CCL Library  1.0
ccl_learn_lambda.h
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1 
6 #ifndef __CCL_LEARN_LAMBDA_H
7 #define __CCL_LEARN_LAMBDA_H
8 
9 #include <../include/ccl_math.h>
10 #include <../include/ccl_learn_alpha.h>
11 #include <gsl/gsl_linalg.h>
12 #include <gsl/gsl_blas.h>
13 #include <gsl/gsl_math.h>
14 #include <gsl/gsl_sf.h>
15 #include <stdio.h>
16 #include <string.h>
17 #include <stdlib.h>
18 #include <time.h>
19 
21 #define NUM_CONSTRAINT 2
22 #ifdef __cplusplus
23 extern "C" {
24 #endif
25 //typedef void (*JACOBIAN)(const double*,const int,double*);
26 
33 void Jacobian(const double* X,const int size,double* out);
34 
43 
52 
65 void ccl_learn_lambda(const double * Un,const double *X,void (*J_func)(const double*,const int,double*),const int dim_b,const int dim_r,const int dim_n,const int dim_x,const int dim_u,LEARN_A_MODEL optimal);
66 
77 void predict_proj_lambda(double* x, LEARN_A_MODEL model,void (*J_func)(const double*,const int,double*),double* centres,double variance,double* Iu, double*A);
78 
83 int ccl_write_learn_lambda_model(char* filename, LEARN_A_MODEL *model);
84 #ifdef __cplusplus
85 }
86 #endif
87 #endif
88 
void Jacobian(const double *X, const int size, double *out)
Computation routine for calculating jacobian for the robot inverse kinematic.
int ccl_learn_lambda_model_alloc(LEARN_A_MODEL *model)
Allocates the memory for the learn_lambda model.
void ccl_learn_lambda(const double *Un, const double *X, void(*J_func)(const double *, const int, double *), const int dim_b, const int dim_r, const int dim_n, const int dim_x, const int dim_u, LEARN_A_MODEL optimal)
Main computation routine for learning state dependent constraint lambda.
int ccl_write_learn_lambda_model(char *filename, LEARN_A_MODEL *model)
Write model parameters to .txt file.
int ccl_learn_lambda_model_free(LEARN_A_MODEL *model)
Free the memory for the learn_lambda model.
void predict_proj_lambda(double *x, LEARN_A_MODEL model, void(*J_func)(const double *, const int, double *), double *centres, double variance, double *Iu, double *A)
Computation routine for prediction of the lambda matrix.
This structure describes a "LEARN_A_MODEL" (a learn alpha model). This structure constains the diment...
Definition: ccl_learn_alpha.h:125