Robot Simulator of the Robotics Group for Self-Organization of Control  0.8.0
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SOM Class Reference

self-organised map class. More...

#include <som.h>

Inheritance diagram for SOM:
Collaboration diagram for SOM:

Public Types

typedef std::list< std::pair
< int, double > > 
Neighbours
 
typedef std::vector< std::pair
< matrix::Matrix, double > > 
Neighbourhood
 
- Public Types inherited from Configurable
typedef std::string paramkey
 
typedef std::string paramdescr
 
typedef double paramval
 
typedef std::list< std::pair
< paramkey, paramval > > 
paramlist
 
typedef std::map< paramkey,
paramval * > 
parammap
 
typedef bool parambool
 
typedef std::list< std::pair
< paramkey, parambool > > 
paramboollist
 
typedef std::map< paramkey,
parambool * > 
paramboolmap
 
typedef int paramint
 
typedef std::list< std::pair
< paramkey, paramint > > 
paramintlist
 
typedef std::map< paramkey,
paramint * > 
paramintmap
 
typedef std::map< paramkey,
paramdescr
paramdescrmap
 
typedef std::pair< paramval,
paramval
paramvalBounds
 
typedef std::map< paramkey,
paramvalBounds
paramvalBoundsMap
 
typedef std::pair< paramint,
paramint
paramintBounds
 
typedef std::map< paramkey,
paramintBounds
paramintBoundsMap
 
typedef std::pair< paramkey,
paramval * > 
paramvalpair
 
typedef std::pair< paramkey,
parambool * > 
paramboolpair
 
typedef std::pair< paramkey,
paramint * > 
paramintpair
 
typedef std::vector
< Configurable * > 
configurableList
 
- Public Types inherited from BackCaller
typedef unsigned long CallbackableType
 
- Public Types inherited from Inspectable
typedef std::string iparamkey
 
typedef double iparamval
 
typedef std::pair< iparamkey,
iparamval const * > 
iparampair
 
typedef std::pair< iparamkey,
std::pair< const
matrix::Matrix *, bool > > 
imatrixpair
 
typedef std::list< iparamkeyiparamkeylist
 
typedef std::list< std::string > infoLinesList
 
typedef std::list< iparamvaliparamvallist
 
typedef std::list< iparamval
const * > 
iparamvalptrlist
 
typedef std::list< iparampairiparampairlist
 
typedef std::list< imatrixpairimatrixpairlist
 
typedef struct Inspectable::ILayer ILayer
 
typedef struct
Inspectable::IConnection 
IConnection
 
typedef std::list< ILayerilayerlist
 
typedef std::list< IConnectioniconnectionlist
 
typedef std::list< const
Inspectable * > 
inspectableList
 

Public Member Functions

 SOM (const std::string &name="SOM", const std::string &revision="$Id$")
 
 SOM (unsigned int dimensions, double sigma, double eps, double rbfsize, const std::string &name="SOM", const std::string &revision="$Id$")
 create a som More...
 
virtual ~SOM ()
 
virtual void init (unsigned int inputDim, unsigned int outputDim, double unit_map=0.0, RandGen *randGen=0)
 initialised som More...
 
virtual const matrix::Matrix process (const matrix::Matrix &input)
 passive processing of the input (this function is not constant since a recurrent network for example might change internal states More...
 
virtual const matrix::Matrix learn (const matrix::Matrix &input, const matrix::Matrix &nom_output, double learnRateFactor=1)
 
virtual void damp (double damping)
 damps the weights and the biases by multiplying (1-damping) More...
 
virtual unsigned int getInputDim () const
 returns the number of input neurons More...
 
virtual unsigned int getOutputDim () const
 returns the number of output neurons More...
 
virtual bool store (FILE *f) const
 stores the object to the given file stream (ASCII preferred). More...
 
virtual bool restore (FILE *f)
 loads the object from the given file stream (ASCII preferred). More...
 
virtual void printWeights (FILE *f) const
 
const NeighbourhoodgetNeighbourhood ()
 
- Public Member Functions inherited from AbstractModel
 AbstractModel (const std::string &name, const std::string &revision)
 
virtual ~AbstractModel ()
 
- Public Member Functions inherited from Configurable
 Configurable ()
 
 Configurable (const std::string &name, const std::string &revision)
 intialise with name and revision (use "$ID$") More...
 
virtual ~Configurable ()
 
virtual void notifyOnChange (const paramkey &key)
 Is called when a parameter was changes via setParam(). More...
 
