//public NeuralModelSimulator(String filename)
//{
// mlp = new MLPDll(filename);
//}
public void Train(IModelSimulator sourceSimulator, double treshold)
{
Random r = new Random();
double mu = 0.0001;
long count = 0;
double errors = 0, errors2 = double.MaxValue;
double[] error = new double[4];
do
{
for (int i2 = 0; i2 < EPOCH_COUNT; ++i2)
{
double angle = r.NextDouble() * 2 * Math.PI;//veletlen szog
CarModelState carstate = new CarModelState(new PointD(ComMath.Normal(r.NextDouble(), 0, 1, CarModelState.MIN_POS_X, CarModelState.MAX_POS_X),
ComMath.Normal(r.NextDouble(), 0, 1, CarModelState.MIN_POS_Y, CarModelState.MAX_POS_Y)),
new PointD(ComMath.Normal(Math.Cos(angle), -1, 1, CarModelState.MIN_OR_XY, CarModelState.MAX_OR_XY),
ComMath.Normal(Math.Sin(angle), -1, 1, CarModelState.MIN_OR_XY, CarModelState.MAX_OR_XY)));
CarModelInput carinput = new CarModelInput();
//= new CarModelInput(ComMath.Normal(r.NextDouble(), 0, 1, CarModelInput.MIN_SPEED, CarModelInput.MAX_SPEED),
// ComMath.Normal(r.NextDouble(), 0, 1, CarModelInput.MIN_SPEED, CarModelInput.MAX_SPEED));
carinput.Angle = ComMath.Normal(r.NextDouble(), 0, 1, CarModelInput.MIN_ANGLE, CarModelInput.MAX_ANGLE);
CarModelState state, state2;
double[] output;
sourceSimulator.SimulateModel(carstate, carinput, out state);
this.SimulateModel(carstate, carinput, out state2, out output);
error = new double[4];
error[0] = -output[0] + ComMath.Normal(state.Position.X, CarModelState.MIN_POS_X, CarModelState.MAX_POS_X, MIN_NEURON_VALUE, MAX_NEURON_VALUE);
error[1] = -output[1] + ComMath.Normal(state.Position.Y, CarModelState.MIN_POS_Y, CarModelState.MAX_POS_Y, MIN_NEURON_VALUE, MAX_NEURON_VALUE);
error[2] = -output[2] + ComMath.Normal(state.Orientation.X, CarModelState.MIN_OR_XY, CarModelState.MAX_OR_XY, MIN_NEURON_VALUE, MAX_NEURON_VALUE);
error[3] = -output[3] + ComMath.Normal(state.Orientation.Y, CarModelState.MIN_OR_XY, CarModelState.MAX_OR_XY, MIN_NEURON_VALUE, MAX_NEURON_VALUE);
count++;
mlp.Train(mu, error);
errors += error[0] * error[0] + error[1] * error[1] + error[2] * error[2] + error[3] * error[3];
}
errors /= EPOCH_COUNT;
//if (errors2 < errors) mu *= 0.75;
errors2 = errors;
System.Console.WriteLine(errors.ToString());
} while (errors > treshold);
// mlp.SaveNN("neuralmodel.mlp");
}
public double Train(double[] inputValues)
{
if (inputValues.Length >= dimension * (inputLength + 1))
{
double error = 0;
for (int i = inputLength; i < inputValues.Length / dimension; ++i)
{
double[] input = new double[dimension * inputLength];
int i3 = 0;
for (int i2 = (i - inputLength) * dimension; i2 < i * dimension; ++i2)
{
input[i3] = inputValues[i2];
i3++;
}
double[] outp = mlp.Output(input);
double[] err = new double[dimension];
for (int i2 = 0; i2 < dimension; ++i2)
{
err[i2] = inputValues[i * dimension + i2] - outp[i2];
error += err[i2] * err[i2];
}
mlp.Train(mu, err);
trainCount++;
}
//if (error > 1.2 * preverror)
//{
// if (trainCount > 20000) mu *= 0.2;
//}
//else if (error < 0.8 * preverror)
//{
// mu *= 1.2;
//}
preverror = error / inputValues.Length * dimension;
return(preverror);
}
else
{
throw new Exception("Not enough data!");
}
}
