public void PropagateForwardTest()
{
/*SystemRandomSource rndGenerator = new SystemRandomSource(seed);
* ContinuousUniform cu = new ContinuousUniform(-initialValueWeights, initialValueWeights, rndGenerator);
*/
Vector <float> data = Vector <float> .Build.DenseOfArray(new float[] { 1, 2, 3, 4, 5, 6, 7, 8, 9 });;
int iter = 50000;
var watch = System.Diagnostics.Stopwatch.StartNew();
for (int i = 0; i < iter; i++)
{
//data = Vector<float>.Build.DenseOfArray(new float[] { i, i + 1, i + 2, i + 3, i + 4, i + 5 });
mlpMN.PropagateForward2(data);
}
watch.Stop();
var elapsedMs = watch.ElapsedMilliseconds;
Debug.Log("MathNet Falk Array : " + elapsedMs);
watch = System.Diagnostics.Stopwatch.StartNew();
for (int i = 0; i < iter; i++)
{
mlpMN.PropagateForward(data);
}
watch.Stop();
elapsedMs = watch.ElapsedMilliseconds;
Debug.Log("MathNet Multiply: " + elapsedMs);
watch = System.Diagnostics.Stopwatch.StartNew();
for (int i = 0; i < iter; i++)
{
mlpMN.PropagateForward(data, true);
}
watch.Stop();
elapsedMs = watch.ElapsedMilliseconds;
Debug.Log("MathNet Falk Matrix: " + elapsedMs);
float[,] dataArr = new float[, ] {
{ 1, 2, 3, 4, 5, 6, 7, 8, 9 }
};
watch = System.Diagnostics.Stopwatch.StartNew();
for (int i = 0; i < iter; i++)
{
mlp.PropagateForward(dataArr);
}
watch.Stop();
elapsedMs = watch.ElapsedMilliseconds;
Debug.Log("Array Falk Array: " + elapsedMs);
//mlpMN.PropagateForward2(data);
}
public void Stabilization()
{
Rigidbody rigid = drone.GetComponent <MainBoard>().GetComponentInChildren <Rigidbody>();
//Debug.Log(drone.GetComponent<MainBoard>().inputMLP);
/*drone.GetComponent<MainBoard>().deltaPosition = new Vector3(rigid.transform.localPosition.x - drone.GetComponent<MainBoard>().initDeltaPosition.x, rigid.transform.localPosition.y - drone.GetComponent<MainBoard>().initDeltaPosition.y, rigid.transform.localPosition.z - drone.GetComponent<MainBoard>().initDeltaPosition.z);
* drone.GetComponent<MainBoard>().mlp.PropagateForward(drone.GetComponent<MainBoard>().inputMLP);*/
taskObject.UCSignal(rigid, targetPosition);
//Debug.Log(taskObject.signal.input);
mlp.PropagateForward(taskObject.signal.input, true);
//Debug.Log(mlp.layers[taskObject.shapes.Count - 1]);
signalControl.Throttle = mlp.layers[taskObject.shapes.Count - 1][3, 0];
signalControl.Rudder = mlp.layers[taskObject.shapes.Count - 1][0, 0];
signalControl.Elevator = mlp.layers[taskObject.shapes.Count - 1][1, 0];
signalControl.Aileron = mlp.layers[taskObject.shapes.Count - 1][2, 0];
Debug.Log(mlp.weights[0]);
drone.GetComponent <MainBoard>().SendControlSignal(signalControl);
}