virtual void addParameter (const paramkey &key, paramval *val, paramval minBound, paramval maxBound, const paramdescr &descr=paramdescr())
 This is the new style for adding configurable parameters. More...
 
virtual void addParameter (const paramkey &key, paramval *val, const paramdescr &descr=paramdescr())
 See addParameter(const paramkey& key, paramval* val, paramval minBound, paramval maxBound, const paramdescr& descr) More...
 
virtual void addParameter (const paramkey &key, parambool *val, const paramdescr &descr=paramdescr())
 See addParameter(const paramkey& key, paramval* val) but for bool values. More...
 
virtual void addParameter (const paramkey &key, paramint *val, paramint minBound, paramint maxBound, const paramdescr &descr=paramdescr())
 See addParameter(const paramkey& key, paramval* val) but for int values. More...
 
virtual void addParameter (const paramkey &key, paramint *val, const paramdescr &descr=paramdescr())
 
virtual void addParameterDef (const paramkey &key, paramval *val, paramval def, paramval minBound, paramval maxBound, const paramdescr &descr=paramdescr())
 This function is only provided for convenience. More...
 
virtual void addParameterDef (const paramkey &key, paramval *val, paramval def, const paramdescr &descr=paramdescr())
 
virtual void addParameterDef (const paramkey &key, parambool *val, parambool def, const paramdescr &descr=paramdescr())
 See addParameterDef(const paramkey&, paramval*, paramval) More...
 
virtual void addParameterDef (const paramkey &key, paramint *val, paramint def, paramint minBound, paramint maxBound, const paramdescr &descr=paramdescr())
 See addParameterDef(const paramkey&, paramval*, paramval) More...
 
virtual void addParameterDef (const paramkey &key, paramint *val, paramint def, const paramdescr &descr=paramdescr())
 
virtual void setParamDescr (const paramkey &key, const paramdescr &descr, bool traverseChildren=true)
 sets a description for the given parameter More...
 
int getId () const
 return the id of the configurable objects, which is created by random on initialisation More...
 
virtual paramkey getName () const
 return the name of the object More...
 
virtual paramkey getRevision () const
 returns the revision of the object More...
 
virtual void setName (const paramkey &name, bool callSetNameOfInspectable=true)
 Sets the name of the configurable. More...
 
virtual void setRevision (const paramkey &revision)
 sets the revision Hint: { return "$ID$"; } More...
 
virtual paramval getParam (const paramkey &key, bool traverseChildren=true) const
 returns the value of the requested parameter or 0 (+ error message to stderr) if unknown. More...
 
virtual bool hasParam (const paramkey &key, bool traverseChildren=true) const
 Returns if the requested parameter is part of the configurable or their children. More...
 
virtual bool setParam (const paramkey &key, paramval val, bool traverseChildren=true)
 sets the value of the given parameter or does nothing if unknown. More...
 
virtual void setParamBounds (const paramkey &key, paramval minBound, paramval maxBound, bool traverseChildren=true)
 Sets the bounds (minBound and maxBound) of the given parameter. More...
 
virtual void setParamBounds (const paramkey &key, paramint minBound, paramint maxBound, bool traverseChildren=true)
 
virtual void setParamBounds (const paramkey &key, paramvalBounds bounds, bool traverseChildren=true)
 
virtual void setParamBounds (const paramkey &key, paramintBounds bounds, bool traverseChildren=true)
 
virtual paramlist getParamList () const
 The list of all parameters with there value as allocated lists. More...
 
virtual std::list< paramkeygetAllParamNames (bool traverseChildren=true)
 returns all names that are configureable More...
 
virtual parammap getParamValMap () const
 
virtual paramintmap getParamIntMap () const
 
virtual paramboolmap getParamBoolMap () const
 
virtual paramdescr getParamDescr (const paramkey &key, bool traverseChildren=true) const
 returns the description for the given parameter More...
 
virtual paramvalBounds getParamvalBounds (const paramkey &key, bool traverseChildren=true) const
 
virtual paramintBounds getParamintBounds (const paramkey &key, bool traverseChildren=true) const
 
virtual bool hasParamDescr (const paramkey &key, bool traverseChildren=true) const
 
virtual bool hasParamvalBounds (const paramkey &key, bool traverseChildren=true) const
 
virtual bool hasParamintBounds (const paramkey &key, bool traverseChildren=true) const
 
virtual bool storeCfg (const char *filenamestem, const std::list< std::string > &comments=std::list< std::string >())
 stores the key values paires into the file : filenamestem.cfg including the comments given in the list More...
 
