void motionModel_exportEach(string path_save, m_Motion motion)
{
List <m_Motion> motion_list = new List <m_Motion>();
motion_list.Add(motion);
TheMapData.saveXML_Motion(path_save, motion_list);
}
//Output is f2 and so on
void selectCandidate_withText(
string path_saveFolder,
int methodSelection, int loopTime)
{
temp_summary.Clear();
DateTime time_start = DateTime.Now;
String name = TheTool.getFileName_byPath(path_saveFolder);
TheTool.Folder_CreateIfMissing(path_saveFolder);
path_saveFolder = path_saveFolder + @"\";
//-----------------
string path_prefix = path_saveFolder + name + " Quality fi";
List <Feature> list_S0 = model_generator.process02_selectCandidate(path_prefix, methodSelection, loopTime);
temp_posture_current = TheMapData.convertfeaturelist_to_ListIf(list_S0);//add model
temp_score_regession = model_generator.score_regression_summary;
//-----------------
int i = 1;
foreach (Feature f in list_S0)
{
temp_summary.Add(getSummarizedFeature(i, f));
i++;
}
//============================================
int timespan = (int)DateTime.Now.Subtract(time_start).TotalMilliseconds;
//----------------
summary_total.Add("----- " + name + " (" + timespan + " ms) -----");
summary_total.AddRange(temp_summary);
}
void loadData(m_If i)
{
i.type = TheMapData.if_type_FlexionAngle;
i.v = TheMapData.getJointName_byDef(comboJ1.Text);
i.opt = TheMapData.convertOpt_getMath_byDef(comboOpt.Text);
i.value_d = TheTool.adjustRange(TheTool.getDouble(txtValue.Text), 0, 360);
}
public void editIf(m_If i_origin)
{
try
{
addNew = false;
this.Title = "Edit Change-from-Initial Condition";
butAdd.Content = "Edit";
//
comboJ1.Text = TheMapData.getJointDef(i_origin.v);
this.i_origin = i_origin;
int value = (int)(i_origin.value_d * 100);
comboDirect.Text = TheMapData.moveMoveDirection_getDef_byAxisDirection(i_origin.axis, 1);
if (value >= 0)
{
comboOpt.Text = TheMapData.convertOpt_getDef_byMath(i_origin.opt, false);
txtValue.Text = value.ToString();
}
else
{
comboOpt.Text = TheMapData.convertOpt_getDef_byMath(i_origin.opt, true);
txtValue.Text = (-value).ToString();
}
}
catch (Exception ex) { TheSys.showError(ex); }
}
public static void motionModel_add1Posture(m_Motion target, List <m_If> rule)
{
if (target.inputs.Count > 0)
{
target.inputs.Add(TheMapData.get_m_If_TimeWithin(1)); //Add Time Within
}
target.inputs.AddRange(rule);
}
public void editIf(m_If i_origin)
{
addNew = false;
this.Title = "Edit Flexion Angle Condition";
butAdd.Content = "Edit";
this.i_origin = i_origin;
//
comboJ1.Text = TheMapData.getJointDef(i_origin.v);
comboOpt.Text = TheMapData.convertOpt_getDef_byMath(i_origin.opt, i_origin.axis, i_origin.value_d);
txtValue.Text = i_origin.value_d.ToString();
}
void loadData(m_If i)
{
int move_direction = comboDirect.SelectedIndex;
int reverse = TheMapData.moveMoveDirection_list[move_direction].direction;
double v_modified = TheTool.getDouble(txtValue.Text) / 100;
v_modified *= reverse;
i.type = TheMapData.if_type_Change;
i.v = TheMapData.getJointName_byDef(comboJ1.Text);
i.axis = TheMapData.moveMoveDirection_list[move_direction].axis;
i.value_d = v_modified;
i.opt = TheMapData.convertOpt_getMath_byDef(comboOpt.Text, i.axis, i.value_d);
}
void loadData(m_If i)
{
i.type = TheMapData.if_type_SphereAngle;
