DeadZone.cpp

/*
 GRT MIT License
 Copyright (c) <2012> <Nicholas Gillian, Media Lab, MIT>
 
 Permission is hereby granted, free of charge, to any person obtaining a copy of this software 
 and associated documentation files (the "Software"), to deal in the Software without restriction, 
 including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, 
 and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, 
 subject to the following conditions:
 
 The above copyright notice and this permission notice shall be included in all copies or substantial 
 portions of the Software.
 
 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT 
 LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. 
 IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, 
 WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE 
 SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 */

#include "DeadZone.h"

GRT_BEGIN_NAMESPACE
 
//Register the DeadZone module with the PreProcessing base class
RegisterPreProcessingModule< DeadZone > DeadZone::registerModule("DeadZone");
 
DeadZone::DeadZone(Float lowerLimit,Float upperLimit,UINT numDimensions){
 classType = "DeadZone";
 preProcessingType = classType;
 debugLog.setProceedingText("[DEBUG DeadZone]");
 errorLog.setProceedingText("[ERROR DeadZone]");
 warningLog.setProceedingText("[WARNING DeadZone]");
 init(lowerLimit,upperLimit,numDimensions);
}

DeadZone::DeadZone(const DeadZone &rhs){
 this->lowerLimit = rhs.lowerLimit;
 this->upperLimit = rhs.upperLimit;
 classType = "DeadZone";
 preProcessingType = classType;
 debugLog.setProceedingText("[DEBUG DeadZone]");
 errorLog.setProceedingText("[ERROR DeadZone]");
 warningLog.setProceedingText("[WARNING DeadZone]");
 copyBaseVariables( (PreProcessing*)&rhs );
}

DeadZone::~DeadZone(){

}

DeadZone& DeadZone::operator=(const DeadZone &rhs){
 if(this!=&rhs){
 this->lowerLimit = rhs.lowerLimit;
 this->upperLimit = rhs.upperLimit;
 copyBaseVariables( (PreProcessing*)&rhs );
 }
 return *this;
}

bool DeadZone::deepCopyFrom(const PreProcessing *preProcessing){
 
 if( preProcessing == NULL ) return false;
 
 if( this->getPreProcessingType() == preProcessing->getPreProcessingType() ){
 
 DeadZone *ptr = (DeadZone*)preProcessing;
 //Clone the DeadZone values 
 this->lowerLimit = ptr->lowerLimit;
 this->upperLimit = ptr->upperLimit;
 
 //Clone the base class variables
 return copyBaseVariables( preProcessing );
 }
 
 errorLog << "clone(const PreProcessing *preProcessing) - PreProcessing Types Do Not Match!" << std::endl;
 
 return false;
}
 
bool DeadZone::process(const VectorFloat &inputVector){
 
 if( !initialized ){
 errorLog << "process(const VectorFloat &inputVector) - Not initialized!" << std::endl;
 return false;
 }
 
 if( inputVector.size() != numInputDimensions ){
 errorLog << "process(const VectorFloat &inputVector) - The size of the inputVector (" << inputVector.size() << ") does not match that of the filter (" << numInputDimensions << ")!" << std::endl;
 return false;
 }
 
 filter( inputVector );
 
 if( processedData.size() == numOutputDimensions ) return true;
 return false;
}

bool DeadZone::reset(){
 return true;
}
 
bool DeadZone::saveModelToFile(std::string filename) const{
 
 if( !initialized ){
 errorLog << "saveModelToFile(std::string filename) - The DeadZone has not been initialized" << std::endl;
 return false;
 }
 
 std::fstream file; 
 file.open(filename.c_str(), std::ios::out);
 
 if( !saveModelToFile( file ) ){
 file.close();
 return false;
 }
 
 file.close();
 
 return true;
}

bool DeadZone::saveModelToFile(std::fstream &file) const{
 
 if( !file.is_open() ){
 errorLog << "saveModelToFile(fstream &file) - The file is not open!" << std::endl;
 return false;
 }
 
 file << "GRT_DEAD_ZONE_FILE_V1.0" << std::endl;
 
 file << "NumInputDimensions: " << numInputDimensions << std::endl;
 file << "NumOutputDimensions: " << numOutputDimensions << std::endl;
 file << "LowerLimit: " << lowerLimit << std::endl;
 file << "UpperLimit: " << upperLimit << std::endl; 
 
