate all open figure handles + handles = handles(end:-1:1); % Re-order so that first created is in upper left +end +nFigures = length(handles); + +% Put all of the figures in pixel units +units = get(handles, 'units'); +set(handles,'units','pixels'); + +%% Determine the grid for figures +if (~exist('nRows','var') || isempty(nRows)) && (~exist('nCols','var') || isempty(nCols)) + % No grid specified, choose the grid which roughly matches the monitor + % aspect ratio + monitorAspectRatio = monitorSize(1) / monitorSize(2); + if monitorAspectRatio < 1 + nCols = round(sqrt(nFigures)); + nRows = ceil(nFigures/nCols); + else + nRows = round(sqrt(nFigures)); + nCols = ceil(nFigures/nRows); + end +elseif (exist('nRows','var') && ~isempty(nRows)) && (~exist('nCols','var') || isempty(nCols)) + nCols = ceil(nFigures/nRows); +elseif (~exist('nRows','var') || isempty(nRows)) && (exist('nCols','var') && ~isempty(nCols)) + nRows = ceil(nFigures/nCols); +elseif (exist('nRows','var') && ~isempty(nRows)) && (exist('nCols','var') && ~isempty(nCols)) + if nRows*nCols < nFigures + error('Grid size not big enough') + end +else + error('Should not be here') +end + +%% Calculate the grid sizing +if ~exist('resize','var') || isempty(resize) + % Resize not set, default is to resize + resize = 1; +end +if resize + width = (monitorSize(1) - leftRightSpacing*(nCols - 1))/nCols; + height = (monitorSize(2) - topBottomSpacing*(nRows - 1))/nRows; +else + % Make the spacing equal with the constraint that the figures do not go + % off the edge of the screen. + figureWidths = zeros(nFigures,1); + figureHeights = zeros(nFigures,1); + for ii = 1:nFigures + figSize = get(handles(ii),'OuterPosition'); + figureWidths(ii) = figSize(3); + figureHeights(ii) = figSize(4); + end + widthEndInds = nCols:nCols:nFigures; + heightEndInds = 1:nCols; + maxWidth = max(figureWidths(widthEndInds)); + maxHeight = max(figureHeights(heightEndInds)); + width = (monitorSize(1) - maxWidth)/max(nCols-1,1); + if nRows ==1 + height = 0; + else + height = (monitorSize(2) - maxHeight)/(nRows-1); + end +end + +%% Move and resize the figures +if resize + pnum = 0; + for row = 1:nRows + for col = 1:nCols + pnum = pnum+1; + if (pnum>nFigures) + break + end + xLocation = monitorLocation(1) + (col - 1)*width + (col - 1)*leftRightSpacing; + yLocation = monitorLocation(2) + monitorSize(2) - row*height ... + - (row - 1)*topBottomSpacing; + figure(handles(pnum)) + set(handles(pnum),'OuterPosition',[xLocation yLocation width height]); + end + end +else + % Not resizing, set initial locations + xLocations = inf*ones(nRows,nCols); + yLocations = inf*ones(nRows,nCols); + widthMat = zeros(nRows,nCols); + heightMat = zeros(nRows,nCols); + pnum = 0; + for row = 1:nRows + for col = 1:nCols + pnum = pnum+1; + if (pnum>nFigures) + break + end + widthMat(row,col) = figureWidths(pnum); + heightMat(row,col) = figureHeights(pnum); + end + end + pnum = 0; + for row = 1:nRows + for col = 1:nCols + pnum = pnum+1; + if (pnum>nFigures) + break + end + xLocation = (col - 1)*width; + yLocation = monitorSize(2) - (row - 1)*height - heightMat(row,col); + xLocations(row,col) = xLocation; + yLocations(row,col) = yLocation; + end + end + + % Modify the positions to make it look nicer. + % First, if the figures are too big to not overlap, spread the rows and + % columns out to use up all of the space at the border to minimize + % overlap. The subtraction of the width if there are no figures is to + % avoid the issue of both the column and the row being moved into the + % empty spot + if (sum(sum(widthMat,2) > monitorSize(1)) > 0) + for row = 1:nRows + lastNonemptyCol = find(xLocations(row,:) < inf,1,'Last'); + whitespace = monitorSize(1) - xLocations(row,lastNonemptyCol) - widthMat(row,lastNonemptyCol) - width*(nCols-lastNonemptyCol); + if lastNonemptyCol>1 + for