i.value = TheMapData.then_SphereAngle_Polar;
if (comboAngle.SelectedIndex == 1)
{
i.value = TheMapData.then_SphereAngle_Azimuth;
}
i.v = TheMapData.getJointName_byDef(comboJ1.Text);
i.v2 = TheMapData.getJointName_byDef(comboJ2.Text);
i.opt = TheMapData.convertOpt_getMath_byDef(comboOpt.Text);
i.value_d = TheTool.adjustRange(TheTool.getDouble(txtValue.Text), 0, 360);
}
void loadData(m_If i)
{
i.type = TheMapData.if_type_2Joint;
i.v = TheMapData.getJointName_byDef(comboJ1.Text);
i.v2 = TheMapData.getJointName_byDef(comboJ2.Text);
i.axis = TheMapData.relation_getAxis_byDef(comboRelative.Text);
i.opt = TheMapData.convertOpt_getMath_byDef(comboOpt.Text, i.axis, i.value_d);
double v = TheTool.getDouble(txtValue.Text);
v *= TheMapData.relation_getDirection_byDef(i.axis, comboRelative.Text);
v /= 100;
i.value_d = v;
}
public void editIf(m_If i_origin)
{
addNew = false;
this.Title = "Edit Relative Joints Condition";
butAdd.Content = "Edit";
this.i_origin = i_origin;
//
comboJ1.Text = TheMapData.getJointDef(i_origin.v);
comboJ2.Text = TheMapData.getJointDef(i_origin.v2);
comboRelative.Text = TheMapData.relation_getDef_byAxisValue(i_origin.axis, i_origin.value_d);
comboOpt.Text = TheMapData.convertOpt_getDef_byMath(i_origin.opt, i_origin.axis, i_origin.value_d);
txtValue.Text = (Math.Abs(i_origin.value_d) * 100).ToString();
}
public void editIf(m_If i_origin)
{
addNew = false;
this.Title = "Edit Spherical Angle Condition";
butAdd.Content = "Edit";
this.i_origin = i_origin;
//
if (i_origin.value == TheMapData.then_SphereAngle_Azimuth)
{
comboAngle.SelectedIndex = 1;
}
else
{
comboAngle.SelectedIndex = 0;
}
comboJ1.Text = TheMapData.getJointDef(i_origin.v);
comboJ2.Text = TheMapData.getJointDef(i_origin.v2);
comboOpt.Text = TheMapData.convertOpt_getDef_byMath(i_origin.opt, i_origin.axis, i_origin.value_d);
txtValue.Text = i_origin.value_d.ToString();
}
private void but_dbBrowse_Click(object sender, RoutedEventArgs e)
{
Nullable <bool> openDialog = TheTool.openFileDialog_01(false, ".xml", default_path);
if (openDialog == true)
{
try
{
file_path_motionDB = TheTool.dialog.FileName;
list_motions = TheMapData.loadXML_motion(file_path_motionDB);
txtDB.Content = "Motion: " + list_motions.Count();
if (list_motions.Count() > 0)
{
butAnalyze.IsEnabled = true;
}
else
{
butAnalyze.IsEnabled = false;
}
}
catch (Exception ex) { TheSys.showError(ex); }
}
}
//as a result new_f.v is optimized
//current_rules remain the same as Feature is removed after testing
//MAIN Output : new_f with optimized v
void process02sub_optimizeFeature(List <m_If> current_rules, ref Feature new_f
, ref double best_scoreTRUE, ref double best_scoreFALSE, ref double best_scoreTotal)
{
double best_threshold = new_f.v;
current_rules.Add(TheMapData.convertFeature_to_If(new_f));
process02sub_computeScore(current_rules, ref best_scoreTRUE, ref best_scoreFALSE, ref best_scoreTotal);
current_rules.RemoveAt(current_rules.Count - 1);
int feature_num = current_rules.Count + 1;
score_regression_summary.Add(feature_num + "," + new_f.name + "," + new_f.v
+ "," + best_scoreTotal + "," + best_scoreTRUE + "," + best_scoreFALSE);
//-----------
if (selection_optimizeThreshold)
{
if (feature_num > 1 && selection_avoidGabage && best_scoreTotal < previous_scoreTotal)
{
