MAAnalyzer.hpp

/*
 *  This file is part of the AiBO+ project
 *
 *  Copyright (C) 2005-2016 Csaba Kertész (csaba.kertesz@gmail.com)
 *
 *  AiBO+ is free software; you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation; either version 2 of the License, or
 *  (at your option) any later version.
 *
 *  AiBO+ is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 *  GNU General Public License for more details.
 *
 *  You should have received a copy of the GNU General Public License
 *  along with this program; if not, write to the Free Software
 *  Foundation, Inc., 59 Temple Street #330, Boston, MA 02111-1307, USA.
 *
 */

#pragma once

#include "core/MACoreTypes.hpp"

#include <MCLog.hpp>

class MARobotState;

#define MA_ANALYZER_ADD_FEATURE_NAME(_name) \
  if (unlikely(!FeatureNamesReady)) \
  { \
    FeatureNames.push_back(#_name); \
  }

#define MA_ANALYZER_ADD_FEATURE_NAME_STR(_name) \
  if (unlikely(!FeatureNamesReady)) \
  { \
    FeatureNames.push_back(_name); \
  }

#define MA_ANALYZER_ADD_FEATURE_NAME_WITH_INDEX(_name, _index) \
  if (unlikely(!FeatureNamesReady)) \
  { \
    FeatureNames.push_back(std::string("\"")+#_name+MCToStr(_index)+'"'); \
  }

#define MA_ANALYZER_FEATURE_NAMES_COMMIT(_features) \
  if (unlikely(!FeatureNamesReady)) \
  { \
    FeatureNamesReady = true; \
    if (FeatureNames.size() != _features.size()) \
    { \
      MC_WARNING("Feature name and feature count are different (%d != %d)", \
                 FeatureNames.size(), _features.size()); \
    } \
  }

class MAAnalyzer
{
public:
  MAAnalyzer();
  virtual ~MAAnalyzer() { };

  const MC::StringList& GetFeatureNames() const;

  virtual void AddSamples(const MARobotState& robot_state) = 0;

  virtual void Reset() = 0;

  virtual bool IsValid() const = 0;

  virtual MC::FloatList GetFeatureVector() = 0;

  static MC::FloatTable CompactFeatureVectors(const MC::FloatTable& feature_vectors,
                                              const unsigned int window_size);

protected:
  MC::StringList FeatureNames;
  bool FeatureNamesReady;
};