PSOParticle.h

/*
 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.
 */

#ifndef GRT_PSO_PARTICLE_HEADER
#define GRT_PSO_PARTICLE_HEADER

#include "../../Util/GRTCommon.h"

GRT_BEGIN_NAMESPACE

template <class OBSERVATION_TYPE>
class PSOParticle{

public:
 PSOParticle(){
 initialized = false;
 }
 
 PSOParticle(const unsigned int K,const VectorFloat &xMin,const VectorFloat &xMax){
 init(K,xMin,xMax);
 }
 
 PSOParticle(const PSOParticle &rhs){
 *this = rhs;
 }
 
 virtual ~PSOParticle(){}
 
 PSOParticle& operator=(const PSOParticle &rhs){
 
 if( this != &rhs ){
 this->K = rhs.K;
 this->w = rhs.w;
 this->c1 = rhs.c1;
 this->c2 = rhs.c2;
 this->localBestCost = rhs.localBestCost;
 this->x = rhs.x;
 this->v = rhs.v;
 this->xMin = rhs.xMin;
 this->xMax = rhs.xMax;
 this->localBestX = rhs.localBestX;
 this->initialized = rhs.initialized;
 this->random = rhs.random;
 }
 return *this;
 
 }
 
 virtual bool init(const unsigned int K,const VectorFloat &xMin,const VectorFloat &xMax){
 
 initialized = false;
 
 if( K != xMin.size() || K != xMax.size() ){
 return false;
 }
 
 this->K = K;
 this->xMin = xMin;
 this->xMax = xMax;
 w = 1.0;
 c1 = 2.0;
 c2 = 2.0;
 x.resize(K,0);
 v.resize(K,0);
 
 initialized = true;
 
 //Reset the state Vector
 return reset();
 }
 
 virtual bool propagate(const VectorFloat &model){
 
 if( !initialized ) return false;
 
 if( model.size() != K ) return false;
 
 //Update the current position
 for(unsigned int k=0; k<K; k++){
 x[k] += random.getRandomNumberGauss(0,model[k]);
 }
 
 //Decrease the local best cost
 localBestCost *= 0.9;
 
 return true;
 }
 
 virtual bool update(const VectorFloat &globalBestX){
 
 if( !initialized ) return false;
 
 Float r1 = 0;
 Float r2 = 0;
 Float vMax = 0;
 for(unsigned int k=0; k<K; k++){
 r1 = random.getRandomNumberUniform(0.0,1.0);
 r2 = random.getRandomNumberUniform(0.0,1.0);
 
 //Update the velocity
 v[k] = ( w * v[k] ) + ( c1 * r1 * (localBestX[k]-x[k]) ) + ( c2 * r2 * (globalBestX[k]-x[k]) );
 
 //Velocity Clamping
 vMax = 0.1 * ((xMax[k]-xMin[k])/2.0);
 if( v[k] > vMax ){ v[k] = vMax; }
 else if( v[k] < -vMax ){ v[k] = -vMax; }
 
 //Position Update
 x[k] = x[k] + v[k];
 
 //Update the xMax xMin values
 if( x[k] > xMax[k] ){ xMax[k] = x[k]; }
 else if( x[k] < xMin[k] ){ xMin[k] = x[k]; }
 }
 
 return true;
 }
 
 virtual Float evaluate(OBSERVATION_TYPE &observation){
 if( !initialized ) return -1;
 
 if( observation.size() != K ) return -1;
 
 //A cost of 1.0 is best, 0 is the worse
 Float cost = 0;
 for(UINT i=0; i<K; i++){
 cost += SQR(x[i]-observation[i]);
 }
 cost += 0.0001;
 cost = 1.0/(cost*cost);
 
 //Check to see if we have found a local maxima, if so store the values of x that achieved it
 if( cost > localBestCost ){
 localBestCost = cost;
 localBestX = x;
 }
 return cost;
 }
 
 virtual bool reset(){
 
 if( !initialized ) return false;

 for(unsigned int k=0; k<K; k++){
 x[k] = random.getRandomNumberUniform(xMin[k],xMax[k]);
 v[k] = random.getRandomNumberUniform(-1.0,1);
 }
 
 //Set the local best state Vector to the current x state Vector
 localBestX = x;
 localBestCost = 0;
 
 return true;
 }
 
 bool setRandomSeed(unsigned long long seed){
 random.setSeed( seed );
 return true;
 }
 
 inline Float normal(Float x,Float mu,Float sigma){
 return ( 1.0/(sigma*SQRT_TWO_PI) ) * exp( - ( SQR(x-mu)/(2.0*SQR(sigma)) ) );
 }
 
 inline Float gauss(Float x,Float mu,Float sigma){
 return exp( - ( SQR(x-mu)/(2.0*SQR(sigma)) ) );
 }
 
 inline Float SQR(Float x){ return x*x; }
 
 bool initialized;
 unsigned int K;
 Float w;
 Float c1;
 Float c2;
 Float localBestCost;
 VectorFloat x;
 VectorFloat v;
 VectorFloat localBestX;
 VectorFloat xMin;
 VectorFloat xMax;
 Random random;

};

GRT_END_NAMESPACE

#endif //GRT_PSO_PARTICLE_HEADER