From 79baeb0e4464eee7f486ccad9f7c084ebcc63f36 Mon Sep 17 00:00:00 2001
From: Philip ABBET <philip.abbet@idiap.ch>
Date: Tue, 25 Sep 2018 09:33:24 +0200
Subject: [PATCH] New release from sandbox
---
CMakeLists.txt | 74 +-
README.md | 42 +-
data/data_4_frames.txt | 6 +
data/data_4_trajectories.txt | 10 +
data/data_tpbatch_lqr_frames.txt | 6 -
data/data_tpbatch_lqr_trajectories.txt | 10 -
data/data_tpgmr_frames.txt | 6 -
data/data_tpgmr_trajectories.txt | 12 -
images/demo_GMR01.gif | Bin 286986 -> 302934 bytes
images/demo_GPR01.gif | Bin 0 -> 287394 bytes
images/demo_Riemannian_quat_infHorLQR01.png | Bin 60870 -> 67075 bytes
images/demo_TPGMMProduct01.gif | Bin 121670 -> 129373 bytes
images/demo_TPbatchLQR01.gif | Bin 584638 -> 233567 bytes
include/gfx2.h | 94 +-
include/gfx3.h | 612 ----
include/imgui_impl_glfw_gl3.h | 31 -
src/demo_GMR01.cpp | 46 +-
src/demo_GPR01.cpp | 968 +++++++
src/demo_HSMM_batchLQR01.cpp | 795 ++++++
src/demo_LWR_batch01.cpp | 718 +++++
src/demo_LWR_iterative01.cpp | 755 +++++
src/demo_MPC_batch01.cpp | 576 ++--
src/demo_MPC_iterative01.cpp | 574 ++--
src/demo_MPC_semitied01.cpp | 540 ++--
src/demo_MPC_velocity01.cpp | 701 ++---
src/demo_Riemannian_cov_interp02.cpp | 4 +-
src/demo_Riemannian_pose_GMM01.cpp | 3 +-
src/demo_Riemannian_pose_TPGMM01.cpp | 2 +-
src/demo_Riemannian_pose_batchLQR01.cpp | 2 +-
src/demo_Riemannian_pose_infHorLQR01.cpp | 2 +-
src/demo_Riemannian_quat_TPGMM01.cpp | 2 +-
src/demo_Riemannian_quat_infHorLQR01.cpp | 181 +-
src/demo_Riemannian_sphere_TPGMM01.cpp | 2 +-
src/demo_TPGMMProduct01.cpp | 186 +-
src/demo_TPGMR01.cpp | 2765 +++++++++----------
src/demo_TPbatchLQR01.cpp | 150 +-
src/demo_ergodicControl_2D01.cpp | 562 ++++
src/demo_infHorLQR01_glsl.cpp | 341 ---
src/demo_proMP01.cpp | 75 +-
src/utils/gfx2.cpp | 251 +-
src/utils/gfx3.cpp | 1641 -----------
src/utils/imgui_impl_glfw_gl3.cpp | 530 ----
src/utils/mpc_utils.cpp | 1 -
43 files changed, 7173 insertions(+), 6103 deletions(-)
create mode 100644 data/data_4_frames.txt
create mode 100644 data/data_4_trajectories.txt
delete mode 100644 data/data_tpbatch_lqr_frames.txt
delete mode 100644 data/data_tpbatch_lqr_trajectories.txt
delete mode 100644 data/data_tpgmr_frames.txt
delete mode 100644 data/data_tpgmr_trajectories.txt
create mode 100644 images/demo_GPR01.gif
delete mode 100644 include/gfx3.h
delete mode 100644 include/imgui_impl_glfw_gl3.h
create mode 100644 src/demo_GPR01.cpp
create mode 100644 src/demo_HSMM_batchLQR01.cpp
create mode 100644 src/demo_LWR_batch01.cpp
create mode 100644 src/demo_LWR_iterative01.cpp
create mode 100644 src/demo_ergodicControl_2D01.cpp
delete mode 100644 src/demo_infHorLQR01_glsl.cpp
delete mode 100644 src/utils/gfx3.cpp
delete mode 100644 src/utils/imgui_impl_glfw_gl3.cpp
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 9767a41..c56797b 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -94,17 +94,19 @@ set(GFX2_SUPPORT_SOURCES
)
-# Declare the support files needed for OpenGL3 (using GLSL & gfx3.h) demos
-set(GFX3_SUPPORT_SOURCES
- ${PROJECT_SOURCE_DIR}/src/utils/imgui_impl_glfw_gl3.cpp
- ${PROJECT_SOURCE_DIR}/src/utils/imgui.cpp
- ${PROJECT_SOURCE_DIR}/src/utils/imgui_draw.cpp
- ${PROJECT_SOURCE_DIR}/src/utils/gfx_ui.cpp
- ${PROJECT_SOURCE_DIR}/src/utils/gfx3.cpp
+# Executables
+add_executable(demo_ergodicControl_2D01
+ ${GFX2_SUPPORT_SOURCES}
+ ${PROJECT_SOURCE_DIR}/src/demo_ergodicControl_2D01.cpp
+ ${PROJECT_SOURCE_DIR}/src/utils/mpc_utils.cpp
+)
+target_link_libraries(demo_ergodicControl_2D01
+ ${OPENGL_LIBRARIES}
+ ${GLEW_LIBRARIES}
+ ${GLFW_LIB}
+ ${ARMADILLO_LIBRARIES}
)
-
-# Executables
add_executable(demo_GMR01
${GFX2_SUPPORT_SOURCES}
${PROJECT_SOURCE_DIR}/src/demo_GMR01.cpp
@@ -116,19 +118,53 @@ target_link_libraries(demo_GMR01
${ARMADILLO_LIBRARIES}
)
-add_executable(demo_infHorLQR01_glsl
- ${GFX3_SUPPORT_SOURCES}
- ${PROJECT_SOURCE_DIR}/src/demo_infHorLQR01_glsl.cpp
+add_executable(demo_GPR01
+ ${GFX2_SUPPORT_SOURCES}
+ ${PROJECT_SOURCE_DIR}/src/demo_GPR01.cpp
)
-target_link_libraries(demo_infHorLQR01_glsl
+target_link_libraries(demo_GPR01
+ ${OPENGL_LIBRARIES}
+ ${GLEW_LIBRARIES}
+ ${GLFW_LIB}
+ ${ARMADILLO_LIBRARIES}
+)
+
+add_executable(demo_HSMM_batchLQR01
+ ${GFX2_SUPPORT_SOURCES}
+ ${PROJECT_SOURCE_DIR}/src/demo_HSMM_batchLQR01.cpp
+)
+
+target_link_libraries(demo_HSMM_batchLQR01
${OPENGL_LIBRARIES}
${ARMADILLO_LIBRARIES}
${GLFW_LIB}
${GLEW_LIBRARIES}
)
+add_executable(demo_LWR_batch01
+ ${GFX2_SUPPORT_SOURCES}
+ ${PROJECT_SOURCE_DIR}/src/demo_LWR_batch01.cpp
+)
+target_link_libraries(demo_LWR_batch01
+ ${OPENGL_LIBRARIES}
+ ${GLEW_LIBRARIES}
+ ${GLFW_LIB}
+ ${ARMADILLO_LIBRARIES}
+)
+
+add_executable(demo_LWR_iterative01
+ ${GFX2_SUPPORT_SOURCES}
+ ${PROJECT_SOURCE_DIR}/src/demo_LWR_iterative01.cpp
+)
+target_link_libraries(demo_LWR_iterative01
+ ${OPENGL_LIBRARIES}
+ ${GLEW_LIBRARIES}
+ ${GLFW_LIB}
+ ${ARMADILLO_LIBRARIES}
+)
+
add_executable(demo_MPC_batch01
- ${GL2_SUPPORT_SOURCES}
+ ${GFX2_SUPPORT_SOURCES}
${PROJECT_SOURCE_DIR}/src/demo_MPC_batch01.cpp
${PROJECT_SOURCE_DIR}/src/utils/mpc_utils.cpp
${PROJECT_SOURCE_DIR}/src/utils/gl2ps.c
@@ -138,10 +174,11 @@ target_link_libraries(demo_MPC_batch01
${OPENGL_LIBRARIES}
${ARMADILLO_LIBRARIES}
${GLFW_LIB}
+ ${GLEW_LIBRARIES}
)
add_executable(demo_MPC_iterative01
- ${GL2_SUPPORT_SOURCES}
+ ${GFX2_SUPPORT_SOURCES}
${PROJECT_SOURCE_DIR}/src/demo_MPC_iterative01.cpp
${PROJECT_SOURCE_DIR}/src/utils/mpc_utils.cpp
)
@@ -150,10 +187,11 @@ target_link_libraries(demo_MPC_iterative01
${OPENGL_LIBRARIES}
${ARMADILLO_LIBRARIES}
${GLFW_LIB}
+ ${GLEW_LIBRARIES}
)
add_executable(demo_MPC_semitied01
- ${GL2_SUPPORT_SOURCES}
+ ${GFX2_SUPPORT_SOURCES}
${PROJECT_SOURCE_DIR}/src/demo_MPC_semitied01.cpp
${PROJECT_SOURCE_DIR}/src/utils/mpc_utils.cpp
${PROJECT_SOURCE_DIR}/src/utils/gl2ps.c
@@ -162,10 +200,11 @@ target_link_libraries(demo_MPC_semitied01
${OPENGL_LIBRARIES}
${ARMADILLO_LIBRARIES}
${GLFW_LIB}
+ ${GLEW_LIBRARIES}
)
add_executable(demo_MPC_velocity01
- ${GL2_SUPPORT_SOURCES}
+ ${GFX2_SUPPORT_SOURCES}
${PROJECT_SOURCE_DIR}/src/demo_MPC_velocity01.cpp
${PROJECT_SOURCE_DIR}/src/utils/mpc_utils.cpp
${PROJECT_SOURCE_DIR}/src/utils/gl2ps.c
@@ -174,6 +213,7 @@ target_link_libraries(demo_MPC_velocity01
${OPENGL_LIBRARIES}
${ARMADILLO_LIBRARIES}
${GLFW_LIB}
+ ${GLEW_LIBRARIES}
)
add_executable(demo_online_GMM01
diff --git a/README.md b/README.md
index e090864..274a7d0 100644
--- a/README.md
+++ b/README.md
@@ -1,6 +1,6 @@
-# PbDlib-cpp-sandbox
+# PbDlib-cpp
-PbDlib-cpp-sandbox is a set of tools in C++ combining statistical learning, optimal control and differential geometry for programming-by-demonstration applications.
+PbDlib-cpp is a set of tools in C++ combining statistical learning, optimal control and differential geometry for programming-by-demonstration applications.
Other versions of the library are available at http://www.idiap.ch/software/pbdlib/ (in Matlab, C++ and Python).
@@ -13,8 +13,14 @@ This work was in part supported by the DexROV project through the EC H2020 progr
### Prerequisite
-The program requires glfw3 (lightweight and portable library for managing OpenGL contexts, windows and inputs) and
-Armadillo (C++ library for linear algebra & scientific computing). Instructions are given below.
+The program requires:
+
+ - *glfw3* (lightweight and portable library for managing OpenGL contexts, windows and inputs)
+ - *GLEW* (The OpenGL Extension Wrangler Library)
+ - *LAPACK* (Linear Algebra PACKage)
+ - *Armadillo* (C++ library for linear algebra & scientific computing)
+
+Instructions are given below.
ImGui (graphical user interface library for C++, [https://github.com/ocornut/imgui](https://github.com/ocornut/imgui)) and
gfx_ui (a minimal geometry editing UI, [https://github.com/colormotor/gfx\_ui](https://github.com/colormotor/gfx_ui)), are also
@@ -34,10 +40,10 @@ make
### glfw3 installation
-**On Debian:**
+**On Debian and Ubuntu:**
```
-sudo apt-get install libglfw3-dev
+sudo apt-get install libglfw3-dev
```
**Installation from source**
@@ -59,6 +65,24 @@ export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/lib
static library.
+### GLEW installation
+
+**On Debian and Ubuntu:**
+
+```
+sudo apt-get install libglew-dev
+```
+
+
+### LAPACK installation
+
+**On Debian and Ubuntu:**
+
+```
+sudo apt-get install liblapack-dev
+```
+
+
### Armadillo installation
See [http://arma.sourceforge.net/download.html](http://arma.sourceforge.net/download.html)
@@ -78,6 +102,12 @@ See [examples.md](./examples.md)
***
+[demo\_GPR01.cpp](./src/demo_GPR01.cpp)
+
+
+
+***
+
[demo\_MPC\_batch01.cpp](./src/demo_MPC_batch01.cpp)
diff --git a/data/data_4_frames.txt b/data/data_4_frames.txt
new file mode 100644
index 0000000..afdac86
--- /dev/null
+++ b/data/data_4_frames.txt
@@ -0,0 +1,6 @@
+ARMA_MAT_TXT_FN008
+4 8
+ 9.52582433819771e-02 2.64691840857267e-02 9.51822921633720e-02 1.13339841365814e-01 9.53103303909302e-02 2.15707466006279e-01 9.53146666288376e-02 2.37892791628838e-01
+ 4.58216160535812e-01 1.68154299259186e-01 4.58710938692093e-01 7.65657573938370e-02 4.58629548549652e-01 1.57467454671860e-01 4.58499342203140e-01 3.23121756315231e-01
+ 0.00000000000000e+00 -1.08463540673256e-02 0.00000000000000e+00 9.67881933320314e-04 0.00000000000000e+00 1.50325521826744e-02 0.00000000000000e+00 1.82703994214535e-02
+ 2.50000003725290e-02 -1.44889326766133e-02 2.50000003725290e-02 -1.40039063990116e-02 2.50000003725290e-02 -1.41308596357703e-02 2.50000003725290e-02 1.55143225565553e-02
diff --git a/data/data_4_trajectories.txt b/data/data_4_trajectories.txt
new file mode 100644
index 0000000..e095c58
--- /dev/null
+++ b/data/data_4_trajectories.txt
@@ -0,0 +1,10 @@
+ARMA_CUB_TXT_FN008
+2 200 4
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diff --git a/data/data_tpbatch_lqr_frames.txt b/data/data_tpbatch_lqr_frames.txt
deleted file mode 100644
index 5220960..0000000
--- a/data/data_tpbatch_lqr_frames.txt
+++ /dev/null
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diff --git a/data/data_tpbatch_lqr_trajectories.txt b/data/data_tpbatch_lqr_trajectories.txt
deleted file mode 100644
index 7f6a458..0000000
--- a/data/data_tpbatch_lqr_trajectories.txt
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diff --git a/data/data_tpgmr_frames.txt b/data/data_tpgmr_frames.txt
deleted file mode 100644
index cfab7a6..0000000
--- a/data/data_tpgmr_frames.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-ARMA_MAT_TXT_FN008
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diff --git a/data/data_tpgmr_trajectories.txt b/data/data_tpgmr_trajectories.txt
deleted file mode 100644
index cbf512a..0000000
--- a/data/data_tpgmr_trajectories.txt
+++ /dev/null
@@ -1,12 +0,0 @@
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diff --git a/images/demo_GMR01.gif b/images/demo_GMR01.gif
index 04a140c5fa7cf06c8b24337cfe36d30229bd0375..1a0358f1d03da2b3f675b787fac2dc9eb4fc4769 100644
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diff --git a/include/gfx2.h b/include/gfx2.h
index c496042..a16db3b 100644
--- a/include/gfx2.h
+++ b/include/gfx2.h
@@ -105,8 +105,15 @@ namespace gfx2
// Converts some coordinates from UI-space to OpenGL-space
//
// UI coordinates range from (0, 0) to (win_width, win_height)
- // OpenGL coordinates range from (-fb_width / 2, fb_height / 2) to
- // (fb_width / 2, -fb_height / 2)
+ // OpenGL coordinates range from (0, fb_height) to (fb_width, 0)
+ //-------------------------------------------------------------------------
+ arma::vec ui2fb(const arma::vec& coords, const window_size_t& window_size);
+
+ //-------------------------------------------------------------------------
+ // Converts some coordinates from UI-space to OpenGL-space
+ //
+ // UI coordinates range from (0, 0) to (win_width, win_height)
+ // OpenGL coordinates range from (0, fb_height) to (fb_width, 0)
//-------------------------------------------------------------------------
arma::vec ui2fb(const arma::vec& coords, int win_width, int win_height,
int fb_width, int fb_height);
@@ -118,7 +125,17 @@ namespace gfx2
// OpenGL coordinates range from (-fb_width / 2, fb_height / 2) to
// (fb_width / 2, -fb_height / 2)
//-------------------------------------------------------------------------
- arma::vec ui2fb(const arma::vec& coords, const window_size_t& window_size);
+ arma::vec ui2fb_centered(const arma::vec& coords, const window_size_t& window_size);
+
+ //-------------------------------------------------------------------------
+ // Converts some coordinates from UI-space to OpenGL-space
+ //
+ // UI coordinates range from (0, 0) to (win_width, win_height)
+ // OpenGL coordinates range from (-fb_width / 2, fb_height / 2) to
+ // (fb_width / 2, -fb_height / 2)
+ //-------------------------------------------------------------------------
+ arma::vec ui2fb_centered(const arma::vec& coords, int win_width, int win_height,
+ int fb_width, int fb_height);
//-------------------------------------------------------------------------
// Converts some coordinates from OpenGL-space to UI-space
@@ -130,6 +147,23 @@ namespace gfx2
arma::vec fb2ui(const arma::vec& coords, int win_width, int win_height,
int fb_width, int fb_height);
+ //-------------------------------------------------------------------------
+ // Converts some coordinates from OpenGL-space to UI-space
+ //
+ // OpenGL coordinates range from (0, fb_height) to (fb_width, 0)
+ // UI coordinates range from (0, 0) to (win_width, win_height)
+ //-------------------------------------------------------------------------
+ arma::vec fb2ui(const arma::vec& coords, const window_size_t& window_size);
+
+ //-------------------------------------------------------------------------
+ // Converts some coordinates from OpenGL-space to UI-space
+ //
+ // OpenGL coordinates range from (0, fb_height) to (fb_width, 0)
+ // UI coordinates range from (0, 0) to (win_width, win_height)
+ //-------------------------------------------------------------------------
+ arma::vec fb2ui_centered(const arma::vec& coords, int win_width, int win_height,
+ int fb_width, int fb_height);
+
//-------------------------------------------------------------------------
// Converts some coordinates from OpenGL-space to UI-space
//
@@ -137,7 +171,7 @@ namespace gfx2
// (fb_width / 2, -fb_height / 2)
// UI coordinates range from (0, 0) to (win_width, win_height)
//-------------------------------------------------------------------------
- arma::vec fb2ui(const arma::vec& coords, const window_size_t& window_size);
+ arma::vec fb2ui_centered(const arma::vec& coords, const window_size_t& window_size);
/*********************** PROJECTION & VIEW MATRICES **********************/
@@ -240,6 +274,35 @@ namespace gfx2
typedef std::vector<point_light_t> light_list_t;
+ /******************************** TEXTURES *******************************/
+
+ //-------------------------------------------------------------------------
+ // Holds all the needed informations about a texture
+ //-------------------------------------------------------------------------
+ struct texture_t {
+ GLuint id;
+ GLuint width;
+ GLuint height;
+ GLenum format;
+ GLenum type;
+
+ union {
+ float* pixels_f;
+ unsigned char* pixels_b;
+ };
+ };
+
+ //-------------------------------------------------------------------------
+ // Create a texture
+ //-------------------------------------------------------------------------
+ texture_t create_texture(int width, int height, GLenum format, GLenum type);
+
+ //-------------------------------------------------------------------------
+ // Create a texture
+ //-------------------------------------------------------------------------
+ void destroy(texture_t &texture);
+
+
/********************************* MESHES ********************************/
//-------------------------------------------------------------------------
@@ -262,12 +325,18 @@ namespace gfx2
arma::fvec diffuse_color;
arma::fvec specular_color;
float specular_power;
+ texture_t texture;
// Other
bool lightning_enabled;
bool use_one_minus_src_alpha_blending;
};
+ //-------------------------------------------------------------------------
+ // Represent a list of models
+ //-------------------------------------------------------------------------
+ typedef std::vector<gfx2::model_t> model_list_t;
+
//-------------------------------------------------------------------------
// Create a rectangular mesh, colored (no lightning)
//-------------------------------------------------------------------------
@@ -276,6 +345,14 @@ namespace gfx2
const arma::fmat& rotation = arma::eye<arma::fmat>(4, 4),
transforms_t* parent_transforms = 0);
+ //-------------------------------------------------------------------------
+ // Create a rectangular mesh, textured (no lightning)
+ //-------------------------------------------------------------------------
+ model_t create_rectangle(const texture_t& texture, float width, float height,
+ const arma::fvec& position = arma::zeros<arma::fvec>(3),
+ const arma::fmat& rotation = arma::eye<arma::fmat>(4, 4),
+ transforms_t* parent_transforms = 0);
+
//-------------------------------------------------------------------------
// Create a square mesh, colored (no lightning)
//-------------------------------------------------------------------------
@@ -342,7 +419,7 @@ namespace gfx2
//-------------------------------------------------------------------------
// Release the OpenGL resources used by the model
//-------------------------------------------------------------------------
- void destroy(const model_t& model);
+ void destroy(model_t &model);
/******************************* RENDERING *******************************/
@@ -368,6 +445,13 @@ namespace gfx2
const arma::fvec& position = arma::zeros<arma::fvec>(3),
const arma::fmat& rotation = arma::eye<arma::fmat>(4, 4));
+ //-------------------------------------------------------------------------
+ // Render a rectangular mesh, textured (no lightning)
+ //-------------------------------------------------------------------------
+ bool draw_rectangle(const texture_t& texture, float width, float height,
+ const arma::fvec& position = arma::zeros<arma::fvec>(3),
+ const arma::fmat& rotation = arma::eye<arma::fmat>(4, 4));
+
//-------------------------------------------------------------------------
// Render a line, colored (no lightning), from a matrix containing the
// point coordinates
diff --git a/include/gfx3.h b/include/gfx3.h
deleted file mode 100644
index 93ce949..0000000
--- a/include/gfx3.h
+++ /dev/null
@@ -1,612 +0,0 @@
-/*
- * gfx3.h
- *
- * Rendering utility structures and functions based on OpenGL 3.3+
- *
- * Authors: Philip Abbet
- */
-
-#pragma once
-
-#define ARMA_DONT_PRINT_ERRORS
-#include <armadillo>
-#include <map>
-
-// Detect the platform
-#ifdef _WIN32
- #define GFX_WINDOWS
- #include <windows.h>
-#elif __APPLE__
- #define GFX_OSX
-#elif __linux__ || __unix__ || defined(_POSIX_VERSION)
- #define GFX_LINUX
-#else
- #error "Unknown platform"
-#endif
-
-// OpenGL includes
-#ifdef GFX_WINDOWS
- // NOT TESTED HERE
- #include <windows.h>
- #include <GL/glu.h>
- #ifndef GL_CLAMP_TO_EDGE
- #define GL_CLAMP_TO_EDGE 0x812F
- #endif
-#elif defined GFX_LINUX
- #ifndef __glew_h__
- #define GL_GLEXT_PROTOTYPES
- #include <GL/glew.h>
- #include <GL/glu.h>
- #include <GL/gl.h>
- #include <GL/glx.h>
- #endif
-#elif defined GFX_OSX
- #ifndef __glew_h__
- #define GL_GLEXT_PROTOTYPES
- #include <GL/glew.h>
- #endif
- #include <OpenGL/glu.h>
- #include <OpenGL/OpenGL.h>
- #include <OpenGL/gl.h>
- #include <OpenGL/glext.h>
-#endif
-
-
-
-namespace gfx3
-{
- /**************************** UTILITY FUNCTIONS **************************/
-
- //-------------------------------------------------------------------------
- // Holds the sizes of the window and of the OpenGL front-buffer (they might
- // be different, for instance on a 4K screen)
- //-------------------------------------------------------------------------
- struct window_size_t {
- int win_width;
- int win_height;
- int fb_width;
- int fb_height;
-
- inline float scale_x() const {
- return (float) fb_width / (float) win_width;
- }
-
- inline float scale_y() const {
- return (float) fb_height / (float) win_height;
- }
- };
-
- //-------------------------------------------------------------------------
- // Initialisations
- //-------------------------------------------------------------------------
- void init();
-
- //-------------------------------------------------------------------------
- // Convert radian to degrees
- //-------------------------------------------------------------------------
- double deg2rad(double deg);
-
- //-------------------------------------------------------------------------
- // Returns the sinus of an angle in degrees
- //-------------------------------------------------------------------------
- double sin_deg(double deg);
-
- //-------------------------------------------------------------------------
- // Returns the cosinus of an angle in degrees
- //-------------------------------------------------------------------------
- double cos_deg(double deg);
-
- //-------------------------------------------------------------------------
- // Indicates if two values are close enough
- //-------------------------------------------------------------------------
- bool is_close(float a, float b, float epsilon = 1e-6f);
-
- //-------------------------------------------------------------------------
- // Converts some coordinates from UI-space to OpenGL-space
- //
- // UI coordinates range from (0, 0) to (win_width, win_height)
- // OpenGL coordinates range from (-fb_width / 2, fb_height / 2) to
- // (fb_width / 2, -fb_height / 2)
- //-------------------------------------------------------------------------
- arma::vec ui2fb(const arma::vec& coords, int win_width, int win_height,
- int fb_width, int fb_height);
-
- //-------------------------------------------------------------------------
- // Converts some coordinates from UI-space to OpenGL-space
- //
- // UI coordinates range from (0, 0) to (win_width, win_height)
- // OpenGL coordinates range from (-fb_width / 2, fb_height / 2) to
- // (fb_width / 2, -fb_height / 2)
- //-------------------------------------------------------------------------
- arma::vec ui2fb(const arma::vec& coords, const window_size_t& window_size);
-
- //-------------------------------------------------------------------------
- // Converts some coordinates from OpenGL-space to UI-space
- //
- // OpenGL coordinates range from (-fb_width / 2, fb_height / 2) to
- // (fb_width / 2, -fb_height / 2)
- // UI coordinates range from (0, 0) to (win_width, win_height)
- //-------------------------------------------------------------------------
- arma::vec fb2ui(const arma::vec& coords, int win_width, int win_height,
- int fb_width, int fb_height);
-
- //-------------------------------------------------------------------------
- // Converts some coordinates from OpenGL-space to UI-space
- //
- // OpenGL coordinates range from (-fb_width / 2, fb_height / 2) to
- // (fb_width / 2, -fb_height / 2)
- // UI coordinates range from (0, 0) to (win_width, win_height)
- //-------------------------------------------------------------------------
- arma::vec fb2ui(const arma::vec& coords, const window_size_t& window_size);
-
- //-------------------------------------------------------------------------
- // Converts some coordinates from UI-space to shader-space
- //
- // UI coordinates range from (0, 0) to (win_width, win_height)
- // Shader coordinates range from (sh_left, sh_top) to (sh_right, sh_bottom)
- // by default: (-1, 1) to (1, -1)
- //-------------------------------------------------------------------------
- arma::vec ui2shader(const arma::vec& coords, int win_width, int win_height,
- int fb_width, int fb_height, float sh_left = -1.0f,
- float sh_top = 1.0f, float sh_right = 1.0f,
- float sh_bottom = -1.0f);
-
- //-------------------------------------------------------------------------
- // Converts some coordinates from UI-space to shader-space
- //
- // UI coordinates range from (0, 0) to (win_width, win_height)
- // Shader coordinates range from (sh_left, sh_top) to (sh_right, sh_bottom)
- // by default: (-1, 1) to (1, -1)
- //-------------------------------------------------------------------------
- arma::vec ui2shader(const arma::vec& coords, const window_size_t& window_size,
- float sh_left = -1.0f, float sh_top = 1.0f,
- float sh_right = 1.0f, float sh_bottom = -1.0f);
-
-
- /*********************** PROJECTION & VIEW MATRICES **********************/
-
- //-------------------------------------------------------------------------
- // Returns a perspective projection matrix
- //-------------------------------------------------------------------------
- arma::fmat perspective(float fovy, float aspect, float zNear, float zFar);
-
- //-------------------------------------------------------------------------
- // Returns a orthographic projection matrix
- //-------------------------------------------------------------------------
- arma::fmat orthographic(float width, float height, float zNear, float zFar);
-
- //-------------------------------------------------------------------------
- // Returns a view matrix
- //-------------------------------------------------------------------------
- arma::fmat lookAt(const arma::fvec& position, const arma::fvec& target,
- const arma::fvec& up);
-
-
- /**************************** TRANSFORMATIONS ****************************/
-
- //-------------------------------------------------------------------------
- // Holds all the transformations needed for a 3D entity
- //
- // Can be organised in a hierarchy, where the parent transforms affect the
- // children ones
- //-------------------------------------------------------------------------
- struct transforms_t {
-
- // Constructor
- transforms_t()
- : parent(0)
- {
- position.zeros(3);
- rotation.eye(4, 4);
- }
-
- transforms_t* parent;
-
- arma::fvec position;
- arma::fmat rotation;
- };
-
- //-------------------------------------------------------------------------
- // Returns a rotation matrix given an axis and an angle (in radian)
- //-------------------------------------------------------------------------
- arma::fmat rotate(const arma::fvec& axis, float angle);
-
- //-------------------------------------------------------------------------
- // Returns the rotation matrix to go from one direction to another one
- //-------------------------------------------------------------------------
- arma::fmat rotation(const arma::fvec& from, const arma::fvec& to);
-
- //-------------------------------------------------------------------------
- // Compute the translation and rotation to apply to a list of 3D points A to
- // obtain the list of 3D points B.
