public IGMNData(IGMN owner, Vector mean)
{
this.owner = owner;
this.gauss = new Gaussian(mean, getStarterCovariance());
this.inputGauss = new Gaussian(mean.Part(0, mean.Elements.Length - 1), getInputStarterCovariance());
Age = 1;
Accumlator = 1;
}
public void RefineWithData(Vector x, double w)
{
Vector eps = x - gauss.Mean;
Vector eps2 = x.Part(0, x.Elements.Length - 1) - inputGauss.Mean;
/**/double oldQvalue = gauss.Mean.Elements[gauss.Mean.Elements.Length - 1];
gauss.Mean.Add(eps, w);
/**/gauss.Mean.Elements[gauss.Mean.Elements.Length - 1] = Math.Max(oldQvalue, x.Elements[x.Elements.Length - 1]);//max Q value
inputGauss.Mean.Add(eps2, w);
gauss.Covariance.MultiplyScalar(1 - w);
inputGauss.Covariance.MultiplyScalar(1 - w);
gauss.Covariance.AddDiad(eps, -w * w + w);//-w * w + w
inputGauss.Covariance.AddDiad(eps2, -w * w + w);
}