CCL header file for learning state independent constraint. More...

#include <ccl_math.h>
#include <stdio.h>
#include <string.h>
#include <stdlib.h>
#include <gsl/gsl_linalg.h>
#include <gsl/gsl_blas.h>
#include <gsl/gsl_math.h>
#include <gsl/gsl_sf.h>

Data Structures
struct	NHAT_search
	This structure defines the searching parameters for NHAT_search. More...

struct	NHAT_Model
	This structure defines the model parameters for NHAT_Model. More...

struct	NHAT_result
	This structure defines the model parameters for NHAT_result. More...

Macros
#define	NUM_SEARCH 27000

#define	NUM_CONSTRAINT 4

Functions
int	init_search_param (NHAT_search *search, int dim_u, int dim_n, int num_theta)
	Initialisation of the searching parameters. More...

int	nhat_mem_alloc_search (NHAT_search *search)
	Allocates the memory for NHAT_search. More...

int	nhat_mem_free_search (NHAT_search *search)
	Free the memory for NHAT_search. More...

int	nhat_mem_alloc_model (NHAT_Model model, const NHAT_search search)
	Allocates the memory for NHAT_Model. More...

int	nhat_mem_free_model (NHAT_Model *model)
	Free the memory for NHAT_Model. More...

int	nhat_duplicate_model (NHAT_Model dest, const NHAT_Model src)
	Duplicate the NHAT_Model model from src to dest. More...

void	get_unit_vector (const double theta, int dim_t, double alpha)
	Computation routine for generating unit vector for row vector alpha by given theta anlges. More...

void	generate_search_space (NHAT_search *search)
	Generate search space. More...

void	search_first_alpha (const double Vn, const double Un, NHAT_Model model, const NHAT_search search, double *stats)
	Search first row of A matrix. More...

void	search_alpha_nhat (const double Vn, const double Un, NHAT_Model model, const NHAT_search search, NHAT_Model model_out, double stats)
	Search the rest rows of A matrix. More...

void	learn_nhat (const double Un, const int dim_u, const int dim_n, NHAT_Model optimal)
	Main computation routine for learn nhat. More...

void	calclate_N (double N, const double A, int row, int col)
	Calculation of nullspace projection matrix. More...

int	nhat_mem_alloc_result (NHAT_Model *model, const NHAT_search search, int dim_c)
	Allocates the memory for model results. More...

int	nhat_mem_free_result (NHAT_result *result, int n_models)
	Free the memory for model results. More...

int	nhat_mem_alloc_optimal (NHAT_Model *optimal, const NHAT_search search, int dim_c)
	Allocates the memory for optimal model. More...

int	nhat_mem_free_optimal (NHAT_Model *optimal)
	Free the memory for optimal model. More...

Detailed Description

CCL header file for learning state independent constraint.

Macro Definition Documentation

#define NUM_CONSTRAINT 4

NUM_CONSTRAINT is the default full rank of the task constraint

#define NUM_SEARCH 27000

NUM_SEARCH is the search dimension

Function Documentation

void calclate_N	(	double *	N,
		const double *	A,
		int	row,
		int	col
	)

Calculation of nullspace projection matrix.

Parameters

[in]	A	Constraint matrix, must point to an array of dim_u dim_u doubles*
[in]	row	Number of rows
[in]	col	Number of cols
[out]	N	Projection matrix

void generate_search_space ( NHAT_search * search )

Generate search space.

Parameters

[in]	search	Must point to a valid NHAT_search structure
[out]	search	Must point to a valid NHAT_search structure

void get_unit_vector	(	const double *	theta,
		int	dim_t,
		double *	alpha
	)

Computation routine for generating unit vector for row vector alpha by given theta anlges.

Parameters

[in]	theta	Learned constraint parameters, must point to an array of 1 dim_t doubles*
[in]	dim_t	Number of constraint parameters
[out]		A uit vector of constraint basis, must point to an array of 1 dim_u doubles*

int init_search_param	(	NHAT_search *	search,
		int	dim_u,
		int	dim_n,
		int	num_theta
	)

Initialisation of the searching parameters.

Parameters

[in]	search	Must be pointer to a valid NHAT_search structure
[in]	dim_u	Dimensionality of action space
[in]	dim_n	Number of data samples
[in]	num_theta	Number of candidate constraints (from 0 to pi)

Returns

1 in case of succes
0 in case of failure (e.g. memory could not be initialised)

void learn_nhat	(	const double *	Un,
		const int	dim_u,
		const int	dim_n,
		NHAT_Model *	optimal
	)

Main computation routine for learn nhat.

