controller_misc.cpp File Reference

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

Include dependency graph for controller_misc.cpp:

Functions
double	one_over (double x)
	calculates 1/x
double	constant (double c, double)
	returns c (useful for Matrix::mapP to fill matrix with constant value)
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
double	clip (double r, double x)
	clipping function to the interval [-r, r] (for use with mapP)
double	lowercutof (void *theta, double x)
	cutof function for mapP
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
double	plus_ (double b, double a)
	plus function for mapP
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
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
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 >	store4x4AndDiagonalFieldNames (const Matrix &m, const std::string &matrixName)
	writes the names of the fields stored by store4x4AndDiagonal into a list
I	store4x4AndDiagonalFieldNames (const Matrix &m, const std::string &matrixName, char **keylist, I len)
	stores the names of the fields stored by store4x4AndDiagonal
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 the all matrix fieldnames produces by convertToBuffer
I	storeVectorFieldNames (const Matrix &m, const char *vectorName, char **keylist, I len)
	stores the names of the all vector (mx1 matrix) fieldnames produces by convertToBuffer
Matrix	noiseMatrix (I m, I n, NoiseGenerator &ng, double strength, double unused)
	returns a Matrix with values generated by the given noise generator
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) )
double	getKthLargestElement (Matrix &vec, I k)
	returns the k.
double	getKthSmallestElement (Matrix &vec, I k)
	returns the k.
I	argmin (const Matrix &v)
	considers the matrix as vector (mx1) and returns the index of the smallest element
I	argmax (const Matrix &v)
	considers the matrix as vector (mx1) and returns the index of the largest element
double	min (const matrix::Matrix &v)
	returns the smallest element
double	min (double a, double b)
	minimum function for doubles without templates
double	max (const matrix::Matrix &v)
	returns the largest element
double	max (double a, double b)
	maximum function for doubles without templates
I	sample (const matrix::Matrix &pdf)
	samples from the pdf (rowwise stored with sum = 1)
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)
list< Inspectable::iparamval >	convertArrayToList (double *array, int arraySize)
	Helper function for converting an array with double values to a list.
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.

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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 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) )

double max	(	double	a,
		double	b
	)

maximum function for doubles without templates

double max

(

const matrix::Matrix &

v

)

returns the largest element

double min	(	double	a,
		double	b
	)

minimum function for doubles without templates

double min

(

const matrix::Matrix &

v

)

returns the smallest element

Examples:

sphererobot3masses.cpp.

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 random_minusone_to_one	(	void *	r,
		double
	)

creates random number from -1 to 1

double random_minusone_to_one

(

double

)

creates random number from -1 to 1

I sample

(

const matrix::Matrix &

pdf

)

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

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<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 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> 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)
	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

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

stores the names of the all matrix fieldnames produces by convertToBuffer

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> storeMatrixFieldNames	(	const Matrix &	m,
		const string &	matrixName
	)

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

stores the names of the all vector (mx1 matrix) fieldnames produces by convertToBuffer

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

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

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

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