6 #ifndef __CCL_LEARN_LAMBDA_H
7 #define __CCL_LEARN_LAMBDA_H
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>
21 #define NUM_CONSTRAINT 2
33 void Jacobian(
const double* X,
const int size,
double* out);
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);
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);
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