mirror of
https://github.com/WallabyLester/RBF-aPID-Controller.git
synced 2026-05-10 13:09:12 +08:00
Andru Liu
97 lines
3.3 KiB
C++
97 lines
3.3 KiB
C++
#ifndef RBF_MODEL_H
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#define RBF_MODEL_H
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#include <cmath>
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#include <cstdlib>
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/**
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* @class RBFModel
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* @brief Radial Basis Function (RBF) Model for function approximation.
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*
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* This class implements an RBF model that predicts outputs based
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* on a set of radial basis functions centered at specified locations.
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*/
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class RBFModel {
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public:
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/**
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* @brief Constructor to initialize the RBF model.
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*
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* Initializes the RBF model with a specified number
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* of centers, input dimensions, and the spread (sigma) of the RBFs.
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* Random initialization of the centers can be turned off.
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*
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* @param n_centers The number of radial basis function centers.
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* @param input_dim The dimensionality of the input data.
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* @param sigma The spread of the RBFs (default is 1.0).
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* @param random_centers Boolean to initialize centers randomly (default is true).
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*/
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RBFModel(int n_centers, int input_dim, double sigma = 1.0, bool random_centers = true);
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/**
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* @brief Destructor to free allocated memory.
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*/
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~RBFModel();
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/**
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* @brief Predict the RBF output for a given input.
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*
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* @param input A pointer to an array of input values.
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* @return The computed output of the RBF model.
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*/
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double predict(const double* input);
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/**
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* @brief Adapt weights based on the error and learning rate.
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*
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* @param error The difference between the desired output and the actual output.
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* @param learning_rate The rate at which the weights are adjusted.
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* @param input A pointer to an array of input values used for adaptation.
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*/
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void adapt(double error, double learning_rate, const double* input);
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/**
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* @brief Train the RBF model using recorded data.
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*
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* @param inputs A pointer to an array of input samples (n_samples x input_dim).
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* @param targets A pointer to an array of target outputs (n_samples).
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* @param n_samples The number of samples to train on.
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* @param epochs The number of training epochs to perform.
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* @param learning_rate The learning rate for weight adaptation.
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*/
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void train(const double* inputs, const double* targets, int n_samples, int epochs, double learning_rate);
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/**
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* @brief Get the weight at a specific index.
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*
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* @param index The index of the weight to retrieve.
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* @return The weight at the specified index.
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*/
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double get_weight(int index) const;
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/**
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* @brief Set the weight at a specific index.
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*
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* @param index The index of the weight to set.
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* @param value The new value for the weight.
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*/
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void set_weight(int index, double value);
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private:
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double** centers; // 2D array for centers
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double* weights; // Array of weights
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int n_centers; // Number of RBF centers
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int input_dim; // Dimension of the input
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double sigma; // Spread of the RBF
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/**
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* @brief Gaussian function used in RBF prediction.
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*
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* @param input A pointer to an array of input values.
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* @param center A pointer to an array representing the center of the Gaussian function.
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* @return The output of the Gaussian function.
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*/
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double gaussian(const double* input, const double* center);
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};
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#endif // RBF_MODEL_H
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