col = 1:lastNonemptyCol + xLocations(row,col) = xLocations(row,col) + (col-1)/(lastNonemptyCol-1) * whitespace; + end + end + end + end + if sum(sum(heightMat,1) > monitorSize(2)) > 0 + for col = 1:nCols + lastNonemptyRow = find(xLocations(:,col) < inf,1,'Last'); + whitespace = yLocations(lastNonemptyRow,col) - 1 - height*(nRows - lastNonemptyRow); + if lastNonemptyRow>1 + for row = 1:lastNonemptyRow + yLocations(row,col) = yLocations(row,col) - ((row-1)/(nRows-1)) * whitespace; + end + end + end + end + % If the figures can be condensed, slide the rows and columns in. + for col = 1:nCols - 1 + lastNonemptyRow = find(xLocations(:,col) < inf,1,'Last'); + endOfPlot = xLocations(1:lastNonemptyRow,col) + widthMat(1:lastNonemptyRow,col) + leftRightSpacing; + beginningOfNextPlot = xLocations(1:lastNonemptyRow,col + 1); + gap = beginningOfNextPlot - endOfPlot; + minGap = max(min(gap),0); + xLocations(1:lastNonemptyRow,col+1) = xLocations(1:lastNonemptyRow,col+1) - minGap; + end + for row = 2:nRows + lastNonemptyCol = find(xLocations(row,:) < inf,1,'Last'); + bottomOfUpperRow = yLocations(row-1,1:lastNonemptyCol) - topBottomSpacing; + topOfThisRow = yLocations(row,1:lastNonemptyCol) + heightMat(row,1:lastNonemptyCol); + gap = bottomOfUpperRow - topOfThisRow; + minGap = max(min(gap),0); + yLocations(row,1:lastNonemptyCol) = yLocations(row,1:lastNonemptyCol) + minGap; + end + % Finally, actually move and replot the figures. + pnum = 0; + for row = 1:nRows + for col = 1:nCols + pnum = pnum+1; + if (pnum>nFigures) + break + end + figure(handles(pnum)) + xloc = xLocations(row,col); + yloc = yLocations(row,col); + set(handles(pnum),'OuterPosition',[monitorLocation(1)+xloc monitorLocation(2) + yloc figureWidths(pnum) figureHeights(pnum)]); + end + end +end +for ii = 1:nFigures + set(handles(ii),'units',units{ii}); +end diff --git a/learning_folder/learner/utils/time2space.m b/learning_folder/learner/utils/time2space.m new file mode 100644 index 0000000..3e32272 --- /dev/null +++ b/learning_folder/learner/utils/time2space.m @@ -0,0 +1,15 @@ +function [X] = time2space(T) +%TIME2SPACE Summary of this function goes here +% Detailed explanation goes here + +if iscell(T) + X = zeros(length(T),prod(size(T{1}))); + for i=1:length(T) + X(i,:) = T{i}(:)'; + end +else + X = T(:)'; +end + +end + diff --git a/learning_folder/learner/utils/tr2cr.m b/learning_folder/learner/utils/tr2cr.m new file mode 100644 index 0000000..96e9fb4 --- /dev/null +++ b/learning_folder/learner/utils/tr2cr.m @@ -0,0 +1,71 @@ +function [x] = tr2cr(y, dim, numCells, minval, maxval) +%TR2CR Summary of this function goes here +% Detailed explanation goes here + +if nargin < 3 + numCells = 50; +end + +K = size(y,1); + +if nargin < 4 + minval = -1; + maxval = 1; +end + +x = zeros(K, dim); + +v = linspace(minval, maxval, numCells); +V = []; +if dim == 2 + V = zeros(dim, numCells^2); + cnt = 1; + for i=1:numCells + for j=1:numCells + V(1,cnt) = v(i); + V(2,cnt) = v(j); + cnt = cnt + 1; + end + end +elseif dim == 3 + V = zeros(dim, numCells^3); + cnt = 1; + for i=1:numCells + for j=1:numCells + for k=1:numCells + V(1,cnt) = v(i); + V(2,cnt) = v(j); + V(3,cnt) = v(k); + cnt = cnt + 1; + end + end + end +end + +for k=1:K + if isscalar(numCells) + if dim == 1 + tmp = y(k,:); + tmp = tmp/sum(tmp); + x(k) = sum(v .* tmp); + elseif dim == 2 + tmp = y(k,:); + tmp = tmp/sum(tmp); + x(k,1) = sum(V(1,:) .* tmp); + x(k,2) = sum(V(2,:) .* tmp); + elseif dim == 3 + tmp = y(k,:); + tmp = tmp/sum(tmp); + x(k,1) = sum(V(1,:) .* tmp); + x(k,2) = sum(V(2,:) .* tmp); + x(k,3) = sum(V(3,:) .