virtual bool restoreCfg (const char *filenamestem)
 restores the key values paires from the file : filenamestem.cfg More...
 
void print (FILE *f, const char *prefix, int columns=90, bool traverseChildren=true) const
 prints the keys, values and descriptions to the file. Each line is prefixed More...
 
bool parse (FILE *f, const char *prefix=0, bool traverseChildren=true)
 parses the configuration from the given file More...
 
virtual void addConfigurable (Configurable *conf)
 Adds a configurable as a child object. More...
 
virtual void removeConfigurable (Configurable *conf)
 Removes a configurable as a child object. More...
 
virtual const configurableListgetConfigurables () const
 Returns the list containing all configurable children. More...
 
virtual void configurableChanged ()
 Indicates that the configurable itself or the configurable children attached to this configurable have changed. More...
 
- Public Member Functions inherited from BackCaller
 BackCaller ()
 
virtual ~BackCaller ()
 
virtual void addCallbackable (Callbackable *callbackableInstance, CallbackableType type=BackCaller::DEFAULT_CALLBACKABLE_TYPE)
 Adds a Callbackable instance to this caller instance. More...
 
virtual void removeCallbackable (Callbackable *callbackableInstance, CallbackableType type=BackCaller::DEFAULT_CALLBACKABLE_TYPE)
 Removes a Callbackable instance from this caller instance. More...
 
virtual void removeAllCallbackables (CallbackableType type)
 Removes all Callbackable instances from this caller instance. More...
 
virtual void callBack (CallbackableType type=BackCaller::DEFAULT_CALLBACKABLE_TYPE)
 Calls all registered callbackable classes of the determined type. More...
 
virtual void callBackQMP (CallbackableType type=BackCaller::DEFAULT_CALLBACKABLE_TYPE)
 Calls all registered callbackable classes of the determined type. More...
 
- Public Member Functions inherited from Storeable
virtual ~Storeable ()
 
bool storeToFile (const char *filename) const
 Provided for convenience. More...
 
bool restoreFromFile (const char *filename)
 Provided for convenience. More...
 
- Public Member Functions inherited from Inspectable
 Inspectable (const iparamkey &name="")
 TYPEDEFS END. More...
 
virtual ~Inspectable ()
 
virtual iparamkeylist getInternalParamNames () const
 The list of the names of all internal parameters given by getInternalParams(). More...
 
virtual iparamvallist getInternalParams () const
 
virtual iparamvalptrlist getInternalParamsPtr () const
 be careful: matrices will be ignored More...
 
virtual ilayerlist getStructuralLayers () const
 Specifies which parameter vector forms a structural layer (in terms of a neural network) The ordering is important. More...
 
virtual iconnectionlist getStructuralConnections () const
 Specifies which parameter matrix forms a connection between layers (in terms of a neural network) The orderning is not important. More...
 
virtual void addInspectableValue (const iparamkey &key, iparamval const *val, const std::string &descr=std::string())
 This is the new style for adding inspectable values. More...
 
virtual void addInspectableMatrix (const iparamkey &key, const matrix::Matrix *m, bool only4x4AndDiag=true, const std::string &descr=std::string())
 This is the new style for adding inspectable values. More...
 
virtual void addInspectableDescription (const iparamkey &key, const std::string &descr)
 adds a description for the given parameter using info-lines The line will start (appart from the #I) with a D for description followed by the key end then followed by the string. More...
 
virtual void addInfoLine (std::string infoLine)
 Adds an info line to this inspectable instance. More...
 
virtual void addInfoLines (std::list< std::string > infoLineList)
 Adds a bunch of infolines with addInfoLine to this inspectable instance. More...
 
virtual void removeInfoLines ()
 Removes all infolines from this inspectable instance. More...
 
virtual const infoLinesListgetInfoLines () const
 Returns all infolines added to this inspectable instance. More...
 
virtual void addInspectable (Inspectable *insp)
 Adds an inspectable as a child object. More...
 
virtual void removeInspectable (Inspectable *insp)
 Removes an inspectable as a child object. More...
 
virtual void setNameOfInspectable (const iparamkey &name)
 set the name of the inspectable More...
 
virtual const iparamkey getNameOfInspectable () const
 return the name of the inspectable, getName() would conflict with Configurable::getName() too often More...
 
virtual const inspectableListgetInspectables () const
 Returns the list containing all inspectable children. More...
 

Public Attributes

double eps
 learning rate for weight update More...
 

Protected Member Functions

void initNeighbourhood (double sigma)
 initialised neighbourhood More...
 