- //
- // Points are organised in columns:
- // [ x0 x1 x2 ...
- // y0 y1 y2
- // z0 z1 z2 ]
- //-------------------------------------------------------------------------
- void rigid_transform_3D(const arma::fmat& A, const arma::fmat& B,
- arma::fmat &rotation, arma::fvec &translation);
-
- //-------------------------------------------------------------------------
- // Returns the full world transformation matrix corresponding to the given
- // transforms structure, taking all its parent hierarchy into account
- //-------------------------------------------------------------------------
- arma::fmat worldTransforms(const transforms_t* transforms);
-
- //-------------------------------------------------------------------------
- // Returns the full world position corresponding to the given transforms
- // structure, taking all its parent hierarchy into account
- //-------------------------------------------------------------------------
- arma::fvec worldPosition(const transforms_t* transforms);
-
- //-------------------------------------------------------------------------
- // Returns the full world rotation matrix corresponding to the given
- // transforms structure, taking all its parent hierarchy into account
- //-------------------------------------------------------------------------
- arma::fmat worldRotation(const transforms_t* transforms);
-
-
- /******************************** SHADERS ********************************/
-
- struct shader_fmat_uniform_t {
- GLint handle;
- arma::fmat value;
- };
-
-
- struct shader_fvec_uniform_t {
- GLint handle;
- arma::fvec value;
- };
-
-
- struct shader_float_uniform_t {
- GLint handle;
- float value;
- };
-
-
- struct shader_bool_uniform_t {
- GLint handle;
- bool value;
- };
-
-
- //-------------------------------------------------------------------------
- // Holds all the needed informations about a GLSL program
- //-------------------------------------------------------------------------
- struct shader_t {
- GLuint id;
-
- bool use_lightning;
-
- // Matrices
- GLint model_matrix_handle;
- GLint view_matrix_handle;
- GLint projection_matrix_handle;
-
- // Material
- GLint ambiant_color_handle; // valid if lightning is used
- GLint diffuse_color_handle;
- GLint specular_color_handle; // valid if lightning is used
- GLint specular_power_handle; // valid if lightning is used
-
- // Textures
- GLint diffuse_texture_handle; // valid if textures are used
-
- // Light
- GLint light_position_handle; // valid if lightning is used
- GLint light_color_handle; // valid if lightning is used
- GLint light_power_handle; // valid if lightning is used
-
- // RTT-specific
- GLint backbuffer_handle;
-
- // Application-dependant uniforms
- std::map<std::string, shader_fmat_uniform_t> fmat_uniforms;
- std::map<std::string, shader_fvec_uniform_t> fvec_uniforms;
- std::map<std::string, shader_float_uniform_t> float_uniforms;
- std::map<std::string, shader_bool_uniform_t> bool_uniforms;
-
- void setUniform(const std::string& name, const arma::fmat& value);
- void setUniform(const std::string& name, const arma::mat& value);
- void setUniform(const std::string& name, const arma::fvec& value);
- void setUniform(const std::string& name, const arma::vec& value);
- void setUniform(const std::string& name, float value);
- void setUniform(const std::string& name, bool value);
- };
-
-
- //-------------------------------------------------------------------------
- // Convert to string (handy to create a shader, but messes up line numbers,
- // which makes it tricky with errors)
- //-------------------------------------------------------------------------
- #define STRINGIFY( expr ) #expr
-
- //-------------------------------------------------------------------------
- // Load and compile a vertex and a fragment shaders into a GLSL program
- //-------------------------------------------------------------------------
- shader_t loadShader(const std::string& vertex_shader,
- const std::string& fragment_shader,
- const std::string& version = "330 core");
-
- //-------------------------------------------------------------------------
- // Vertex and fragment shaders for a mesh with normals and one point light
- // source
- //-------------------------------------------------------------------------
- extern const char* VERTEX_SHADER_ONE_LIGHT;
- extern const char* FRAGMENT_SHADER_ONE_LIGHT;
-
- //-------------------------------------------------------------------------
- // Vertex and fragment shaders without any lightning
- //-------------------------------------------------------------------------
- extern const char* VERTEX_SHADER_COLORED;
- extern const char* FRAGMENT_SHADER_COLORED;
-
- //-------------------------------------------------------------------------
- // Vertex and fragment shaders with a texture, without any lightning
- //-------------------------------------------------------------------------
- extern const char* VERTEX_SHADER_TEXTURED;
- extern const char* FRAGMENT_SHADER_ONE_TEXTURE;
- extern const char* FRAGMENT_SHADER_GAUSSIAN;
-
- //-------------------------------------------------------------------------
- // Vertex and fragment shaders to do render-to-texture
- //-------------------------------------------------------------------------
- extern const char* RTT_VERTEX_SHADER;
- extern const char* RTT_FRAGMENT_SHADER_GAUSSIAN;
- extern const char* RTT_FRAGMENT_SHADER_LIC;
-
-
- /******************************* LIGHTNING *******************************/
-
- //-------------------------------------------------------------------------
- // Holds all the needed informations about a point light
- //-------------------------------------------------------------------------
- struct point_light_t {
- transforms_t transforms;
- arma::fvec color;
- float power;
- };
-
- //-------------------------------------------------------------------------
- // A list of lights
- //-------------------------------------------------------------------------
- typedef std::vector<point_light_t> light_list_t;
-
-
- /*************************** RENDER-TO-TEXTURE ***************************/
-
- struct render_to_texture_buffer_t {
- GLuint framebuffer;
- GLuint texture;
- };
-
- struct render_to_texture_t {
-
- // Textures
- render_to_texture_buffer_t buffers[2];
- unsigned int nb_buffers;
- unsigned int current_buffer;
- unsigned int width;
- unsigned int height;
-
- // Rectangular mesh
- GLuint nb_vertices;
- GLuint vertex_buffer;
-
- // Shader
- shader_t const* shader;
-
- inline GLuint texture() const {
- return buffers[current_buffer].texture;
- };
-
- inline GLuint previous_texture() const {
- unsigned int previous_buffer = current_buffer + 1;
- if (previous_buffer >= nb_buffers)
- previous_buffer = 0;
-
- return buffers[previous_buffer].texture;
- };
- };
-
- //-------------------------------------------------------------------------
- // Create a render-to-texture object
- //-------------------------------------------------------------------------
- render_to_texture_t createRTT(const shader_t& shader, unsigned int width,
- unsigned int height, const arma::fvec& color);
-
- //-------------------------------------------------------------------------
- // Render a render-to-texture object
- //-------------------------------------------------------------------------
- bool draw(render_to_texture_t &rtt);
-
-
- /********************************* MESHES ********************************/
-
- //-------------------------------------------------------------------------
- // Holds all the needed informations about a mesh
- //-------------------------------------------------------------------------
- struct model_t {
- GLenum mode;
-
- // Vertex data
- GLuint nb_vertices;
- GLuint vertex_buffer;
- GLuint normal_buffer;
- GLuint uv_buffer;
-
- // Transforms
- transforms_t transforms;
-
- // Shader
- shader_t const* shader;
-
- // Material
- arma::fvec ambiant_color;
- arma::fvec diffuse_color;
- arma::fvec specular_color;
- float specular_power;
-
- // Textures
- GLuint diffuse_texture;
- };
-
- //-------------------------------------------------------------------------
- // Create a rectangular mesh, colored (no lightning)
- //-------------------------------------------------------------------------
- model_t create_rectangle(const shader_t& shader, const arma::fvec& color,
- float width, float height,
- const arma::fvec& position = arma::zeros<arma::fvec>(3),
- const arma::fmat& rotation = arma::eye<arma::fmat>(4, 4),
- transforms_t* parent_transforms = 0);
-
- //-------------------------------------------------------------------------
- // Create a square mesh, colored (no lightning)
- //-------------------------------------------------------------------------
- model_t create_square(const shader_t& shader, const arma::fvec& color, float size,
- const arma::fvec& position = arma::zeros<arma::fvec>(3),
- const arma::fmat& rotation = arma::eye<arma::fmat>(4, 4),
- transforms_t* parent_transforms = 0);
-
- //-------------------------------------------------------------------------
- // Create a sphere mesh, either colored or that can be lighted (it depends
- // on the shader)
- //-------------------------------------------------------------------------
- model_t create_sphere(const shader_t& shader, float radius = 1.0f,
- const arma::fvec& position = arma::zeros<arma::fvec>(3),
- const arma::fmat& rotation = arma::eye<arma::fmat>(4, 4),
- transforms_t* parent_transforms = 0);
-
- //-------------------------------------------------------------------------
- // Create a line mesh, colored (no lightning), from a matrix containing the
- // point coordinates
- //-------------------------------------------------------------------------
- model_t create_line(const shader_t& shader, const arma::fvec& color,
- const arma::mat& points,
- const arma::fvec& position = arma::zeros<arma::fvec>(3),
- const arma::fmat& rotation = arma::eye<arma::fmat>(4, 4),
- transforms_t* parent_transforms = 0);
-
- //-------------------------------------------------------------------------
- // Create a line mesh, colored (no lightning), from an array containing the
- // point coordinates
- //-------------------------------------------------------------------------
- model_t create_line(const shader_t& shader, const arma::fvec& color,
- const std::vector<arma::vec>& points,
- const arma::fvec& position = arma::zeros<arma::fvec>(3),
- const arma::fmat& rotation = arma::eye<arma::fmat>(4, 4),
- transforms_t* parent_transforms = 0);
-
- //-------------------------------------------------------------------------
- // Create a mesh, colored (no lightning), from a matrix containing the
- // vertex coordinates
- //-------------------------------------------------------------------------
- model_t create_mesh(const shader_t& shader, const arma::fvec& color,
- const arma::mat& vertices,
- const arma::fvec& position = arma::zeros<arma::fvec>(3),
- const arma::fmat& rotation = arma::eye<arma::fmat>(4, 4),
- transforms_t* parent_transforms = 0);
-
- //-------------------------------------------------------------------------
- // Release the OpenGL resources used by the model
- //-------------------------------------------------------------------------
- void destroy(const model_t& model);
-
-
- /******************************* RENDERING *******************************/
-
- //-------------------------------------------------------------------------
- // Render a mesh
- //-------------------------------------------------------------------------
- bool draw(const model_t& model, const arma::fmat& view,
- const arma::fmat& projection,
- const light_list_t& lights);
-
- //-------------------------------------------------------------------------
- // Render a mesh (shortcut when lights aren't used by the shaders)
- //-------------------------------------------------------------------------
- inline bool draw(const model_t& model, const arma::fmat& view,
- const arma::fmat& projection)
- {
- light_list_t lights;
- return draw(model, view, projection, lights);
- }
-
- //-------------------------------------------------------------------------
- // Render a rectangular mesh, colored (no lightning)
- //-------------------------------------------------------------------------
- bool draw_rectangle(const shader_t& shader, const arma::fvec& color,
- float width, float height, const arma::fmat& view,
- const arma::fmat& projection,
- const arma::fvec& position = arma::zeros<arma::fvec>(3),
- const arma::fmat& rotation = arma::eye<arma::fmat>(4, 4));
-
- //-------------------------------------------------------------------------
- // Render a line, colored (no lightning), from a matrix containing the
- // point coordinates
- //-------------------------------------------------------------------------
- bool draw_line(const shader_t& shader, const arma::fvec& color,
- const arma::mat& points, const arma::fmat& view,
- const arma::fmat& projection,
- const arma::fvec& position = arma::zeros<arma::fvec>(3),
- const arma::fmat& rotation = arma::eye<arma::fmat>(4, 4));
-
- //-------------------------------------------------------------------------
- // Render a line, colored (no lightning), from an array containing the
- // point coordinates
- //-------------------------------------------------------------------------
- bool draw_line(const shader_t& shader, const arma::fvec& color,
- const std::vector<arma::vec>& points, const arma::fmat& view,
- const arma::fmat& projection,
- const arma::fvec& position = arma::zeros<arma::fvec>(3),
- const arma::fmat& rotation = arma::eye<arma::fmat>(4, 4));
-
- //-------------------------------------------------------------------------
- // Render a mesh, colored (no lightning), from a matrix containing the
- // vertex coordinates
- //-------------------------------------------------------------------------
- bool draw_mesh(const shader_t& shader, const arma::fvec& color,
- const arma::mat& vertices,const arma::fmat& view,
- const arma::fmat& projection,
- const arma::fvec& position = arma::zeros<arma::fvec>(3),
- const arma::fmat& rotation = arma::eye<arma::fmat>(4, 4));
-
- //-------------------------------------------------------------------------
- // Render a gaussian, colored (no lightning)
- //-------------------------------------------------------------------------
- bool draw_gaussian(shader_t* shader, const arma::fvec& color,
- const arma::vec& mu, const arma::mat& sigma,
- const arma::fmat& view, const arma::fmat& projection,
- float viewport_width, float viewport_height);
-
- //-------------------------------------------------------------------------
- // Render the border of a gaussian, colored (no lightning)
- //-------------------------------------------------------------------------
- bool draw_gaussian_border(shader_t* shader, const arma::fvec& color,
- const arma::vec& mu, const arma::mat& sigma,
- const arma::fmat& view,
- const arma::fmat& projection,
- float viewport_width, float viewport_height);
-
-
- /****************************** RAY CASTING ******************************/
-
- //-------------------------------------------------------------------------
- // Represents a 3D ray (in world coordinates)
- //-------------------------------------------------------------------------
- struct ray_t {
- arma::fvec origin;
- arma::fvec direction;
- };
-
- ray_t create_ray(const arma::fvec& origin, int mouse_x, int mouse_y,
- const arma::fmat& view, const arma::fmat& projection,
- int window_width, int window_height);
-
- bool intersects(const ray_t& ray, const arma::fvec& center, float radius,
- arma::fvec &result);
-
-};
diff --git a/include/imgui_impl_glfw_gl3.h b/include/imgui_impl_glfw_gl3.h
deleted file mode 100644
index 33b5329..0000000
--- a/include/imgui_impl_glfw_gl3.h
+++ /dev/null
@@ -1,31 +0,0 @@
-// ImGui GLFW binding with OpenGL3 + shaders
-// (GLFW is a cross-platform general purpose library for handling windows, inputs, OpenGL/Vulkan graphics context creation, etc.)
-// (GL3W is a helper library to access OpenGL functions since there is no standard header to access modern OpenGL functions easily. Alternatives are GLEW, Glad, etc.)
-
-// Implemented features:
-// [X] User texture binding. Cast 'GLuint' OpenGL texture identifier as void*/ImTextureID. Read the FAQ about ImTextureID in imgui.cpp.
-// [X] Gamepad navigation mapping. Enable with 'io.ConfigFlags |= ImGuiConfigFlags_NavEnableGamepad'.
-
-// You can copy and use unmodified imgui_impl_* files in your project. See main.cpp for an example of using this.
-// If you use this binding you'll need to call 4 functions: ImGui_ImplXXXX_Init(), ImGui_ImplXXXX_NewFrame(), ImGui::Render() and ImGui_ImplXXXX_Shutdown().
-// If you are new to ImGui, see examples/README.txt and documentation at the top of imgui.cpp.
-// https://github.com/ocornut/imgui
-
-struct GLFWwindow;
-
-IMGUI_API bool ImGui_ImplGlfwGL3_Init(GLFWwindow* window, bool install_callbacks, const char* glsl_version = NULL);
-IMGUI_API void ImGui_ImplGlfwGL3_Shutdown();
-IMGUI_API void ImGui_ImplGlfwGL3_NewFrame();
-IMGUI_API void ImGui_ImplGlfwGL3_RenderDrawData(ImDrawData* draw_data);
-
-// Use if you want to reset your rendering device without losing ImGui state.
-IMGUI_API void ImGui_ImplGlfwGL3_InvalidateDeviceObjects();
-IMGUI_API bool ImGui_ImplGlfwGL3_CreateDeviceObjects();
-
-// GLFW callbacks (installed by default if you enable 'install_callbacks' during initialization)
-// Provided here if you want to chain callbacks.
-// You can also handle inputs yourself and use those as a reference.
-IMGUI_API void ImGui_ImplGlfw_MouseButtonCallback(GLFWwindow* window, int button, int action, int mods);
-IMGUI_API void ImGui_ImplGlfw_ScrollCallback(GLFWwindow* window, double xoffset, double yoffset);
-IMGUI_API void ImGui_ImplGlfw_KeyCallback(GLFWwindow* window, int key, int scancode, int action, int mods);
-IMGUI_API void ImGui_ImplGlfw_CharCallback(GLFWwindow* window, unsigned int c);
diff --git a/src/demo_GMR01.cpp b/src/demo_GMR01.cpp
index 1dda282..da4e073 100644
--- a/src/demo_GMR01.cpp
+++ b/src/demo_GMR01.cpp
@@ -67,8 +67,18 @@ struct model_t {
};
-//-----------------------------------------------
-
+//-----------------------------------------------------------------------------
+// Likelihood of datapoint(s) to be generated by a Gaussian parameterized by
+// center and covariance.
+//
+// Inputs:
+// - Data: D x N array representing N datapoints of D dimensions.
+// - Mu: D x 1 vector representing the center of the Gaussian.
+// - Sigma: D x D array representing the covariance matrix of the Gaussian.
+//
+// Output:
+// - prob: 1 x N vector representing the likelihood of the N datapoints.
+//-----------------------------------------------------------------------------
arma::vec gaussPDF(mat Data, colvec Mu, mat Sigma) {
int nbVar = Data.n_rows;
@@ -77,7 +87,7 @@ arma::vec gaussPDF(mat Data, colvec Mu, mat Sigma) {
vec prob = sum((Data * inv(Sigma)) % Data, 1);
- prob = exp(-0.5 * prob) / sqrt(pow((2 * datum::pi), nbVar) * det(Sigma) + 2.2251E-308);
+ prob = exp(-0.5 * prob) / sqrt(pow((2 * datum::pi), nbVar) * det(Sigma) + DBL_MIN);
return prob;
}
@@ -330,16 +340,13 @@ arma::vec fb2ui(const arma::vec& coords, const gfx2::window_size_t& window_size,
// Colors of the displayed lines and gaussians
//-----------------------------------------------------------------------------
const mat COLORS({
- { 0.0, 0.0, 1.0 },
- { 0.0, 0.5, 0.0 },
- { 1.0, 0.0, 0.0 },
- { 0.0, 0.75, 0.75 },
+ { 0.0, 0.0, 1.0 },
+ { 0.0, 0.5, 0.0 },
+ { 1.0, 0.0, 0.0 },
+ { 0.0, 0.75, 0.75 },
{ 0.75, 0.0, 0.75 },
{ 0.75, 0.75, 0.0 },
{ 0.25, 0.25, 0.25 },
- { 0.0, 0.0, 1.0 },
- { 0.0, 0.5, 0.0 },
- { 1.0, 0.0, 0.0 },
});
@@ -454,7 +461,7 @@ void draw_demos_viewport(const viewport_t& viewport,
gfx2::draw_line(color, datapoints);
++color_index;
- if (color_index >= demonstrations.size())
+ if (color_index >= COLORS.n_rows)
color_index = 0;
}
}
@@ -488,7 +495,9 @@ void draw_GMR_viewport(const viewport_t& viewport, const mat& points,
glClear(GL_DEPTH_BUFFER_BIT);
- gfx2::draw_line(arma::fvec({0.0f, 0.0f, 0.0f}), points);
+ glLineWidth(4.0f);
+ gfx2::draw_line(arma::fvec({0.0f, 0.4f, 0.0f}), points);
+ glLineWidth(1.0f);
}
}
@@ -616,7 +625,8 @@ void draw_timeline_viewport(const gfx2::window_size_t& window_size,
sigma(0, 1) = sigma(0, 1) * scale_x;
sigma(1, 0) = sigma(1, 0) * scale_x;
- gfx2::draw_gaussian(conv_to<fvec>::from(COLORS.row(i % 10).t()), mu, sigma);
+ gfx2::draw_gaussian(conv_to<fvec>::from(COLORS.row(i % 10).t()), mu, sigma,
+ true, false);
}
glClear(GL_DEPTH_BUFFER_BIT);
@@ -634,7 +644,7 @@ void draw_timeline_viewport(const gfx2::window_size_t& window_size,
gfx2::draw_line(color, datapoints);
++color_index;
- if (color_index >= demonstrations.size())
+ if (color_index >= COLORS.n_rows)
color_index = 0;
}
@@ -646,7 +656,9 @@ void draw_timeline_viewport(const gfx2::window_size_t& window_size,
points(0, span::all) = points(0, span::all) * scale_x - plot_dimensions(0) / 2;
points(1, span::all) *= scale_y;
- gfx2::draw_line(arma::fvec({0.0f, 0.0f, 0.0f}), points);
+ glLineWidth(4.0f);
+ gfx2::draw_line(arma::fvec({0.0f, 0.4f, 0.0f}), points);
+ glLineWidth(1.0f);
}
@@ -970,7 +982,7 @@ int main(int argc, char **argv) {
break;
- if (!gui_state.is_drawing_demonstration) {
+ if (!gui_state.is_drawing_demonstration && !gui_state.is_parameters_dialog_displayed) {
// Left click: start a new demonstration (only if not on the UI and in the
// demonstrations viewport)
if (ImGui::IsMouseClicked(GLFW_MOUSE_BUTTON_1)) {
@@ -986,7 +998,7 @@ int main(int argc, char **argv) {
current_trajectory.push_back(coords);
}
}
- } else {
+ } else if (gui_state.is_drawing_demonstration) {
double mouse_x, mouse_y;
glfwGetCursorPos(window, &mouse_x, &mouse_y);
diff --git a/src/demo_GPR01.cpp b/src/demo_GPR01.cpp
new file mode 100644
index 0000000..ee63177
--- /dev/null
+++ b/src/demo_GPR01.cpp
@@ -0,0 +1,968 @@
+/*
+ * demo_GPR01.cpp
+ *
+ * Gaussian process regression (GPR) with RBF kernel
+ *
+ * @article{Calinon16JIST,
+ * author="Calinon, S.",
+ * title="A Tutorial on Task-Parameterized Movement Learning and Retrieval",
+ * journal="Intelligent Service Robotics",
+ * publisher="Springer Berlin Heidelberg",
+ * doi="10.1007/s11370-015-0187-9",
+ * year="2016",
+ * volume="9",
+ * number="1",
+ * pages="1--29"
+ * }
+ *
+ * Authors: Sylvain Calinon, Philip Abbet
+ */
+
+
+#include <stdio.h>
+#include <armadillo>
+#include <mvn.h>
+
+#include <gfx2.h>
+#include <gfx_ui.h>
+#include <GLFW/glfw3.h>
+#include <imgui.h>
+#include <imgui_impl_glfw_gl2.h>
+#include <imgui_internal.h>
+#include <window_utils.h>
+
+using namespace arma;
+
+
+/***************************** ALGORITHM SECTION *****************************/
+
+typedef std::vector<vec> vector_list_t;
+typedef std::vector<mat> matrix_list_t;
+
+
+//-----------------------------------------------------------------------------
+// Contains all the parameters used by the algorithm. Some of them are
+// modifiable through the UI, others are hard-coded.
+//-----------------------------------------------------------------------------
+struct parameters_t {
+ int nb_data; // Number of datapoints in a trajectory
+ int nb_data_reproduction; // Number of datapoints for reproduction
+ vec p; // GPR parameters
+};
+
+
+//-----------------------------------------------------------------------------
+// Create a demonstration (with a length of 'time_steps.size()') from a
+// trajectory (of any length)
+//-----------------------------------------------------------------------------
+mat sample_trajectory(const mat& trajectory, const uvec& time_steps) {
+
+ // Resampling of the trajectory
+ vec x = trajectory.row(0).t();
+ vec y = trajectory.row(1).t();
+ vec x2;
+ vec y2;
+
+ vec from_indices = linspace<vec>(0, trajectory.n_cols - 1, trajectory.n_cols);
+ vec to_indices = linspace<vec>(0, trajectory.n_cols - 1, time_steps[time_steps.size() - 1] + 1);
+
+ interp1(from_indices, x, to_indices, x2, "*linear");
+ interp1(from_indices, y, to_indices, y2, "*linear");
+
+ // Create the demonstration
+ mat demo(3, time_steps.size());
+ for (int i = 0; i < time_steps.size(); ++i) {
+ int j = time_steps[i];
+ demo(0, i) = j;
+ demo(1, i) = x2[j];
+ demo(2, i) = y2[j];
+ }
+
+ return demo;
+}
+
+
+//-----------------------------------------------------------------------------
+// Compute pairwise distance between two sets of vectors.
+//-----------------------------------------------------------------------------
+mat pdist2(const vec& x, const vec& y) {
+ mat result(x.n_rows, y.n_rows);
+
+ for (int i = 0; i < x.n_rows; ++i) {
+ for (int j = 0; j < y.n_rows; ++j) {
+ result(i, j) = fabsl(x(i) - y(j));
+ }
+ }
+
+ return result;
+}
+
+
+//-----------------------------------------------------------------------------
+// Gaussian mixture regression (GPR)
+//-----------------------------------------------------------------------------
+void compute_GPR(const parameters_t& parameters, const matrix_list_t& demos,
+ mat &points, matrix_list_t &sigma_out) {
+
+ const int nb_var = demos[0].n_rows;
+
+ sigma_out.clear();
+
+ mat data(nb_var, demos[0].n_cols * demos.size());
+ for (unsigned int m = 0; m < demos.size(); ++m) {
+ data(span::all, span(m * demos[0].n_cols,
+ (m + 1) * demos[0].n_cols - 1)) =
+ demos[m];
+ }
+
+ vec all_time_steps = linspace<vec>(0, parameters.nb_data - 1, parameters.nb_data_reproduction);
+
+ mat K = parameters.p(0) * exp(-1.0 / parameters.p(1) * pow(pdist2(data.row(0).t(), data.row(0).t()), 2.0)) +
+ parameters.p(2) * eye(data.n_cols, data.n_cols);
+
+ mat Kd = parameters.p(0) * exp(-1.0 / parameters.p(1) * pow(pdist2(all_time_steps, data.row(0).t()), 2.0));
+
+ points = mat(nb_var, all_time_steps.n_rows);
+ points(0, span::all) = all_time_steps.t();
+
+ points(span(1, nb_var - 1), span::all) = (Kd * solve(K, data(span(1, nb_var - 1), span::all).t())).t();
+
+ mat Kdd = parameters.p(0) * exp(-1.0 / parameters.p(1) * pow(pdist2(all_time_steps, all_time_steps), 2));
+
+ mat S = Kdd - Kd * solve(K, Kd.t());
+
+ for (unsigned int t = 0; t < parameters.nb_data_reproduction; ++t) {
+ mat sigma = eye(nb_var - 1, nb_var - 1) * S(t, t);
+ sigma_out.push_back(sigma);
+ }
+}
+
+
+/****************************** HELPER FUNCTIONS *****************************/
+
+static void error_callback(int error, const char* description) {
+ fprintf(stderr, "Error %d: %s\n", error, description);
+}
+
+
+//-----------------------------------------------------------------------------
+// Contains all the informations about a viewport
+//-----------------------------------------------------------------------------
+struct viewport_t {
+ int x;
+ int y;
+ int width;
+ int height;
+
+ // Projection matrix parameters
+ arma::vec projection_top_left;
+ arma::vec projection_bottom_right;
+ double projection_near;
+ double projection_far;
+};
+
+
+//-----------------------------------------------------------------------------
+// Helper function to setup a viewport
+//-----------------------------------------------------------------------------
+void setup_viewport(viewport_t* viewport, int x, int y, int width, int height,
+ double near = -1.0, double far = 1.0) {
+
+ viewport->x = x;
+ viewport->y = y;
+ viewport->width = width;
+ viewport->height = height;
+ viewport->projection_top_left = vec({ (double) -width / 2,
+ (double) height / 2 });
+ viewport->projection_bottom_right = vec({ (double) width / 2,
+ (double) -height / 2 });
+ viewport->projection_near = near;
+ viewport->projection_far = far;
+}
+
+
+//-----------------------------------------------------------------------------
+// Converts some coordinates from UI-space to OpenGL-space, taking the
+// coordinates of a viewport into account
+//-----------------------------------------------------------------------------
+arma::vec ui2fb(const arma::vec& coords, const gfx2::window_size_t& window_size,
+ const viewport_t& viewport) {
+ arma::vec result = coords;
+
+ // ui -> viewport
+ result(0) = coords(0) * (float) window_size.fb_width / (float) window_size.win_width - viewport.x;
+ result(1) = (window_size.win_height - coords(1)) *
+ (float) window_size.fb_height / (float) window_size.win_height - viewport.y;
+
+ // viewport -> fb
+ result(0) = result(0) - (float) viewport.width * 0.5f;
+ result(1) = result(1) - (float) viewport.height * 0.5f;
+
+ return result;
+}
+
+
+//-----------------------------------------------------------------------------
+// Converts some coordinates from OpenGL-space to UI-space, taking the
+// coordinates of a viewport into account
+//-----------------------------------------------------------------------------
+arma::vec fb2ui(const arma::vec& coords, const gfx2::window_size_t& window_size,
+ const viewport_t& viewport) {
+ arma::vec result = coords;
+
+ // fb -> viewport
+ result(0) = coords(0) + (float) viewport.width * 0.5f;
+ result(1) = coords(1) + (float) viewport.height * 0.5f;
+
+ // viewport -> ui
+ result(0) = (result(0) + viewport.x) * (float) window_size.win_width / (float) window_size.fb_width;
+
+ result(1) = window_size.win_height - (result(1) + viewport.y) * (float) window_size.win_height / (float) window_size.fb_height;
+
+ return result;
+}
+
+
+//-----------------------------------------------------------------------------
+// Colors of the displayed lines and gaussians
+//-----------------------------------------------------------------------------
+const mat COLORS({
+ { 0.0, 0.0, 1.0 },
+ { 0.0, 0.5, 0.0 },
+ { 1.0, 0.0, 0.0 },
+ { 0.0, 0.75, 0.75 },
+ { 0.75, 0.0, 0.75 },
+ { 0.75, 0.75, 0.0 },
+ { 0.25, 0.25, 0.25 },
+});
+
+
+//-----------------------------------------------------------------------------
+// Contains all the needed infos about the state of the application (values of
+// the parameters modifiable via the UI, which action the user is currently
+// doing, ...)