 return true;
}

bool DeadZone::loadModelFromFile(std::string filename){
 
 std::fstream file; 
 file.open(filename.c_str(), std::ios::in);
 
 if( !loadModelFromFile( file ) ){
 file.close();
 initialized = false;
 return false;
 }
 
 file.close();
 
 return true;
}

bool DeadZone::loadModelFromFile(std::fstream &file){
 
 if( !file.is_open() ){
 errorLog << "loadModelFromFile(fstream &file) - The file is not open!" << std::endl;
 return false;
 }
 
 std::string word;
 
 //Load the header
 file >> word;
 
 if( word != "GRT_DEAD_ZONE_FILE_V1.0" ){
 errorLog << "loadModelFromFile(fstream &file) - Invalid file format!" << std::endl;
 return false; 
 }
 
 //Load the number of input dimensions
 file >> word;
 if( word != "NumInputDimensions:" ){
 errorLog << "loadModelFromFile(fstream &file) - Failed to read NumInputDimensions header!" << std::endl;
 return false; 
 }
 file >> numInputDimensions;
 
 //Load the number of output dimensions
 file >> word;
 if( word != "NumOutputDimensions:" ){
 errorLog << "loadModelFromFile(fstream &file) - Failed to read NumOutputDimensions header!" << std::endl;
 return false; 
 }
 file >> numOutputDimensions;
 
 //Load the lower limit
 file >> word;
 if( word != "LowerLimit:" ){
 errorLog << "loadModelFromFile(fstream &file) - Failed to read LowerLimit header!" << std::endl;
 return false; 
 }
 file >> lowerLimit;
 
 file >> word;
 if( word != "UpperLimit:" ){
 errorLog << "loadModelFromFile(fstream &file) - Failed to read UpperLimit header!" << std::endl;
 return false; 
 }
 file >> upperLimit;
 
 //Init the deadzone module to ensure everything is initialized correctly
 return init(lowerLimit,upperLimit,numInputDimensions);
}
 
bool DeadZone::init(Float lowerLimit,Float upperLimit,UINT numDimensions){
 
 initialized = false;
 
 if( numDimensions == 0 ){
 errorLog << "init(Float lowerLimit,Float upperLimit,UINT numDimensions) - NumDimensions must be greater than 0!" << std::endl;
 return false;
 }
 
 if( lowerLimit >= upperLimit ){
 errorLog << "init(Float lowerLimit,Float upperLimit,UINT numDimensions) - The lower limit must be less than the upperlimit!" << std::endl;
 return false;
 }
 
 this->lowerLimit = lowerLimit;
 this->upperLimit = upperLimit;
 this->numInputDimensions = numDimensions;
 this->numOutputDimensions = numDimensions;
 processedData.clear();
 processedData.resize(numOutputDimensions,0);
 initialized = true;
 
 return true;
}

Float DeadZone::filter(const Float x){
 VectorFloat y = filter(VectorFloat(1,x));
 if( y.getSize() == 0 ) return 0;
 return y[0];
}
 
VectorFloat DeadZone::filter(const VectorFloat &x){
 
 if( !initialized ){
 errorLog << "filter(const VectorFloat &x) - Not Initialized!" << std::endl;
 return VectorFloat();
 }
 
 if( x.getSize() != numInputDimensions ){
 errorLog << "filter(const VectorFloat &x) - The Number Of Input Dimensions (" << numInputDimensions << ") does not match the size of the input vector (" << x.size() << ")!" << std::endl;
 return VectorFloat();
 }
 
 for(UINT n=0; n<numInputDimensions; n++){
 if( x[n] > lowerLimit && x[n] < upperLimit ){
 processedData[n] = 0;
 }else{
 if( x[n] >= upperLimit ) processedData[n] = x[n] - upperLimit;
 else processedData[n] = x[n] - lowerLimit;
 }
 }
 return processedData;
}

bool DeadZone::setLowerLimit(Float lowerLimit){ 
 this->lowerLimit = lowerLimit; 
 return true; 
}

bool DeadZone::setUpperLimit(Float upperLimit){ 
 this->upperLimit = upperLimit; 
 return true; 
}
 
GRT_END_NAMESPACE