Neighbours getNeighbours (int winner)
 returns neighbourhood as a list of indices with weights More...
 
- Protected Member Functions inherited from Configurable
void copyParameters (const Configurable &, bool traverseChildren=true)
 copies the internal params of the given configurable More...
 
void printdescr (FILE *f, const char *prefix, const paramkey &key, int columns, int indent) const
 

Static Protected Member Functions

static double activationfunction (void *rdfsize, double d)
 activation function (rbf) More...
 
static bool validCoord (const matrix::Matrix &m, int size)
 checks whether the given coordinate is within the lattice More...
 
static int coordToIndex (const matrix::Matrix &m, int size)
 converts index to coordinates (size is the size of the space) More...
 
static matrix::Matrix indexToCoord (int index, int size, int dimensions)
 converts coordinates to index (size is the size of the space) More...
 

Additional Inherited Members

- Static Public Attributes inherited from Configurable
static const CallbackableType CALLBACK_CONFIGURABLE_CHANGED = 11
 
- Static Public Attributes inherited from BackCaller
static const CallbackableType DEFAULT_CALLBACKABLE_TYPE = 0
 This is the default Callbackable type. More...
 
- Protected Attributes inherited from Inspectable
iparamkey name
 
iparampairlist mapOfValues
 
imatrixpairlist mapOfMatrices
 
infoLinesList infoLineStringList
 

Detailed Description

self-organised map class.

Implementation follows normal vector-quantiser scheme. The output of the network is $exp(- |x-w_i|^2/rdfsize)$ for each neuron.

Member Typedef Documentation

typedef std::vector<std::pair<matrix::Matrix,double> > Neighbourhood
typedef std::list< std::pair<int,double> > Neighbours

Constructor & Destructor Documentation

SOM ( const std::string &  name = "SOM",
const std::string &  revision = "$Id$" 
)
SOM ( unsigned int  dimensions,
double  sigma,
double  eps,
double  rbfsize,
const std::string &  name = "SOM",
const std::string &  revision = "$Id$" 
)

create a som

Parameters
dimensionsnumber of dimensions of the neuron lattice
virtual ~SOM ( )
inlinevirtual

Member Function Documentation

double activationfunction ( void *  rdfsize,
double  d 
)
staticprotected

activation function (rbf)

int coordToIndex ( const matrix::Matrix m,
int  size 
)
staticprotected

converts index to coordinates (size is the size of the space)

virtual void damp ( double  damping)
inlinevirtual

damps the weights and the biases by multiplying (1-damping)

Implements AbstractModel.

virtual unsigned int getInputDim ( ) const
inlinevirtual

returns the number of input neurons

Implements AbstractModel.

const Neighbourhood& getNeighbourhood ( )
inline
SOM::Neighbours getNeighbours ( int  winner)
protected

returns neighbourhood as a list of indices with weights

virtual unsigned int getOutputDim ( ) const
inlinevirtual

returns the number of output neurons

Implements AbstractModel.

Matrix indexToCoord ( int  index,
int  size,
int  dimensions 
)
staticprotected

converts coordinates to index (size is the size of the space)

void init ( unsigned int  inputDim,
unsigned int  outputDim,
double  unit_map = 0.0,
RandGen randGen = 0 
)
virtual

initialised som

Parameters
inputDimdimension of input vector
outputDimnumber of outputneurons (must be a multiple of "dimensions" given at constructor)
unit_mapif zero then weights are randomly choosed, otherwise uniformly distributed in the inputspace of size (unit_map x unit_map x ...)

initialise neighbourhood

Implements AbstractModel.

void initNeighbourhood ( double  sigma)
protected

initialised neighbourhood

normalised gaussian

const Matrix learn ( const matrix::Matrix input,
const matrix::Matrix nom_output,
double  learnRateFactor = 1 
)
virtual

Implements AbstractModel.

void printWeights ( FILE *  f) const
virtual
const Matrix process ( const matrix::Matrix input)
virtual

passive processing of the input (this function is not constant since a recurrent network for example might change internal states

Implements AbstractModel.

bool restore ( FILE *  f)
virtual

loads the object from the given file stream (ASCII preferred).

Implements Storeable.

bool store ( FILE *  f) const
virtual

stores the object to the given file stream (ASCII preferred).

Implements Storeable.

bool validCoord ( const matrix::Matrix m,
int  size 
)
staticprotected

checks whether the given coordinate is within the lattice

Member Data Documentation

double eps

learning rate for weight update


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