/// <summary>
/// Calculates the output error for each node in the target layer and all hidden layers. Note that this is a wrapper
/// method which takes a signal array, converts it to a double array, and passes that on to the method below.
/// </summary>
/// <param name="layers">The discrete layers in the ANN.</param>
/// <param name="connections">Array of all connections in the ANN.</param>
/// <param name="nodeActivationValues">The neuron activation values resulting from the last forward pass.</param>
/// <param name="targetValues">The target values against which the network is being trained.</param>
/// <param name="nodeActivationFunctions">The activation function for each neuron (this will only differ with HyperNEAT).</param>
/// <returns>The errors for each output and hidden neuron.</returns>
public static double[] CalculateErrorSignals(LayerInfo[] layers, FastConnection[] connections,
double[] nodeActivationValues, ISignalArray outputValues, ISignalArray targetValues, IActivationFunction[] nodeActivationFunctions)
{
double[] targets = new double[targetValues.Length];
// Load the target double array from the input signal array
targetValues.CopyTo(targets, 0);
// Return the error signals
return CalculateErrorSignals(layers, connections, nodeActivationValues, (MappingSignalArray) outputValues, targets, nodeActivationFunctions);
}
/// <summary>
/// Updates weights based on node error calculations using a given learning rate (momentum isn't taken into
/// consideration here).
/// </summary>
/// <param name="layers">The discrete layers in the ANN.</param>
/// <param name="connections">Array of all connections in the ANN.</param>
/// <param name="learningRate">The learning rate for all connections.</param>
/// <param name="signalErrors">The errors for each output and hidden neuron.</param>
/// <param name="nodeActivationValues">The activation function for each neuron (this will only differ with HyperNEAT).</param>
public static void BackpropagateError(LayerInfo[] layers, FastConnection[] connections, double learningRate,
double[] signalErrors, double[] nodeActivationValues, MappingSignalArray outputArray)
{
int conIdx = 0;
// Iterate through every layer in a forward pass, calculating the new weights on each connection
for (int layerIdx = 1; layerIdx < layers.Length; layerIdx++)
{
// Start at one layer below the current layer so we can access the source nodes
LayerInfo layerInfo = layers[layerIdx - 1];
// Handle the output layer as a special case, calculating the error against the given target
if (layerIdx == layers.Length - 1)
{
// Calculate the new weight for every connection in the current layer up to the last (i.e. "end")
// connection by adding its current weight to the product of the learning rate, target neuron error,
// and source neuron output
for (; conIdx < layerInfo._endConnectionIdx; conIdx++)
{
//double sigError = signalErrors[outputArray._map[connections[conIdx]._tgtNeuronIdx]];
double sigError = signalErrors[connections[conIdx]._tgtNeuronIdx];
connections[conIdx]._weight = connections[conIdx]._weight +
learningRate * sigError *
nodeActivationValues[connections[conIdx]._srcNeuronIdx];
}
}
else
{
// Calculate the new weight for every connection in the current layer up to the last (i.e. "end")
// connection by adding its current weight to the product of the learning rate, target neuron error,
// and source neuron output
for (; conIdx < layerInfo._endConnectionIdx; conIdx++)
{
connections[conIdx]._weight = connections[conIdx]._weight +
learningRate * signalErrors[connections[conIdx]._tgtNeuronIdx] *
nodeActivationValues[connections[conIdx]._srcNeuronIdx];
}
}
}
}
/// <summary>
/// Calculates the output error for each node in the target layer and all hidden layers.