+//-----------------------------------------------------------------------------
+struct gui_state_t {
+ // Indicates if the user is currently drawing a new demonstration
+ bool is_drawing_demonstration;
+
+ // Indicates if the parameters dialog is displayed
+ bool is_parameters_dialog_displayed;
+
+ // Indicates if the parameters were modified through the UI
+ bool are_parameters_modified;
+
+ // Indicates if the reproductions must be recomputed
+ bool must_recompute_GPR;
+
+ // Offset of the first missing point in the demonstrations
+ int parameter_missing_data_offset;
+
+ // Number of missing points in the demonstrations
+ int parameter_missing_data_length;
+
+ // Parameters modifiable via the UI (they correspond to the ones declared
+ // in parameters_t)
+ int parameter_nb_data;
+ int parameter_nb_data_reproduction;
+ fvec parameter_p;
+};
+
+
+//-----------------------------------------------------------------------------
+// Render the "demonstrations & model" viewport
+//-----------------------------------------------------------------------------
+void draw_demos_viewport(const viewport_t& viewport,
+ const vector_list_t& current_trajectory,
+ const matrix_list_t& original_trajectories,
+ const matrix_list_t& demonstrations) {
+
+ glViewport(viewport.x, viewport.y, viewport.width, viewport.height);
+ glScissor(viewport.x, viewport.y, viewport.width, viewport.height);
+ glClearColor(0.7f, 0.7f, 0.7f, 0.0f);
+ glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
+
+ glMatrixMode(GL_PROJECTION);
+ glLoadIdentity();
+ glOrtho(viewport.projection_top_left(0), viewport.projection_bottom_right(0),
+ viewport.projection_bottom_right(1), viewport.projection_top_left(1),
+ viewport.projection_near, viewport.projection_far);
+
+ glMatrixMode(GL_MODELVIEW);
+ glLoadIdentity();
+
+ // Draw the currently created demonstration (if any)
+ if (current_trajectory.size() > 1)
+ gfx2::draw_line(arma::fvec({0.33f, 0.97f, 0.33f}), current_trajectory);
+
+ // Draw the demonstrations
+ int color_index = 0;
+ for (size_t i = 0; i < demonstrations.size(); ++i) {
+ arma::fvec color = conv_to<fvec>::from(COLORS.row(color_index));
+
+ gfx2::draw_line(color, original_trajectories[i]);
+
+ for (size_t j = 0; j < demonstrations[i].n_cols; ++j) {
+ fvec position = zeros<fvec>(3);
+ position(span(0, 1)) = conv_to<fvec>::from(demonstrations[i](span(1, 2), j));
+
+ gfx2::draw_rectangle(color, 10.0f, 10.0f, position,
+ gfx2::rotate(fvec({ 0.0f, 0.0f, 1.0f }), datum::pi / 4));
+ }
+
+ ++color_index;
+ if (color_index >= COLORS.n_rows)
+ color_index = 0;
+ }
+}
+
+
+//-----------------------------------------------------------------------------
+// Sample the GPR result points at the given time steps
+//-----------------------------------------------------------------------------
+mat sample_GPR_points(const mat& points, const vec& time_steps) {
+
+ mat result(3, time_steps.n_rows);
+
+ for (size_t i = 0; i < time_steps.n_rows; ++i) {
+ for (size_t j = 0; j < points.n_cols - 1; ++j) {
+ if ((points(0, j) <= time_steps(i)) && (time_steps(i) <= points(0, j + 1))) {
+ result(0, i) = time_steps(i);
+ result(1, i) = points(1, j) + (time_steps(i) - points(0, j)) *
+ (points(1, j + 1) - points(1, j)) / (points(0, j + 1) - points(0, j));
+ result(2, i) = points(2, j) + (time_steps(i) - points(0, j)) *
+ (points(2, j + 1) - points(2, j)) / (points(0, j + 1) - points(0, j));
+ break;
+ }
+ }
+ }
+
+ return result;
+}
+
+
+//-----------------------------------------------------------------------------
+// Render a "reproduction" viewport
+//-----------------------------------------------------------------------------
+void draw_GPR_viewport(const viewport_t& viewport, const mat& points,
+ const std::vector<gfx2::model_t>& models,
+ const matrix_list_t& demonstrations) {
+
+ glViewport(viewport.x, viewport.y, viewport.width, viewport.height);
+ glScissor(viewport.x, viewport.y, viewport.width, viewport.height);
+ glClearColor(0.9f, 0.9f, 0.9f, 0.0f);
+ glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
+
+ glMatrixMode(GL_PROJECTION);
+ glLoadIdentity();
+ glOrtho(viewport.projection_top_left(0), viewport.projection_bottom_right(0),
+ viewport.projection_bottom_right(1), viewport.projection_top_left(1),
+ viewport.projection_near, viewport.projection_far);
+
+ glMatrixMode(GL_MODELVIEW);
+ glLoadIdentity();
+
+ if (!models.empty()) {
+ for (int i = 0; i < models.size(); ++i) {
+ glClear(GL_DEPTH_BUFFER_BIT);
+ gfx2::draw(models[i]);
+ }
+
+ glClear(GL_DEPTH_BUFFER_BIT);
+
+ glLineWidth(4.0f);
+ gfx2::draw_line(arma::fvec({0.0f, 0.4f, 0.0f}), points(span(1, 2), span::all));
+ glLineWidth(1.0f);
+
+ glClear(GL_DEPTH_BUFFER_BIT);
+
+ mat sampled_points = sample_GPR_points(points, vec(demonstrations[0].row(0).t()));
+
+ for (size_t j = 0; j < sampled_points.n_cols; ++j) {
+ fvec position = zeros<fvec>(3);
+ position(span(0, 1)) = conv_to<fvec>::from(sampled_points(span(1, 2), j));
+
+ gfx2::draw_rectangle(fvec({ 0.0f, 0.0f, 0.0f }), 10.0f, 10.0f, position,
+ gfx2::rotate(fvec({ 0.0f, 0.0f, 1.0f }), datum::pi / 4));
+ }
+ }
+}
+
+
+//-----------------------------------------------------------------------------
+// Returns the dimensions that a plot should have inside the provided viewport
+//-----------------------------------------------------------------------------
+ivec get_plot_dimensions(const viewport_t& viewport) {
+
+ const int MARGIN = 50;
+
+ ivec result(2);
+ result(0) = viewport.width - 2 * MARGIN;
+ result(1) = viewport.height - 2 * MARGIN;
+
+ return result;
+}
+
+
+//-----------------------------------------------------------------------------
+// Render a "timeline" viewport
+//-----------------------------------------------------------------------------
+void draw_timeline_viewport(const gfx2::window_size_t& window_size,
+ const viewport_t& viewport,
+ const matrix_list_t& original_trajectories,
+ const matrix_list_t& demonstrations,
+ const mat& GPR_points,
+ matrix_list_t GPR_sigma,
+ unsigned int dimension) {
+
+ glViewport(viewport.x, viewport.y, viewport.width, viewport.height);
+ glScissor(viewport.x, viewport.y, viewport.width, viewport.height);
+ glClearColor(0.9f, 0.9f, 0.9f, 0.0f);
+ glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
+
+ glMatrixMode(GL_PROJECTION);
+ glLoadIdentity();
+ glOrtho(viewport.projection_top_left(0), viewport.projection_bottom_right(0),
+ viewport.projection_bottom_right(1), viewport.projection_top_left(1),
+ viewport.projection_near, viewport.projection_far);
+
+ glMatrixMode(GL_MODELVIEW);
+ glLoadIdentity();
+
+ ivec plot_dimensions = get_plot_dimensions(viewport);
+
+ ivec plot_top_left({ -plot_dimensions(0) / 2, plot_dimensions(1) / 2 });
+ ivec plot_bottom_right({ plot_dimensions(0) / 2, -plot_dimensions(1) / 2 });
+
+ // Axis labels
+ ui::begin("Text");
+
+ vec coords = fb2ui(vec({ -20.0, double(-viewport.height / 2 + 45) }),
+ window_size, viewport);
+ ui::text(ImVec2(coords(0), coords(1)), "t", ImVec4(0,0,0,1));
+
+ std::stringstream label;
+ label << "x" << dimension;
+
+ coords = fb2ui(vec({ double(-viewport.width / 2) + 10, -20.0 }),
+ window_size, viewport);
+ ui::text(ImVec2(coords(0), coords(1)), label.str(), ImVec4(0,0,0,1));
+
+ ui::end();
+
+ // Draw the axes
+ gfx2::draw_line(fvec({0.0f, 0.0f, 0.0f}),
+ mat({ { double(plot_top_left(0)), double(plot_bottom_right(0)) },
+ { double(plot_bottom_right(1)), double(plot_bottom_right(1)) }
+ })
+ );
+
+ gfx2::draw_line(fvec({0.0f, 0.0f, 0.0f}),
+ mat({ { double(plot_top_left(0)), double(plot_top_left(0)) },
+ { double(plot_bottom_right(1)), double(plot_top_left(1)) }
+ })
+ );
+
+ // Check if there is something to display
+ if (demonstrations.empty())
+ return;
+
+ // Draw the GPR
+ double scale_x = (double) plot_dimensions(0) / GPR_points(0, GPR_points.n_cols - 1);
+ double scale_y = (double) plot_dimensions(1) / viewport.height;
+
+ mat top_vertices(2, GPR_points.n_cols);
+ mat bottom_vertices(2, GPR_points.n_cols);
+
+ for (int j = 0; j < GPR_points.n_cols; ++j) {
+ top_vertices(0, j) = GPR_points(0, j) * scale_x - plot_dimensions(0) / 2;
+ top_vertices(1, j) = (GPR_points(dimension, j) +
+ sqrt(GPR_sigma[j](dimension - 1, dimension - 1)) * 20.0) * scale_y;
+
+ bottom_vertices(0, j) = top_vertices(0, j);
+ bottom_vertices(1, j) = (GPR_points(dimension, j) -
+ sqrt(GPR_sigma[j](dimension - 1, dimension - 1)) * 20.0) * scale_y;
+ }
+
+ mat gmr_points(2, (GPR_points.n_cols - 1) * 6);
+
+ for (int j = 0; j < GPR_points.n_cols - 1; ++j) {
+ gmr_points(span::all, j * 6 + 0) = top_vertices(span::all, j);
+ gmr_points(span::all, j * 6 + 1) = bottom_vertices(span::all, j);
+ gmr_points(span::all, j * 6 + 2) = top_vertices(span::all, j + 1);
+
+ gmr_points(span::all, j * 6 + 3) = top_vertices(span::all, j + 1);
+ gmr_points(span::all, j * 6 + 4) = bottom_vertices(span::all, j);
+ gmr_points(span::all, j * 6 + 5) = bottom_vertices(span::all, j + 1);
+ }
+
+ gfx2::model_t gmr_model = gfx2::create_mesh(fvec({ 0.0f, 0.8f, 0.0f, 0.05f }), gmr_points);
+ gmr_model.use_one_minus_src_alpha_blending = true;
+ gfx2::draw(gmr_model);
+
+ glClear(GL_DEPTH_BUFFER_BIT);
+
+ // Draw the demonstrations
+ int color_index = 0;
+
+ for (size_t i = 0; i < original_trajectories.size(); ++i) {
+ uvec time_steps = linspace<uvec>(0, GPR_points(0, GPR_points.n_cols - 1),
+ original_trajectories[i].n_cols);
+
+ mat datapoints = sample_trajectory(original_trajectories[i], time_steps).rows(uvec({ 0, dimension }));
+
+ datapoints(0, span::all) = datapoints(0, span::all) * scale_x - plot_dimensions(0) / 2;
+ datapoints(1, span::all) *= scale_y;
+
+ arma::fvec color = arma::conv_to<arma::fvec>::from(COLORS.row(color_index));
+
+ gfx2::draw_line(color, datapoints);
+
+ ++color_index;
+ if (color_index >= COLORS.n_rows)
+ color_index = 0;
+ }
+
+ // Draw the GPR result
+ mat points(2, GPR_points.n_cols);
+ points(0, span::all) = GPR_points(0, span::all);
+ points(1, span::all) = GPR_points(dimension, span::all);
+
+ points(0, span::all) = points(0, span::all) * scale_x - plot_dimensions(0) / 2;
+ points(1, span::all) *= scale_y;
+
+ glLineWidth(4.0f);
+ gfx2::draw_line(arma::fvec({0.0f, 0.4f, 0.0f}), points);
+ glLineWidth(1.0f);
+
+ glClear(GL_DEPTH_BUFFER_BIT);
+
+ mat sampled_points = sample_GPR_points(GPR_points, vec(demonstrations[0].row(0).t()));
+
+ for (size_t j = 0; j < sampled_points.n_cols; ++j) {
+ fvec position = zeros<fvec>(3);
+ position(span(0, 1)) = conv_to<fmat>::from(sampled_points.rows(uvec({ 0, dimension }))).col(j);
+
+ position(0, span::all) = position(0, span::all) * scale_x - plot_dimensions(0) / 2;
+ position(1, span::all) *= scale_y;
+
+ gfx2::draw_rectangle(fvec({ 0.0f, 0.0f, 0.0f }), 10.0f, 10.0f, position,
+ gfx2::rotate(fvec({ 0.0f, 0.0f, 1.0f }), datum::pi / 4));
+ }
+}
+
+
+/******************************* MAIN FUNCTION *******************************/
+
+int main(int argc, char **argv) {
+ arma_rng::set_seed_random();
+
+ // Parameters
+ parameters_t parameters;
+ parameters.nb_data = 20;
+ parameters.nb_data_reproduction = 100;
+ parameters.p = vec({ 100.0, 10.0, 1.0 });
+
+
+ // Take 4k screens into account (framebuffer size != window size)
+ gfx2::window_size_t window_size;
+ window_size.win_width = 800;
+ window_size.win_height = 800;
+ window_size.fb_width = -1; // Will be known later
+ window_size.fb_height = -1;
+ int viewport_width = 0;
+ int viewport_height = 0;
+
+
+ // Initialise GLFW
+ glfwSetErrorCallback(error_callback);
+
+ if (!glfwInit())
+ return -1;
+
+ glfwWindowHint(GLFW_SAMPLES, 4);
+ glfwWindowHint(GLFW_CONTEXT_VERSION_MAJOR, 2);
+ glfwWindowHint(GLFW_CONTEXT_VERSION_MINOR, 1);
+
+ // Open a window and create its OpenGL context
+ GLFWwindow* window = create_window_at_optimal_size(
+ "Demo Gaussian process regression (GPR) with RBF kernel",
+ window_size.win_width, window_size.win_height
+ );
+
+ glfwMakeContextCurrent(window);
+
+
+ // Setup GLSL
+ gfx2::init();
+ glEnable(GL_SCISSOR_TEST);
+ glEnable(GL_DEPTH_TEST);
+ glEnable(GL_CULL_FACE);
+ glEnable(GL_LINE_SMOOTH);
+ glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
+
+ // Setup ImGui
+ ImGui::CreateContext();
+ ImGui_ImplGlfwGL2_Init(window, true);
+
+
+ // Viewports
+ viewport_t viewport_demos;
+ viewport_t viewport_GPR;
+ viewport_t viewport_x1;
+ viewport_t viewport_x2;
+
+
+ // GUI state
+ gui_state_t gui_state;
+ gui_state.is_drawing_demonstration = false;
+ gui_state.is_parameters_dialog_displayed = false;
+ gui_state.are_parameters_modified = true;
+ gui_state.must_recompute_GPR = false;
+ gui_state.parameter_nb_data = parameters.nb_data;
+ gui_state.parameter_nb_data_reproduction = parameters.nb_data_reproduction;
+ gui_state.parameter_missing_data_offset = parameters.nb_data / 2 - 1;
+ gui_state.parameter_missing_data_length = parameters.nb_data / 4;
+ gui_state.parameter_p = conv_to<fvec>::from(parameters.p);
+
+
+ // List of demonstrations and GMr results
+ uvec time_steps;
+ matrix_list_t demos;
+ mat GPR_points;
+ matrix_list_t GPR_sigma;
+ std::vector<gfx2::model_t> GPR_models;
+
+
+ // Main loop
+ vector_list_t current_trajectory;
+ matrix_list_t original_trajectories;
+
+ while (!glfwWindowShouldClose(window)) {
+ glfwPollEvents();
+
+ // Detect when the window was resized
+ if ((ImGui::GetIO().DisplaySize.x != window_size.win_width) ||
+ (ImGui::GetIO().DisplaySize.y != window_size.win_height)) {
+
+ window_size.win_width = ImGui::GetIO().DisplaySize.x;
+ window_size.win_height = ImGui::GetIO().DisplaySize.y;
+
+ glfwGetFramebufferSize(window, &window_size.fb_width, &window_size.fb_height);
+
+ viewport_width = window_size.fb_width / 2 - 1;
+ viewport_height = window_size.fb_height / 2 - 1;
+
+ // Update all the viewports
+ setup_viewport(&viewport_demos, 0, window_size.fb_height - viewport_height,
+ viewport_width, viewport_height);
+
+ setup_viewport(&viewport_GPR, window_size.fb_width - viewport_width,
+ window_size.fb_height - viewport_height,
+ viewport_width, viewport_height);
+
+ setup_viewport(&viewport_x1, 0, 0, viewport_width, viewport_height);
+
+ setup_viewport(&viewport_x2, window_size.fb_width - viewport_width, 0,
+ viewport_width, viewport_height);
+ }
+
+
+ // If the parameters changed, resample the trajectories and trigger a
+ // recomputation
+ if (gui_state.are_parameters_modified) {
+
+ if (gui_state.parameter_missing_data_offset >= gui_state.parameter_nb_data - 1) {
+ if (gui_state.parameter_missing_data_length > gui_state.parameter_nb_data / 2)
+ gui_state.parameter_missing_data_length = gui_state.parameter_nb_data / 2;
+
+ gui_state.parameter_missing_data_offset = gui_state.parameter_nb_data - (gui_state.parameter_missing_data_length + 1);
+
+ } else if (gui_state.parameter_missing_data_length > gui_state.parameter_nb_data - (gui_state.parameter_missing_data_offset + 1)) {
+ gui_state.parameter_missing_data_length = gui_state.parameter_nb_data - (gui_state.parameter_missing_data_offset + 1);
+ }
+
+ demos.clear();
+
+ uvec all_time_steps = linspace<uvec>(
+ 0, gui_state.parameter_nb_data - 1, gui_state.parameter_nb_data
+ );
+
+ int offset1 = gui_state.parameter_missing_data_offset - 1;
+ int offset2 = offset1 + gui_state.parameter_missing_data_length + 1;
+
+ time_steps = uvec(gui_state.parameter_nb_data - (offset2 - offset1) + 1);
+
+ time_steps(span(0, offset1)) = all_time_steps(span(0, offset1));
+ time_steps(span(offset1 + 1, time_steps.n_rows - 1)) =
+ all_time_steps(span(offset2, gui_state.parameter_nb_data - 1));
+
+ for (size_t i = 0; i < original_trajectories.size(); ++i) {
+ demos.push_back(sample_trajectory(original_trajectories[i],
+ time_steps)
+ );
+ }
+
+ parameters.nb_data = gui_state.parameter_nb_data;
+ parameters.nb_data_reproduction = gui_state.parameter_nb_data_reproduction;
+ parameters.p = conv_to<vec>::from(gui_state.parameter_p);
+
+ gui_state.must_recompute_GPR = !demos.empty();
+ gui_state.are_parameters_modified = false;
+ }
+
+
+ // Recompute the GPR (if necessary)
+ if (gui_state.must_recompute_GPR) {
+
+ compute_GPR(parameters, demos, GPR_points, GPR_sigma);
+
+ // Create one big mesh for the GPR viewport (for performance reasons)
+ for (int i = 0; i < GPR_models.size(); ++i)
+ gfx2::destroy(GPR_models[i]);
+
+ GPR_models.clear();
+
+ const int NB_POINTS = 60;
+
+ mat vertices(2, NB_POINTS * 3 * GPR_sigma.size());
+ mat lines(2, NB_POINTS * 2 * GPR_sigma.size());
+
+ for (int j = 0; j < GPR_sigma.size(); ++j) {
+
+ mat v = gfx2::get_gaussian_background_vertices(GPR_points(span(1, 2), j),
+ GPR_sigma[j] * 20.0, NB_POINTS);
+
+ vertices(span::all, span(j * NB_POINTS * 3, (j + 1) * NB_POINTS * 3 - 1)) = v;
+
+ mat p = gfx2::get_gaussian_border_vertices(GPR_points(span(1, 2), j),
+ GPR_sigma[j] * 20.0, NB_POINTS, false);
+
+ lines(span::all, span(j * NB_POINTS * 2, (j + 1) * NB_POINTS * 2 - 1)) = p;
+ }
+
+ GPR_models.push_back(
+ gfx2::create_mesh(fvec({ 0.0f, 0.8f, 0.0f, 0.1f }), vertices)
+ );
+
+ GPR_models[0].use_one_minus_src_alpha_blending = true;
+
+ GPR_models.push_back(
+ gfx2::create_line(fvec({ 0.0f, 0.4f, 0.0f, 0.1f }), lines,
+ arma::zeros<arma::fvec>(3),
+ arma::eye<arma::fmat>(4, 4), 0, false)
+ );
+
+ gui_state.must_recompute_GPR = false;
+ }
+
+
+ // Start the rendering
+ ImGui_ImplGlfwGL2_NewFrame();
+
+ glViewport(0, 0, window_size.fb_width, window_size.fb_height);
+ glScissor(0, 0, window_size.fb_width, window_size.fb_height);
+ glClearColor(0.0f, 0.0f, 0.0f, 0.0f);
+ glClear(GL_COLOR_BUFFER_BIT);
+
+ draw_demos_viewport(viewport_demos, current_trajectory, original_trajectories,
+ demos);
+
+ draw_GPR_viewport(viewport_GPR, GPR_points, GPR_models, demos);
+
+ draw_timeline_viewport(window_size, viewport_x1, original_trajectories, demos,
+ GPR_points, GPR_sigma, 1);
+
+ draw_timeline_viewport(window_size, viewport_x2, original_trajectories, demos,
+ GPR_points, GPR_sigma, 2);
+
+
+ // Window: Demonstrations
+ ImGui::SetNextWindowSize(ImVec2(window_size.win_width / 2, 84));
+ ImGui::SetNextWindowPos(ImVec2(0, 0));
+ ImGui::Begin("Demonstrations", NULL,
+ ImGuiWindowFlags_NoResize | ImGuiWindowFlags_NoSavedSettings |
+ ImGuiWindowFlags_NoMove | ImGuiWindowFlags_NoCollapse |
+ ImGuiWindowFlags_NoTitleBar
+ );
+
+ ImGui::Text("Demonstrations ");
+ ImGui::SameLine();
+
+ if (ImGui::Button("Clear")) {
+ original_trajectories.clear();
+ demos.clear();
+ GPR_points = mat();
+ GPR_sigma.clear();
+ GPR_models.clear();
+ }
+
+ ImGui::SameLine();
+ ImGui::Text(" ");
+ ImGui::SameLine();
+
+ if (ImGui::Button("Parameters"))
+ gui_state.is_parameters_dialog_displayed = true;
+
+ int previous_offset = gui_state.parameter_missing_data_offset;
+ ImGui::SliderInt("Missing data offset", &gui_state.parameter_missing_data_offset,
+ std::max(parameters.nb_data / 8 - 1, 1),
+ std::min(parameters.nb_data - (gui_state.parameter_missing_data_length + 1), parameters.nb_data - 2));
+
+ int previous_length = gui_state.parameter_missing_data_length;
+ ImGui::SliderInt("Missing data length", &gui_state.parameter_missing_data_length,
+ 1,
+ std::min(parameters.nb_data / 2, parameters.nb_data - (gui_state.parameter_missing_data_offset + 1)));
+
+ if ((gui_state.parameter_missing_data_offset != previous_offset) ||
+ (gui_state.parameter_missing_data_length != previous_length)) {
+ gui_state.are_parameters_modified = true;
+ }
+
+ ImGui::End();
+
+
+ // Window: GPR
+ ImGui::SetNextWindowSize(ImVec2(window_size.win_width / 2, 36));
+ ImGui::SetNextWindowPos(ImVec2(window_size.win_width - window_size.win_width / 2, 0));
+ ImGui::Begin("GPR", NULL,
+ ImGuiWindowFlags_NoResize | ImGuiWindowFlags_NoSavedSettings |
+ ImGuiWindowFlags_NoMove | ImGuiWindowFlags_NoCollapse |
+ ImGuiWindowFlags_NoTitleBar
+ );
+
+ ImGui::Text("GPR");
+
+ ImGui::End();
+
+
+ // Window: Timeline x1
+ ImGui::SetNextWindowSize(ImVec2(window_size.win_width / 2, 36));
+ ImGui::SetNextWindowPos(ImVec2(0, window_size.win_height / 2));
+ ImGui::Begin("Timeline: x1", NULL,
+ ImGuiWindowFlags_NoResize | ImGuiWindowFlags_NoSavedSettings |
+ ImGuiWindowFlags_NoMove | ImGuiWindowFlags_NoCollapse |
+ ImGuiWindowFlags_NoTitleBar
+ );
+
+ ImGui::Text("Timeline: x1");
+
+ ImGui::End();
+
+
+ // Window: Timeline x2
+ ImGui::SetNextWindowSize(ImVec2(window_size.win_width / 2, 36));
+ ImGui::SetNextWindowPos(ImVec2(window_size.win_width - window_size.win_width / 2,
+ window_size.win_height / 2));
+ ImGui::Begin("Timeline: x2", NULL,
+ ImGuiWindowFlags_NoResize | ImGuiWindowFlags_NoSavedSettings |
+ ImGuiWindowFlags_NoMove | ImGuiWindowFlags_NoCollapse |
+ ImGuiWindowFlags_NoTitleBar
+ );
+
+ ImGui::Text("Timeline: x2");
+
+ ImGui::End();
+
+
+ // Window: Parameters
+ ImGui::SetNextWindowSize(ImVec2(440, 170));
+ ImGui::SetNextWindowPos(ImVec2((window_size.win_width - 440) / 2, (window_size.win_height - 170) / 2));
+ ImGui::PushStyleColor(ImGuiCol_WindowBg, ImVec4(0, 0, 0, 255));
+
+ if (gui_state.is_parameters_dialog_displayed)
+ ImGui::OpenPopup("Parameters");
+
+ if (ImGui::BeginPopupModal("Parameters", NULL,
+ ImGuiWindowFlags_NoResize |
+ ImGuiWindowFlags_NoSavedSettings)) {
+
+ ImGui::SliderInt("Nb data", &gui_state.parameter_nb_data, 10, 30);
+ ImGui::SliderInt("Nb data for reproduction", &gui_state.parameter_nb_data_reproduction, 100, 300);
+ ImGui::SliderFloat("RBF parameter 1", &gui_state.parameter_p[0], 1, 1000);
+ ImGui::SliderFloat("RBF parameter 2", &gui_state.parameter_p[1], 1, 100);
+ ImGui::SliderFloat("RBF parameter 3", &gui_state.parameter_p[2], .01, 10);
+
+ if (ImGui::Button("Close")) {
+ ImGui::CloseCurrentPopup();
+ gui_state.is_parameters_dialog_displayed = false;
+ gui_state.are_parameters_modified = true;
+ }
+
+ ImGui::EndPopup();
+ }
+
+ ImGui::PopStyleColor();
+
+
+ // GUI rendering
+ ImGui::Render();
+ ImGui_ImplGlfwGL2_RenderDrawData(ImGui::GetDrawData());
+
+ // Swap buffers
+ glfwSwapBuffers(window);
+
+ // Keyboard input
+ if (ImGui::IsKeyPressed(GLFW_KEY_ESCAPE))
+ break;
+
+
+ if (!gui_state.is_drawing_demonstration && !gui_state.is_parameters_dialog_displayed) {
+ // Left click: start a new demonstration (only if not on the UI and in the
+ // demonstrations viewport)
+ if (ImGui::IsMouseClicked(GLFW_MOUSE_BUTTON_1)) {
+ double mouse_x, mouse_y;
+ glfwGetCursorPos(window, &mouse_x, &mouse_y);
+
+ if ((mouse_x <= window_size.win_width / 2) &&
+ (mouse_y > 84) && (mouse_y <= window_size.win_height / 2))
+ {
+ gui_state.is_drawing_demonstration = true;
+
+ vec coords = ui2fb({ mouse_x, mouse_y }, window_size, viewport_demos);
+ current_trajectory.push_back(coords);
+ }
+ }
+ } else if (gui_state.is_drawing_demonstration) {
+ double mouse_x, mouse_y;
+ glfwGetCursorPos(window, &mouse_x, &mouse_y);
+
+ vec coords = ui2fb({ mouse_x, mouse_y }, window_size, viewport_demos);
+
+ vec last_point = current_trajectory[current_trajectory.size() - 1];
+ vec diff = abs(coords - last_point);
+
+ if ((diff(0) > 1e-6) && (diff(1) > 1e-6))
+ current_trajectory.push_back(coords);
+
+ // Left mouse button release: end the demonstration creation
+ if (!ImGui::IsMouseDown(GLFW_MOUSE_BUTTON_1)) {
+ gui_state.is_drawing_demonstration = false;
+
+ if (current_trajectory.size() > 1) {
+
+ mat trajectory(2, current_trajectory.size());
+ for (size_t i = 0; i < current_trajectory.size(); ++i) {
+ trajectory(0, i) = current_trajectory[i](0);
+ trajectory(1, i) = current_trajectory[i](1);
+ }
+
+ demos.push_back(sample_trajectory(trajectory, time_steps));
+
+ original_trajectories.push_back(trajectory);
+
+ gui_state.must_recompute_GPR = true;
+ }
+
+ current_trajectory.clear();
+ }
+ }
+ }
+
+
+ // Cleanup
+ ImGui_ImplGlfwGL2_Shutdown();
+ glfwTerminate();
+
+ return 0;
+}
diff --git a/src/demo_HSMM_batchLQR01.cpp b/src/demo_HSMM_batchLQR01.cpp
new file mode 100644
index 0000000..c5dc420
--- /dev/null
+++ b/src/demo_HSMM_batchLQR01.cpp
@@ -0,0 +1,795 @@
+/*
+ * demo_HSMM_batch01.cpp
+ *
+ * Online hsmm learning.
