#include "controller_misc.h"
#include <algorithm>

Include dependency graph for controller_misc.cpp:

Functions
double	one_over (double x)
	calculates 1/x More...

double	constant (double c, double)
	returns c (useful for Matrix::mapP to fill matrix with constant value) More...

double	power (void *c, double x)
	returns x the power c (as a double) More...

double	power3 (double x)
	power 3 for matrix::map More...

double	random_minusone_to_one (double)
	creates random number from -1 to 1 More...

double	random_minusone_to_one (void *r, double)
	creates random number from -1 to 1 More...

double	clip (double r, double x)
	clipping function for mapP More...

double	lowercutof (void *theta, double x)
	cutof function for mapP More...

double	toBinaryWithProbability (void *r, double x)
	returns -1 if probability is to low, otherwise 1 for mapP More...

double	toBinaryWithThreshold (double x, double threshold)
	returns -1 if below threshold, otherwise 1 for map2 More...

double	plus_ (double b, double a)
	plus function for mapP More...

list< D >	store4x4AndDiagonal (const Matrix &m)
	stores at least left top 4x4 submatrix (row-wise) (if exists) and then the rest of the diagonal elements into a list More...

I	store4x4AndDiagonal (const Matrix &m, D *buffer, I len)
	stores at least left top 4x4 submatrix (row-wise) (if exists) and then the rest of the diagonal elements More...

I	get4x4AndDiagonalSize (const Matrix &m)
	returns the number of elements stored by store4x4AndDiagonal (should be min(getN(),4)*min(getM(),4)+ max(0,min(getM()-4,getN()-4))) More...

list< Inspectable::iparamkey >	store4x4AndDiagonalFieldNames (const Matrix &m, const std::string &matrixName)
	writes the names of the fields stored by store4x4AndDiagonal into a list More...

I	store4x4AndDiagonalFieldNames (const Matrix &m, const std::string &matrixName, char **keylist, I len)
	stores the names of the fields stored by store4x4AndDiagonal More...

list< Inspectable::iparamkey >	storeMatrixFieldNames (const Matrix &m, const string &matrixName)

list< Inspectable::iparamkey >	storeVectorFieldNames (const Matrix &m, const string &vectorName)

I	storeMatrixFieldNames (const Matrix &m, const char matrixName, char *keylist, I len)
	stores the names of all matrix fieldnames in the order produced by convertToBuffer (row-wise) More...

I	storeVectorFieldNames (const Matrix &m, const char vectorName, char *keylist, I len)
	stores the names of all vector (mx1 or 1xn matrix) fieldnames in the order produced by convertToBuffer (row-wise) More...

Matrix	noiseMatrix (I m, I n, NoiseGenerator &ng, double strength, double unused)
	returns a Matrix with values generated by the given noise generator More...

RandGen *	splitRandGen (RandGen *randGen)
	geneterates deterministically a new random generator from the given one. More...

double	matrixNorm1 (const matrix::Matrix &m)
	calculates to linear matrix norm (sum of absolute values divided by number of values (m*n) ) More...

double	matrixNorm2 (const matrix::Matrix &m)
	calculates to square matrix norm (sum of square values divided by number of values (m*n) ) More...

matrix::Matrix	matrixNormalized (const matrix::Matrix &m)
	Matrix/matrixNorm2 ) More...

double	getKthLargestElement (Matrix &vec, I k)
	returns the k. More...

double	getKthSmallestElement (Matrix &vec, I k)
	returns the k. More...

I	argmin (const Matrix &v)
	considers the matrix as vector (mx1) and returns the index of the smallest element More...

I	argmax (const Matrix &v)
	considers the matrix as vector (mx1) and returns the index of the largest element More...

double	min (const matrix::Matrix &v)
	returns the smallest element More...

double	min (double a, double b)
	minimum function for doubles without templates More...

double	max (const matrix::Matrix &v)
	returns the largest element More...

double	max (double a, double b)
	maximum function for doubles without templates More...

I	sample (const matrix::Matrix &pdf)
	samples from the pdf (rowwise stored with sum = 1) More...

double	adapt (double p, double actual, double nominal, double up_rate, double down_rate)
	parameter adaptation algorithm. More...

double	adaptMinMax (double p, double actual, double _min, double _max, double up_rate, double down_rate)
	like adapt but that the adaption is just done if the actual value is outside the given interval (_min, _max) More...

list< Inspectable::iparamval >	convertArrayToList (double *array, int arraySize)
	Helper function for converting an array with double values to a list. More...

list< Inspectable::iparamkey >	getArrayNames (int arraySize, const char *name)
	Helper function for getting the array names of an array Is used for the method getInternalParamNames() interface inspectable. More...

Function Documentation

double adapt	(	double	p,
		double	actual,
		double	nominal,
		double	up_rate,
		double	down_rate
	)

parameter adaptation algorithm.

double adaptMinMax	(	double	p,
		double	actual,
		double	_min,
		double	_max,
		double	up_rate,
		double	down_rate
	)

like adapt but that the adaption is just done if the actual value is outside the given interval (_min, _max)

I argmax ( const Matrix & v )

considers the matrix as vector (mx1) and returns the index of the largest element

I argmin ( const Matrix & v )

considers the matrix as vector (mx1) and returns the index of the smallest element

double clip	(	double	r,
		double	x
	)

clipping function for mapP

clipping function to the interval [-r, r] (for use with mapP)

double constant	(	double	c,
		double
	)

returns c (useful for Matrix::mapP to fill matrix with constant value)

list<Inspectable::iparamval> convertArrayToList	(	double *	array,
		int	arraySize
	)

Helper function for converting an array with double values to a list.

