Robot Simulator of the Robotics Group for Self-Organization of Control
0.8.0
|
#include <cmath>
#include <selforg/controller_misc.h>
Go to the source code of this file.
Functions | |
double | sqr (double x) |
double | g (double z) |
neuron transfer function More... | |
double | g_s (double z) |
first dervative More... | |
double | g_derivative (double z) |
first dervative with smoothing for large z More... | |
double | g_s_inv (double z) |
inverse of the first derivative More... | |
double | g_s (double z, double xsi) |
with additional clipping More... | |
double | g_s_soft (double z, double xsi) |
soft version:
with additional clipping More... | |
double | g_ss_div_s (double z, double xsi) |
an exact formula for g''/g'= -2g(Z), with clipped Z = z+xsi More... | |
double | g_ss_div_s_soft (double z, double xsi) |
an soft formula for g''/g' = -2Z, with clipped Z = z+xsi More... | |
double | derive_g_s_inv_exact_clip (double z, double xsi) |
with
we get
again with clipped Z More... | |
double | g_s_expand2 (double z, double xsi) |
which is the series expansion to the second order More... | |
double | g_s_inv_expand2 (double z, double xsi) |
with geometric series approximation More... | |
double | g_ss_div_s_expand2 (double z, double xsi) |
with geometric series approximation More... | |
double | squash (double z) |
squashing function (-0.1 to 0.1), to protect against to large weight updates More... | |
double | squash (void *d, double z) |
squashing function with adjustable clipping size, to protect against too large weight updates More... | |
|
inline |
with
we get
again with clipped Z
|
inline |
neuron transfer function
|
inline |
first dervative with smoothing for large z
|
inline |
first dervative
|
inline |
with additional clipping
|
inline |
which is the series expansion to the second order
|
inline |
inverse of the first derivative
|
inline |
with geometric series approximation
|
inline |
soft version:
with additional clipping
|
inline |
an exact formula for g''/g'= -2g(Z), with clipped Z = z+xsi
|
inline |
with geometric series approximation
|
inline |
an soft formula for g''/g' = -2Z, with clipped Z = z+xsi
|
inline |
|
inline |
squashing function (-0.1 to 0.1), to protect against to large weight updates
|
inline |
squashing function with adjustable clipping size, to protect against too large weight updates