+ *
+ * Authors: Sylvain Calinon, Philip Abbet
+ */
+
+#include <stdio.h>
+#include <armadillo>
+
+#include <gfx2.h>
+#include <gfx_ui.h>
+#include <GLFW/glfw3.h>
+#include <imgui.h>
+#include <imgui_impl_glfw_gl2.h>
+#include <window_utils.h>
+
+
+using namespace arma;
+
+
+/***************************** ALGORITHM SECTION *****************************/
+
+typedef std::vector<vec> vector_list_t;
+typedef std::vector<mat> matrix_list_t;
+
+
+//-----------------------------------------------------------------------------
+// Contains all the parameters used by the algorithm. Some of them are
+// modifiable through the UI, others are hard-coded.
+//-----------------------------------------------------------------------------
+struct parameters_t {
+ int nb_data; // Number of datapoints in a trajectory
+ int nb_states; // Number of hidden states in the HSMM
+ double rfactor; // Control cost in LQR
+ double dt; // Time step duration
+};
+
+
+//-----------------------------------------------------------------------------
+// Model trained using the algorithm
+//-----------------------------------------------------------------------------
+struct model_t {
+ parameters_t parameters; // Parameters used to train the model
+
+ vector_list_t mu;
+ matrix_list_t sigma;
+ mat transitions;
+ vec states_priors;
+ mat H;
+};
+
+
+//-----------------------------------------------------------------------------
+// Likelihood of datapoint(s) to be generated by a Gaussian parameterized by
+// center and covariance.
+//
+// Inputs:
+// - Data: D x N array representing N datapoints of D dimensions.
+// - Mu: D x 1 vector representing the center of the Gaussian.
+// - Sigma: D x D array representing the covariance matrix of the Gaussian.
+//
+// Output:
+// - prob: 1 x N vector representing the likelihood of the N datapoints.
+//-----------------------------------------------------------------------------
+arma::vec gaussPDF(mat Data, colvec Mu, mat Sigma) {
+
+ int nbVar = Data.n_rows;
+ int nbData = Data.n_cols;
+ Data = Data.t() - repmat(Mu.t(), nbData, 1);
+
+ vec prob = sum((Data * inv(Sigma)) % Data, 1);
+
+ prob = exp(-0.5 * prob) / sqrt(pow((2 * datum::pi), nbVar) * det(Sigma) + DBL_MIN);
+
+ return prob;
+}
+
+
+//-----------------------------------------------------------------------------
+// Initialization of Gaussian Mixture Model (GMM) parameters by clustering
+// an ordered dataset into equal bins
+//-----------------------------------------------------------------------------
+void init_GMM_kbins(const matrix_list_t& data, model_t &model) {
+
+ // Regularization term to avoid numerical instability
+ const double diag_reg_fact = 1e-4;
+
+ model.mu.clear();
+ model.sigma.clear();
+
+ // Delimit the cluster bins
+ uvec timing_sep = conv_to<uvec>::from(
+ round(linspace<vec>(0, model.parameters.nb_data, model.parameters.nb_states + 1))
+ );
+
+ // Compute statistics for each bin
+ for (int i = 0; i < model.parameters.nb_states; ++i) {
+ span id(timing_sep(i), timing_sep(i + 1) - 1);
+ int nb_ids = id.b - id.a + 1;
+
+ mat values(data[0].n_rows, data.size() * nb_ids);
+ for (int n = 0; n < data.size(); ++n)
+ values(span::all, span(n * nb_ids, (n + 1) * nb_ids - 1)) = data[n](span::all, id);
+
+ model.mu.push_back(mean(values, 1));
+ model.sigma.push_back(cov(values.t()) + eye(values.n_rows, values.n_rows) * diag_reg_fact);
+ }
+}
+
+
+//-----------------------------------------------------------------------------
+// Estimation of HMM parameters with an EM algorithm
+//-----------------------------------------------------------------------------
+void EM_HMM(const matrix_list_t& data, model_t &model) {
+
+ const int nb_var = data[0].n_rows;
+ const int nb_samples = data.size();
+ const int nb_data = nb_samples * model.parameters.nb_data;
+
+ const int nb_max_steps = 50; // Maximum number of iterations allowed
+ const int nb_min_steps = 5; // Minimum number of iterations allowed
+ const double max_diff_log_likelihood = 1e-4; // Likelihood increase threshold
+ // to stop the algorithm
+ const double diag_reg_fact = 1e-8; //Regularization term
+
+ mat all_data(nb_var, nb_data);
+ for (int i = 0; i < nb_samples; ++i)
+ all_data(span::all, span(i * model.parameters.nb_data, (i + 1) * model.parameters.nb_data - 1)) = data[i];
+
+ std::vector<double> log_likelihoods;
+
+ for (int iter = 0; iter < nb_max_steps; ++iter) {
+
+ vector_list_t c;
+ mat GAMMA = zeros(model.parameters.nb_states, nb_samples * model.parameters.nb_data);
+ mat GAMMA_INIT = zeros(model.parameters.nb_states, nb_samples);
+ mat GAMMA_TRK = zeros(model.parameters.nb_states, nb_samples * (model.parameters.nb_data - 1));
+ cube ZETA = zeros(model.parameters.nb_states, model.parameters.nb_states,
+ nb_samples * (model.parameters.nb_data - 1));
+
+ // E-step
+ for (int n = 0; n < nb_samples; ++n) {
+
+ // Emission probabilities
+ mat B(model.parameters.nb_states, model.parameters.nb_data);
+ for (int i = 0; i < model.parameters.nb_states; ++i)
+ B(i, span::all) = gaussPDF(data[n], model.mu[i], model.sigma[i]).t();
+
+ // Forward variable ALPHA (rescaled, to avoid underflow issues)
+ mat ALPHA(model.parameters.nb_states, model.parameters.nb_data);
+ vec c_(model.parameters.nb_data);
+
+ ALPHA(span::all, 0) = model.states_priors % B(span::all, 0);
+ c_(0) = 1.0 / sum(ALPHA(span::all, 0) + DBL_MIN);
+ ALPHA(span::all, 0) = ALPHA(span::all, 0) * c_(0);
+
+ for (int t = 1; t < model.parameters.nb_data; ++t) {
+ ALPHA(span::all, t) = (ALPHA(span::all, t - 1).t() * model.transitions).t() % B(span::all, t);
+ c_(t) = 1.0 / sum(ALPHA(span::all, t) + DBL_MIN);
+ ALPHA(span::all, t) = ALPHA(span::all, t) * c_(t);
+ }
+
+ c.push_back(c_);
+
+ // Backward variable BETA (rescaled)
+ mat BETA(model.parameters.nb_states, model.parameters.nb_data);
+
+ BETA(span::all, model.parameters.nb_data - 1) =
+ ones(model.parameters.nb_states, 1) * c_(model.parameters.nb_data - 1);
+
+ for (int t = model.parameters.nb_data - 2; t >= 0; --t) {
+ BETA(span::all, t) = model.transitions * (BETA(span::all, t + 1) % B(span::all, t + 1));
+ BETA(span::all, t) = min(BETA(span::all, t) * c_(t), ones(BETA.n_rows) * DBL_MAX);
+ }
+
+ // Intermediate variable GAMMA
+ mat GAMMA_ = (ALPHA % BETA) / repmat(sum(ALPHA % BETA) + DBL_MIN, model.parameters.nb_states, 1);
+
+ GAMMA(span::all, span(n * model.parameters.nb_data, (n + 1) * model.parameters.nb_data - 1)) = GAMMA_;
+ GAMMA_INIT(span::all, n) = GAMMA_(span::all, 0);
+ GAMMA_TRK(span::all, span(n * (model.parameters.nb_data - 1), (n + 1) * (model.parameters.nb_data - 1) - 1)) =
+ GAMMA_(span::all, span(0, model.parameters.nb_data - 2));
+
+ // Intermediate variable ZETA (fast version, by considering scaling factor)
+ for (int i = 0; i < model.parameters.nb_states; ++i) {
+ for (int j = 0; j < model.parameters.nb_states; ++j) {
+ ZETA(span(i), span(j), span(n * (model.parameters.nb_data - 1),
+ (n + 1) * (model.parameters.nb_data - 1) - 1)) =
+ model.transitions(i, j) *
+ (ALPHA(i, span(0, model.parameters.nb_data - 2)) %
+ B(j, span(1, model.parameters.nb_data - 1)) %
+ BETA(j, span(1, model.parameters.nb_data - 1))
+ );
+ }
+ }
+ }
+
+ model.H = GAMMA / repmat(sum(GAMMA, 1) + DBL_MIN, 1, GAMMA.n_cols);
+
+ // M-step
+ for (int i = 0; i < model.parameters.nb_states; ++i) {
+
+ // Update the centers
+ model.mu[i] = all_data * model.H(i, span::all).t();
+
+ // Update the covariance matrices
+ mat data_tmp = all_data - repmat(model.mu[i], 1, nb_data);
+ model.sigma[i] = data_tmp * diagmat(model.H(i, span::all)) * data_tmp.t() + // Eq. (54) Rabiner
+ eye(nb_var, nb_var) * diag_reg_fact; // Regularization term
+ }
+
+ // Update initial state probability vector
+ model.states_priors = mean(GAMMA_INIT, 1);
+
+ // Update transition probabilities
+ model.transitions = mat(sum(ZETA, 2)) / repmat(sum(GAMMA_TRK, 1) + DBL_MIN, 1, model.parameters.nb_states);
+
+ // Compute the average log-likelihood through the ALPHA scaling factors
+ log_likelihoods.push_back(0.0);
+ for (int n = 0; n < nb_samples; ++n)
+ log_likelihoods[iter] = log_likelihoods[iter] - sum(log(c[n]));
+
+ log_likelihoods[iter] = log_likelihoods[iter] / nb_samples;
+
+ // Stop the algorithm if EM converged
+ if (iter >= nb_min_steps) {
+ if (log_likelihoods[iter] - log_likelihoods[iter - 1] < max_diff_log_likelihood)
+ break;
+ }
+ }
+}
+
+
+//-----------------------------------------------------------------------------
+// Learn the model from the demonstrations
+//-----------------------------------------------------------------------------
+void learn(const matrix_list_t& data, model_t &model) {
+
+ init_GMM_kbins(data, model);
+
+ // Left-right model initialization
+ model.transitions = zeros(model.parameters.nb_states, model.parameters.nb_states);
+
+ for (int i = 0; i < model.parameters.nb_states - 1; ++i) {
+ model.transitions(i, i) = 1.0 - (double) model.parameters.nb_states / model.parameters.nb_data;
+ model.transitions(i, i + 1) = (double) model.parameters.nb_states / model.parameters.nb_data;
+ }
+
+ model.transitions(model.parameters.nb_states - 1, model.parameters.nb_states - 1) = 1.0;
+
+ model.states_priors = zeros(model.parameters.nb_states);
+ model.states_priors(0) = 1.0;
+
+ EM_HMM(data, model);
+
+ // Removal of self-transition (for HSMM representation) and normalization
+ model.transitions = model.transitions - diagmat(model.transitions) +
+ eye(model.parameters.nb_states, model.parameters.nb_states) * DBL_MIN;
+
+ model.transitions(model.parameters.nb_states - 1, model.parameters.nb_states - 1) = 1.0;
+
+ model.transitions = model.transitions / repmat(sum(model.transitions, 1), 1, model.parameters.nb_states);
+}
+
+
+//-----------------------------------------------------------------------------
+// Compute a reproduction using batch LQR
+//-----------------------------------------------------------------------------
+mat compute_LQR(const model_t& model, const vec& start_point) {
+
+ // Minimum variance of state duration (regularization term)
+ const double min_sigma_Pd = 2e-1;
+
+ // Number of maximum duration step to consider in the HSMM (2.5 is a safety factor)
+ const int nbD = round(2.5f * (float) model.parameters.nb_data / model.parameters.nb_states);
+
+ // Dimension of position data (here: x1,x2)
+ const int nb_var_pos = 2;
+
+
+ // Post-estimation of the state duration from data (for HSMM representation)
+ //--------------------------------------------------------------------------
+ std::vector< std::vector<double> > st(model.parameters.nb_states);
+
+ urowvec hmax = index_max(model.H, 0);
+
+ unsigned int current_state = hmax(0);
+ unsigned int count = 1;
+
+ for (int t = 0; t < hmax.size(); ++t) {
+ if (hmax(t) == current_state) {
+ ++count;
+ } else {
+ st[current_state].push_back(log(count));
+ count = 1;
+ current_state = hmax(t);
+ }
+ }
+ st[current_state].push_back(log(count));
+
+ // Compute state duration as Gaussian distribution
+ vector_list_t Mu_Pd;
+ matrix_list_t Sigma_Pd;
+ for (int i = 0; i < model.parameters.nb_states; ++i) {
+ if (!st[i].empty()) {
+ vec st_(st[i].size());
+ for (int j = 0; j < st[i].size(); ++j)
+ st_(j) = st[i][j];
+
+ Mu_Pd.push_back(vec({ mean(st_) }));
+ Sigma_Pd.push_back(cov(st_) + min_sigma_Pd);
+ } else {
+ Mu_Pd.push_back(vec({ 0.0 }));
+ Sigma_Pd.push_back(cov(vec({ 0.0 })) + min_sigma_Pd);
+ }
+ }
+
+
+ // Reconstruction of states probability sequence
+ //----------------------------------------------
+
+ // Precomputation of duration probabilities
+ mat Pd(model.parameters.nb_states, nbD);
+
+ vec logs = log(linspace<vec>(0, nbD - 1, nbD));
+
+ for (int i = 0; i < model.parameters.nb_states; ++i)
+ Pd(i, span::all) = gaussPDF(logs.t(), Mu_Pd[i], Sigma_Pd[i]).t();
+
+ // Reconstruction of states sequence
+ mat h = zeros(model.parameters.nb_states, model.parameters.nb_data);
+
+ for (int t = 0; t < model.parameters.nb_data; ++t) {
+ for (int i = 0; i < model.parameters.nb_states; ++i) {
+ if (t < nbD)
+ h(i, t) = model.states_priors(i) * Pd(i, t);
+
+ for (int d = 0; d < std::min(t - 1, nbD); ++d)
+ h(i, t) = h(i, t) + mat(h(span::all, t - d).t() * model.transitions(span::all, i) * Pd(i, d))(0, 0);
+ }
+ }
+
+ h = h / repmat(sum(h, 0) + DBL_MIN, model.parameters.nb_states, 1);
+
+
+ // Batch LQR reproduction
+ //-----------------------
+
+ // Dynamical System settings (discrete version), see Eq. (33)
+ mat A = kron(mat({{ 1.0, model.parameters.dt }, { 0.0, 1.0 }}), eye(nb_var_pos, nb_var_pos));
+ mat B = kron(mat({{ 0.0, model.parameters.dt }}).t(), eye(nb_var_pos, nb_var_pos));
+ mat C = kron(mat({{ 1.0, 0.0 }}), eye(nb_var_pos, nb_var_pos));
+
+ // Control cost matrix
+ mat R = eye(nb_var_pos, nb_var_pos) * model.parameters.rfactor;
+ R = kron(eye(model.parameters.nb_data - 1, model.parameters.nb_data - 1), R);
+
+ // Build CSx and CSu matrices for batch LQR, see Eq. (35)
+ mat CSu = zeros(nb_var_pos * model.parameters.nb_data, nb_var_pos * (model.parameters.nb_data - 1));
+ mat CSx = kron(ones(model.parameters.nb_data, 1), eye(nb_var_pos, nb_var_pos * 2));
+
+ mat M = zeros(B.n_rows, 2 * model.parameters.nb_data);
+
+ int n = 2 * model.parameters.nb_data - 2;
+ M(span::all, span(n, n + 1)) = B;
+
+ for (int n = 1; n < model.parameters.nb_data; ++n) {
+ span id1(n * nb_var_pos, (n + 1) * nb_var_pos - 1);
+ span id2(0, n * nb_var_pos - 1);
+ int n2 = 2 * model.parameters.nb_data - n * 2;
+
+ CSx.rows(id1) = CSx.rows(id1) * A;
+ CSu(id1, id2) = C * M(span::all, span(n2, n2 + n * 2 - 1));
+
+ M(span::all, span(n2 - 2, n2 - 1)) = A * M(span::all, span(n2, n2 + 1));
+ }
+
+ // Create single Gaussian N(MuQ,SigmaQ) based on optimal state sequence q, see Eq. (27)
+ urowvec qList = index_max(h, 0);
+
+ mat MuQ(nb_var_pos, qList.size());
+ mat sigma_(nb_var_pos, nb_var_pos * qList.size());
+
+ for (int i = 0; i < qList.size(); ++i) {
+ MuQ(span::all, i) = model.mu[qList(i)];
+ sigma_(span::all, span(i * nb_var_pos, (i + 1) * nb_var_pos - 1)) = model.sigma[qList(i)];
+ }
+
+ MuQ = reshape(MuQ, MuQ.n_elem, 1);
+
+ mat SigmaQ = (kron(ones(model.parameters.nb_data, 1), eye(nb_var_pos, nb_var_pos)) * sigma_) %
+ kron(eye(model.parameters.nb_data, model.parameters.nb_data), ones(nb_var_pos, nb_var_pos));
+
+ // Set matrices to compute the damped weighted least squares estimate
+ mat CSuInvSigmaQ = (pinv(mat(SigmaQ.t())) * CSu).t();
+ mat Rq = CSuInvSigmaQ * CSu + R;
+
+ // Reproductions
+ vec X = zeros(nb_var_pos * 2);
+ X(span(0, nb_var_pos - 1)) = start_point;
+
+ mat rq = CSuInvSigmaQ * (MuQ - CSx * X);
+ mat u = pinv(Rq) * rq;
+
+ return reshape(CSx * X + CSu * u, nb_var_pos, model.parameters.nb_data);
+}
+
+
+/****************************** HELPER FUNCTIONS *****************************/
+
+static void error_callback(int error, const char* description){
+ fprintf(stderr, "Error %d: %s\n", error, description);
+}
+
+
+//-----------------------------------------------------------------------------
+// Colors of the displayed lines and gaussians
+//-----------------------------------------------------------------------------
+const mat COLORS({
+ { 0.0, 0.0, 1.0 },
+ { 0.0, 0.5, 0.0 },
+ { 1.0, 0.0, 0.0 },
+ { 0.0, 0.75, 0.75 },
+ { 0.75, 0.0, 0.75 },
+ { 0.75, 0.75, 0.0 },
+ { 0.25, 0.25, 0.25 },
+ { 0.0, 0.0, 1.0 },
+ { 0.0, 0.5, 0.0 },
+ { 1.0, 0.0, 0.0 },
+});
+
+
+//-----------------------------------------------------------------------------
+// Create a demonstration (with a length of 'timestamps.size()') from a
+// trajectory (of any length)
+//-----------------------------------------------------------------------------
+mat sample_trajectory(const vector_list_t& trajectory, const vec& time_steps) {
+
+ // Resampling of the trajectory
+ vec x(trajectory.size());
+ vec y(trajectory.size());
+ vec x2(trajectory.size());
+ vec y2(trajectory.size());
+
+ for (size_t i = 0; i < trajectory.size(); ++i) {
+ x(i) = trajectory[i](0);
+ y(i) = trajectory[i](1);
+ }
+
+ vec from_indices = linspace<vec>(0, trajectory.size() - 1, trajectory.size());
+ vec to_indices = linspace<vec>(0, trajectory.size() - 1, time_steps.size());
+
+ interp1(from_indices, x, to_indices, x2, "*linear");
+ interp1(from_indices, y, to_indices, y2, "*linear");
+
+ // Create the demonstration
+ mat demo(2, time_steps.size());
+ for (int i = 0; i < time_steps.size(); ++i) {
+ demo(0, i) = x2[i];
+ demo(1, i) = y2[i];
+ }
+
+ return demo;
+}
+
+
+//-----------------------------------------------------------------------------
+// Contains all the needed infos about the state of the application (values of
+// the parameters modifiable via the UI, which action the user is currently
+// doing, ...)
+//-----------------------------------------------------------------------------
+struct gui_state_t {
+ // Indicates if the user is currently drawing a new demonstration
+ bool is_drawing_demonstration;
+
+ // Indicates if the parameters were modified through the UI
+ bool are_parameters_modified;
+
+ // Indicates if the reproductions must be recomputed
+ bool must_recompute;
+
+ // Parameters modifiable via the UI (they correspond to the ones declared
+ // in parameters_t)
+ int parameter_nb_data;
+ int parameter_nb_states;
+};
+
+
+/******************************* MAIN FUNCTION *******************************/
+
+int main(int argc, char **argv){
+ arma_rng::set_seed_random();
+
+ // Model
+ model_t model;
+
+ // Parameters
+ model.parameters.nb_data = 200;
+ model.parameters.nb_states = 6;
+ model.parameters.rfactor = 1e-3;
+ model.parameters.dt = 0.01;
+
+
+ // Take 4k screens into account (framebuffer size != window size)
+ gfx2::window_size_t window_size;
+ window_size.win_width = 1200;
+ window_size.win_height = 600;
+ window_size.fb_width = -1; // Will be known later
+ window_size.fb_height = -1;
+
+
+ // Initialise GLFW
+ glfwSetErrorCallback(error_callback);
+
+ if (!glfwInit())
+ return -1;
+
+ glfwWindowHint(GLFW_SAMPLES, 4);
+ glfwWindowHint(GLFW_CONTEXT_VERSION_MAJOR, 2);
+ glfwWindowHint(GLFW_CONTEXT_VERSION_MINOR, 1);
+
+ GLFWwindow* window = create_window_at_optimal_size(
+ "Demo HSMM batch", window_size.win_width, window_size.win_height
+ );
+
+ glfwMakeContextCurrent(window);
+
+
+ // Setup OpenGL
+ gfx2::init();
+ glEnable(GL_DEPTH_TEST);
+ glEnable(GL_CULL_FACE);
+ glEnable(GL_LINE_SMOOTH);
+ glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
+
+
+ // Setup ImGui
+ ImGui::CreateContext();
+ ImGui_ImplGlfwGL2_Init(window, true);
+
+
+ // GUI state
+ gui_state_t gui_state;
+ gui_state.is_drawing_demonstration = false;
+ gui_state.are_parameters_modified = true;
+ gui_state.must_recompute = false;
+ gui_state.parameter_nb_data = model.parameters.nb_data;
+ gui_state.parameter_nb_states = model.parameters.nb_states;
+
+
+ // Main loop
+ vec time_steps;
+ vector_list_t current_trajectory;
+ std::vector<vector_list_t> original_trajectories;
+ matrix_list_t demonstrations;
+ mat reproduction;
+
+ while (!glfwWindowShouldClose(window)){
+ glfwPollEvents();
+
+ // Detect when the window was resized
+ if ((ImGui::GetIO().DisplaySize.x != window_size.win_width) ||
+ (ImGui::GetIO().DisplaySize.y != window_size.win_height)) {
+
+ bool first = (window_size.win_width == -1) || (window_size.fb_width == -1);
+
+ int previous_fb_width = window_size.fb_width;
+ int previous_fb_height = window_size.fb_height;
+
+ // Retrieve the new window size
+ glfwGetWindowSize(window, &window_size.win_width, &window_size.win_height);
+
+ // Retrieve the new framebuffer size
+ glfwGetFramebufferSize(window, &window_size.fb_width, &window_size.fb_height);
+
+ // Rescale the demonstrations so they stay in the window
+ if (!first) {
+ float scale_x = (float) window_size.fb_width / previous_fb_width;
+ float scale_y = (float) window_size.fb_height / previous_fb_height;
+
+ for (size_t i = 0; i < original_trajectories.size(); ++i) {
+ for (size_t j = 0; j < original_trajectories[i].size(); ++j) {
+ original_trajectories[i][j](0) *= scale_x;
+ original_trajectories[i][j](1) *= scale_y;
+ }
+ }
+
+ gui_state.are_parameters_modified = true;
+ time_steps.clear();
+ }
+ }
+
+
+ // If the parameters changed, learn the model again
+ if (gui_state.are_parameters_modified) {
+
+ if (time_steps.size() != gui_state.parameter_nb_data) {
+ demonstrations.clear();
+
+ time_steps = linspace<vec>(
+ 0, gui_state.parameter_nb_data - 1, gui_state.parameter_nb_data
+ );
+
+ for (size_t i = 0; i < original_trajectories.size(); ++i) {
+ mat sampled_trajectory = sample_trajectory(original_trajectories[i],
+ time_steps);
+ sampled_trajectory.row(0) /= window_size.fb_width;
+ sampled_trajectory.row(1) /= window_size.fb_height;
+
+ demonstrations.push_back(sampled_trajectory);
+ }
+ }
+
+ model.parameters.nb_data = gui_state.parameter_nb_data;
+ model.parameters.nb_states = gui_state.parameter_nb_states;
+
+ gui_state.are_parameters_modified = false;
+ gui_state.must_recompute = !demonstrations.empty();
+ }
+
+ if (!demonstrations.empty() && gui_state.must_recompute) {
+ learn(demonstrations, model);
+
+ mat all_start_points(2, demonstrations.size());
+ for (int i = 0; i < demonstrations.size(); ++i)
+ all_start_points(span::all, i) = demonstrations[i](span::all, 0);
+
+ reproduction = compute_LQR(model, mean(all_start_points, 1));
+
+ gui_state.must_recompute = false;
+ }
+
+
+ // Start the rendering
+ ImGui_ImplGlfwGL2_NewFrame();
+
+ glViewport(0, 0, window_size.fb_width, window_size.fb_height);
+ glClearColor(1.0f, 1.0f, 1.0f, 1.0f);
+ glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
+
+ glMatrixMode( GL_PROJECTION );
+ glLoadIdentity();
+ glOrtho(0, window_size.fb_width, 0, window_size.fb_height, -1., 1.);
+ glMatrixMode( GL_MODELVIEW );
+ glLoadIdentity();
+
+ glPushMatrix();
+
+ // Draw the GMM states
+ if (!model.mu.empty()) {
+ for (int i = 0; i < model.parameters.nb_states; ++i) {
+ glClear(GL_DEPTH_BUFFER_BIT);
+
+ vec mu(2);
+ mu(0) = model.mu[i](0) * window_size.fb_width;
+ mu(1) = model.mu[i](1) * window_size.fb_height;
+
+ mat scaling({
+ { (double) window_size.fb_width, 0.0 },
+ { 0.0, (double) window_size.fb_height }
+ });
+
+ gfx2::draw_gaussian(
+ conv_to<fvec>::from(COLORS.row(i % 10).t()), mu,
+ scaling * model.sigma[i] * scaling.t()
+ );
+ }
+
+ glClear(GL_DEPTH_BUFFER_BIT);
+ }
+
+ // Draw the currently created demonstration (if any)
+ if (current_trajectory.size() > 1)
+ gfx2::draw_line(fvec({0.0f, 0.0f, 0.0f}), current_trajectory);
+
+ // Draw the demonstrations
+ for (size_t i = 0; i < demonstrations.size(); ++i) {
+ mat datapoints = demonstrations[i];
+ datapoints.row(0) *= window_size.fb_width;
+ datapoints.row(1) *= window_size.fb_height;
+
+ gfx2::draw_line(fvec({0.3f, 0.3f, 0.3f}), datapoints);
+ }
+
+ // Draw the reproduction
+ if (!demonstrations.empty()) {
+ mat scaled_reproduction = reproduction;
+ scaled_reproduction.row(0) *= window_size.fb_width;
+ scaled_reproduction.row(1) *= window_size.fb_height;
+
+ glLineWidth(4.0f);
+ gfx2::draw_line(fvec({1.0f, 0.0f, 0.0f}), scaled_reproduction);
+ glLineWidth(1.0f);
+ }
+
+ glPopMatrix();
+
+
+ // Control panel GUI
+ ImGui::SetNextWindowPos(ImVec2(2,2));
+ ImGui::SetNextWindowSize(ImVec2(300, 116));
+
+ ImGui::Begin("Control Panel", NULL,
+ ImGuiWindowFlags_NoTitleBar|ImGuiWindowFlags_NoResize|
+ ImGuiWindowFlags_NoMove|ImGuiWindowFlags_NoSavedSettings
+ );
+
+ ImGui::Text("Left-click to collect demonstrations");
+ ImGui::Text("");
+ ImGui::SliderInt("Nb states", &gui_state.parameter_nb_states, 2, 20);
+ ImGui::SliderInt("Nb data", &gui_state.parameter_nb_data, 100, 300);
+
+ if (ImGui::Button("Apply"))
+ gui_state.are_parameters_modified = true;
+
+ ImGui::SameLine();
+
+ if (ImGui::Button("Clear")) {
+ demonstrations.clear();
+ original_trajectories.clear();
+ model.mu.clear();
+ model.sigma.clear();
+ model.transitions.clear();
+ model.states_priors.clear();
+ model.H.clear();
+ }
+
+ ImGui::End();
+
+
+ // GUI rendering
+ ImGui::Render();
+ ImGui_ImplGlfwGL2_RenderDrawData(ImGui::GetDrawData());
+
+ // Swap buffers
+ glfwSwapBuffers(window);
+
+ // Keyboard input
+ if (ImGui::IsKeyPressed(GLFW_KEY_ESCAPE))
+ break;
+
+
+ if (!gui_state.is_drawing_demonstration) {
+ // Left click: start a new demonstration (only if not on the UI and in the
+ // demonstrations viewport)
+ if (ImGui::IsMouseClicked(GLFW_MOUSE_BUTTON_1) && !ImGui::GetIO().WantCaptureMouse) {
+ double mouse_x, mouse_y;
+ glfwGetCursorPos(window, &mouse_x, &mouse_y);
+
+ gui_state.is_drawing_demonstration = true;
+
+ vec coords = gfx2::ui2fb({ mouse_x, mouse_y }, window_size);
+ current_trajectory.push_back(coords);
+ }
+ } else if (gui_state.is_drawing_demonstration) {
+ double mouse_x, mouse_y;
+ glfwGetCursorPos(window, &mouse_x, &mouse_y);
+
+ vec coords = gfx2::ui2fb({ mouse_x, mouse_y }, window_size);
+
+ vec last_point = current_trajectory[current_trajectory.size() - 1];
+ vec diff = abs(coords - last_point);
+
+ if ((diff(0) > 1e-6) && (diff(1) > 1e-6))
+ current_trajectory.push_back(coords);
+
+ // Left mouse button release: end the demonstration creation
+ if (!ImGui::IsMouseDown(GLFW_MOUSE_BUTTON_1)) {
+ gui_state.is_drawing_demonstration = false;
+
+ if (current_trajectory.size() > 1) {
+ mat sampled_trajectory = sample_trajectory(current_trajectory, time_steps);
+ sampled_trajectory.row(0) /= window_size.fb_width;
+ sampled_trajectory.row(1) /= window_size.fb_height;
+
+ demonstrations.push_back(sampled_trajectory);
+
+ original_trajectories.push_back(current_trajectory);
+
+ gui_state.must_recompute = true;
+ }
+
+ current_trajectory.clear();
+ }
+ }
+ }
+
+ // Cleanup
+ ImGui_ImplGlfwGL2_Shutdown();
+ glfwTerminate();
+
+ return 0;
+}
diff --git a/src/demo_LWR_batch01.cpp b/src/demo_LWR_batch01.cpp
new file mode 100644
index 0000000..61143d4
--- /dev/null
+++ b/src/demo_LWR_batch01.cpp
@@ -0,0 +1,718 @@
+/*
+ * demo_LWR_batch01.cpp
+ *
+ * Locally weighted regression (LWR) with radial basis functions (RBF), using batch
+ * computation
+ *
+ * Authors: Sylvain Calinon, Philip Abbet
+ */
+
+
+#include <stdio.h>
+#include <armadillo>
+
+#include <gfx2.h>
+#include <gfx_ui.h>
+#include <GLFW/glfw3.h>
+#include <imgui.h>
+#include <imgui_impl_glfw_gl2.h>
+#include <imgui_internal.h>
+#include <window_utils.h>
+
+using namespace arma;
+
+
+/***************************** ALGORITHM SECTION *****************************/
+
+typedef std::vector<vec> vector_list_t;
+typedef std::vector<mat> matrix_list_t;
+
+
+//-----------------------------------------------------------------------------
+// Contains all the parameters used by the algorithm. Some of them are
+// modifiable through the UI, others are hard-coded.
