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/* |
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* Copyright 2018, |
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* Julian Viereck |
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* |
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* CNRS/AIST |
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* |
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*/ |
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#include <dynamic-graph/all-commands.h> |
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#include <dynamic-graph/factory.h> |
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#include <boost/function.hpp> |
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#include <sot/core/factory.hh> |
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#include <sot/core/gradient-ascent.hh> |
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namespace dg = ::dynamicgraph; |
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/* ---------------------------------------------------------------------------*/ |
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/* ------- GENERIC HELPERS -------------------------------------------------- */ |
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/* ---------------------------------------------------------------------------*/ |
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namespace dynamicgraph { |
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namespace sot { |
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DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(GradientAscent, "GradientAscent"); |
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/* --------------------------------------------------------------------- */ |
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/* --- CLASS ----------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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GradientAscent::GradientAscent(const std::string &n) |
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: Entity(n), |
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gradientSIN(NULL, "GradientAscent(" + n + ")::input(vector)::gradient"), |
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learningRateSIN(NULL, |
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"GradientAscent(" + n + ")::input(double)::learningRate"), |
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refresherSINTERN("GradientAscent(" + n + ")::intern(dummy)::refresher"), |
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valueSOUT(boost::bind(&GradientAscent::update, this, _1, _2), |
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gradientSIN << refresherSINTERN, |
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"GradientAscent(" + n + ")::output(vector)::value"), |
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init(false) { |
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// Register signals into the entity. |
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signalRegistration(gradientSIN << learningRateSIN << valueSOUT); |
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refresherSINTERN.setDependencyType(TimeDependency<int>::ALWAYS_READY); |
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} |
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GradientAscent::~GradientAscent() {} |
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/* --- COMPUTE ----------------------------------------------------------- */ |
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/* --- COMPUTE ----------------------------------------------------------- */ |
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/* --- COMPUTE ----------------------------------------------------------- */ |
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dynamicgraph::Vector &GradientAscent::update(dynamicgraph::Vector &res, |
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const int &inTime) { |
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const dynamicgraph::Vector &gradient = gradientSIN(inTime); |
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const double &learningRate = learningRateSIN(inTime); |
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if (init == false) { |
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init = true; |
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value = gradient; |
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value.setZero(); |
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res.resize(value.size()); |
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} |
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value += learningRate * gradient; |
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res = value; |
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return res; |
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} |
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} /* namespace sot */ |
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} /* namespace dynamicgraph */ |
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