* tmp); + else + %TODO + end + else + %TODO + end +end + +end + diff --git a/learning_folder/learner/utils/xmlreadstring.m b/learning_folder/learner/utils/xmlreadstring.m new file mode 100644 index 0000000..f379413 --- /dev/null +++ b/learning_folder/learner/utils/xmlreadstring.m @@ -0,0 +1,63 @@ +function [parseResult,p] = xmlreadstring(stringToParse,varargin) +%XMLREADSTRING Modified XMLREAD function to read XML data from a string. +% Author: Luis Cantero. +% The MathWorks. + +p = locGetParser(varargin); +locSetEntityResolver(p,varargin); +locSetErrorHandler(p,varargin); + +% Parse and return. +parseStringBuffer = java.io.StringBufferInputStream(stringToParse); +parseResult = p.parse(parseStringBuffer); + + +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +function p = locGetParser(args) + +p = []; +for i=1:length(args) + if isa(args{i},'javax.xml.parsers.DocumentBuilderFactory') + javaMethod('setValidating',args{i},locIsValidating(args)); + p = javaMethod('newDocumentBuilder',args{i}); + break; + elseif isa(args{i},'javax.xml.parsers.DocumentBuilder') + p = args{i}; + break; + end +end + +if isempty(p) + parserFactory = javaMethod('newInstance',... + 'javax.xml.parsers.DocumentBuilderFactory'); + + javaMethod('setValidating',parserFactory,locIsValidating(args)); + %javaMethod('setIgnoringElementContentWhitespace',parserFactory,1); + %ignorable whitespace requires a validating parser and a content model + p = javaMethod('newDocumentBuilder',parserFactory); +end + +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +function tf=locIsValidating(args) + +tf=any(strcmp(args,'-validating')); + +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +function locSetEntityResolver(p,args) + +for i=1:length(args) + if isa(args{i},'org.xml.sax.EntityResolver') + p.setEntityResolver(args{i}); + break; + end +end + +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +function locSetErrorHandler(p,args) + +for i=1:length(args) + if isa(args{i},'org.xml.sax.ErrorHandler') + p.setErrorHandler(args{i}); + break; + end +end \ No newline at end of file diff --git a/learning_folder/ur5_learner/SixDOFManipulator.m b/learning_folder/ur5_learner/SixDOFManipulator.m new file mode 100644 index 0000000..c8604bf --- /dev/null +++ b/learning_folder/ur5_learner/SixDOFManipulator.m @@ -0,0 +1,118 @@ +classdef SixDOFManipulator < handle + %SixDOFMANIPULATOR Summary of this class goes here + % Detailed explanation goes here + + properties + link1; + link2; + link3; + link4; + link5; + link6; + base; + + point1; + point2; + point3; + point4; + point5; + point6; + + end + + methods + function obj=SixDOFManipulator() + obj.link1=[0.089159;0]; + obj.link2=[0.42500;0]; + obj.link3=[0.39225;0]; + obj.link4=[0.10915 + 0.1197 - 0.13585;0]; + obj.link5=[0.09465;0]; + obj.link6=[0.0823;0]; + obj.base=[0;0]; + +%{ +Taken from https://github.com/ros-industrial/universal_robot/blob/indigo-devel/ur_description/urdf/ur5.urdf.xacro + + + + + + + + + + + + + + + + + + +%} + + obj.point1=obj.link1; + obj.point2=obj.point1+obj.link2; + obj.point3=obj.point2+obj.link3; + obj.point4=obj.point3+obj.link4; + obj.point5=obj.point4+obj.link5; + obj.point6=obj.point5+obj.link6; + end + + function eepos=fkin(this, angle1, angle2) + if nargin<7 + angle6=angle1(6,:); + angle5=angle1(5,:); + angle4=angle1(4,:); + angle3=angle1(3,:); + angle2=angle1(2,:); + angle1=angle1(1,:); + end + eepos=zeros(2,size(angle1,2)); + for i=1:size(angle1,2) + a1=angle1(1,i); + a2=angle2(1,i); + a3=angle3(1,i); + a4=angle4(1,i); + a5=angle5(1,i); + a6=angle6(1,i); + + this.point1= this.rotMat(a1)*this.link1+this.base; + this.point2= this.rotMat(a1)*((this.rotMat(a2)*this.link2) + this.link1)+this.base; + this.point3= this.rotMat(a1)*((this.rotMat(a2)*(this.rotMat(a3)*this.link3 + this.link2)) + this.link1)+this.base; + this.point4= this.rotMat(a1)*((this.rotMat(a2)*(this.rotMat(a3)*( this.rotMat(a4)*this.link4+ this.link3) + this.link2)) + this.link1)+this.base; + this.point5= this.rotMat(a1)*((this.rotMat(a2)*(this.rotMat(a3)*( this.rotMat(a4)*(this.rotMat(a5)*this.link5 + this.link4)+ this.link3) + this.link2)) + this.link1)+this.base; + this.point6= this.rotMat(a1)*((this.rotMat(a2)*(this.rotMat(a3)*( this.rotMat(a4)*(this.rotMat(a5)*(this.rotMat(a6)*this.link6 + this.link5) + this.link4)+ this.link3) + this.link2)) + this.link1)+this.base; + + + eepos(:,i)=this.point6; + + end + + end + + function plotState(this, h) + if nargin<2 + h=gcf(); + else + figure(h); + end + + hold on; + + plot([this.base(1), this.point1(1), this.point2(1)],[this.base(2), this.point1(2), this.point2(2)]); + + + end + + function m=rotMat(this, angle) + m=[cos(angle), -sin(angle); sin(angle), cos(angle)]; + end + + + + end + +end + diff --git a/learning_folder/ur5_learner/elm_results.fig b/learning_folder/ur5_learner/elm_results.fig new file mode 100644 index 0000000..50491cd Binary files /dev/null and b/learning_folder/ur5_learner/elm_results.fig differ diff --git a/learning_folder/ur5_learner/elm_results_bip0_fw1.fig b/learning_folder/ur5_learner/elm_results_bip0_fw1.fig new file mode 100644 index 0000000..3dbde55 Binary files /dev/null and b/learning_folder/ur5_learner/elm_results_bip0_fw1.fig differ diff --git a/learning_folder/ur5_learner/elm_results_bip0_fw20.fig b/learning_folder/ur5_learner/elm_results_bip0_fw20.fig new file mode 100644 index 0000000..d2213fe Binary files /dev/null and b/learning_folder/ur5_learner/elm_results_bip0_fw20.fig differ diff --git a/learning_folder/ur5_learner/elm_results_bip0_fw20_multiple_figures.fig b/learning_folder/ur5_learner/elm_results_bip0_fw20_multiple_figures.fig new file mode 100644 index 0000000..414cd19 Binary files /dev/null and b/learning_folder/ur5_learner/elm_results_bip0_fw20_multiple_figures.fig differ diff --git a/learning_folder/ur5_learner/elm_results_bip1_fw1.fig b/learning_folder/ur5_learner/elm_results_bip1_fw1.fig new file mode 100644 index 0000000..777e4f5 Binary files /dev/null and b/learning_folder/ur5_learner/elm_results_bip1_fw1.fig differ diff --git a/learning_folder/ur5_learner/elm_results_bip1_fw20.fig b/learning_folder/ur5_learner/elm_results_bip1_fw20.fig new file mode 100644 index 0000000..b6db186 Binary files /dev/null and b/learning_folder/ur5_learner/elm_results_bip1_fw20.fig differ diff --git a/learning_folder/ur5_learner/learnIkin.m b/learning_folder/ur5_learner/learnIkin.m new file mode 100644 index 0000000..f1d9edb --- /dev/null +++ b/learning_folder/ur5_learner/learnIkin.m @@ -0,0 +1,451 @@ +clear all; +close all; + +%restoredefaultpath; +addpath('../learner/algorithms'); +addpath('../learner/metric'); +addpath('../learner/utils'); + +nr_samples = []; + +range=[-2*pi,2*pi]; + + +% ------------- Preparing data set -------------------------------------------------- + +%fileID = fopen('/homes/abalayn/workspace/rtt-gazebo-ur5-integration/recorded_data/test_data_no_mass_set1.txt','r'); + +% Data set : +samples_train_X = []; +samples_train_Y = []; + +samples_test_X = []; +samples_test_Y = []; + +samples_X = []; +samples_Y = []; + + + +[samples_X_temp , samples_Y_temp , nr_samples_temp] = readData('/homes/abalayn/workspace/rtt-gazebo-ur5-integration/recorded_data/fixed_positions/test_data_no_mass_set1.txt'); +samples_X = cat(3, samples_X ,samples_X_temp); +samples_Y = cat(3,samples_Y ,samples_Y_temp); +nr_samples = [nr_samples nr_samples_temp]; +[samples_X_temp , samples_Y_temp , nr_samples_temp] = readData('/homes/abalayn/workspace/rtt-gazebo-ur5-integration/recorded_data/fixed_positions/test_data_mass1.txt'); +samples_X = cat(3,samples_X, samples_X_temp); +samples_Y = cat(3,samples_Y ,samples_Y_temp); +nr_samples = [nr_samples nr_samples_temp]; +[samples_X_temp , samples_Y_temp , nr_samples_temp] = readData('/homes/abalayn/workspace/rtt-gazebo-ur5-integration/recorded_data/fixed_positions/test_data_mass5.txt'); +samples_X = cat(3,samples_X, samples_X_temp); +samples_Y = cat(3,samples_Y, samples_Y_temp); +nr_samples = [nr_samples nr_samples_temp]; +% -------------------------------------------------------------------------------------------------------- + + + + + +% -------------------------------------------------------------------------------------------------------- + +% -------------------------------------------------------------------------------------------------------- + +% ------------- Parameters optimization ----------------------------------------- + +% -------------------------------------------------------------------------------------------------------- + +% -------------------------------------------------------------------------------------------------------- + + +regularization=[ 1e-11 1e-10 1e-9 1e-8 1e-7 1e-6 1e-5 1e-4 1e-3 1e-2 1e-1 1 10]; +hiddimcombinations=[20 50 75 100 250 500 750 1000 1750 2500]; + +%regularization=[1e-10 1e-1]; +%hiddimcombinations=[50 100]; +BIP=[0 1]; +fermiwidth=[1 20]; + +resultmatrix_test=zeros(size(regularization,2), size(hiddimcombinations,2)); +resultmatrix_var_test=zeros(size(regularization,2),size(hiddimcombinations,2)); + +resultmatrix_train=zeros(size(regularization,2), size(hiddimcombinations,2)); +resultmatrix_var_train=zeros(size(regularization,2),size(hiddimcombinations,2)); + +for idx = 2:6 + cat(3, resultmatrix_test , zeros(size(regularization,2), size(hiddimcombinations,2))); + cat(3, resultmatrix_var_test , zeros(size(regularization,2),size(hiddimcombinations,2))); + + cat(3, resultmatrix_train , zeros(size(regularization,2), size(hiddimcombinations,2))); + cat(3, resultmatrix_var_train , zeros(size(regularization,2),size(hiddimcombinations,2))); +end + + +idx_reg = 0; +idx_hiddim = 0; + + + +nb_config = 0; +hiddim = 100; +reg = 1e-5; + + +massidx = 1; + + +bipidx = 0; +%for bipidx = BIP + % for fw = fermiwidth + fw = 20; + nb_config = nb_config + 1; + idx_reg = 0; + for reg=regularization + idx_reg = idx_reg + 1; + idx_hiddim = 0; + for hiddim=hiddimcombinations + + % if (bip ~= 1 && hiddim == 8000) + + + idx_hiddim = idx_hiddim+1; + + + + disp(['Config: BIP: ' num2str(bipidx) ' fw: ' num2str(fw) ' reg: ' num2str(reg) ' hiddim: ' num2str(hiddim)]) + + + +% -------------------------------------------------------------------------------------------------------- + +% ------------- Cross validation ----------------------------------------- + +% -------------------------------------------------------------------------------------------------------- + + + + +%elm: +%BIP - Batch intrinsic plasticity (extension for tuning of parameters) +%reg - regularization for linear output learning +%hidDim - hidden layer size (random layer) +% +elm_learner=ELM(6,6,{'BIP',bipidx;'reg', reg; 'hidDim', hiddim}); + + + + + + +% ------------- Preparing train and test data (cross validation) ----------------------------------------- + + +% Number of data for each set +nb_fold = 5; +c = cvpartition(nr_samples(1),'KFold' , nb_fold); +errors_test=zeros(nb_fold,1); +errors_train=zeros(nb_fold,1); +for idx = 2:6 + cat(3,errors_test,zeros(nb_fold,1)); + cat(3,errors_train,zeros(nb_fold,1)); +end + +nr_train_s = c.TrainSize; +nr_test_s = c.TestSize; + +for n=1:nb_fold + trIdx=find(training(c,n)); + teIdx=find(test(c,n)); + nr_train_samples = nr_train_s(n); + nr_test_samples = nr_test_s(n); + samples_train_X = []; + samples_train_Y = []; + samples_test_X = []; + samples_test_Y = []; + + +% Random data chosen to train + for idx = trIdx + samples_train_X = [samples_train_X samples_X(: , idx , massidx)]; + samples_train_Y = [samples_train_Y samples_Y(: , idx , massidx)]; + end + +% Random data chosen to test + for idx = teIdx + samples_test_X = [samples_test_X samples_X(: , idx , massidx)]; + samples_test_Y = [samples_test_Y samples_Y(: , idx , massidx)]; + end + + +% ----------------------------------------------------------------------------------------------------- + + + +% ------------- Training ----------------------------------------------------------------------------- + + + + if (n == 1) + elm_learner.a=fw.