gradient-ascent.hh

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/*
 * Copyright 2018,
 * Julian Viereck
 *
 * CNRS/AIST
 *
 */
 
#ifndef __SOT_GRADIENTASCENT_H__
#define __SOT_GRADIENTASCENT_H__
 
/* --------------------------------------------------------------------- */
/* --- INCLUDE --------------------------------------------------------- */
/* --------------------------------------------------------------------- */
 
#include <dynamic-graph/entity.h>
#include <dynamic-graph/signal-ptr.h>
#include <dynamic-graph/signal-time-dependent.h>
 
#include <sot/core/config.hh>
 
namespace dynamicgraph {
namespace sot {
 
/* --------------------------------------------------------------------- */
/* --- TRACER ---------------------------------------------------------- */
/* --------------------------------------------------------------------- */
 
using dynamicgraph::Entity;
using dynamicgraph::SignalPtr;
using dynamicgraph::SignalTimeDependent;
 
class SOT_CORE_DLLAPI GradientAscent : public Entity {
  DYNAMIC_GRAPH_ENTITY_DECL();
 
 public:
  SignalPtr<dynamicgraph::Vector, int> gradientSIN;
  SignalPtr<double, int> learningRateSIN;
  SignalTimeDependent<int, int> refresherSINTERN;
  SignalTimeDependent<dynamicgraph::Vector, int> valueSOUT;
 
 public:
  GradientAscent(const std::string &n);
  virtual ~GradientAscent(void);
 
 protected:
  dynamicgraph::Vector &update(dynamicgraph::Vector &res, const int &inTime);
 
  dynamicgraph::Vector value;
 
  double alpha;
  bool init;
};
 
} /* namespace sot */
} /* namespace dynamicgraph */
 
#endif /* #ifndef __SOT_TRACER_H__ */