/// </summary>
/// <param name="layers">The discrete layers in the ANN.</param>
/// <param name="connections">Array of all connections in the ANN.</param>
/// <param name="nodeActivationValues">The neuron activation values resulting from the last forward pass.</param>
/// <param name="targetValues">The target values against which the network is being trained.</param>
/// <param name="nodeActivationFunctions">The activation function for each neuron (this will only differ with HyperNEAT).</param>
/// <returns>The errors for each output and hidden neuron.</returns>
public static double[] CalculateErrorSignals(LayerInfo[] layers, FastConnection[] connections,
double[] nodeActivationValues, MappingSignalArray outputValues, double[] targetValues, IActivationFunction[] nodeActivationFunctions)
{
double[] signalErrors = new double[nodeActivationValues.Length];
// Get the last connection
int conIdx = connections.Length - 1;
// Get the last of the output nodes
int nodeIdx = nodeActivationValues.Length - 1;
// Iterate through the layers in reverse, calculating the signal errors
for (int layerIdx = layers.Length - 1; layerIdx > 0; layerIdx--)
{
// Handle the output layer as a special case, calculating the error against the given target
if (layerIdx == layers.Length - 1)
{
// Calculate the error for every output node with respect to its corresponding target value
for (; nodeIdx >= layers[layerIdx - 1]._endNodeIdx; nodeIdx--)
{
//int targetValuesID = outputValues._map[nodeIdx - outputValues.Length - 1] - outputValues.Length - 1;
int targetValuesID = 0;
for (int i = 0; i < targetValues.Length; i++)
{
if (outputValues._map[i] == nodeIdx)
{
targetValuesID = i;
break;
}
}
signalErrors[nodeIdx] =
(targetValues[targetValuesID] -
nodeActivationValues[nodeIdx])*
nodeActivationFunctions[nodeIdx].CalculateDerivative(
nodeActivationValues[nodeIdx]);
/*
int targetValuesID = (targetValues.Length - 1) - ((nodeActivationValues.Length - 1) - nodeIdx);
signalErrors[nodeIdx] =
(targetValues[targetValuesID] -
outputValues[nodeIdx - layers[layerIdx - 1]._endNodeIdx])*
nodeActivationFunctions[nodeIdx].CalculateDerivative(
outputValues[nodeIdx - layers[layerIdx - 1]._endNodeIdx]);
*/
}
}
// Otherwise, we're on a hidden layer, so just compute the error with respect to the target
// node's error in the layer above
else
{
// Calculate the error for each hidden node with respect to the error of the
// target node(s) of the next layer
for (; nodeIdx >= layers[layerIdx - 1]._endNodeIdx; nodeIdx--)
{
double deltas = 0;
// Calculate the sum of the products of the target node error and connection weight
while (connections[conIdx]._srcNeuronIdx == nodeIdx)
{
deltas += connections[conIdx]._weight*
signalErrors[connections[conIdx]._tgtNeuronIdx];
conIdx--;
}
// The output error for the hidden node is the then the sum of the errors
// plus the derivative of the activation function with respect to the output
signalErrors[nodeIdx] = deltas*
nodeActivationFunctions[nodeIdx].CalculateDerivative(
nodeActivationValues[nodeIdx]);
}
}
}
return signalErrors;
}
/// <summary>
/// Construct a FastAcyclicNetwork with provided network definition data structures.
/// </summary>
/// <param name="nodeActivationFnArr">Array of neuron activation functions.</param>
/// <param name="nodeAuxArgsArr">Array of neuron activation function arguments.</param>
/// <param name="connectionArr">Array of connections.</param>
/// <param name="layerInfoArr">Array of layer information.</param>
/// <param name="outputNodeIdxArr">An array that specifies the index of each output neuron within _activationArr.
/// This is necessary because the neurons have been sorted by their depth in the network structure and are therefore
/// no longer in their original positions. Note however that the bias and input neurons *are* in their original
/// positions as they are defined as being at depth zero.</param>
/// <param name="nodeCount">Number of nodes in the network.</param>
/// <param name="inputNodeCount">Number of input nodes in the network.</param>
/// <param name="outputNodeCount">Number of output nodes in the network.</param>
public FastAcyclicNetwork(IActivationFunction[] nodeActivationFnArr,
double[][] nodeAuxArgsArr,
FastConnection[] connectionArr,
LayerInfo[] layerInfoArr,
int[] outputNodeIdxArr,
int nodeCount,
int inputNodeCount,
int outputNodeCount)
{
// Store refs to network structrue data.
_nodeActivationFnArr = nodeActivationFnArr;
_nodeAuxArgsArr = nodeAuxArgsArr;
_connectionArr = connectionArr;
_layerInfoArr = layerInfoArr;
// Create working array for node activation signals.
_activationArr = new double[nodeCount];
// Wrap a sub-range of the _activationArr that holds the activation values for the input nodes.
// Offset is 1 to skip bias neuron (The value at index 1 is the first black box input).
_inputSignalArrayWrapper = new SignalArray(_activationArr, 1, inputNodeCount);
// Wrap the output nodes. Nodes have been sorted by depth within the network therefore the output
// nodes can no longer be guaranteed to be in a contiguous segment at a fixed location. As such their
// positions are indicated by outputNodeIdxArr, and so we package up this array with the node signal
// array to abstract away the level of indirection described by outputNodeIdxArr.
_outputSignalArrayWrapper = new MappingSignalArray(_activationArr, outputNodeIdxArr);
// Store counts for use during activation.
_inputNodeCount = inputNodeCount;
_inputAndBiasNodeCount = inputNodeCount+1;
_outputNodeCount = outputNodeCount;
// Initialise the bias neuron's fixed output value.
_activationArr[0] = 1.0;
}