*elm_learner.a; +%scale inputs to range etc: +%elm_learner.b sind die centers der fermi funktionen - alle random +%elm_learner.a 'width' of fermi function, default: 1 +%the larger 'a' gets, the 'smaller' the fermi function + + +%elm_learner.a=0.01.*elm_learner.a; % -> extremely wide fermi function +%almost linear + +%elm_learner.a=5.*elm_learner.a; % -> smaller sigmoid in function space + end + + elm_learner.init(samples_train_X'); +%train the stuff + elm_learner.train(samples_train_X', samples_train_Y'); + + +% --------------------------------------------------------------------------------------------------- + + + + +% ------------- Evaluation - error calculation --------------------------------------------------------- + + +%execute on testdata + + [elm_result] = (elm_learner.apply(samples_test_X'))'; + [elm_training_result] = (elm_learner.apply(samples_train_X'))'; + +%compute errors for each joint +% Unused now +%{ + test_error = sum( abs(elm_result - samples_test_Y) , 2)/nr_test_samples + + [elm_training_result] = (elm_learner.apply(samples_train_X'))'; + + training_error = sum( abs(elm_training_result - samples_train_Y) , 2)/nr_train_samples +%} +%compute error with euclidian distance + +for jntidx = 1:6 + temp_test = sqrt(sum((elm_result - samples_test_Y).^2,2))/(nr_test_samples); + temp_train = sqrt(sum((elm_training_result - samples_train_Y).^2,2))/(nr_train_samples); + errors_test(n,jntidx) = temp_test(jntidx); + errors_train(n,jntidx) = temp_train(jntidx); +end + +end + + for jntidx = 1:6 + resultmatrix_test(idx_reg,idx_hiddim , jntidx)=mean(errors_test(:,jntidx)); + resultmatrix_var_test(idx_reg,idx_hiddim , jntidx)=var(errors_test(:,jntidx)); + resultmatrix_train(idx_reg,idx_hiddim, jntidx)=mean(errors_train(:,jntidx)); + resultmatrix_var_train(idx_reg,idx_hiddim , jntidx)=var(errors_train(:,jntidx)); + end + + end + end + + + + str_title=sprintf('elm error - BIP = %d and fermiwidth = %d', bipidx, fw); + %suptitle(str_title); + + %figure(nb_config) + figure_saver(nb_config) = figure('Name',str_title,'NumberTitle','on'); + rotate3d on + + + for jntidx = 1:6 + + subplot(4,6,jntidx); + surf(resultmatrix_test(:,:,jntidx)) + title('Mean Error test') + xlabel('hiddim') + ylabel('regularization') + rotate3d; + + subplot(4,6,jntidx+6); + surf(resultmatrix_var_test(:,:,jntidx)) + title('Variance Error test') + xlabel('hiddim') + ylabel('regularization') + rotate3d; + + subplot(4,6,jntidx+12); + surf(resultmatrix_train(:,:,jntidx)) + title('Mean Error train') + xlabel('hiddim') + ylabel('regularization') + rotate3d; + + subplot(4,6,jntidx+18); + surf(resultmatrix_var_train(:,:,jntidx)) + title('Variance Error train') + xlabel('hiddim') + ylabel('regularization') + rotate3d; + + end + + + + resultmatrix_test=zeros(size(regularization,2), size(hiddimcombinations,2)); + resultmatrix_var_test=zeros(size(regularization,2),size(hiddimcombinations,2)); + + resultmatrix_train=zeros(size(regularization,2), size(hiddimcombinations,2)); + resultmatrix_var_train=zeros(size(regularization,2),size(hiddimcombinations,2)); +for idx = 2:6 + cat(3, resultmatrix_test , zeros(size(regularization,2), size(hiddimcombinations,2))); + cat(3, resultmatrix_var_test , zeros(size(regularization,2),size(hiddimcombinations,2))); + + cat(3, resultmatrix_train , zeros(size(regularization,2), size(hiddimcombinations,2))); + cat(3, resultmatrix_var_train , zeros(size(regularization,2),size(hiddimcombinations,2))); +end + +%end +%end + + +savefig(figure_saver , 'elm_results.fig' , 'compact'); +close(figure_saver); + + + + +figure(); + +subplot(1,2,1); +dataa = samples_test_X(2:3,:); +datab = samples_test_Y(2:3,:); +plotdata = elm_learner.apply([zeros(1,size(dataa,2)); dataa; zeros(3,size(dataa,2))]'); +[xq,yq] = meshgrid(-2.5:0.2:0.2, -2.5:.2:2.5); +vq = griddata(dataa(1,:),dataa(2,:),plotdata(:,2),xq,yq); +mesh(xq,yq,vq); +hold on +plot3(dataa(1,:), dataa(2,:), datab(1,:), 'x'); + +subplot(1,2,2); +[xq,yq] = meshgrid(-2.5:0.2:0.2, -2.5:.2:2.5); +vq = griddata(dataa(1,:),dataa(2,:),plotdata(:,3),xq,yq); +mesh(xq,yq,vq); +hold on +plot3(dataa(1,:), dataa(2,:), datab(2,:), 'x'); + +%------------------------------------------------------------------------------------------- + +% Plot torque as function of angle. massidx must be specified. + +str_title=sprintf('Torques as function of angles'); +figure_saver2 = figure('Name',str_title,'NumberTitle','on'); + +subplot(2,3,1); +str_title=sprintf('Torque as function of angle 0'); +plot(samples_X(1,: , massidx),samples_Y(1,: , massidx) , '*', samples_X(1,: , 2),samples_Y(1,: , 2) , '*'); +title(str_title); +subplot(2,3,2); +str_title=sprintf('Torque as function of angle 1'); +plot(samples_X(2,:, massidx),samples_Y(2,:, massidx) , '*'); +title(str_title); +subplot(2,3,3); +str_title=sprintf('Torque as function of angle 2'); +plot(samples_X(3,:, massidx),samples_Y(3,:, massidx) , '*'); +title(str_title); +subplot(2,3,4); +str_title=sprintf('Torque as function of angle 3'); +plot(samples_X(4,:, massidx),samples_Y(4,:, massidx) , '*'); +title(str_title); +subplot(2,3,5); +str_title=sprintf('Torque as function of angle 4'); +plot(samples_X(5,:, massidx),samples_Y(5,:, massidx) , '*'); +title(str_title); +subplot(2,3,6); +str_title=sprintf('Torque as function of angle 5'); +plot(samples_X(6,:, massidx),samples_Y(6,:, massidx) , '*'); +title(str_title); + +savefig(figure_saver2 , 'torque_angles.fig' , 'compact'); +close(figure_saver2); + + +str_title=sprintf('Torques as function of 3 angles'); +figure_saver3 = figure('Name',str_title,'NumberTitle','on'); +subplot(3,1,1); +str_title=sprintf('Torque 0 as function of angles 0, 1, 2'); +scatter3(samples_X(1,:,1) , samples_X(2,:,1) , samples_X(3,:,1) ,20, samples_Y(1,:,1) , 'filled'); +xlabel('angle 0') +ylabel('angle 1') +zlabel('angle 2') +cb = colorbar; +cb.Label.String = 'torque 0'; +title(str_title); +subplot(3,1,2); +str_title=sprintf('Torque 1 as function of angles 0, 1, 2'); +scatter3(samples_X(1,:,1) , samples_X(2,:,1) , samples_X(3,:,1) ,20, samples_Y(2,:,1) , 'filled'); +xlabel('angle 0') +ylabel('angle 1') +zlabel('angle 2') +cb = colorbar; +cb.Label.String = 'torque 1'; +title(str_title); +subplot(3,1,3); +str_title=sprintf('Torque 2 as function of angles 0, 1, 2'); +scatter3(samples_X(1,:,1) , samples_X(2,:,1) , samples_X(3,:,1) ,20, samples_Y(3,:,1) , 'filled'); +xlabel('angle 0') +ylabel('angle 1') +zlabel('angle 2') +cb = colorbar; +cb.Label.String = 'torque 2'; +title(str_title); +savefig(figure_saver3 , 'torque_3angles.fig' , 'compact'); +close(figure_saver3); +%------------------------------------------------------------------------------------------- + + + +% -------------------------------------------------------------------------------------------------- + + + +% ------------- Writing parameters in file --------------------------------------------------------- + + +%Save ELM to file for import in c++ (maybe move into elm class ?!): + +target = '../elmmodel'; +datatarget = sprintf('%s/data/',target); + +mkdir(target); +mkdir(datatarget); + +%Write matrix data +%Ax = diag(2./(elm_learner.inpRange(2,:)-elm_learner.inpRange(1,:))); +Ax = diag( 1./(elm_learner.inpRange(2,:)-elm_learner.inpRange(1,:))); +bx = elm_learner.inpOffset(1,:)+elm_learner.inpRange(1, :); +%bx = -(2./(elm_learner.inpRange(2,:)-elm_learner.inpRange(1,:))).