+//-----------------------------------------------------------------------------
+struct parameters_t {
+ int nb_RBF; // Number of radial basis functions
+ int nb_data; // Number of datapoints in a trajectory
+};
+
+
+//-----------------------------------------------------------------------------
+// Likelihood of datapoint(s) to be generated by a Gaussian parameterized by
+// center and covariance.
+//-----------------------------------------------------------------------------
+arma::vec gaussPDF(vec Data, double Mu, double Sigma) {
+
+ int nb_data = Data.n_rows;
+ Data = Data - repmat(mat({ Mu }), nb_data, 1);
+
+ vec prob = sum((Data / Sigma) % Data, 1);
+
+ prob = exp(-0.5 * prob) / sqrt(2 * datum::pi * Sigma + DBL_MIN);
+
+ return prob;
+}
+
+
+//-----------------------------------------------------------------------------
+// Locally weighted regression (LWR) with radial basis functions (RBF)
+//-----------------------------------------------------------------------------
+std::tuple<mat, mat> compute_LWR(const parameters_t& parameters, const mat& demonstration) {
+
+ // Set centroids equally spread in time
+ vec mu_RBF = linspace<vec>(0, parameters.nb_data - 1, parameters.nb_RBF);
+
+ // Set constant homogeneous covariance
+ double sigma_RBF = 100.0;
+
+ mat H = zeros(parameters.nb_RBF, parameters.nb_data);
+ for (int i = 0; i < parameters.nb_RBF; ++i) {
+ H(i, span::all) = gaussPDF(linspace<vec>(0, parameters.nb_data - 1, parameters.nb_data),
+ mu_RBF(i), sigma_RBF).t();
+ }
+
+ // Batch estimate (Least squares estimate of weights)
+ mat w = solve(H.t(), demonstration.t());
+
+ // Reconstruction of signal by weighted sum of radial basis functions
+ mat reproduction = w.t() * H;
+
+ return std::make_tuple(reproduction, H);
+}
+
+
+/****************************** HELPER FUNCTIONS *****************************/
+
+static void error_callback(int error, const char* description) {
+ fprintf(stderr, "Error %d: %s\n", error, description);
+}
+
+
+//-----------------------------------------------------------------------------
+// Contains all the informations about a viewport
+//-----------------------------------------------------------------------------
+struct viewport_t {
+ int x;
+ int y;
+ int width;
+ int height;
+
+ // Projection matrix parameters
+ arma::vec projection_top_left;
+ arma::vec projection_bottom_right;
+ double projection_near;
+ double projection_far;
+};
+
+
+//-----------------------------------------------------------------------------
+// Helper function to setup a viewport
+//-----------------------------------------------------------------------------
+void setup_viewport(viewport_t* viewport, int x, int y, int width, int height,
+ double near = -1.0, double far = 1.0) {
+
+ viewport->x = x;
+ viewport->y = y;
+ viewport->width = width;
+ viewport->height = height;
+ viewport->projection_top_left = vec({ (double) -width / 2,
+ (double) height / 2 });
+ viewport->projection_bottom_right = vec({ (double) width / 2,
+ (double) -height / 2 });
+ viewport->projection_near = near;
+ viewport->projection_far = far;
+}
+
+
+//-----------------------------------------------------------------------------
+// Converts some coordinates from UI-space to OpenGL-space, taking the
+// coordinates of a viewport into account
+//-----------------------------------------------------------------------------
+arma::vec ui2fb(const arma::vec& coords, const gfx2::window_size_t& window_size,
+ const viewport_t& viewport) {
+ arma::vec result = coords;
+
+ // ui -> viewport
+ result(0) = coords(0) * (float) window_size.fb_width / (float) window_size.win_width - viewport.x;
+ result(1) = (window_size.win_height - coords(1)) *
+ (float) window_size.fb_height / (float) window_size.win_height - viewport.y;
+
+ // viewport -> fb
+ result(0) = result(0) - (float) viewport.width * 0.5f;
+ result(1) = result(1) - (float) viewport.height * 0.5f;
+
+ return result;
+}
+
+
+//-----------------------------------------------------------------------------
+// Converts some coordinates from OpenGL-space to UI-space, taking the
+// coordinates of a viewport into account
+//-----------------------------------------------------------------------------
+arma::vec fb2ui(const arma::vec& coords, const gfx2::window_size_t& window_size,
+ const viewport_t& viewport) {
+ arma::vec result = coords;
+
+ // fb -> viewport
+ result(0) = coords(0) + (float) viewport.width * 0.5f;
+ result(1) = coords(1) + (float) viewport.height * 0.5f;
+
+ // viewport -> ui
+ result(0) = (result(0) + viewport.x) * (float) window_size.win_width / (float) window_size.fb_width;
+
+ result(1) = window_size.win_height - (result(1) + viewport.y) * (float) window_size.win_height / (float) window_size.fb_height;
+
+ return result;
+}
+
+
+//-----------------------------------------------------------------------------
+// Colors of the displayed lines and gaussians
+//-----------------------------------------------------------------------------
+const mat COLORS({
+ { 0.0, 0.0, 1.0 },
+ { 0.0, 0.5, 0.0 },
+ { 1.0, 0.0, 0.0 },
+ { 0.0, 0.75, 0.75 },
+ { 0.75, 0.0, 0.75 },
+ { 0.75, 0.75, 0.0 },
+ { 0.25, 0.25, 0.25 },
+});
+
+
+//-----------------------------------------------------------------------------
+// Create a demonstration (with a length of 'parameters.nb_data') from a
+// trajectory (of any length)
+//-----------------------------------------------------------------------------
+mat sample_trajectory(const vector_list_t& trajectory, const parameters_t& parameters) {
+
+ // Resampling of the trajectory
+ vec x(trajectory.size());
+ vec y(trajectory.size());
+
+ for (size_t i = 0; i < trajectory.size(); ++i) {
+ x(i) = trajectory[i](0);
+ y(i) = trajectory[i](1);
+ }
+
+ vec from_indices = linspace<vec>(0, trajectory.size() - 1, trajectory.size());
+ vec to_indices = linspace<vec>(0, trajectory.size() - 1, parameters.nb_data);
+
+ vec x2;
+ vec y2;
+
+ interp1(from_indices, x, to_indices, x2, "*linear");
+ interp1(from_indices, y, to_indices, y2, "*linear");
+
+ // Create the demonstration
+ mat demo(2, x2.size());
+ for (int i = 0; i < x2.size(); ++i) {
+ demo(0, i) = x2[i];
+ demo(1, i) = y2[i];
+ }
+
+ return demo;
+}
+
+
+//-----------------------------------------------------------------------------
+// Contains all the needed infos about the state of the application (values of
+// the parameters modifiable via the UI, which action the user is currently
+// doing, ...)
+//-----------------------------------------------------------------------------
+struct gui_state_t {
+ // Indicates if the user is currently drawing a new demonstration
+ bool is_drawing_demonstration;
+
+ // Indicates if the parameters dialog is displayed
+ bool is_parameters_dialog_displayed;
+
+ // Indicates if the parameters were modified through the UI
+ bool are_parameters_modified;
+
+ // Indicates if the reproductions must be recomputed
+ bool must_recompute_LWR;
+
+ // Parameters modifiable via the UI (they correspond to the ones declared
+ // in parameters_t)
+ int parameter_nb_RBF;
+ int parameter_nb_data;
+};
+
+
+//-----------------------------------------------------------------------------
+// Render the "demonstrations & model" viewport
+//-----------------------------------------------------------------------------
+void draw_demo_viewport(const viewport_t& viewport,
+ const vector_list_t& current_trajectory,
+ const mat& demonstration,
+ const mat& reproduction) {
+
+ glViewport(viewport.x, viewport.y, viewport.width, viewport.height);
+ glScissor(viewport.x, viewport.y, viewport.width, viewport.height);
+ glClearColor(0.7f, 0.7f, 0.7f, 0.0f);
+ glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
+
+ glMatrixMode(GL_PROJECTION);
+ glLoadIdentity();
+ glOrtho(viewport.projection_top_left(0), viewport.projection_bottom_right(0),
+ viewport.projection_bottom_right(1), viewport.projection_top_left(1),
+ viewport.projection_near, viewport.projection_far);
+
+ glMatrixMode(GL_MODELVIEW);
+ glLoadIdentity();
+
+ // Draw the demonstration
+ if (demonstration.n_cols > 0)
+ gfx2::draw_line({0.0f, 0.0f, 0.0f}, demonstration);
+ else if (current_trajectory.size() > 1)
+ gfx2::draw_line(arma::fvec({0.33f, 0.97f, 0.33f}), current_trajectory);
+
+ // Draw the reproduction
+ if (reproduction.n_cols > 0) {
+ glLineWidth(4.0f);
+ gfx2::draw_line({1.0f, 0.0f, 0.0f}, reproduction);
+ glLineWidth(1.0f);
+ }
+}
+
+
+//-----------------------------------------------------------------------------
+// Returns the dimensions that a plot should have inside the provided viewport
+//-----------------------------------------------------------------------------
+ivec get_plot_dimensions(const viewport_t& viewport) {
+
+ const int MARGIN = 50;
+
+ ivec result(2);
+ result(0) = viewport.width - 2 * MARGIN;
+ result(1) = viewport.height / 2 - 2 * MARGIN;
+
+ return result;
+}
+
+
+//-----------------------------------------------------------------------------
+// Render a "timeline" viewport
+//-----------------------------------------------------------------------------
+void draw_timeline_viewport(const gfx2::window_size_t& window_size,
+ const viewport_t& viewport,
+ const mat& demonstration, const mat& reproduction,
+ const mat& H, int dimension) {
+
+ glViewport(viewport.x, viewport.y, viewport.width, viewport.height);
+ glScissor(viewport.x, viewport.y, viewport.width, viewport.height);
+ glClearColor(0.9f, 0.9f, 0.9f, 0.0f);
+ glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
+
+ glMatrixMode(GL_PROJECTION);
+ glLoadIdentity();
+ glOrtho(viewport.projection_top_left(0), viewport.projection_bottom_right(0),
+ viewport.projection_bottom_right(1), viewport.projection_top_left(1),
+ viewport.projection_near, viewport.projection_far);
+
+ glMatrixMode(GL_MODELVIEW);
+ glLoadIdentity();
+
+ ivec plot_dimensions = get_plot_dimensions(viewport);
+
+ const int MARGIN = 50;
+ const int TOP_OFFSET = 40;
+ const int MARGIN_TIMELINE_TOP = MARGIN + TOP_OFFSET;
+ const int MARGIN_TIMELINE_BOTTOM = MARGIN - TOP_OFFSET;
+
+
+ //_____ Timeline plot __________
+
+ ivec plot_top_left({ -plot_dimensions(0) / 2, viewport.height / 2 - MARGIN_TIMELINE_TOP });
+ ivec plot_bottom_right({ plot_dimensions(0) / 2, MARGIN_TIMELINE_BOTTOM });
+
+ // Axis labels
+ ui::begin("Text");
+
+ vec coords = fb2ui(vec({ -20.0, MARGIN_TIMELINE_BOTTOM - 5.0 }), window_size, viewport);
+ ui::text(ImVec2(coords(0), coords(1)), "t", ImVec4(0,0,0,1));
+
+ std::stringstream label;
+ label << "x" << dimension;
+
+ coords = fb2ui(vec({ double(-viewport.width / 2) + 10, viewport.height / 4 - TOP_OFFSET + 20.0 }),
+ window_size, viewport);
+ ui::text(ImVec2(coords(0), coords(1)), label.str(), ImVec4(0,0,0,1));
+
+ ui::end();
+
+ // Draw the axes
+ gfx2::draw_line(fvec({0.0f, 0.0f, 0.0f}),
+ mat({ { double(plot_top_left(0)), double(plot_bottom_right(0)) },
+ { double(plot_bottom_right(1)), double(plot_bottom_right(1)) }
+ })
+ );
+
+ gfx2::draw_line(fvec({0.0f, 0.0f, 0.0f}),
+ mat({ { double(plot_top_left(0)), double(plot_top_left(0)) },
+ { double(plot_bottom_right(1)), double(plot_top_left(1)) }
+ })
+ );
+
+ double scale_x = (double) plot_dimensions(0) / (demonstration.n_cols - 1);
+
+ // Check if there is something to display
+ if (demonstration.n_cols > 0) {
+
+ double scale_y;
+
+ if (dimension == 1)
+ scale_y = (double) plot_dimensions(1) / viewport.width;
+ else
+ scale_y = (double) plot_dimensions(1) / viewport.height;
+
+ // Draw the demonstration
+ arma::mat datapoints(2, demonstration.n_cols);
+ datapoints.row(0) = linspace<vec>(0, demonstration.n_cols - 1, demonstration.n_cols).t();
+ datapoints.row(1) = demonstration.row(dimension - 1);
+
+ datapoints(0, span::all) = datapoints(0, span::all) * scale_x - plot_dimensions(0) / 2;
+ datapoints(1, span::all) *= scale_y;
+ datapoints(1, span::all) += viewport.height / 4 - TOP_OFFSET;
+
+ glLineWidth(2.0f);
+ gfx2::draw_line({0.7f, 0.7f, 0.7f}, datapoints);
+ glLineWidth(1.0f);
+
+ glClear(GL_DEPTH_BUFFER_BIT);
+
+ // Draw the reproduction
+ datapoints.row(1) = reproduction.row(dimension - 1);
+ datapoints(1, span::all) *= scale_y;
+ datapoints(1, span::all) += viewport.height / 4 - TOP_OFFSET;
+
+ glLineWidth(4.0f);
+ gfx2::draw_line({1.0f, 0.0f, 0.0f}, datapoints);
+ glLineWidth(1.0f);
+ }
+
+
+ //_____ RBFs plot __________
+
+ plot_top_left = ivec({ -plot_dimensions(0) / 2, -MARGIN });
+ plot_bottom_right = ivec({ plot_dimensions(0) / 2, -viewport.height / 2 + MARGIN });
+
+ // Axis labels
+ ui::begin("Text");
+
+ coords = fb2ui(vec({ -20.0, -viewport.height / 2 + (MARGIN - 5.0) }), window_size, viewport);
+ ui::text(ImVec2(coords(0), coords(1)), "t", ImVec4(0,0,0,1));
+
+ coords = fb2ui(vec({ double(-viewport.width / 2) + 10, -viewport.height / 4 - 20.0 }),
+ window_size, viewport);
+ ui::text(ImVec2(coords(0), coords(1)), "h", ImVec4(0,0,0,1));
+
+ ui::end();
+
+ // Draw the axes
+ gfx2::draw_line(fvec({0.0f, 0.0f, 0.0f}),
+ mat({ { double(plot_top_left(0)), double(plot_bottom_right(0)) },
+ { double(plot_bottom_right(1)), double(plot_bottom_right(1)) }
+ })
+ );
+
+ gfx2::draw_line(fvec({0.0f, 0.0f, 0.0f}),
+ mat({ { double(plot_top_left(0)), double(plot_top_left(0)) },
+ { double(plot_bottom_right(1)), double(plot_top_left(1)) }
+ })
+ );
+
+ // Check if there is something to display
+ if (demonstration.n_cols > 0) {
+
+ double max_value = max(max(H));
+
+ int color_index = 0;
+ for (int i = 0; i < H.n_rows; ++i) {
+ arma::mat datapoints(2, H.n_cols);
+ datapoints.row(0) = linspace<vec>(0, H.n_cols - 1, H.n_cols).t();
+ datapoints.row(1) = H.row(i) / max_value;
+
+ datapoints(0, span::all) = datapoints(0, span::all) * scale_x - plot_dimensions(0) / 2;
+ datapoints(1, span::all) *= (double) plot_dimensions(1);
+ datapoints(1, span::all) -= viewport.height / 2 - MARGIN;
+
+ arma::fvec color = arma::conv_to<arma::fvec>::from(COLORS.row(color_index));
+
+ gfx2::draw_line(color, datapoints);
+
+ glClear(GL_DEPTH_BUFFER_BIT);
+
+ ++color_index;
+ if (color_index >= COLORS.n_rows)
+ color_index = 0;
+ }
+ }
+}
+
+
+/******************************* MAIN FUNCTION *******************************/
+
+int main(int argc, char **argv) {
+
+ arma_rng::set_seed_random();
+
+ // Parameters
+ parameters_t parameters;
+ parameters.nb_RBF = 8;
+ parameters.nb_data = 100;
+
+
+ // Take 4k screens into account (framebuffer size != window size)
+ gfx2::window_size_t window_size;
+ window_size.win_width = 800;
+ window_size.win_height = 800;
+ window_size.fb_width = -1; // Will be known later
+ window_size.fb_height = -1;
+ int viewport_width = 0;
+ int viewport_height = 0;
+
+
+ // Initialise GLFW
+ glfwSetErrorCallback(error_callback);
+
+ if (!glfwInit())
+ return -1;
+
+ glfwWindowHint(GLFW_SAMPLES, 4);
+ glfwWindowHint(GLFW_CONTEXT_VERSION_MAJOR, 2);
+ glfwWindowHint(GLFW_CONTEXT_VERSION_MINOR, 1);
+
+ // Open a window and create its OpenGL context
+ GLFWwindow* window = create_window_at_optimal_size(
+ "Demo Locally weighted regression (LWR)",
+ window_size.win_width, window_size.win_height
+ );
+
+ glfwMakeContextCurrent(window);
+
+
+ // Setup GLSL
+ gfx2::init();
+ glEnable(GL_SCISSOR_TEST);
+ glEnable(GL_DEPTH_TEST);
+ glEnable(GL_CULL_FACE);
+ glEnable(GL_LINE_SMOOTH);
+ glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
+
+ // Setup ImGui
+ ImGui::CreateContext();
+ ImGui_ImplGlfwGL2_Init(window, true);
+
+
+ // Viewports
+ viewport_t viewport_demo;
+ viewport_t viewport_timeline;
+
+
+ // GUI state
+ gui_state_t gui_state;
+ gui_state.is_drawing_demonstration = false;
+ gui_state.is_parameters_dialog_displayed = false;
+ gui_state.are_parameters_modified = false;
+ gui_state.must_recompute_LWR = false;
+ gui_state.parameter_nb_RBF = parameters.nb_RBF;
+ gui_state.parameter_nb_data = parameters.nb_data;
+
+
+ // Main loop
+ vector_list_t current_trajectory;
+ mat demonstration;
+ mat reproduction;
+ mat H;
+ int dimension = 1;
+
+ while (!glfwWindowShouldClose(window)) {
+ glfwPollEvents();
+
+ // Detect when the window was resized
+ if ((ImGui::GetIO().DisplaySize.x != window_size.win_width) ||
+ (ImGui::GetIO().DisplaySize.y != window_size.win_height)) {
+
+ window_size.win_width = ImGui::GetIO().DisplaySize.x;
+ window_size.win_height = ImGui::GetIO().DisplaySize.y;
+
+ glfwGetFramebufferSize(window, &window_size.fb_width, &window_size.fb_height);
+
+ viewport_width = window_size.fb_width / 2 - 1;
+ viewport_height = window_size.fb_height / 2 - 1;
+
+ // Update all the viewports
+ setup_viewport(&viewport_demo, 0, window_size.fb_height - viewport_height,
+ window_size.fb_width, viewport_height);
+
+ setup_viewport(&viewport_timeline, 0, 0, window_size.fb_width, viewport_height);
+ }
+
+
+ // If the parameters changed, learn the model again
+ if (gui_state.are_parameters_modified) {
+
+ if (parameters.nb_data != gui_state.parameter_nb_data) {
+ parameters.nb_data = gui_state.parameter_nb_data;
+ demonstration = sample_trajectory(current_trajectory, parameters);
+ }
+
+ parameters.nb_RBF = gui_state.parameter_nb_RBF;
+
+ gui_state.must_recompute_LWR = true;
+ gui_state.are_parameters_modified = false;
+ }
+
+
+ // Recompute the LWR (if necessary)
+ if (gui_state.must_recompute_LWR) {
+ std::tie(reproduction, H) = compute_LWR(parameters, demonstration);
+ gui_state.must_recompute_LWR = false;
+ }
+
+
+ // Start the rendering
+ ImGui_ImplGlfwGL2_NewFrame();
+
+ glViewport(0, 0, window_size.fb_width, window_size.fb_height);
+ glScissor(0, 0, window_size.fb_width, window_size.fb_height);
+ glClearColor(0.0f, 0.0f, 0.0f, 0.0f);
+ glClear(GL_COLOR_BUFFER_BIT);
+
+ draw_demo_viewport(viewport_demo, current_trajectory,
+ demonstration, reproduction);
+
+ draw_timeline_viewport(window_size, viewport_timeline,
+ demonstration, reproduction, H, dimension);
+
+
+ // Window: Demonstration & reproduction
+ ImGui::SetNextWindowSize(ImVec2(window_size.win_width, 36));
+ ImGui::SetNextWindowPos(ImVec2(0, 0));
+ ImGui::Begin("Demonstration & reproduction", NULL,
+ ImGuiWindowFlags_NoResize | ImGuiWindowFlags_NoSavedSettings |
+ ImGuiWindowFlags_NoMove | ImGuiWindowFlags_NoCollapse |
+ ImGuiWindowFlags_NoTitleBar
+ );
+
+ ImGui::Text("Demonstration & reproduction ");
+ ImGui::SameLine();
+
+ if (ImGui::Button("Parameters"))
+ gui_state.is_parameters_dialog_displayed = true;
+
+ ImGui::End();
+
+
+ // Window: Timeline
+ ImGui::SetNextWindowSize(ImVec2(window_size.win_width, 36));
+ ImGui::SetNextWindowPos(ImVec2(0, window_size.win_height / 2));
+ ImGui::Begin("Timeline", NULL,
+ ImGuiWindowFlags_NoResize | ImGuiWindowFlags_NoSavedSettings |
+ ImGuiWindowFlags_NoMove | ImGuiWindowFlags_NoCollapse |
+ ImGuiWindowFlags_NoTitleBar
+ );
+
+ ImGui::Text("Timeline ");
+ ImGui::SameLine();
+
+ ImGui::RadioButton("1", &dimension, 1);
+ ImGui::SameLine();
+ ImGui::RadioButton("2", &dimension, 2);
+
+ ImGui::End();
+
+
+ // Window: Parameters
+ ImGui::SetNextWindowSize(ImVec2(440, 106));
+ ImGui::SetNextWindowPos(ImVec2((window_size.win_width - 440) / 2,
+ (window_size.win_height - 106) / 2));
+ ImGui::PushStyleColor(ImGuiCol_WindowBg, ImVec4(0, 0, 0, 255));
+
+ if (gui_state.is_parameters_dialog_displayed)
+ ImGui::OpenPopup("Parameters");
+
+ if (ImGui::BeginPopupModal("Parameters", NULL,
+ ImGuiWindowFlags_NoResize |
+ ImGuiWindowFlags_NoSavedSettings)) {
+
+ ImGui::SliderInt("Nb RBF", &gui_state.parameter_nb_RBF, 2, 20);
+ ImGui::SliderInt("Nb data", &gui_state.parameter_nb_data, 100, 300);
+
+ if (ImGui::Button("Close")) {
+ ImGui::CloseCurrentPopup();
+ gui_state.is_parameters_dialog_displayed = false;
+ gui_state.are_parameters_modified = true;
+ }
+
+ ImGui::EndPopup();
+ }
+
+ ImGui::PopStyleColor();
+
+
+ // GUI rendering
+ ImGui::Render();
+ ImGui_ImplGlfwGL2_RenderDrawData(ImGui::GetDrawData());
+
+ // Swap buffers
+ glfwSwapBuffers(window);
+
+ // Keyboard input
+ if (ImGui::IsKeyPressed(GLFW_KEY_ESCAPE))
+ break;
+
+
+ if (!gui_state.is_drawing_demonstration && !gui_state.is_parameters_dialog_displayed) {
+ // Left click: start a new demonstration (only if not on the UI and in the
+ // demonstrations viewport)
+ if (ImGui::IsMouseClicked(GLFW_MOUSE_BUTTON_1)) {
+ double mouse_x, mouse_y;
+ glfwGetCursorPos(window, &mouse_x, &mouse_y);
+
+ if ((mouse_y > 36) && (mouse_y <= window_size.win_height / 2))
+ {
+ gui_state.is_drawing_demonstration = true;
+
+ current_trajectory.clear();
+ demonstration.clear();
+ reproduction.clear();
+
+ vec coords = ui2fb({ mouse_x, mouse_y }, window_size, viewport_demo);
+ current_trajectory.push_back(coords);
+ }
+ }
+ } else if (gui_state.is_drawing_demonstration) {
+ double mouse_x, mouse_y;
+ glfwGetCursorPos(window, &mouse_x, &mouse_y);
+
+ vec coords = ui2fb({ mouse_x, mouse_y }, window_size, viewport_demo);
+
+ vec last_point = current_trajectory[current_trajectory.size() - 1];
+ vec diff = abs(coords - last_point);
+
+ if ((diff(0) > 1e-6) && (diff(1) > 1e-6))
+ current_trajectory.push_back(coords);
+
+ // Left mouse button release: end the demonstration creation
+ if (!ImGui::IsMouseDown(GLFW_MOUSE_BUTTON_1)) {
+ gui_state.is_drawing_demonstration = false;
+
+ if (current_trajectory.size() > 1) {
+ demonstration = sample_trajectory(current_trajectory, parameters);
+ gui_state.must_recompute_LWR = true;
+ }
+ }
+ }
+ }
+
+
+ // Cleanup
+ ImGui_ImplGlfwGL2_Shutdown();
+ glfwTerminate();
+
+ return 0;
+}
diff --git a/src/demo_LWR_iterative01.cpp b/src/demo_LWR_iterative01.cpp
new file mode 100644
index 0000000..cda48b9
--- /dev/null
+++ b/src/demo_LWR_iterative01.cpp
@@ -0,0 +1,755 @@
+/*
+ * demo_LWR_iterative01.cpp
+ *
+ * Locally weighted regression (LWR) with radial basis functions (RBF), using iterative
+ * computation
+ *
+ * Authors: Sylvain Calinon, Philip Abbet
+ */
+
+
+#include <stdio.h>
+#include <armadillo>
+
+#include <gfx2.h>
+#include <gfx_ui.h>
+#include <GLFW/glfw3.h>
+#include <imgui.h>
+#include <imgui_impl_glfw_gl2.h>
+#include <imgui_internal.h>
+#include <window_utils.h>
+
+using namespace arma;
+
+
+/***************************** ALGORITHM SECTION *****************************/
+
+typedef std::vector<vec> vector_list_t;
+typedef std::vector<mat> matrix_list_t;
+
+
+//-----------------------------------------------------------------------------
+// Contains all the parameters used by the algorithm. Some of them are
+// modifiable through the UI, others are hard-coded.