//first threshold show that this feature could drop the performance
//do not enhance this feature, just eliminate let's further process eliminate it
}
else
{
while (best_scoreTotal < 100)
{
Feature f_a = new Feature();
f_a.name = new_f.name;
f_a.opt = new_f.opt;
f_a.v = Math.Round(new_f.v + new_f.momentum, 2);
double f_a_scoreTRUE = 0; double f_a_scoreFALSE = 0; double f_a_scoreTotal = 0;
current_rules.Add(TheMapData.convertFeature_to_If(f_a));
process02sub_computeScore(current_rules, ref f_a_scoreTRUE, ref f_a_scoreFALSE, ref f_a_scoreTotal);
current_rules.RemoveAt(current_rules.Count - 1);
this.score_regression_summary.Add(",," + f_a.v + "," + f_a_scoreTotal + "," + f_a_scoreTRUE + "," + f_a_scoreFALSE);
//
Feature f_b = new Feature();
f_b.name = new_f.name;
f_b.opt = new_f.opt;
f_b.v = Math.Round(new_f.v - new_f.momentum, 2);
double f_b_scoreTRUE = 0; double f_b_scoreFALSE = 0; double f_b_scoreTotal = 0;
current_rules.Add(TheMapData.convertFeature_to_If(f_b));
process02sub_computeScore(current_rules, ref f_b_scoreTRUE, ref f_b_scoreFALSE, ref f_b_scoreTotal);
current_rules.RemoveAt(current_rules.Count - 1);
this.score_regression_summary.Add(",," + f_b.v + "," + f_b_scoreTotal + "," + f_b_scoreTRUE + "," + f_b_scoreFALSE);
//
if (f_a_scoreTotal <= best_scoreTotal && f_b_scoreTotal <= best_scoreTotal)
{
break;
}
else
{
//At least one of them better than current threshold
if (f_a_scoreTotal > f_b_scoreTotal)
{
best_scoreTotal = f_a_scoreTotal;
best_scoreTRUE = f_a_scoreTRUE;
best_scoreFALSE = f_a_scoreFALSE;
new_f.v = f_a.v;
}
else
{
best_scoreTotal = f_b_scoreTotal;
best_scoreTRUE = f_b_scoreTRUE;
best_scoreFALSE = f_b_scoreFALSE;
new_f.v = f_b.v;
}
new_f.momentum /= 2;
if (new_f.momentum <= .01)
{
new_f.momentum = .01;
}
new_f.momentum = Math.Round(new_f.momentum, 2);
}
}
}
}
}
//path_prefix = "" if no export needed
//looptime is negative in case auto
public List <Feature> process02_selectCandidate(string path_prefix, int methodSelection, int loopTime)
{
// F: threshold not needed, so just string
// S: threshold is needed, so use Feature
this.score_regression_summary = new List <String>();//keep summary
String selected;
List <string> local_list_F = new List <string>();
List <Feature> local_list_S0 = new List <Feature>();
List <string> local_list_S = new List <string>();
List <m_If> local_rules_forTest = new List <m_If>();
double best_scoreTRUE = 0; double best_scoreFALSE = 0; double best_scoreTotal = 0;
//-- add first feature----------
Feature local_first_S = new Feature();
if (methodSelection == TheEntropy.methodSelection_DCFS)
{
local_list_F.AddRange(DCFS_first_list_F);
local_first_S = this.DCFS_first_S.Copy();
}
else
{
local_list_F.AddRange(EnAlgo_first_list_F);
local_first_S = this.EnAlgo_first_S.Copy();
}
selected = local_first_S.name;
process02sub_optimizeFeature(local_rules_forTest, ref local_first_S, ref best_scoreTRUE, ref best_scoreFALSE, ref best_scoreTotal);
process02sub_checkGoOn(best_scoreTRUE, best_scoreFALSE, best_scoreTotal); //get initial score
local_list_S0.Add(local_first_S); //to add threshold
local_list_S.Add(selected);
local_rules_forTest.Add(TheMapData.convertFeature_to_If(local_first_S));
//-------------------
if (selection_autoNumber)
{
loopTime = local_list_F.Count();
}