*(elm_learner.inpOffset + elm_learner.inpRange(1,:)) - 1; +%Ay = diag(2./(elm_learner.outRange(2,:)-elm_learner.outRange(1,:))); +Ay = diag(elm_learner.outRange(2,:)-elm_learner.outRange(1,:)); +%by = -(2./(elm_learner.outRange(2,:)-elm_learner.outRange(1,:))).*(elm_learner.outOffset + elm_learner.outRange(1,:)) - 1; +by = elm_learner.outOffset(1,:)+elm_learner.outRange(1, :); +str = sprintf('%s/Win.mat',datatarget); +funclocal_Matrix2TXT(elm_learner.wInp, str); +str = sprintf('%s/a.vec',datatarget); +funclocal_Matrix2TXT(elm_learner.a', str); +str = sprintf('%s/b.vec',datatarget); +funclocal_Matrix2TXT(elm_learner.b', str); +str = sprintf('%s/Wout.mat',datatarget); +funclocal_Matrix2TXT(elm_learner.wOut', str, true); +str = sprintf('%s/Ax.mat',datatarget); +funclocal_Matrix2TXT(Ax, str, true); +str = sprintf('%s/bx.vec',datatarget); +funclocal_Matrix2TXT(bx, str); +str = sprintf('%s/Ay.mat',datatarget); +funclocal_Matrix2TXT(Ay, str,true); +str = sprintf('%s/by.vec',datatarget); +funclocal_Matrix2TXT(by, str); + +%Write matrix format +str = sprintf('%s/info',target); +fid = fopen(str,'wt'); +fprintf(fid, 'elm+datascale'); +fclose(fid); + diff --git a/learning_folder/ur5_learner/position_values.fig b/learning_folder/ur5_learner/position_values.fig new file mode 100644 index 0000000..d3bd87a Binary files /dev/null and b/learning_folder/ur5_learner/position_values.fig differ diff --git a/learning_folder/ur5_learner/readData.m b/learning_folder/ur5_learner/readData.m new file mode 100644 index 0000000..60f894d --- /dev/null +++ b/learning_folder/ur5_learner/readData.m @@ -0,0 +1,34 @@ +function [ samples_X , samples_Y , nr_samples] = readData( file ) +%READDATA Summary of this function goes here +% Detailed explanation goes here +fileID = fopen(file,'r'); +nr_samples = 0; + +samples_X = []; +samples_Y = []; + +while ~feof(fileID) + % Loop to read file and add data to matrix. + trq_temp = [0 ; 0 ; 0 ; 0 ; 0 ; 0]; + angle_temp = [0 ; 0 ; 0 ; 0 ; 0 ; 0]; + read_idx = 1; + nr_samples = nr_samples + 1; + + fscanf(fileID , [ '{ sim_id = ' '%d' ' ;']); + while (read_idx ~= 7) + fscanf(fileID , [ ' jnt ' '%d' ' ; trq ' ]); + trq_temp(read_idx) = fscanf(fileID , '%f'); + fscanf(fileID , [ '; agl ' '%f' ' ; trg_agl ']); + angle_temp(read_idx) = fscanf(fileID , '%f'); + fscanf(fileID , [' ; ']); + read_idx = read_idx + 1; + end + fscanf(fileID , [ '}' '\n']); + samples_X = [samples_X angle_temp]; + samples_Y = [samples_Y trq_temp]; +end + +fclose(fileID); + +end + diff --git a/learning_folder/ur5_learner/torque_3angles.fig b/learning_folder/ur5_learner/torque_3angles.fig new file mode 100644 index 0000000..5b1f8fd Binary files /dev/null and b/learning_folder/ur5_learner/torque_3angles.fig differ diff --git a/learning_folder/ur5_learner/torque_angles.fig b/learning_folder/ur5_learner/torque_angles.fig new file mode 100644 index 0000000..850e038 Binary files /dev/null and b/learning_folder/ur5_learner/torque_angles.fig differ diff --git a/learning_folder/ur5_learner/torque_angles_0mass.fig b/learning_folder/ur5_learner/torque_angles_0mass.fig new file mode 100644 index 0000000..a12b2f1 Binary files /dev/null and b/learning_folder/ur5_learner/torque_angles_0mass.fig differ diff --git a/learning_folder/ur5_learner/torque_angles_1mass.fig b/learning_folder/ur5_learner/torque_angles_1mass.fig new file mode 100644 index 0000000..4967f7f Binary files /dev/null and b/learning_folder/ur5_learner/torque_angles_1mass.fig differ diff --git a/learning_folder/ur5_learner/torque_angles_5mass.fig b/learning_folder/ur5_learner/torque_angles_5mass.fig new file mode 100644 index 0000000..ba04b53 Binary files /dev/null and b/learning_folder/ur5_learner/torque_angles_5mass.fig differ diff --git a/learning_folder/ur5_learner/torque_values.fig b/learning_folder/ur5_learner/torque_values.fig new file mode 100644 index 0000000..2bac0a8 Binary files /dev/null and b/learning_folder/ur5_learner/torque_values.fig differ