+//-----------------------------------------------------------------------------
+struct parameters_t {
+ int nb_RBF; // Number of radial basis functions
+ int nb_data; // Number of datapoints in a trajectory
+};
+
+
+//-----------------------------------------------------------------------------
+// Likelihood of datapoint(s) to be generated by a Gaussian parameterized by
+// center and covariance.
+//-----------------------------------------------------------------------------
+arma::vec gaussPDF(vec Data, double Mu, double Sigma) {
+
+ int nb_data = Data.n_rows;
+ Data = Data - repmat(mat({ Mu }), nb_data, 1);
+
+ vec prob = sum((Data / Sigma) % Data, 1);
+
+ prob = exp(-0.5 * prob) / sqrt(2 * datum::pi * Sigma + DBL_MIN);
+
+ return prob;
+}
+
+
+//-----------------------------------------------------------------------------
+// Locally weighted regression (LWR) with radial basis functions (RBF)
+//-----------------------------------------------------------------------------
+std::tuple<matrix_list_t, mat> compute_LWR(const parameters_t& parameters,
+ const mat& demonstration) {
+
+ // Set centroids equally spread in time
+ vec mu_RBF = linspace<vec>(0, parameters.nb_data - 1, parameters.nb_RBF);
+
+ // Set constant homogeneous covariance
+ double sigma_RBF = 100.0;
+
+ mat H = zeros(parameters.nb_RBF, parameters.nb_data);
+ for (int i = 0; i < parameters.nb_RBF; ++i) {
+ H(i, span::all) = gaussPDF(linspace<vec>(0, parameters.nb_data - 1, parameters.nb_data),
+ mu_RBF(i), sigma_RBF).t();
+ }
+
+ // Incremental estimate (does not require matrix inversion)
+ mat w = zeros(parameters.nb_RBF, 2); // Initial estimate of w
+ mat iB = eye(parameters.nb_RBF, parameters.nb_RBF) * 1e3; // Initial estimate of iB (set to big value)
+
+ matrix_list_t reconstructions;
+
+ for (int t = 0; t < demonstration.n_cols; ++t) {
+
+ // New input data
+ mat V = H.col(t).t();
+
+ // New output data
+ mat C = demonstration.col(t).t();
+
+ // Kalman gain
+ mat K = iB * V.t() / mat(1.0 + V * iB * V.t())(0, 0);
+
+ // Update w
+ w = w + K * (C - V * w);
+
+ // Update iB
+ iB = iB - iB * V.t() / mat(1.0 + V * iB * V.t())(0, 0) * V * iB;
+
+ // Reconstruction of signal by weighted sum of radial basis functions
+ reconstructions.push_back(w.t() * H);
+ }
+
+ return std::make_tuple(reconstructions, H);
+}
+
+
+/****************************** HELPER FUNCTIONS *****************************/
+
+static void error_callback(int error, const char* description) {
+ fprintf(stderr, "Error %d: %s\n", error, description);
+}
+
+
+//-----------------------------------------------------------------------------
+// Contains all the informations about a viewport
+//-----------------------------------------------------------------------------
+struct viewport_t {
+ int x;
+ int y;
+ int width;
+ int height;
+
+ // Projection matrix parameters
+ arma::vec projection_top_left;
+ arma::vec projection_bottom_right;
+ double projection_near;
+ double projection_far;
+};
+
+
+//-----------------------------------------------------------------------------
+// Helper function to setup a viewport
+//-----------------------------------------------------------------------------
+void setup_viewport(viewport_t* viewport, int x, int y, int width, int height,
+ double near = -1.0, double far = 1.0) {
+
+ viewport->x = x;
+ viewport->y = y;
+ viewport->width = width;
+ viewport->height = height;
+ viewport->projection_top_left = vec({ (double) -width / 2,
+ (double) height / 2 });
+ viewport->projection_bottom_right = vec({ (double) width / 2,
+ (double) -height / 2 });
+ viewport->projection_near = near;
+ viewport->projection_far = far;
+}
+
+
+//-----------------------------------------------------------------------------
+// Converts some coordinates from UI-space to OpenGL-space, taking the
+// coordinates of a viewport into account
+//-----------------------------------------------------------------------------
+arma::vec ui2fb(const arma::vec& coords, const gfx2::window_size_t& window_size,
+ const viewport_t& viewport) {
+ arma::vec result = coords;
+
+ // ui -> viewport
+ result(0) = coords(0) * (float) window_size.fb_width / (float) window_size.win_width - viewport.x;
+ result(1) = (window_size.win_height - coords(1)) *
+ (float) window_size.fb_height / (float) window_size.win_height - viewport.y;
+
+ // viewport -> fb
+ result(0) = result(0) - (float) viewport.width * 0.5f;
+ result(1) = result(1) - (float) viewport.height * 0.5f;
+
+ return result;
+}
+
+
+//-----------------------------------------------------------------------------
+// Converts some coordinates from OpenGL-space to UI-space, taking the
+// coordinates of a viewport into account
+//-----------------------------------------------------------------------------
+arma::vec fb2ui(const arma::vec& coords, const gfx2::window_size_t& window_size,
+ const viewport_t& viewport) {
+ arma::vec result = coords;
+
+ // fb -> viewport
+ result(0) = coords(0) + (float) viewport.width * 0.5f;
+ result(1) = coords(1) + (float) viewport.height * 0.5f;
+
+ // viewport -> ui
+ result(0) = (result(0) + viewport.x) * (float) window_size.win_width / (float) window_size.fb_width;
+
+ result(1) = window_size.win_height - (result(1) + viewport.y) * (float) window_size.win_height / (float) window_size.fb_height;
+
+ return result;
+}
+
+
+//-----------------------------------------------------------------------------
+// Colors of the displayed lines and gaussians
+//-----------------------------------------------------------------------------
+const mat COLORS({
+ { 0.0, 0.0, 1.0 },
+ { 0.0, 0.5, 0.0 },
+ { 1.0, 0.0, 0.0 },
+ { 0.0, 0.75, 0.75 },
+ { 0.75, 0.0, 0.75 },
+ { 0.75, 0.75, 0.0 },
+ { 0.25, 0.25, 0.25 },
+});
+
+
+//-----------------------------------------------------------------------------
+// Contains all the needed infos about the state of the application (values of
+// the parameters modifiable via the UI, which action the user is currently
+// doing, ...)
+//-----------------------------------------------------------------------------
+struct gui_state_t {
+ // Indicates if the user is currently drawing a new demonstration
+ bool is_drawing_demonstration;
+
+ // Indicates if the parameters dialog is displayed
+ bool is_parameters_dialog_displayed;
+
+ // Indicates if the parameters were modified through the UI
+ bool are_parameters_modified;
+
+ // Indicates if the reproductions must be recomputed
+ bool must_recompute_LWR;
+
+ // Parameters modifiable via the UI (they correspond to the ones declared
+ // in parameters_t)
+ int parameter_nb_RBF;
+ int parameter_nb_data;
+};
+
+
+//-----------------------------------------------------------------------------
+// Render the "demonstrations & model" viewport
+//-----------------------------------------------------------------------------
+void draw_demo_viewport(const viewport_t& viewport,
+ const vector_list_t& current_trajectory,
+ const mat& demonstration,
+ const matrix_list_t& reproductions) {
+
+ glViewport(viewport.x, viewport.y, viewport.width, viewport.height);
+ glScissor(viewport.x, viewport.y, viewport.width, viewport.height);
+ glClearColor(0.7f, 0.7f, 0.7f, 0.0f);
+ glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
+
+ glMatrixMode(GL_PROJECTION);
+ glLoadIdentity();
+ glOrtho(viewport.projection_top_left(0), viewport.projection_bottom_right(0),
+ viewport.projection_bottom_right(1), viewport.projection_top_left(1),
+ viewport.projection_near, viewport.projection_far);
+
+ glMatrixMode(GL_MODELVIEW);
+ glLoadIdentity();
+
+ // Draw the demonstration
+ if (current_trajectory.size() > 1)
+ gfx2::draw_line(arma::fvec({0.33f, 0.97f, 0.33f}), current_trajectory);
+ else if (demonstration.n_cols > 0)
+ gfx2::draw_line({0.0f, 0.0f, 0.0f}, demonstration);
+
+ // Draw the reproduction
+ if (!reproductions.empty()) {
+ glLineWidth(4.0f);
+ gfx2::draw_line({1.0f, 0.0f, 0.0f}, reproductions[reproductions.size() - 1]);
+ glLineWidth(1.0f);
+ }
+}
+
+
+//-----------------------------------------------------------------------------
+// Returns the dimensions that a plot should have inside the provided viewport
+//-----------------------------------------------------------------------------
+ivec get_plot_dimensions(const viewport_t& viewport) {
+
+ const int MARGIN = 50;
+
+ ivec result(2);
+ result(0) = viewport.width - 2 * MARGIN;
+ result(1) = viewport.height / 2 - 2 * MARGIN;
+
+ return result;
+}
+
+
+//-----------------------------------------------------------------------------
+// Render a "timeline" viewport
+//-----------------------------------------------------------------------------
+void draw_timeline_viewport(const gfx2::window_size_t& window_size,
+ const viewport_t& viewport,
+ const parameters_t& parameters,
+ const mat& demonstration,
+ const matrix_list_t& reproductions,
+ const mat& H, int dimension,
+ gfx2::model_list_t &models) {
+
+ glViewport(viewport.x, viewport.y, viewport.width, viewport.height);
+ glScissor(viewport.x, viewport.y, viewport.width, viewport.height);
+ glClearColor(0.9f, 0.9f, 0.9f, 0.0f);
+ glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
+
+ glMatrixMode(GL_PROJECTION);
+ glLoadIdentity();
+ glOrtho(viewport.projection_top_left(0), viewport.projection_bottom_right(0),
+ viewport.projection_bottom_right(1), viewport.projection_top_left(1),
+ viewport.projection_near, viewport.projection_far);
+
+ glMatrixMode(GL_MODELVIEW);
+ glLoadIdentity();
+
+ ivec plot_dimensions = get_plot_dimensions(viewport);
+
+ const int MARGIN = 50;
+ const int TOP_OFFSET = 40;
+ const int MARGIN_TIMELINE_TOP = MARGIN + TOP_OFFSET;
+ const int MARGIN_TIMELINE_BOTTOM = MARGIN - TOP_OFFSET;
+
+
+ //_____ Timeline plot __________
+
+ ivec plot_top_left({ -plot_dimensions(0) / 2, viewport.height / 2 - MARGIN_TIMELINE_TOP });
+ ivec plot_bottom_right({ plot_dimensions(0) / 2, MARGIN_TIMELINE_BOTTOM });
+
+ // Axis labels
+ ui::begin("Text");
+
+ vec coords = fb2ui(vec({ -20.0, MARGIN_TIMELINE_BOTTOM - 5.0 }), window_size, viewport);
+ ui::text(ImVec2(coords(0), coords(1)), "t", ImVec4(0,0,0,1));
+
+ std::stringstream label;
+ label << "x" << dimension;
+
+ coords = fb2ui(vec({ double(-viewport.width / 2) + 10, viewport.height / 4 - TOP_OFFSET + 20.0 }),
+ window_size, viewport);
+ ui::text(ImVec2(coords(0), coords(1)), label.str(), ImVec4(0,0,0,1));
+
+ ui::end();
+
+ // Draw the axes
+ gfx2::draw_line(fvec({0.0f, 0.0f, 0.0f}),
+ mat({ { double(plot_top_left(0)), double(plot_bottom_right(0)) },
+ { double(plot_bottom_right(1)), double(plot_bottom_right(1)) }
+ })
+ );
+
+ gfx2::draw_line(fvec({0.0f, 0.0f, 0.0f}),
+ mat({ { double(plot_top_left(0)), double(plot_top_left(0)) },
+ { double(plot_bottom_right(1)), double(plot_top_left(1)) }
+ })
+ );
+
+ double scale_x = (double) plot_dimensions(0) / (parameters.nb_data - 1);
+
+ // Check if there is something to display
+ if (demonstration.n_cols > 0) {
+
+ double scale_y;
+
+ if (dimension == 1)
+ scale_y = (double) plot_dimensions(1) / viewport.width;
+ else
+ scale_y = (double) plot_dimensions(1) / viewport.height;
+
+ arma::mat datapoints(2, parameters.nb_data);
+ datapoints.row(0) = linspace<vec>(0, parameters.nb_data - 1, parameters.nb_data).t();
+ datapoints(0, span::all) = datapoints(0, span::all) * scale_x - plot_dimensions(0) / 2;
+
+ // Create 3D models that will be reused during further renderings for performance
+ // reasons
+ if (models.empty()) {
+ for (int t = 0; t < reproductions.size() - 1; ++t) {
+ datapoints.row(1) = reproductions[t].row(dimension - 1);
+
+ datapoints(1, span::all) *= scale_y;
+ datapoints(1, span::all) += viewport.height / 4 - TOP_OFFSET;
+
+ models.push_back(
+ gfx2::create_line(
+ fvec({0.8f, 0.8f, 0.8f}) - fvec({0.0f, 0.8f, 0.8f}) * t / parameters.nb_data,
+ datapoints
+ )
+ );
+ }
+ }
+
+ // Draw the iterative reproductions
+ for (int t = 0; t < models.size(); ++t) {
+ gfx2::draw(models[t]);
+ glClear(GL_DEPTH_BUFFER_BIT);
+ }
+
+ // Draw the demonstration
+ datapoints(1, span(0, demonstration.n_cols - 1)) = demonstration.row(dimension - 1);
+ datapoints(1, span::all) *= scale_y;
+ datapoints(1, span::all) += viewport.height / 4 - TOP_OFFSET;
+
+ glLineWidth(4.0f);
+ gfx2::draw_line({0.0f, 0.0f, 0.7f}, datapoints(span::all, span(0, demonstration.n_cols - 1)));
+ glLineWidth(1.0f);
+
+ glClear(GL_DEPTH_BUFFER_BIT);
+
+ // Draw the final reproduction
+ datapoints.row(1) = reproductions[reproductions.size() - 1].row(dimension - 1);
+ datapoints(1, span::all) *= scale_y;
+ datapoints(1, span::all) += viewport.height / 4 - TOP_OFFSET;
+
+ glLineWidth(4.0f);
+ gfx2::draw_line({1.0f, 0.0f, 0.0f}, datapoints);
+ glLineWidth(1.0f);
+ }
+
+
+ //_____ RBFs plot __________
+
+ plot_top_left = ivec({ -plot_dimensions(0) / 2, -MARGIN });
+ plot_bottom_right = ivec({ plot_dimensions(0) / 2, -viewport.height / 2 + MARGIN });
+
+ // Axis labels
+ ui::begin("Text");
+
+ coords = fb2ui(vec({ -20.0, -viewport.height / 2 + (MARGIN - 5.0) }), window_size, viewport);
+ ui::text(ImVec2(coords(0), coords(1)), "t", ImVec4(0,0,0,1));
+
+ coords = fb2ui(vec({ double(-viewport.width / 2) + 10, -viewport.height / 4 - 20.0 }),
+ window_size, viewport);
+ ui::text(ImVec2(coords(0), coords(1)), "h", ImVec4(0,0,0,1));
+
+ ui::end();
+
+ // Draw the axes
+ gfx2::draw_line(fvec({0.0f, 0.0f, 0.0f}),
+ mat({ { double(plot_top_left(0)), double(plot_bottom_right(0)) },
+ { double(plot_bottom_right(1)), double(plot_bottom_right(1)) }
+ })
+ );
+
+ gfx2::draw_line(fvec({0.0f, 0.0f, 0.0f}),
+ mat({ { double(plot_top_left(0)), double(plot_top_left(0)) },
+ { double(plot_bottom_right(1)), double(plot_top_left(1)) }
+ })
+ );
+
+ // Check if there is something to display
+ if (demonstration.n_cols > 0) {
+
+ double max_value = max(max(H));
+
+ int color_index = 0;
+ for (int i = 0; i < H.n_rows; ++i) {
+ arma::mat datapoints(2, H.n_cols);
+ datapoints.row(0) = linspace<vec>(0, H.n_cols - 1, H.n_cols).t();
+ datapoints.row(1) = H.row(i) / max_value;
+
+ datapoints(0, span::all) = datapoints(0, span::all) * scale_x - plot_dimensions(0) / 2;
+ datapoints(1, span::all) *= (double) plot_dimensions(1);
+ datapoints(1, span::all) -= viewport.height / 2 - MARGIN;
+
+ arma::fvec color = arma::conv_to<arma::fvec>::from(COLORS.row(color_index));
+
+ gfx2::draw_line(color, datapoints);
+
+ glClear(GL_DEPTH_BUFFER_BIT);
+
+ ++color_index;
+ if (color_index >= COLORS.n_rows)
+ color_index = 0;
+ }
+ }
+}
+
+
+/******************************* MAIN FUNCTION *******************************/
+
+int main(int argc, char **argv) {
+
+ arma_rng::set_seed_random();
+
+ // Parameters
+ parameters_t parameters;
+ parameters.nb_RBF = 8;
+ parameters.nb_data = 100;
+
+
+ // Take 4k screens into account (framebuffer size != window size)
+ gfx2::window_size_t window_size;
+ window_size.win_width = 800;
+ window_size.win_height = 800;
+ window_size.fb_width = -1; // Will be known later
+ window_size.fb_height = -1;
+ int viewport_width = 0;
+ int viewport_height = 0;
+
+
+ // Initialise GLFW
+ glfwSetErrorCallback(error_callback);
+
+ if (!glfwInit())
+ return -1;
+
+ glfwWindowHint(GLFW_SAMPLES, 4);
+ glfwWindowHint(GLFW_CONTEXT_VERSION_MAJOR, 2);
+ glfwWindowHint(GLFW_CONTEXT_VERSION_MINOR, 1);
+
+ // Open a window and create its OpenGL context
+ GLFWwindow* window = create_window_at_optimal_size(
+ "Demo Locally weighted regression (LWR)",
+ window_size.win_width, window_size.win_height
+ );
+
+ glfwMakeContextCurrent(window);
+
+
+ // Setup GLSL
+ gfx2::init();
+ glEnable(GL_SCISSOR_TEST);
+ glEnable(GL_DEPTH_TEST);
+ glEnable(GL_CULL_FACE);
+ glEnable(GL_LINE_SMOOTH);
+ glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
+
+ // Setup ImGui
+ ImGui::CreateContext();
+ ImGui_ImplGlfwGL2_Init(window, true);
+
+
+ // Viewports
+ viewport_t viewport_demo;
+ viewport_t viewport_timeline;
+
+
+ // GUI state
+ gui_state_t gui_state;
+ gui_state.is_drawing_demonstration = false;
+ gui_state.is_parameters_dialog_displayed = false;
+ gui_state.are_parameters_modified = false;
+ gui_state.must_recompute_LWR = false;
+ gui_state.parameter_nb_RBF = parameters.nb_RBF;
+ gui_state.parameter_nb_data = parameters.nb_data;
+
+
+ // Main loop
+ vector_list_t current_trajectory;
+ mat demonstration;
+ matrix_list_t reproductions;
+ mat H;
+ int dimension = 1;
+ gfx2::model_list_t models; // For performance reasons
+
+ while (!glfwWindowShouldClose(window)) {
+ glfwPollEvents();
+
+ // Detect when the window was resized
+ if ((ImGui::GetIO().DisplaySize.x != window_size.win_width) ||
+ (ImGui::GetIO().DisplaySize.y != window_size.win_height)) {
+
+ window_size.win_width = ImGui::GetIO().DisplaySize.x;
+ window_size.win_height = ImGui::GetIO().DisplaySize.y;
+
+ glfwGetFramebufferSize(window, &window_size.fb_width, &window_size.fb_height);
+
+ viewport_width = window_size.fb_width / 2 - 1;
+ viewport_height = window_size.fb_height / 2 - 1;
+
+ // Update all the viewports
+ setup_viewport(&viewport_demo, 0, window_size.fb_height - viewport_height,
+ window_size.fb_width, viewport_height);
+
+ setup_viewport(&viewport_timeline, 0, 0, window_size.fb_width, viewport_height);
+ }
+
+
+ // If the parameters changed, learn the model again
+ if (gui_state.are_parameters_modified) {
+
+ if (parameters.nb_data > gui_state.parameter_nb_data)
+ demonstration = demonstration(span::all, span(0, gui_state.parameter_nb_data - 1));
+
+ parameters.nb_RBF = gui_state.parameter_nb_RBF;
+ parameters.nb_data = gui_state.parameter_nb_data;
+
+ gui_state.must_recompute_LWR = true;
+ gui_state.are_parameters_modified = false;
+ }
+
+
+ // Recompute the LWR (if necessary)
+ if (gui_state.must_recompute_LWR) {
+ std::tie(reproductions, H) = compute_LWR(parameters, demonstration);
+
+ for (int i = 0; i < models.size(); ++i)
+ gfx2::destroy(models[i]);
+
+ models.clear();
+
+ gui_state.must_recompute_LWR = false;
+ }
+
+
+ // Start the rendering
+ ImGui_ImplGlfwGL2_NewFrame();
+
+ glViewport(0, 0, window_size.fb_width, window_size.fb_height);
+ glScissor(0, 0, window_size.fb_width, window_size.fb_height);
+ glClearColor(0.0f, 0.0f, 0.0f, 0.0f);
+ glClear(GL_COLOR_BUFFER_BIT);
+
+ draw_demo_viewport(viewport_demo, current_trajectory,
+ demonstration, reproductions);
+
+ draw_timeline_viewport(window_size, viewport_timeline, parameters,
+ demonstration, reproductions, H, dimension, models);
+
+
+ // Window: Demonstration & reproduction
+ ImGui::SetNextWindowSize(ImVec2(window_size.win_width, 36));
+ ImGui::SetNextWindowPos(ImVec2(0, 0));
+ ImGui::Begin("Demonstration & reproduction", NULL,
+ ImGuiWindowFlags_NoResize | ImGuiWindowFlags_NoSavedSettings |
+ ImGuiWindowFlags_NoMove | ImGuiWindowFlags_NoCollapse |
+ ImGuiWindowFlags_NoTitleBar
+ );
+
+ ImGui::Text("Demonstration & reproduction ");
+ ImGui::SameLine();
+
+ if (ImGui::Button("Parameters"))
+ gui_state.is_parameters_dialog_displayed = true;
+
+ ImGui::End();
+
+
+ // Window: Timeline
+ ImGui::SetNextWindowSize(ImVec2(window_size.win_width, 36));
+ ImGui::SetNextWindowPos(ImVec2(0, window_size.win_height / 2));
+ ImGui::Begin("Timeline", NULL,
+ ImGuiWindowFlags_NoResize | ImGuiWindowFlags_NoSavedSettings |
+ ImGuiWindowFlags_NoMove | ImGuiWindowFlags_NoCollapse |
+ ImGuiWindowFlags_NoTitleBar
+ );
+
+ ImGui::Text("Timeline ");
+ ImGui::SameLine();
+
+ int previous_dimension = dimension;
+
+ ImGui::RadioButton("1", &dimension, 1);
+ ImGui::SameLine();
+ ImGui::RadioButton("2", &dimension, 2);
+
+ ImGui::End();
+
+ if (dimension != previous_dimension) {
+ for (int i = 0; i < models.size(); ++i)
+ gfx2::destroy(models[i]);
+
+ models.clear();
+ }
+
+
+ // Window: Parameters
+ ImGui::SetNextWindowSize(ImVec2(440, 106));
+ ImGui::SetNextWindowPos(ImVec2((window_size.win_width - 440) / 2,
+ (window_size.win_height - 106) / 2));
+ ImGui::PushStyleColor(ImGuiCol_WindowBg, ImVec4(0, 0, 0, 255));
+
+ if (gui_state.is_parameters_dialog_displayed)
+ ImGui::OpenPopup("Parameters");
+
+ if (ImGui::BeginPopupModal("Parameters", NULL,
+ ImGuiWindowFlags_NoResize |
+ ImGuiWindowFlags_NoSavedSettings)) {
+
+ ImGui::SliderInt("Nb RBF", &gui_state.parameter_nb_RBF, 2, 20);
+ ImGui::SliderInt("Nb data", &gui_state.parameter_nb_data, 100, 300);
+
+ if (ImGui::Button("Close")) {
+ ImGui::CloseCurrentPopup();
+ gui_state.is_parameters_dialog_displayed = false;
+ gui_state.are_parameters_modified = true;
+ }
+
+ ImGui::EndPopup();
+ }
+
+ ImGui::PopStyleColor();
+
+
+ // GUI rendering
+ ImGui::Render();
+ ImGui_ImplGlfwGL2_RenderDrawData(ImGui::GetDrawData());
+
+ // Swap buffers
+ glfwSwapBuffers(window);
+
+ // Keyboard input
+ if (ImGui::IsKeyPressed(GLFW_KEY_ESCAPE))
+ break;
+
+
+ if (!gui_state.is_drawing_demonstration && !gui_state.is_parameters_dialog_displayed) {
+ // Left click: start a new demonstration (only if not on the UI and in the
+ // demonstrations viewport)
+ if (ImGui::IsMouseClicked(GLFW_MOUSE_BUTTON_1)) {
+ double mouse_x, mouse_y;
+ glfwGetCursorPos(window, &mouse_x, &mouse_y);
+
+ if ((mouse_y > 36) && (mouse_y <= window_size.win_height / 2))
+ {
+ gui_state.is_drawing_demonstration = true;
+
+ current_trajectory.clear();
+ demonstration.clear();
+ reproductions.clear();
+
+ vec coords = ui2fb({ mouse_x, mouse_y }, window_size, viewport_demo);
+ current_trajectory.push_back(coords);
+ }
+ }
+ } else if (gui_state.is_drawing_demonstration) {
+ double mouse_x, mouse_y;
+ glfwGetCursorPos(window, &mouse_x, &mouse_y);
+
+ vec coords = ui2fb({ mouse_x, mouse_y }, window_size, viewport_demo);
+
+ vec last_point = current_trajectory[current_trajectory.size() - 1];
+ vec diff = abs(coords - last_point);
+
+ if ((diff(0) > 1e-6) && (diff(1) > 1e-6)) {
+ current_trajectory.push_back(coords);
+
+ demonstration = mat(2, current_trajectory.size());
+ for (int i = 0; i < current_trajectory.size(); ++i) {
+ demonstration(0, i) = current_trajectory[i][0];
+ demonstration(1, i) = current_trajectory[i][1];
+ }
+
+ gui_state.must_recompute_LWR = true;
+ }
+
+ // Left mouse button release OR number of points reached: end the
+ // demonstration creation
+ if (!ImGui::IsMouseDown(GLFW_MOUSE_BUTTON_1) ||
+ (current_trajectory.size() >= parameters.nb_data)) {
+
+ current_trajectory.clear();
+ gui_state.is_drawing_demonstration = false;
+ }
+ }
+ }
+
+
+ // Cleanup
+ ImGui_ImplGlfwGL2_Shutdown();
+ glfwTerminate();
+
+ return 0;
+}
diff --git a/src/demo_MPC_batch01.cpp b/src/demo_MPC_batch01.cpp
index 1b2487f..cf7876a 100644
--- a/src/demo_MPC_batch01.cpp
+++ b/src/demo_MPC_batch01.cpp
@@ -1,247 +1,261 @@
/*
* demo_MPC_batch01.cpp
*
- * Interactive MPC demo, with batch LQT and repulsive field test
+ * Interactive MPC demo, with batch LQR and repulsive field test
*
- * Fabien Crépon, Sylvain Calinon, 2017
+ * Fabien Crépon, Philip Abbet, Sylvain Calinon, 2017
*/
#include <stdio.h>
-#include <imgui.h>
-#include <imgui_impl_glfw_gl2.h>
+#include <armadillo>
+#include <mpc_utils.h>
+
+#include <gfx2.h>
#include <gfx_ui.h>
#include <GLFW/glfw3.h>
+#include <imgui.h>
+#include <imgui_impl_glfw_gl2.h>
#include <window_utils.h>
-
-#include <armadillo>
-#include <mpc_utils.h>
#include <gl2ps.h>
using namespace arma;
-//-------------------------------------------------------------------------
-// Holds the sizes of the window and of the OpenGL front-buffer (they might
-// be different, for instance on a 4K screen)
-//-------------------------------------------------------------------------
-struct window_size_t {
- int win_width;
- int win_height;
- int fb_width;
- int fb_height;
+/***************************** ALGORITHM SECTION *****************************/
+
+//-----------------------------------------------------------------------------
+// Contains all the parameters used by the algorithm. Some of them are
+// modifiable through the UI, others are hard-coded.