Parameters

[in]	Un	Observed actions
[in]	dim_u	Dimensionality of action space
[in]	dim_n	Number of data samples
[out]	optimal	Must point to a valid NHAT_Model structure

int nhat_duplicate_model	(	NHAT_Model *	dest,
		const NHAT_Model *	src
	)

Duplicate the NHAT_Model model from src to dest.

Parameters

[in]	dest	Must point to a valid NHAT_Model structure
[in]	src	Must point to a valid NHAT_Model structure

Returns

1 in case of succes
0 in case of failure (e.g. memory could not be duplicated)

int nhat_mem_alloc_model	(	NHAT_Model *	model,
		const NHAT_search *	search
	)

Allocates the memory for NHAT_Model.

Parameters

[in]	model	Must point to a valid NHAT_Model structure
[in]	search	Must point to a valid NHAT_search structure

Returns

1 in case of succes
0 in case of failure (e.g. memory could not be allocated)

int nhat_mem_alloc_optimal	(	NHAT_Model *	optimal,
		const NHAT_search	search,
		int	dim_c
	)

Allocates the memory for optimal model.

Parameters

[in]	optimal	Must point to a valid NHAT_Model structure
[in]	search	Must point to a valid NHAT_search structure
[in]	dim_c	Current dimension of constraints

Returns

1 in case of succes
0 in case of failure (e.g. memory could not be allocated for the optimal)

int nhat_mem_alloc_result	(	NHAT_Model *	model,
		const NHAT_search	search,
		int	dim_c
	)

Allocates the memory for model results.

Parameters

[in]	model	Must point to a valid NHAT_Model structure
[in]	search	Must point to a valid NHAT_search structure
[in]	dim_c	Current dimension of constraints

Returns

1 in case of succes
0 in case of failure (e.g. memory could not be allocated for the results)

int nhat_mem_alloc_search ( NHAT_search * search )

Allocates the memory for NHAT_search.

Parameters

[in] search Must point to a valid NHAT_search structure

Returns

1 in case of succes
0 in case of failure (e.g. memory could not be allocated)

int nhat_mem_free_model ( NHAT_Model * model )

Free the memory for NHAT_Model.

Parameters

[in] model Must point to a valid NHAT_Model structure

Returns

1 in case of succes
0 in case of failure (e.g. memory could not be freed)

int nhat_mem_free_optimal ( NHAT_Model * optimal )

Free the memory for optimal model.

Parameters

[in] optimal Must point to a valid NHAT_Model structure

Returns

1 in case of succes
0 in case of failure (e.g. memory could not be freed for the optimal)

int nhat_mem_free_result	(	NHAT_result *	result,
		int	n_models
	)

Free the memory for model results.

Parameters

[in]	result	Must point to a valid NHAT_result structure
[in]	n_models	Number of constraints

Returns

1 in case of succes
0 in case of failure (e.g. memory could not be freed for the results)

int nhat_mem_free_search ( NHAT_search * search )

Free the memory for NHAT_search.

Parameters

[in] search Must point to a valid NHAT_search structure

Returns

1 in case of succes
0 in case of failure (e.g. memory could not be freed)

void search_alpha_nhat	(	const double *	Vn,
		const double *	Un,
		NHAT_Model *	model,
		const NHAT_search *	search,
		NHAT_Model *	model_out,
		double *	stats
	)

Search the rest rows of A matrix.

Parameters

[in]	Vn	Pre-calculation of Un*Un'
[in]	Un	Observed actions
[in]	model	Must point to a valid NHAT_Model structure from a previous model
[in]	search	Must point to a valid NHAT_search structure
[out]	model	Must point to a valid NHAT_Model structure
[out]	stats	Statistics of model learning

void search_first_alpha	(	const double *	Vn,
		const double *	Un,
		NHAT_Model *	model,
		const NHAT_search *	search,
		double *	stats
	)

Search first row of A matrix.

Parameters

[in]	Vn	Pre-calculation of Un*Un'
[in]	Un	Observed actions
[in]	search	Must point to a valid NHAT_search structure
[out]	model	Must point to a valid NHAT_Model structure
[out]	stats	Statistics of model learning

Data Structures

Macros

Functions

Detailed Description

Macro Definition Documentation

Function Documentation