Class Learn

java.lang.Object
  |
  +--Learn

class Learn

extends java.lang.Object

Author:

Erhan Oztop, 2001-2002

Source code by Erhan Oztop (erhan@atr.co.jp)
Copyright August 2002 via
University of Southern California Ph.D. publication copyright

Field Summary

(package private) static int	AFFRES
(package private) static boolean	COPYCON
(package private) static double	decay
static java.lang.String	fname
(package private) static int	graspCount
static int	hiddim
static ParamsNode	hidtimeSeries
static int	indim
private static java.lang.String	info
private static double	initialdist
(package private) static double[]	lastout
private static Point3d	lastpos
static double	learningdecrease
static double	learningincrease
static double	learningrate
static int	MAX_sample
static int	MAX_timeslot
static int	MAX_unit
static int	MAXmirror
static int	MAXobj
static double	momentum
(package private) static NDisp	ndisp
(package private) static int	OBJRES
static java.io.DataOutputStream	out
static int	outdim
static ParamsNode	outtimeSeries
static java.lang.String[]	params
static ParamsNode	parnode
private static int	patc
static int	shuffledInputCount
static int	splineRepresentationRes
private static int	status

Constructor Summary

Learn()

Method Summary

private static double	chopNeg(double v)
static void	close()
static void	collect(Hand hand, Graspable obj)
(package private) static double	F(double decay, double max, double oth)
static double[]	formInputArray(Hand hand, Graspable obj)
static java.lang.String	formMirrorPattern(int affordance)
static double[]	formObjectIDArray(int ID)
static java.lang.String	formObjectIDPattern(int ID)
(package private) static double[]	formObjectSizeArray(int len, double objaper, double decay)
(package private) static java.lang.String	formObjectSizePattern(int len, double objaper, double decay)
(package private) static java.lang.String	formShuffledObjectSizePattern(int len, double objaper, double decay)
static java.lang.String	formShuffledPattern(Hand hand, Graspable obj)
static double[]	formSplineArray(Hand hand, Graspable obj)
static java.lang.String	formSplinePattern(Hand hand, Graspable obj)
static double[]	formZeroArray(int c)
static void	getTimeSeries(double[] inp, double[] hid, double[] out)
static java.lang.String	interpret(double[] ans)
static java.lang.String[]	makeString(java.lang.String base, int c)
(package private) static double	objectSizeCode(int len, double aper, double decay, int i)
static void	prepareForPattern()
static java.lang.String	recognize(BP bp, Hand hand, Graspable obj, java.lang.String gname)
static void	reset()
static void	showParSplines(java.lang.String gname)
static void	showtimeSeries(java.lang.String gname)
private static void	writeHeader(Hand hand, Graspable obj)
static void	writeNegPattern(Hand hand, Graspable obj)
static void	writeNegPattern(Hand hand, Graspable obj, java.lang.String ss)
static void	writeout(java.io.DataOutputStream out, java.lang.String s)
static void	writePattern(Hand hand, Graspable obj)
static void	writePattern(Hand hand, Graspable obj, java.lang.String ss)
static void	writeRandomized(int K, Hand hand, Graspable obj)

Methods inherited from class java.lang.Object

, clone, equals, finalize, getClass, hashCode, notify, notifyAll, registerNatives, toString, wait, wait, wait

Field Detail

shuffledInputCount

public static final int shuffledInputCount

MAX_sample

public static final int MAX_sample

MAX_timeslot

public static final int MAX_timeslot

MAX_unit

public static final int MAX_unit

params

public static java.lang.String[] params

MAXobj

public static int MAXobj

MAXmirror

public static int MAXmirror

decay

static final double decay

AFFRES

static final int AFFRES

OBJRES

static final int OBJRES

splineRepresentationRes

public static int splineRepresentationRes

indim

public static int indim

outdim

public static int outdim

hiddim

public static int hiddim

out

public static java.io.DataOutputStream out

fname

public static java.lang.String fname

status

private static int status

initialdist

private static double initialdist

patc

private static int patc

lastpos

private static Point3d lastpos

info

private static java.lang.String info

parnode

public static ParamsNode parnode

hidtimeSeries

public static ParamsNode hidtimeSeries

outtimeSeries

public static ParamsNode outtimeSeries

COPYCON

static final boolean COPYCON

learningrate

public static double learningrate

momentum

public static double momentum

learningincrease

public static double learningincrease

learningdecrease

public static double learningdecrease

graspCount

static int graspCount

lastout

static double[] lastout

ndisp

static NDisp ndisp

Constructor Detail

Learn

public Learn()

Method Detail

reset

public static void reset()

writeout

public static void writeout(java.io.DataOutputStream out,
                            java.lang.String s)
                     throws java.io.IOException

prepareForPattern

public static void prepareForPattern()

chopNeg

private static double chopNeg(double v)

collect

public static void collect(Hand hand,
                           Graspable obj)

writePattern

public static void writePattern(Hand hand,
                                Graspable obj)

writeNegPattern

public static void writeNegPattern(Hand hand,
                                   Graspable obj)

writeNegPattern

public static void writeNegPattern(Hand hand,
                                   Graspable obj,
                                   java.lang.String ss)

writePattern

public static void writePattern(Hand hand,
                                Graspable obj,
                                java.lang.String ss)

writeHeader

private static void writeHeader(Hand hand,
                                Graspable obj)
                         throws java.io.IOException

close

public static void close()

showParSplines

public static void showParSplines(java.lang.String gname)

writeRandomized

public static void writeRandomized(int K,
                                   Hand hand,
                                   Graspable obj)
                            throws java.io.IOException

formShuffledPattern

public static java.lang.String formShuffledPattern(Hand hand,
                                                   Graspable obj)

formInputArray

public static double[] formInputArray(Hand hand,
                                      Graspable obj)

objectSizeCode

static double objectSizeCode(int len,
                             double aper,
                             double decay,
                             int i)

formObjectSizePattern

static java.lang.String formObjectSizePattern(int len,
                                              double objaper,
                                              double decay)

formObjectSizeArray

static double[] formObjectSizeArray(int len,
                                    double objaper,
                                    double decay)

formShuffledObjectSizePattern

static java.lang.String formShuffledObjectSizePattern(int len,
                                                      double objaper,
                                                      double decay)

F

static double F(double decay,
                double max,
                double oth)

formSplineArray

public static double[] formSplineArray(Hand hand,
                                       Graspable obj)

formSplinePattern

public static java.lang.String formSplinePattern(Hand hand,
                                                 Graspable obj)

formObjectIDPattern

public static java.lang.String formObjectIDPattern(int ID)

formObjectIDArray

public static double[] formObjectIDArray(int ID)

formMirrorPattern

public static java.lang.String formMirrorPattern(int affordance)

formZeroArray

public static double[] formZeroArray(int c)

showtimeSeries

public static void showtimeSeries(java.lang.String gname)

makeString

public static java.lang.String[] makeString(java.lang.String base,
                                            int c)

getTimeSeries

public static void getTimeSeries(double[] inp,
                                 double[] hid,
                                 double[] out)

interpret

public static java.lang.String interpret(double[] ans)

recognize

public static java.lang.String recognize(BP bp,
                                         Hand hand,
                                         Graspable obj,
                                         java.lang.String gname)