+//-----------------------------------------------------------------------------
+struct parameters_t {
+ int nb_targets;
+ int nb_dimensions;
+ int order;
+ double global_scale; // global scale, avoids numerical issues in batch method
+ double end_weight; // forces movement to a stop (see stepwiseReference function)
+ float maximum_displacement; // maximum displacement, used to compute R diagonal
+ float stroke_duration; // duration of a stroke
+ double dt;
};
-//-------------------------------------------------------------------------
-// Converts some coordinates from UI-space to OpenGL-space
-//
-// UI coordinates range from (0, 0) to (win_width, win_height)
-// OpenGL coordinates range from (0, 0) to (fb_width, fb_height)
-//-------------------------------------------------------------------------
-arma::vec ui2fb(const arma::vec& coords, const window_size_t& window_size) {
- arma::vec result = coords;
+//-----------------------------------------------
- result(0) = coords(0) * (float) window_size.fb_width / (float) window_size.win_width;
- result(1) = coords(1) * (float) window_size.fb_height / (float) window_size.win_height;
+mat compute_LQR(const parameters_t& parameters, const mat& Mu, const cube& Sigma) {
- return result;
-}
+ const double duration = parameters.stroke_duration * parameters.nb_targets;
+ const int n = (int) (duration / parameters.dt);
+ const int cDim = parameters.nb_dimensions * parameters.order;
-//-------------------------------------------------------------------------
-// Converts some coordinates from OpenGL-space to UI-space
-//
-// OpenGL coordinates range from (0, 0) to (fb_width, fb_height)
-// UI coordinates range from (0, 0) to (win_width, win_height)
-//-------------------------------------------------------------------------
-arma::vec fb2ui(const arma::vec& coords, const window_size_t& window_size) {
- arma::vec result = coords;
+ // Integration with higher order Taylor series expansion
+ mat A, B;
+ makeIntegratorChain(&A, &B, parameters.order);
+ discretizeSystem(&A, &B, A, B, parameters.dt);
+ A = kron(A, eye(parameters.nb_dimensions, parameters.nb_dimensions));
+ B = kron(B, eye(parameters.nb_dimensions, parameters.nb_dimensions));
- result(0) = coords(0) * (float) window_size.win_width / (float) window_size.fb_width;
- result(1) = coords(1) * (float) window_size.win_height / (float) window_size.fb_height;
+ // Reference
+ mat Q, MuQ;
+ stepwiseReference(&MuQ, &Q, Mu, Sigma, n, parameters.order,
+ parameters.nb_dimensions, parameters.end_weight);
+ MuQ *= parameters.global_scale;
+ Q /= parameters.global_scale * parameters.global_scale;
- return result;
-}
+ // r based on oscillatory movement displacement
+ double r = SHM_r(parameters.maximum_displacement, parameters.stroke_duration,
+ parameters.order);
-//-----------------------------------------------
+ mat R = kron(eye(n - 1, n - 1), eye(parameters.nb_dimensions, parameters.nb_dimensions) * r);
-static void error_callback(int error, const char* description) {
- fprintf(stderr, "Error %d: %s\n", error, description);
-}
+ ////////////////////////////////////
+ // Batch LQR
-//-----------------------------------------------
+ // Sx and Su matrices for batch LQR
+ mat Su = zeros(cDim * n, parameters.nb_dimensions * (n - 1));
+ mat Sx = kron(ones(n, 1),
+ eye(parameters.nb_dimensions * parameters.order,
+ parameters.nb_dimensions * parameters.order)
+ );
+ mat M = B;
+ for (int i = 1; i < n; i++) {
+ Sx.rows(i * cDim, n * cDim - 1) = Sx.rows(i * cDim, n * cDim - 1) * A;
+ Su.submat(i * cDim, 0, (i + 1) * cDim - 1, i * parameters.nb_dimensions - 1) = M;
+ M = join_horiz(A * M.cols(0, parameters.nb_dimensions - 1), M);
+ }
+
+ arma::vec x0 = MuQ.col(0);
+
+ // Flatten Mu's
+ mat Xi_hat = reshape(MuQ, cDim * n, 1);
+
+ mat SuInvSigmaQ = Su.t() * Q;
+
+ mat Rq, rq;
-void setOrtho( float w, float h )
-{
- glMatrixMode( GL_PROJECTION );
- glLoadIdentity();
- glOrtho( 0, 0+w, 0+h, 0, -1., 1.);
- glMatrixMode( GL_MODELVIEW );
- glLoadIdentity();
+ Rq = SuInvSigmaQ * Su + R;
+ rq = SuInvSigmaQ * (Xi_hat - Sx * x0);
+
+ // Least squares solution
+ vec u = pinv(Rq) * rq;;
+ mat Y = reshape(Sx * x0 + Su * u, cDim, n);
+
+ return Y.rows(0, parameters.nb_dimensions - 1) / parameters.global_scale;
}
-//-----------------------------------------------
-void trans2d_to_gauss(arma::vec* mu, arma::mat* Sigma, const ui::Trans2d& t2d,
- const window_size_t& window_size)
-{
- arma::vec t_x = ui2fb(arma::vec({t2d.x.x, t2d.x.y}), window_size);
- arma::vec t_y = ui2fb(arma::vec({t2d.y.x, t2d.y.y}), window_size);
+/****************************** HELPER FUNCTIONS *****************************/
- arma::mat basis = arma::mat{{t_x(0), t_y(0)}, {t_x(1), t_y(1)}};
- *Sigma = basis * basis.t();
- *mu = ui2fb(arma::vec({t2d.pos.x, t2d.pos.y}), window_size);
+static void error_callback(int error, const char* description) {
+ fprintf(stderr, "Error %d: %s\n", error, description);
}
//-----------------------------------------------
-void gauss_to_trans2d(ui::Trans2d *t2d, const arma::vec& mu, const arma::mat& Sigma,
- const window_size_t& window_size)
-{
- arma::vec ui_mu = fb2ui(mu, window_size);
+std::tuple<vec, mat> trans2d_to_gauss(const ui::Trans2d& gaussian_transforms,
+ const gfx2::window_size_t& window_size) {
+
+ vec mu = gfx2::ui2fb_centered(vec({ gaussian_transforms.pos.x, gaussian_transforms.pos.y }),
+ window_size);
- t2d->pos.x = ui_mu(0);
- t2d->pos.y = ui_mu(1);
+ vec t_x({
+ gaussian_transforms.x.x * window_size.scale_x(),
+ gaussian_transforms.x.y * window_size.scale_y()
+ });
- arma::mat V;
- arma::vec d;
- arma::eig_sym(d, V, Sigma);
- arma::mat VD = V*diagmat(sqrt(d));
+ vec t_y({
+ gaussian_transforms.y.x * window_size.scale_x(),
+ gaussian_transforms.y.y * window_size.scale_y()
+ });
- arma::vec t_x = fb2ui(arma::vec({VD.col(0)(0), VD.col(1)(0)}), window_size);
- arma::vec t_y = fb2ui(arma::vec({VD.col(0)(1), VD.col(1)(1)}), window_size);
+ mat RG = {
+ { t_x(0), t_y(0) },
+ { -t_x(1), -t_y(1) }
+ };
- t2d->x.x = t_x(0);
- t2d->x.y = t_x(1);
- t2d->y.x = t_y(0);
- t2d->y.y = t_y(1);
+ mat sigma = RG * RG.t();
+
+ return std::make_tuple(mu, sigma);
}
//-----------------------------------------------
-void draw(const arma::mat& pts, int primitive=GL_LINE_STRIP)
-{
- glBegin(primitive);
- for (uint t=0; t<pts.n_cols; t++){
- glVertex2f(pts(0,t), pts(1,t));
- }
- glEnd();
+void gauss_to_trans2d(const vec& mu, const mat& sigma,
+ const gfx2::window_size_t& window_size, ui::Trans2d &t2d) {
+
+ vec ui_mu = gfx2::fb2ui_centered(mu, window_size);
+
+ t2d.pos.x = ui_mu(0);
+ t2d.pos.y = ui_mu(1);
+
+ mat V;
+ vec d;
+ eig_sym(d, V, sigma);
+ mat VD = V * diagmat(sqrt(d));
+
+ t2d.x.x = VD.col(0)(0) / window_size.scale_x();
+ t2d.x.y = VD.col(1)(0) / window_size.scale_y();
+ t2d.y.x = VD.col(0)(1) / window_size.scale_x();
+ t2d.y.y = VD.col(1)(1) / window_size.scale_y();
}
//-----------------------------------------------
-arma::mat gradient_2d( arma::mat X, int order=1 )
-{
+arma::mat gradient_2d(arma::mat X, int order = 1) {
mat df = diff(X, 1, 1);
- mat db = fliplr( -diff(fliplr(X), 1, 1) );
- mat d = (df+db)/2;
- d = join_horiz(zeros(2,1), d);
+ mat db = fliplr(-diff(fliplr(X), 1, 1));
+
+ mat d = (df + db) / 2;
+ d = join_horiz(zeros(2, 1), d);
d.col(0) = df.col(0);
- d.col(d.n_cols-1) = db.col(db.n_cols-1);
- if(order>1)
- return gradient_2d(d, order-1);
+ d.col(d.n_cols - 1) = db.col(db.n_cols - 1);
+
+ if(order > 1)
+ return gradient_2d(d, order - 1);
+
return d;
}
//-----------------------------------------------
-void plot( float x, float y, float w, float h, const vec& v )
-{
+void plot(float x, float y, float w, float h, const vec& v, const fvec& color) {
float v_min = v.min();
float v_max = v.max();
- float inc = w / v.n_rows;
- glBegin(GL_LINE_STRIP);
- for (int i=0; i < v.n_rows; i++)
- {
- glVertex2f(x + inc*i, y - h * ((v[i] - v_min) / (v_max - v_min)));
- }
- glEnd();
-}
-
-//-----------------------------------------------
-
-void drawGauss(ui::Trans2d& t2d, const window_size_t& window_size)
-{
- static arma::mat circ(2,35);
- static bool circ_init = true;
- if(circ_init)
- {
- circ = join_cols(cos(linspace<rowvec>(0,2*datum::pi,35)),
- sin(linspace<rowvec>(0,2*datum::pi,35)));
- circ_init = false;
- }
-
- arma::vec t_x = ui2fb(arma::vec({t2d.x.x, t2d.x.y}), window_size);
- arma::vec t_y = ui2fb(arma::vec({t2d.y.x, t2d.y.y}), window_size);
-
- arma::mat basis = arma::mat{{t_x(0), t_y(0)}, {t_x(1), t_y(1)}};
-
- vec mu = ui2fb(vec({t2d.pos.x, t2d.pos.y}), window_size);
- arma::mat pts = basis * circ + arma::repmat(mu, 1, 35);
+ mat points(2, v.n_rows);
+ points(0, span::all) = linspace<vec>(0, w, v.n_rows).t() + x;
+ points(1, span::all) = (v.t() - v_min) / (v_max - v_min) * h + y;
- glBegin(GL_TRIANGLE_FAN);
- glVertex2f(mu(0), mu(1));
- for (uint t=0; t<pts.n_cols; t++){
- glVertex2f(pts(0,t), pts(1,t));
- }
- glEnd();
+ gfx2::draw_line(color, points);
}
-//-----------------------------------------------
+
+/******************************* MAIN FUNCTION *******************************/
int main(int argc, char **argv){
arma_rng::set_seed_random();
- //--------------- Setup parameters ---------------
-
- double dt = 0.01;
- int order = 4;
+ // Parameters
+ parameters_t parameters;
+ parameters.nb_targets = 5;
+ parameters.nb_dimensions = 2;
+ parameters.order = 4;
+ parameters.global_scale = 0.0001;
+ parameters.end_weight = 1.;
+ parameters.maximum_displacement = 10.1;
+ parameters.stroke_duration = 0.3;
+ parameters.dt = 0.01;
- int m = 5; // Number of targets
- double globScale = 0.0001; // global scale, avoids numerical issues in batch method
- double endWeight = 1.; //1e-10; // forces movement to a stop (see stepwiseReference function)
-
- float d=10.1; // maximum displacement, used to compute R diagonal
- float stroke_duration=0.3; // duration of a stroke
-
-
- //--------------- Setup of the rendering ---------------
// Take 4k screens into account (framebuffer size != window size)
- window_size_t window_size;
+ gfx2::window_size_t window_size;
window_size.win_width = 800;
window_size.win_height = 800;
window_size.fb_width = -1; // Will be known later
window_size.fb_height = -1;
- // Setup GUI
+
+ // Initialise GLFW
glfwSetErrorCallback(error_callback);
+
if (!glfwInit())
- exit(1);
+ return -1;
+
+ glfwWindowHint(GLFW_SAMPLES, 4);
+ glfwWindowHint(GLFW_CONTEXT_VERSION_MAJOR, 2);
+ glfwWindowHint(GLFW_CONTEXT_VERSION_MINOR, 1);
+ // Open a window and create its OpenGL context
GLFWwindow* window = create_window_at_optimal_size(
"Demo Batch MPC", window_size.win_width, window_size.win_height
);
glfwMakeContextCurrent(window);
+
+ // Setup GLSL
+ gfx2::init();
+ glEnable(GL_DEPTH_TEST);
+ glEnable(GL_CULL_FACE);
+ glEnable(GL_LINE_SMOOTH);
+ glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
+
// Setup ImGui
ImGui::CreateContext();
ImGui_ImplGlfwGL2_Init(window, true);
- ImVec4 clear_color = ImColor(255, 255, 255);
- //--------------- Main loop ---------------
-
- FILE* eps_file = NULL;
- bool saving_eps = false;
-
// Covariances
- mat Mu;
- cube Sigma;
+ mat Mu = zeros(2, parameters.nb_targets);
+ cube Sigma = zeros(2, 2, parameters.nb_targets);
// Gaussian widgets
- std::vector<ui::Trans2d> t2ds(m, ui::Trans2d());
+ std::vector<ui::Trans2d> t2ds(parameters.nb_targets, ui::Trans2d());
+
+ // Main loop
+ FILE* eps_file = NULL;
+ bool saving_eps = false;
+ bool must_recompute = true;
+ mat trajectory;
while (!glfwWindowShouldClose(window)) {
glfwPollEvents();
@@ -262,28 +276,46 @@ int main(int argc, char **argv){
// screens into account)
if (first && (window_size.fb_width > 0)) {
- Mu = arma::randu(2, m);
- Mu.row(0) = Mu.row(0) * (window_size.fb_width - 200) + 100;
- Mu.row(1) = Mu.row(1) * (window_size.fb_height - 200) + 100;
+ Mu = randu(2, parameters.nb_targets);
+ Mu.row(0) = Mu.row(0) * (window_size.fb_width - 200) - (window_size.fb_width / 2 - 100);
+ Mu.row(1) = Mu.row(1) * (window_size.fb_height - 200) - (window_size.fb_height / 2 - 100);
randomCovariances(
&Sigma, Mu,
- arma::vec({ 50 * (float) window_size.fb_width / window_size.win_width,
- 50 * (float) window_size.fb_height / window_size.win_height
+ vec({ 100 * (float) window_size.fb_width / window_size.win_width,
+ 100 * (float) window_size.fb_height / window_size.win_height
}),
- false, 0.0, 0.8
+ true, 0.0, 0.2
);
- for( int i = 0; i < m; i++ )
- gauss_to_trans2d(&t2ds[i], Mu.col(i), Sigma.slice(i), window_size);
+ for (int i = 0; i < parameters.nb_targets; ++i) {
+ gauss_to_trans2d(Mu.col(i), Sigma.slice(i), window_size, t2ds[i]);
+
+ fmat rotation = gfx2::rotate(fvec({ 0.0f, 0.0f, 1.0f }), randu() * 2 * datum::pi);
+
+ fvec x = rotation * fvec({ t2ds[i].x.x, t2ds[i].x.y, 0.0f, 0.0f });
+ t2ds[i].x.x = x(0);
+ t2ds[i].x.y = x(1);
+
+ fvec y = rotation * fvec({ t2ds[i].y.x, t2ds[i].y.y, 0.0f, 0.0f });
+ t2ds[i].y.x = y(0);
+ t2ds[i].y.y = y(1);
+ }
}
}
+
+ // Recompute the LQR when needed
+ if (must_recompute && !ImGui::IsMouseDown(GLFW_MOUSE_BUTTON_1)) {
+ trajectory = compute_LQR(parameters, Mu, Sigma);
+ must_recompute = false;
+ }
+
+
// Start of rendering
ImGui_ImplGlfwGL2_NewFrame();
- if (saving_eps)
- {
+ if (saving_eps) {
eps_file = fopen("out.eps", "wb");
gl2psBeginPage("grab", "gl2psTestSimple", NULL, GL2PS_EPS, GL2PS_SIMPLE_SORT,
GL2PS_DRAW_BACKGROUND | GL2PS_USE_CURRENT_VIEWPORT,
@@ -291,181 +323,135 @@ int main(int argc, char **argv){
}
glViewport(0, 0, window_size.fb_width, window_size.fb_height);
- glClearColor(clear_color.x, clear_color.y, clear_color.z, clear_color.w);
- glClear(GL_COLOR_BUFFER_BIT);
+ glClearColor(1.0f, 1.0f, 1.0f, 0.0f);
+ glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
- setOrtho(window_size.fb_width, window_size.fb_height);
+ glMatrixMode(GL_PROJECTION);
+ glLoadIdentity();
+ glOrtho(-window_size.fb_width / 2, window_size.fb_width / 2,
+ -window_size.fb_height / 2, window_size.fb_height / 2, -1.0f, 1.0f);
+ glMatrixMode(GL_MODELVIEW);
+ glLoadIdentity();
- //Model rendering
glPushMatrix();
- // Gauss UI
- ui::begin("Gaussian");
- arma::vec mu;
- arma::mat Sigm;
-
- for( int i = 0; i < m; i++ )
- {
- t2ds[i] = ui::affineSimple(i, t2ds[i]);
- trans2d_to_gauss(&mu, &Sigm, t2ds[i], window_size);
- Mu.col(i) = mu;
- Sigma.slice(i) = Sigm;
+ // Draw the gaussians
+ for( int i = 0; i < parameters.nb_targets; i++ ) {
+ glClear(GL_DEPTH_BUFFER_BIT);
+ gfx2::draw_gaussian_background(fvec({ 0.0f, 0.5f, 1.0f }), Mu.col(i), Sigma.slice(i));
}
- ui::end();
+ glClear(GL_DEPTH_BUFFER_BIT);
- // Parameters window
- int winw = 400;
- ImGui::SetNextWindowPos(ImVec2(window_size.win_width - winw, 2));
- ImGui::Begin("Params", NULL, ImVec2(winw, 86), 0.5f,
- ImGuiWindowFlags_NoTitleBar|ImGuiWindowFlags_NoResize|
- ImGuiWindowFlags_NoMove|ImGuiWindowFlags_NoSavedSettings);
+ // Draw the motor plan
+ glColor3f(0.5, 0.5 ,0.5);
+ gfx2::draw_line(fvec({ 0.5f, 0.5f, 0.5f }), Mu);
- if(ImGui::Button("Save EPS"))
- saving_eps = true;
-
- ImGui::SliderInt("Order", &order, 2, 7);
- ImGui::SliderFloat("Max Displacement", &d, 0.1, 100.);
- ImGui::End();
+ // Draw the trajectory
+ gfx2::draw_line(fvec({ 0.0f, 0.0f, 1.0f }), trajectory);
- // Recompute LQR
- int dim = 2;
- double duration = stroke_duration * m;
- int n = (int)(duration/dt);
- int cDim = dim * order;
-
- // system matrices
- mat A, B;
- makeIntegratorChain(&A, &B, order);
- discretizeSystem(&A, &B, A, B, dt);
- // make bi-variate
- A = kron(A, eye(dim, dim));
- B = kron( B, eye(dim, dim) );
-
- // reference
- mat Q, MuQ;
- stepwiseReference( &MuQ, &Q, Mu, Sigma, n, order, dim, endWeight );
- MuQ *= globScale;
- Q /= globScale*globScale;
-
- // r based on oscillatory movement displacement
- double r = SHM_r(d*globScale, stroke_duration, order);
- mat R = kron( eye(n-1, n-1),
- eye(dim, dim) * r
- );
+ // Plot derivatives magnitude
+ int plot_width = 200 * window_size.fb_width / window_size.win_width;
+ int plot_height = 100 * window_size.fb_height / window_size.win_height;
+ int plot_x = -window_size.fb_width / 2;
+ int plot_y = -window_size.fb_height / 2 + 25 * window_size.fb_height / window_size.win_height;
- ////////////////////////////////////
- // Batch LQR
+ mat dx = gradient_2d(trajectory, 1);
+ vec speed = sqrt(sum(dx % dx, 0)).t();
+ plot(plot_x, plot_y, plot_width, plot_height, speed, {1.0f, 0.0f, 0.0f});
- // Sx and Su matrices for batch LQR
- mat Su = zeros(cDim*n, dim*(n-1));
- mat Sx = kron( ones(n,1),
- eye(dim*order, dim*order)
- );
- mat M = B;
- for( int i = 1; i < n; i++ )
- {
- Sx.rows( i*cDim, n*cDim-1 ) =
- Sx.rows( i*cDim, n*cDim-1 ) * A;
- Su.submat( i*cDim, 0,
- (i+1)*cDim-1, i*dim-1 ) = M;
- M = join_horiz( A*M.cols(0, dim-1), M );
- }
+ ui::begin("Text");
+ ui::text(ImVec2(10, window_size.win_height - 25), "velocity magnitude",
+ ImVec4(1, 0, 0, 1));
+ ui::end();
- arma::vec x0 = MuQ.col(0);
+ dx = gradient_2d(trajectory, 2);
+ speed = sqrt(sum(dx % dx, 0)).t();
+ plot(plot_x + plot_width, plot_y, plot_width, plot_height, speed, {0.0f, 0.0f, 1.0f});
- // Flatten Mu's
- mat Xi_hat = reshape(MuQ, cDim*n, 1);
+ ui::begin("Text");
+ ui::text(ImVec2(200 + 10, window_size.win_height - 25), "acceleration magnitude",
+ ImVec4(0, 0, 1, 1));
+ ui::end();
- mat SuInvSigmaQ = Su.t()*Q;
+ dx = gradient_2d(trajectory, 3);
+ speed = sqrt(sum(dx % dx, 0)).t();
+ plot(plot_x + 2 * plot_width, plot_y, plot_width, plot_height, speed, {0.0f, 0.5f, 0.0f});
- mat Rq, rq;
+ ui::begin("Text");
+ ui::text(ImVec2(400 + 10, window_size.win_height - 25), "jerk magnitude",
+ ImVec4(0, 0.5, 0, 1));
+ ui::end();
- Rq = SuInvSigmaQ*Su + R;
- rq = SuInvSigmaQ*(Xi_hat - Sx*x0);
+ glPopMatrix();
- // least squares solution
- vec u = solve(Rq,rq);
- mat Y = reshape( Sx*x0 + Su*u, cDim, n );
- mat Xi = Y.submat(0,0, dim-1, n-1) / globScale;
- //////////////////////////////////////
+ // Gaussians UI
+ ui::begin("Gaussian");
- glEnable( GL_BLEND );
- glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
+ for (int i = 0; i < parameters.nb_targets; ++i) {
+ t2ds[i] = ui::affineSimple(i, t2ds[i]);
- // draw gaussians
- glColor4f(0.0, 0.5f, 1.0f, 0.2f);
- for (int i = 0; i < m; i++)
- drawGauss(t2ds[i], window_size);
+ vec mu;
+ mat sigma;
+ std::tie(mu, sigma) = trans2d_to_gauss(t2ds[i], window_size);
- // draw motor plan
- glColor3f(0.5,0.5,0.5);
- draw(Mu);
+ must_recompute = must_recompute ||
+ (norm(mu - Mu.col(i)) > 1e-6) ||
+ (norm(sigma - Sigma.slice(i)) > 1e-6);
- // draw trajectory
- glColor3f(0, 0, 1);
- draw(Xi);
+ Mu.col(i) = mu;
+ Sigma.slice(i) = sigma;
+ }
- // plot derivatives magnitude
- int plot_width = 200 * window_size.fb_width / window_size.win_width;
- int plot_height = 100 * window_size.fb_height / window_size.win_height;
- int plot_y = window_size.fb_height - 25 * window_size.fb_height / window_size.win_height;
+ ui::end();
- glColor3f(1,0,0);
- mat dx = gradient_2d(Xi, 1);
- vec speed = sqrt(sum(dx%dx, 0)).t();
- plot(0, plot_y, plot_width, plot_height, speed);
- ui::begin("Text");
- ui::text(ImVec2(10, window_size.win_height - 25), "velocity magnitude",
- ImVec4(1,0,0,1));
- ui::end();
+ // Parameters window
+ int winw = 400;
+ ImGui::SetNextWindowPos(ImVec2(window_size.win_width - winw, 2));
+ ImGui::Begin("Params", NULL, ImVec2(winw, 86), 0.5f,
+ ImGuiWindowFlags_NoTitleBar|ImGuiWindowFlags_NoResize|
+ ImGuiWindowFlags_NoMove|ImGuiWindowFlags_NoSavedSettings
+ );
- glColor3f(0,0,1);
- dx = gradient_2d(Xi, 2);
- speed = sqrt(sum(dx%dx, 0)).t();
- plot(plot_width, plot_y, plot_width, plot_height, speed);
+ if (ImGui::Button("Save EPS"))
+ saving_eps = true;
- ui::begin("Text");
- ui::text(ImVec2(200 + 10, window_size.win_height - 25), "acceleration magnitude",
- ImVec4(0,0,1,1));
- ui::end();
+ int previous_order = parameters.order;
+ float previous_maximum_displacement = parameters.maximum_displacement;
- glColor3f(0,0.5,0);
- dx = gradient_2d(Xi, 3);
- speed = sqrt(sum(dx%dx, 0)).t();
- plot(2 * plot_width, plot_y, plot_width, plot_height, speed);
+ ImGui::SliderInt("Order", ¶meters.order, 2, 6);
+ ImGui::SliderFloat("Max Displacement", ¶meters.maximum_displacement, 0.1, 100.);
+ ImGui::End();
- ui::begin("Text");
- ui::text(ImVec2(400 + 10, window_size.win_height - 25), "jerk magnitude",
- ImVec4(0,0.5,0,1));
- ui::end();
+ must_recompute = must_recompute ||
+ (parameters.order != previous_order) ||
+ !gfx2::is_close(parameters.maximum_displacement, previous_maximum_displacement);
- glPopMatrix();
- // Render UI
+ // GUI rendering
ImGui::Render();
ImGui_ImplGlfwGL2_RenderDrawData(ImGui::GetDrawData());
- // save eps
- if(eps_file)
- {
+ // Save eps
+ if (eps_file) {
glFlush();
gl2psEndPage();
fclose(eps_file);
- eps_file=NULL;
- saving_eps=false;
+ eps_file = NULL;
+ saving_eps = false;
}
glfwSwapBuffers(window);
- //Keyboard input
+ // Keyboard input
if (ImGui::IsKeyPressed(GLFW_KEY_ESCAPE))
break;
}
- //Cleanup
+ // Cleanup
ImGui_ImplGlfwGL2_Shutdown();
glfwTerminate();
+
return 0;
}
diff --git a/src/demo_MPC_iterative01.cpp b/src/demo_MPC_iterative01.cpp
index 51b841a..2f8abb6 100644
--- a/src/demo_MPC_iterative01.cpp
+++ b/src/demo_MPC_iterative01.cpp
@@ -1,67 +1,115 @@
/*
* demo_MPC_iterative01.cpp
*
- * Interactive MPC demo, with iterative LQT
+ * Interactive MPC demo, with iterative LQR
*
- * Fabien Crépon, Sylvain Calinon, 2017
+ * Fabien Crépon, Philip Abbet, Sylvain Calinon, 2017
*/
#include <stdio.h>
-#include <imgui.h>
-#include <imgui_impl_glfw_gl2.h>
+#include <armadillo>
+#include <mpc_utils.h>
+
+#include <gfx2.h>
#include <gfx_ui.h>
#include <GLFW/glfw3.h>
+#include <imgui.h>
+#include <imgui_impl_glfw_gl2.h>
#include <window_utils.h>
-#include <armadillo>
-#include <mpc_utils.h>
-
using namespace arma;
-//-------------------------------------------------------------------------
-// Holds the sizes of the window and of the OpenGL front-buffer (they might
-// be different, for instance on a 4K screen)
-//-------------------------------------------------------------------------
-struct window_size_t {
- int win_width;
- int win_height;
- int fb_width;
- int fb_height;
+/***************************** ALGORITHM SECTION *****************************/
+
+//-----------------------------------------------------------------------------
+// Contains all the parameters used by the algorithm. Some of them are
+// modifiable through the UI, others are hard-coded.
