bool roll_validator(LinApprox linmodel, bool[] changed, bool[] reassigned)
{
bool ret = false;
changed.CopyTo(reassigned, 0);
if (linmodel.tpars[2] > 0.0) // friction must kill rotation
{
linmodel.tpars[2] = 0.0;
reassigned[1] = false;
ret = true;
}
if (HasControlSurfaces)
{
if (linmodel.tpars[3] < 1e-6) // authority can't be negative or zero
{
linmodel.tpars[3] = MOI[ROLL] / 1000.0;
reassigned[2] = false;
ret = true;
}
}
else
{
linmodel.tpars[3] = 0.0;
}
return(ret);
}
bool pitch_lift_validator(LinApprox linmodel, bool[] changed, bool[] reassigned)
{
// plane airframe must provide positive lift derivative
double sign = Math.Sign(Math.Abs(AoA(PITCH)) - 90.0 * dgr2rad);
if (linmodel.tpars[1] * sign > 0.0)
{
changed.CopyTo(reassigned, 0);
linmodel.tpars[1] = -sign * sum_mass / 10.0;
reassigned[0] = false;
return(true);
}
return(false);
}
protected override void _drawGUI(int id)
{
GUILayout.BeginVertical();
AutoGUI.AutoDrawObject(trainer);
for (int i = 0; i < trainer.tasks.Count; i++)
{
GUILayout.Space(8.0f);
AutoGUI.AutoDrawObject(trainer.tasks[i]);
LinApprox linmodel = trainer.tasks[i].linmodel;
GUILayout.Label("linmodel:", GUIStyles.labelStyleLeft);
GUILayout.Label(String.Join(",", linmodel.pars.Select(v => v.ToString("G5")).ToArray()), GUIStyles.labelStyleCenter);
}
GUILayout.EndVertical();
GUI.DragWindow();
}
public void Train()
{
if (updated)
{
update_train_buf();
updated = false;
if (cur_time > time_reset)
{
reset_time();
}
update_weights();
if (input_view == null)
{
create_views();
}
if (input_view != null)
{
if (input_view.Count > 0)
{
reset_view_caches();
update_singularity(input_view);
for (int i = 0; i < tasks.Count; i++)
{
LinApprox linmodel = tasks[i].linmodel;
set_parameters(tasks[i]);
linmodel.weighted_lsqr(input_view, output_view, weight_view, inputs_changed);
bool redo = tasks[i].validator(inputs_changed, reassigned);
if (redo)
{
linmodel.weighted_lsqr(input_view, output_view, weight_view, reassigned);
}
if (tasks[i].zero_immediate)
{
linmodel.weighted_lsqr(imm_training_inputs, imm_training_outputs, imm_error_weights, nothing_changed);
}
linmodel.signalUpdated();
}
check_linearity();
clear_old_records();
}
}
}
}
bool pitch_validator(LinApprox linmodel, bool[] changed, bool[] reassigned)
{
if (HasControlSurfaces)
{
if (linmodel.tpars[2] < 1e-6) // authority can't be negative or zero
{
linmodel.tpars[2] = MOI[0] / 1000.0;
changed.CopyTo(reassigned, 0);
reassigned[1] = false;
return(true);
}
else
{
}
}
else
{
linmodel.tpars[2] = 0.0;
}
return(false);
}
void check_linearity()
{
if (imm_training_inputs.Size > 0)
{
double sum_error = 0.0;
LinApprox linmodel = linearity_check_task.linmodel;
for (int i = 0; i < imm_training_inputs.Size; i++)
{
Vector input = imm_training_inputs[i];
double true_output = imm_training_outputs[i];
double lin_output = linmodel.eval_training(input);
double scaled_err = (lin_output - true_output) / max_output_value;
sum_error += Math.Abs(scaled_err);
}
//for (int i = 0; i < grad_training.Size; i++)
//{
// Vector input = grad_training[i].coord;
// double true_output = grad_training[i].val;
// double lin_output = linmodel.eval_training(input);
// double scaled_err = (lin_output - true_output) / max_output_value;
// sum_error += Math.Abs(scaled_err);
//}
//Vector input = imm_training_inputs.getLast();
//double true_output = imm_training_outputs.getLast();
//double lin_output = linmodel.eval_training(input);
//sum_error = Math.Abs((lin_output - true_output) / max_output_value);
linear_param = (float)(sum_error / (double)(imm_training_inputs.Size));// + grad_training.Size));
linear = linear_param < linear_err_criteria;
//linear_param = (float)sum_error;
//linear = sum_error < linear_err_criteria;
if (linear)
{
nonlin_time = 0;
}
else
{
nonlin_time = Math.Min(1000, nonlin_time + iteration_time);
}
}
}