Is used for the method getInternalParams() interface inspectable.

I get4x4AndDiagonalSize ( const Matrix & m )

returns the number of elements stored by store4x4AndDiagonal (should be min(getN(),4)*min(getM(),4)+ max(0,min(getM()-4,getN()-4)))

list<Inspectable::iparamkey> getArrayNames	(	int	arraySize,
		const char *	name
	)

Helper function for getting the array names of an array Is used for the method getInternalParamNames() interface inspectable.

double getKthLargestElement	(	matrix::Matrix &	matrix,
		matrix::I	k
	)

returns the k.

largest element of the matrix Attention: it will detroy the given matrix! (sorting) Assumption: k>0 and k<=matrixsize

double getKthSmallestElement	(	matrix::Matrix &	matrix,
		matrix::I	k
	)

returns the k.

smallest element of the matrix Attention: it will detroy the given matrix! (sorting) Assumption: k>0 and k<=matrixsize

double lowercutof	(	void *	theta,
		double	x
	)

cutof function for mapP

double matrixNorm1 ( const matrix::Matrix & m )

calculates to linear matrix norm (sum of absolute values divided by number of values (m*n) )

double matrixNorm2 ( const matrix::Matrix & m )

calculates to square matrix norm (sum of square values divided by number of values (m*n) )

matrix::Matrix matrixNormalized ( const matrix::Matrix & m )

Matrix/matrixNorm2 )

double max ( const matrix::Matrix & v )

returns the largest element

double max	(	double	a,
		double	b
	)

maximum function for doubles without templates

double min ( const matrix::Matrix & v )

returns the smallest element

Examples:: sphererobot3masses.cpp.

double min	(	double	a,
		double	b
	)

minimum function for doubles without templates

Matrix noiseMatrix	(	I	m,
		I	n,
		NoiseGenerator &	ng,
		double	strength,
		double	unused
	)

returns a Matrix with values generated by the given noise generator

double one_over ( double x )

calculates 1/x

double plus_	(	double	b,
		double	a
	)

plus function for mapP

double power	(	void *	c,
		double	x
	)

returns x the power c (as a double)

double power3 ( double x )

power 3 for matrix::map

double random_minusone_to_one ( double )

creates random number from -1 to 1

double random_minusone_to_one	(	void *	r,
		double
	)

creates random number from -1 to 1

I sample ( const matrix::Matrix & pdf )

samples from the pdf (rowwise stored with sum = 1)

RandGen* splitRandGen ( RandGen * randGen )

geneterates deterministically a new random generator from the given one.

If null then rand() is used for the seed;

list<D> store4x4AndDiagonal ( const matrix::Matrix & m )

stores at least left top 4x4 submatrix (row-wise) (if exists) and then the rest of the diagonal elements into a list

Returns: list of values

I store4x4AndDiagonal	(	const matrix::Matrix &	m,
		matrix::D *	buffer,
		matrix::I	len
	)

stores at least left top 4x4 submatrix (row-wise) (if exists) and then the rest of the diagonal elements

Parameters

m	matrix to be stored
len	Length of the provided buffer (should be min(getN(),4)*min(getM(),4)+ max(0,min(getM()-4,getN()-4)))

Returns: number of actually written elements

list<Inspectable::iparamkey> store4x4AndDiagonalFieldNames	(	const matrix::Matrix &	m,
		const std::string &	matrixName
	)

writes the names of the fields stored by store4x4AndDiagonal into a list

Parameters

m	matrix to be stored
matrixName	name of the matrix (prefix for all fields)

Returns: list of keys

I store4x4AndDiagonalFieldNames	(	const matrix::Matrix &	m,
		const std::string &	matrixName,
		char **	keylist,
		matrix::I	len
	)

stores the names of the fields stored by store4x4AndDiagonal

Parameters

m	matrix to be stored
matrixName	name of the matrix (prefix for all fields)
keylist	list for field names
len	Length of the provided buffer (should be min(getN(),4)*min(getM(),4)+ max(0,min(getM()-4,getN()-4)))

Returns: number of actually written elements

list<Inspectable::iparamkey> storeMatrixFieldNames	(	const Matrix &	m,
		const string &	matrixName
	)

I storeMatrixFieldNames	(	const matrix::Matrix &	m,
		const char *	matrixName,
		char **	keylist,
		matrix::I	len
	)

stores the names of all matrix fieldnames in the order produced by convertToBuffer (row-wise)

Parameters

m	matrix to be stored
matrixName	name of the matrix (prefix for all fields)
keylist	list for field names
len	Length of the provided buffer (should be getN()*getM()

Returns: number of actually written elements

list<Inspectable::iparamkey> storeVectorFieldNames	(	const Matrix &	m,
		const string &	vectorName
	)

I storeVectorFieldNames	(	const matrix::Matrix &	m,
		const char *	vectorName,
		char **	keylist,
		matrix::I	len
	)

stores the names of all vector (mx1 or 1xn matrix) fieldnames in the order produced by convertToBuffer (row-wise)

Parameters

m	vector to be stored
vectorName	name of the vector (prefix for all fields)
keylist	list for field names
len	Length of the provided buffer (should be getM())

Returns: number of actually written elements

double toBinaryWithProbability	(	void *	r,
		double	x
	)

returns -1 if probability is to low, otherwise 1 for mapP

double toBinaryWithThreshold	(	double	x,
		double	threshold
	)

returns -1 if below threshold, otherwise 1 for map2

Functions

Function Documentation