for (int i = 2; i < loopTime + 2; i++)
{
if (local_list_F.Count == 0)
{
break;
} //out of data
if (methodSelection == TheEntropy.methodSelection_DCFS)
{
selected = DCFS_listDelta_getMaxValue();
if (path_prefix != "")
{
TheTool.exportCSV_orTXT(path_prefix + i + ".csv", DCFS_listDelta_getListString(true), false);
}
}
else
{
selected = TheEntropy.select1Candidate_entropy(methodSelection, dt_ready, local_list_F, local_list_S, list_entropy, list_MI);
if (path_prefix != "")
{
TheTool.exportCSV_orTXT(path_prefix + i + ".csv", TheTool.str_double_getListString(TheEntropy.temp_listEntropy), false);
}
}
Feature selected0 = TheData.getFeature(selected, dt_threshold_pose1, dt_threshold_pose2);
process02sub_optimizeFeature(local_rules_forTest, ref selected0, ref best_scoreTRUE, ref best_scoreFALSE, ref best_scoreTotal);
Boolean goOn = process02sub_checkGoOn(best_scoreTRUE, best_scoreFALSE, best_scoreTotal);
if (methodSelection == TheEntropy.methodSelection_DCFS)
{
DCFS_listDelta_update(selected);
}
if (selection_autoNumber == false || goOn)
{
local_list_F.Remove(selected);
local_list_S0.Add(selected0);
local_list_S.Add(selected);
local_rules_forTest.Add(TheMapData.convertFeature_to_If(selected0));
}
else
{
break;
}
}
return(local_list_S0);
}
public static List <string> log_BasicPostureAnalysis = new List <string>();//for show summary
//canonical = useBasePose , if not use previous
public static void BasicPostureAnalysis(List <UKI_Data_BasicPose> data_bp_selected, Boolean useBasePose)
{
try
{
log_BasicPostureAnalysis = new List <string>();
//--- Collect Header "Key Postures: 0,42,82,115,173,439" ---------------
string s = "Key Postures: "; int a = 0;
foreach (UKI_Data_BasicPose bp in data_bp_selected)
{
if (a > 0)
{
s += ",";
}
s += bp.id;
a++;
}
log_BasicPostureAnalysis.Add(s);
if (useBasePose)
{
log_BasicPostureAnalysis.Add("Canonical: Ready Stance");
}
else
{
log_BasicPostureAnalysis.Add("Canonical: (Previous Posture)");
}
log_BasicPostureAnalysis.Add("");
//--- Colelct Data -------------------------------------------------------
if (data_bp_selected.Count > 1)
{
UKI_Data_BasicPose[] arr_bp = data_bp_selected.ToArray();
UKI_Data_BasicPose canonical = arr_bp[0];
for (int p_num = 1; p_num < arr_bp.Count(); p_num++)
{
if (!useBasePose)
{
canonical = arr_bp[p_num - 1];
} //previos as canonical
log_BasicPostureAnalysis.Add("Pose " + p_num);
List <String> summary_human = new List <String>(); //summary in human language
List <String> summary_code = new List <String>(); //summary in code
for (int k = 0; k < arr_bp[p_num].basic_pose.Count(); k++)
{
int v_canonical = canonical.basic_pose[k];
int v_current = arr_bp[p_num].basic_pose[k];
if (v_current != v_canonical)
{
string v_name = TheUKI.data_bp_name[k];
summary_human.Add(TheTool.string_Tab(1) + TheMapData.convert_getBasePoseDef(v_name, v_current));
summary_code.Add(TheTool.string_Tab(2) + v_name + ": " + v_canonical + " -> " + v_current);
}
}
if (summary_human.Count == 0)
{
summary_human.Add(TheTool.string_Tab(1) + "Ready Stance");
}
foreach (string txt in summary_human)
{
log_BasicPostureAnalysis.Add(txt);
}
foreach (string txt in summary_code)
{
log_BasicPostureAnalysis.Add(txt);
}
}
}
}
catch (Exception ex) { TheSys.showError("BasicPostureAnalysis: " + ex.ToString()); }
}