+//-----------------------------------------------------------------------------
+struct parameters_t {
+ int nb_targets;
+ int nb_dimensions;
+ int order;
+ double global_scale; // global scale, avoids numerical issues in batch method
+ double end_weight; // forces movement to a stop (see stepwiseReference function)
+ float maximum_displacement; // maximum displacement, used to compute R diagonal
+ float stroke_duration; // duration of a stroke
+ double dt;
};
-//-------------------------------------------------------------------------
-// Converts some coordinates from UI-space to OpenGL-space
-//
-// UI coordinates range from (0, 0) to (win_width, win_height)
-// OpenGL coordinates range from (0, 0) to (fb_width, fb_height)
-//-------------------------------------------------------------------------
-arma::vec ui2fb(const arma::vec& coords, const window_size_t& window_size) {
- arma::vec result = coords;
-
- result(0) = coords(0) * (float) window_size.fb_width / (float) window_size.win_width;
- result(1) = coords(1) * (float) window_size.fb_height / (float) window_size.win_height;
-
- return result;
-}
+//-----------------------------------------------
-//-------------------------------------------------------------------------
-// Converts some coordinates from OpenGL-space to UI-space
-//
-// OpenGL coordinates range from (0, 0) to (fb_width, fb_height)
-// UI coordinates range from (0, 0) to (win_width, win_height)
-//-------------------------------------------------------------------------
-arma::vec fb2ui(const arma::vec& coords, const window_size_t& window_size) {
- arma::vec result = coords;
+mat compute_LQR(const parameters_t& parameters, const mat& Mu, const cube& Sigma) {
+
+ const double duration = parameters.stroke_duration * parameters.nb_targets;
+ const int n = (int) (duration / parameters.dt);
+ const int cDim = parameters.nb_dimensions * parameters.order;
+
+ // Integration with higher order Taylor series expansion
+ mat A, B;
+ makeIntegratorChain(&A, &B, parameters.order);
+ discretizeSystem(&A, &B, A, B, parameters.dt);
+ A = kron(A, eye(parameters.nb_dimensions, parameters.nb_dimensions));
+ B = kron(B, eye(parameters.nb_dimensions, parameters.nb_dimensions));
+
+ // Reference
+ mat Q, MuQ;
+ stepwiseReference(&MuQ, &Q, Mu, Sigma, n, parameters.order,
+ parameters.nb_dimensions, parameters.end_weight);
+ MuQ *= parameters.global_scale;
+ Q /= parameters.global_scale * parameters.global_scale;
+
+ // r based on oscillatory movement displacement
+ double r = SHM_r(parameters.maximum_displacement, parameters.stroke_duration,
+ parameters.order);
+
+ ////////////////////////////////////
+ // Iterative LQR
+ mat R = eye(parameters.nb_dimensions, parameters.nb_dimensions) * r;
+
+ cube P = zeros(cDim, cDim, n);
+ int i = n - 1;
+ P.slice(i) = Q.submat(span(i * cDim, (i + 1) * cDim - 1), span(i * cDim, (i + 1) * cDim - 1));
+
+ mat D = zeros(cDim, n);
+
+ // Riccati recursion
+ for (int i = n - 2; i >= 0; --i) {
+ mat Qi = Q.submat(span(i * cDim, (i + 1) * cDim - 1),span(i * cDim, (i + 1) * cDim - 1));
+ mat P2 = P.slice(i + 1);
+ P.slice(i) = Qi - (A.t() * (P2 * B * inv(B.t() * P2 * B + R) * B.t() * P2 - P2 ) * A);
+ D.col(i) = (A.t() - A.t() * P2 * B * inv(B.t() * P2 * B + R) * B.t()) *
+ (P2 * (A * MuQ.col(i) - MuQ.col(i + 1)) + D.col(i + 1));
+ }
- result(0) = coords(0) * (float) window_size.win_width / (float) window_size.fb_width;
- result(1) = coords(1) * (float) window_size.win_height / (float) window_size.fb_height;
+ // Compute trajectory
+ arma::vec x0 = MuQ.col(0);
+ mat Y = zeros(cDim, n);
+ vec x = x0;
+
+ for (int i = 0; i < n; ++i) {
+ Y.col(i) = x;
+ mat p = P.slice(i);
+ vec mu = MuQ.col(i);
+
+ mat G = inv(B.t() * p * B + R) * B.t();
+
+ // Feedback gain
+ mat K = G * p * A;
+ // Feedforward term
+ mat M = -G * (p * (A * mu - mu) + D.col(i));
+ // Control command (highest order derivative of system)
+ vec u = K * (mu - x) + M;
+ // New state
+ x = A * x + B * u;
+ }
- return result;
+ return Y.rows(0, parameters.nb_dimensions - 1) / parameters.global_scale;
}
-//-----------------------------------------------
+
+/****************************** HELPER FUNCTIONS *****************************/
static void error_callback(int error, const char* description){
fprintf(stderr, "Error %d: %s\n", error, description);
@@ -69,176 +117,152 @@ static void error_callback(int error, const char* description){
//-----------------------------------------------
-void setOrtho( float w, float h )
-{
- glMatrixMode( GL_PROJECTION );
- glLoadIdentity();
- glOrtho( 0, 0+w, 0+h, 0, -1., 1.);
- glMatrixMode( GL_MODELVIEW );
- glLoadIdentity();
-}
+std::tuple<vec, mat> trans2d_to_gauss(const ui::Trans2d& gaussian_transforms,
+ const gfx2::window_size_t& window_size) {
-//-----------------------------------------------
+ vec mu = gfx2::ui2fb_centered(vec({ gaussian_transforms.pos.x, gaussian_transforms.pos.y }),
+ window_size);
-void trans2d_to_gauss(arma::vec* mu, arma::mat* Sigma, const ui::Trans2d& t2d,
- const window_size_t& window_size)
-{
- arma::vec t_x = ui2fb(arma::vec({t2d.x.x, t2d.x.y}), window_size);
- arma::vec t_y = ui2fb(arma::vec({t2d.y.x, t2d.y.y}), window_size);
+ vec t_x({
+ gaussian_transforms.x.x * window_size.scale_x(),
+ gaussian_transforms.x.y * window_size.scale_y()
+ });
- arma::mat basis = arma::mat{{t_x(0), t_y(0)}, {t_x(1), t_y(1)}};
- *Sigma = basis * basis.t();
- *mu = ui2fb(arma::vec({t2d.pos.x, t2d.pos.y}), window_size);
-}
+ vec t_y({
+ gaussian_transforms.y.x * window_size.scale_x(),
+ gaussian_transforms.y.y * window_size.scale_y()
+ });
-//-----------------------------------------------
+ mat RG = {
+ { t_x(0), t_y(0) },
+ { -t_x(1), -t_y(1) }
+ };
-void gauss_to_trans2d(ui::Trans2d *t2d, const arma::vec& mu, const arma::mat& Sigma,
- const window_size_t& window_size)
-{
- arma::vec ui_mu = fb2ui(mu, window_size);
+ mat sigma = RG * RG.t();
- t2d->pos.x = ui_mu(0);
- t2d->pos.y = ui_mu(1);
+ return std::make_tuple(mu, sigma);
+}
- arma::mat V;
- arma::vec d;
- arma::eig_sym(d, V, Sigma);
- arma::mat VD = V*diagmat(sqrt(d));
+//-----------------------------------------------
- arma::vec t_x = fb2ui(arma::vec({VD.col(0)(0), VD.col(1)(0)}), window_size);
- arma::vec t_y = fb2ui(arma::vec({VD.col(0)(1), VD.col(1)(1)}), window_size);
+void gauss_to_trans2d(const vec& mu, const mat& sigma,
+ const gfx2::window_size_t& window_size, ui::Trans2d &t2d) {
- t2d->x.x = t_x(0);
- t2d->x.y = t_x(1);
- t2d->y.x = t_y(0);
- t2d->y.y = t_y(1);
-}
+ vec ui_mu = gfx2::fb2ui_centered(mu, window_size);
-//-----------------------------------------------
+ t2d.pos.x = ui_mu(0);
+ t2d.pos.y = ui_mu(1);
-void draw(const arma::mat& pts, int primitive=GL_LINE_STRIP)
-{
- glBegin(primitive);
- for (uint t=0; t<pts.n_cols; t++){
- glVertex2f(pts(0,t), pts(1,t));
- }
- glEnd();
+ mat V;
+ vec d;
+ eig_sym(d, V, sigma);
+ mat VD = V * diagmat(sqrt(d));
+
+ t2d.x.x = VD.col(0)(0) / window_size.scale_x();
+ t2d.x.y = VD.col(1)(0) / window_size.scale_y();
+ t2d.y.x = VD.col(0)(1) / window_size.scale_x();
+ t2d.y.y = VD.col(1)(1) / window_size.scale_y();
}
//-----------------------------------------------
-arma::mat gradient_2d( arma::mat X, int order=1 )
-{
+arma::mat gradient_2d(arma::mat X, int order = 1) {
mat df = diff(X, 1, 1);
- mat db = fliplr( -diff(fliplr(X), 1, 1) );
- mat d = (df+db)/2;
- d = join_horiz(zeros(2,1), d);
+ mat db = fliplr(-diff(fliplr(X), 1, 1));
+
+ mat d = (df + db) / 2;
+ d = join_horiz(zeros(2, 1), d);
d.col(0) = df.col(0);
- d.col(d.n_cols-1) = db.col(db.n_cols-1);
- if(order>1)
- return gradient_2d(d, order-1);
+ d.col(d.n_cols - 1) = db.col(db.n_cols - 1);
+
+ if(order > 1)
+ return gradient_2d(d, order - 1);
+
return d;
}
//-----------------------------------------------
-void plot( float x, float y, float w, float h, const vec& v )
-{
+void plot(float x, float y, float w, float h, const vec& v, const fvec& color) {
float v_min = v.min();
float v_max = v.max();
- float inc = w / v.n_rows;
- glBegin(GL_LINE_STRIP);
- for (int i=0; i < v.n_rows; i++)
- {
- glVertex2f(x + inc*i, y - h * ((v[i] - v_min) / (v_max - v_min)));
- }
- glEnd();
-}
-
-//-----------------------------------------------
-
-void drawGauss(ui::Trans2d& t2d, const window_size_t& window_size)
-{
- static arma::mat circ(2,35);
- static bool circ_init = true;
- if(circ_init)
- {
- circ = join_cols(cos(linspace<rowvec>(0,2*datum::pi,35)),
- sin(linspace<rowvec>(0,2*datum::pi,35)));
- circ_init = false;
- }
-
- arma::vec t_x = ui2fb(arma::vec({t2d.x.x, t2d.x.y}), window_size);
- arma::vec t_y = ui2fb(arma::vec({t2d.y.x, t2d.y.y}), window_size);
-
- arma::mat basis = arma::mat{{t_x(0), t_y(0)}, {t_x(1), t_y(1)}};
- vec mu = ui2fb(vec({t2d.pos.x, t2d.pos.y}), window_size);
+ mat points(2, v.n_rows);
+ points(0, span::all) = linspace<vec>(0, w, v.n_rows).t() + x;
+ points(1, span::all) = (v.t() - v_min) / (v_max - v_min) * h + y;
- arma::mat pts = basis * circ + arma::repmat(mu, 1, 35);
-
- glBegin(GL_TRIANGLE_FAN);
- glVertex2f(mu(0), mu(1));
- for (uint t=0; t<pts.n_cols; t++){
- glVertex2f(pts(0,t), pts(1,t));
- }
- glEnd();
+ gfx2::draw_line(color, points);
}
-//-----------------------------------------------
+
+/******************************* MAIN FUNCTION *******************************/
int main(int argc, char **argv){
arma_rng::set_seed_random();
- //--------------- Setup parameters ---------------
-
- double dt = 0.01;
- int order = 5;
-
- int m = 3; // Number of targets
- double globScale = 0.001; // global scale, avoids numerical issues in batch method
- double endWeight = 1.; //1e-10; // forces movement to a stop (see stepwiseReference function)
-
- float d=0.1; // maximum displacement, used to compute R diagonal
- float stroke_duration=0.3; // duration of a stroke
+ // Parameters
+ parameters_t parameters;
+ parameters.nb_targets = 3;
+ parameters.nb_dimensions = 2;
+ parameters.order = 5;
+ parameters.global_scale = 0.001;
+ parameters.end_weight = 1.;
+ parameters.maximum_displacement = 0.1;
+ parameters.stroke_duration = 0.3;
+ parameters.dt = 0.01;
//--------------- Setup of the rendering ---------------
// Take 4k screens into account (framebuffer size != window size)
- window_size_t window_size;
+ gfx2::window_size_t window_size;
window_size.win_width = 800;
window_size.win_height = 800;
window_size.fb_width = -1; // Will be known later
window_size.fb_height = -1;
- //Setup GUI
+
+ // Initialise GLFW
glfwSetErrorCallback(error_callback);
+
if (!glfwInit())
- exit(1);
+ return -1;
+ glfwWindowHint(GLFW_SAMPLES, 4);
+ glfwWindowHint(GLFW_CONTEXT_VERSION_MAJOR, 2);
+ glfwWindowHint(GLFW_CONTEXT_VERSION_MINOR, 1);
+
+ // Open a window and create its OpenGL context
GLFWwindow* window = create_window_at_optimal_size(
"Demo Iterative MPC", window_size.win_width, window_size.win_height
);
glfwMakeContextCurrent(window);
- //Setup ImGui
+
+ // Setup GLSL
+ gfx2::init();
+ glEnable(GL_DEPTH_TEST);
+ glEnable(GL_CULL_FACE);
+ glEnable(GL_LINE_SMOOTH);
+ glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
+
+ // Setup ImGui
ImGui::CreateContext();
ImGui_ImplGlfwGL2_Init(window, true);
- ImVec4 clear_color = ImColor(255, 255, 255);
- //--------------- Main loop ---------------
-
// Covariances
- mat Mu;
- cube Sigma;
+ mat Mu = zeros(2, parameters.nb_targets);
+ cube Sigma = zeros(2, 2, parameters.nb_targets);
// Gaussian widgets
- std::vector<ui::Trans2d> t2ds(m, ui::Trans2d());
+ std::vector<ui::Trans2d> t2ds(parameters.nb_targets, ui::Trans2d());
+
+ // Main loop
+ bool must_recompute = true;
+ mat trajectory;
while (!glfwWindowShouldClose(window)) {
glfwPollEvents();
@@ -259,191 +283,163 @@ int main(int argc, char **argv){
// screens into account)
if (first && (window_size.fb_width > 0)) {
- Mu = arma::randu(2, m);
- Mu.row(0) = Mu.row(0) * (window_size.fb_width - 200) + 100;
- Mu.row(1) = Mu.row(1) * (window_size.fb_height - 200) + 100;
+ Mu = randu(2, parameters.nb_targets);
+ Mu.row(0) = Mu.row(0) * (window_size.fb_width - 200) - (window_size.fb_width / 2 - 100);
+ Mu.row(1) = Mu.row(1) * (window_size.fb_height - 200) - (window_size.fb_height / 2 - 100);
randomCovariances(
- &Sigma, Mu,
- arma::vec({ 50 * (float) window_size.fb_width / window_size.win_width,
- 50 * (float) window_size.fb_height / window_size.win_height
- }),
- false, 0.0, 0.8
+ &Sigma, Mu,
+ vec({ 100 * (float) window_size.fb_width / window_size.win_width,
+ 100 * (float) window_size.fb_height / window_size.win_height
+ }),
+ true, 0.0, 0.2
);
- for( int i = 0; i < m; i++ )
- gauss_to_trans2d(&t2ds[i], Mu.col(i), Sigma.slice(i), window_size);
- }
- }
+ for (int i = 0; i < parameters.nb_targets; ++i) {
+ gauss_to_trans2d(Mu.col(i), Sigma.slice(i), window_size, t2ds[i]);
- // Start of rendering
- ImGui_ImplGlfwGL2_NewFrame();
+ fmat rotation = gfx2::rotate(fvec({ 0.0f, 0.0f, 1.0f }), randu() * 2 * datum::pi);
- glViewport(0, 0, window_size.fb_width, window_size.fb_height);
- glClearColor(clear_color.x, clear_color.y, clear_color.z, clear_color.w);
- glClear(GL_COLOR_BUFFER_BIT);
+ fvec x = rotation * fvec({ t2ds[i].x.x, t2ds[i].x.y, 0.0f, 0.0f });
+ t2ds[i].x.x = x(0);
+ t2ds[i].x.y = x(1);
- setOrtho(window_size.fb_width, window_size.fb_height);
-
- //Model rendering
- glPushMatrix();
+ fvec y = rotation * fvec({ t2ds[i].y.x, t2ds[i].y.y, 0.0f, 0.0f });
+ t2ds[i].y.x = y(0);
+ t2ds[i].y.y = y(1);
+ }
+ }
+ }
- // Gauss UI
- ui::begin("Gaussian");
- arma::vec mu;
- arma::mat Sigm;
- for( int i = 0; i < m; i++ )
- {
- t2ds[i] = ui::affineSimple(i, t2ds[i]);
- trans2d_to_gauss(&mu, &Sigm, t2ds[i], window_size);
- Mu.col(i) = mu;
- Sigma.slice(i) = Sigm;
+ // Recompute the LQR when needed
+ if (must_recompute && !ImGui::IsMouseDown(GLFW_MOUSE_BUTTON_1)) {
+ trajectory = compute_LQR(parameters, Mu, Sigma);
+ must_recompute = false;
}
- ui::end();
-
- // Parameters window
- int winw = 400;
- ImGui::SetNextWindowPos(ImVec2(window_size.win_width - winw, 2));
- ImGui::Begin("Params", NULL, ImVec2(winw,60), 0.5f,
- ImGuiWindowFlags_NoTitleBar|ImGuiWindowFlags_NoResize|
- ImGuiWindowFlags_NoMove|ImGuiWindowFlags_NoSavedSettings);
- ImGui::SliderInt("Order", &order, 2, 7);
- ImGui::SliderFloat("Max Displacement", &d, 0.05, 5.);
- ImGui::End();
- // Recompute LQR
- int dim = 2;
- double duration = stroke_duration * m;
- int n = (int)(duration/dt);
- int cDim = dim * order;
-
- // system matrices
- mat A, B;
- makeIntegratorChain(&A, &B, order);
- discretizeSystem(&A, &B, A, B, dt);
- // make bi-variate
- A = kron(A, eye(dim, dim));
- B = kron( B, eye(dim, dim) );
-
- // reference
- mat Q, MuQ, Q0, MuQ0;
- stepwiseReference( &MuQ, &Q, Mu, Sigma, n, order, dim, endWeight );
- MuQ *= globScale;
- Q /= globScale*globScale;
-
- // r based on oscillatory movement displacement
- double r = SHM_r(d, stroke_duration, order);
-
- ////////////////////////////////////
- // Iterative LQR
- mat R = eye(dim, dim) * r;
-
- cube P = zeros(cDim, cDim, n);
- int i = n-1;
- P.slice(i) = Q.submat(span(i*cDim,i*cDim+cDim-1),span(i*cDim,i*cDim+cDim-1));
-
- mat D = zeros(cDim, n);
- // Riccati recursion
- for( int i = n-2; i >=0; i-- )
- {
- mat Qi = Q.submat(span(i*cDim,i*cDim+cDim-1),span(i*cDim,i*cDim+cDim-1));
- mat P2 = P.slice(i+1);
- P.slice(i) = Qi - (A.t() * (P2 * B * inv(B.t() * P2 * B + R) * B.t() * P2 - P2 ) * A);
- D.col(i) = (A.t() - A.t() * P2 * B * inv(B.t() * P2 * B + R) * B.t())
- * (P2 * (A * MuQ.col(i) - MuQ.col(i+1)) + D.col(i+1));
- }
+ // Start of rendering
+ ImGui_ImplGlfwGL2_NewFrame();
- // compute trajectory
- arma::vec x0 = MuQ.col(0);
- mat Y = zeros(cDim, n);
- vec x = x0;
-
- for( int i = 0; i < n; i++ )
- {
- Y.col(i) = x;
- mat p = P.slice(i);
- vec mu = MuQ.col(i);
-
- mat G = inv( B.t() * p * B + R ) * B.t();
-
- // feedback gain
- mat K = G * p * A;
- // Feedforward term
- mat M = -G * (p * (A * mu - mu) + D.col(i));
- // Control command (highest order derivative of system)
- vec u = K * (mu - x) + M;
- // New state
- x = A*x + B*u;
- }
+ glViewport(0, 0, window_size.fb_width, window_size.fb_height);
+ glClearColor(1.0f, 1.0f, 1.0f, 0.0f);
+ glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
- mat Xi = Y.submat(0,0, dim-1, n-1) / globScale;
+ glMatrixMode(GL_PROJECTION);
+ glLoadIdentity();
+ glOrtho(-window_size.fb_width / 2, window_size.fb_width / 2,
+ -window_size.fb_height / 2, window_size.fb_height / 2, -1.0f, 1.0f);
+ glMatrixMode(GL_MODELVIEW);
+ glLoadIdentity();
- //////////////////////////////////////
+ glPushMatrix();
- glEnable( GL_BLEND );
- glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
+ // Draw the gaussians
+ for( int i = 0; i < parameters.nb_targets; i++ ) {
+ glClear(GL_DEPTH_BUFFER_BIT);
+ gfx2::draw_gaussian_background(fvec({ 0.0f, 0.5f, 1.0f }), Mu.col(i), Sigma.slice(i));
+ }
+ glClear(GL_DEPTH_BUFFER_BIT);
- // draw gaussians
- glColor4f(0.0, 0.5f, 1.0f, 0.2f);
- for( int i = 0; i < m; i++ )
- drawGauss(t2ds[i], window_size);
+ // Draw the motor plan
+ glColor3f(0.5, 0.5 ,0.5);
+ gfx2::draw_line(fvec({ 0.5f, 0.5f, 0.5f }), Mu);
- // draw trajectory
- glColor3f(0, 0, 1);
- draw(Xi);
+ // Draw the trajectory
+ gfx2::draw_line(fvec({ 0.0f, 0.0f, 1.0f }), trajectory);
- // plot derivatives magnitude
+ // Plot derivatives magnitude
int plot_width = 200 * window_size.fb_width / window_size.win_width;
int plot_height = 100 * window_size.fb_height / window_size.win_height;
- int plot_y = window_size.fb_height - 25 * window_size.fb_height / window_size.win_height;
+ int plot_x = -window_size.fb_width / 2;
+ int plot_y = -window_size.fb_height / 2 + 25 * window_size.fb_height / window_size.win_height;
- glColor3f(1,0,0);
- mat dx = gradient_2d(Xi, 1);
- vec speed = sqrt(sum(dx%dx, 0)).t();
- plot(0, plot_y, plot_width, plot_height, speed);
+ mat dx = gradient_2d(trajectory, 1);
+ vec speed = sqrt(sum(dx % dx, 0)).t();
+ plot(plot_x, plot_y, plot_width, plot_height, speed, {1.0f, 0.0f, 0.0f});
ui::begin("Text");
ui::text(ImVec2(10, window_size.win_height - 25), "velocity magnitude",
- ImVec4(1,0,0,1));
+ ImVec4(1, 0, 0, 1));
ui::end();
- glColor3f(0,0,1);
- dx = gradient_2d(Xi, 2);
- speed = sqrt(sum(dx%dx, 0)).t();
- plot(plot_width, plot_y, plot_width, plot_height, speed);
+ dx = gradient_2d(trajectory, 2);
+ speed = sqrt(sum(dx % dx, 0)).t();
+ plot(plot_x + plot_width, plot_y, plot_width, plot_height, speed, {0.0f, 0.0f, 1.0f});
ui::begin("Text");
ui::text(ImVec2(200 + 10, window_size.win_height - 25), "acceleration magnitude",
- ImVec4(0,0,1,1));
+ ImVec4(0, 0, 1, 1));
ui::end();
- glColor3f(0,0.5,0);
- dx = gradient_2d(Xi, 3);
- speed = sqrt(sum(dx%dx, 0)).t();
- plot(2 * plot_width, plot_y, plot_width, plot_height, speed);
+ dx = gradient_2d(trajectory, 3);
+ speed = sqrt(sum(dx % dx, 0)).t();
+ plot(plot_x + 2 * plot_width, plot_y, plot_width, plot_height, speed, {0.0f, 0.5f, 0.0f});
ui::begin("Text");
ui::text(ImVec2(400 + 10, window_size.win_height - 25), "jerk magnitude",
- ImVec4(0,0.5,0,1));
+ ImVec4(0, 0.5, 0, 1));
ui::end();
glPopMatrix();
- // Render UI
+
+ // Gaussians UI
+ ui::begin("Gaussian");
+
+ for (int i = 0; i < parameters.nb_targets; ++i) {
+ t2ds[i] = ui::affineSimple(i, t2ds[i]);
+
+ vec mu;
+ mat sigma;
+ std::tie(mu, sigma) = trans2d_to_gauss(t2ds[i], window_size);
+
+ must_recompute = must_recompute ||
+ (norm(mu - Mu.col(i)) > 1e-6) ||
+ (norm(sigma - Sigma.slice(i)) > 1e-6);
+
+ Mu.col(i) = mu;
+ Sigma.slice(i) = sigma;
+ }
+
+ ui::end();
+
+
+ // Parameters window
+ int winw = 400;
+ ImGui::SetNextWindowPos(ImVec2(window_size.win_width - winw, 2));
+ ImGui::Begin("Params", NULL, ImVec2(winw, 60), 0.5f,
+ ImGuiWindowFlags_NoTitleBar|ImGuiWindowFlags_NoResize|
+ ImGuiWindowFlags_NoMove|ImGuiWindowFlags_NoSavedSettings
+ );
+
+ int previous_order = parameters.order;
+ float previous_maximum_displacement = parameters.maximum_displacement;
+
+ ImGui::SliderInt("Order", ¶meters.order, 2, 6);
+ ImGui::SliderFloat("Max Displacement", ¶meters.maximum_displacement, 0.1, 100.);
+ ImGui::End();
+
+ must_recompute = must_recompute ||
+ (parameters.order != previous_order) ||
+ !gfx2::is_close(parameters.maximum_displacement, previous_maximum_displacement);
+
+
+ // GUI rendering
ImGui::Render();
ImGui_ImplGlfwGL2_RenderDrawData(ImGui::GetDrawData());
glfwSwapBuffers(window);
- //Keyboard input
+ // Keyboard input
if (ImGui::IsKeyPressed(GLFW_KEY_ESCAPE))
break;
}
- //Cleanup
+ // Cleanup
ImGui_ImplGlfwGL2_Shutdown();
glfwTerminate();
+
return 0;
}
diff --git a/src/demo_MPC_semitied01.cpp b/src/demo_MPC_semitied01.cpp
index 610f538..d390059 100644
--- a/src/demo_MPC_semitied01.cpp
+++ b/src/demo_MPC_semitied01.cpp
@@ -3,180 +3,144 @@
*
* Interactive MPC demo, demonstrates a GUI to edit semi-tied covariances (2d)
*
- * Fabien Crépon, Sylvain Calinon, 2017
+ * Fabien Crépon, Philip Abbet, Sylvain Calinon, 2017
*/
#include <stdio.h>
-#include <imgui.h>
-#include <imgui_impl_glfw_gl2.h>
+#include <armadillo>
+#include <mpc_utils.h>
+
+#include <gfx2.h>
#include <gfx_ui.h>
#include <GLFW/glfw3.h>
+#include <imgui.h>
+#include <imgui_impl_glfw_gl2.h>
#include <window_utils.h>
-
-#include <armadillo>
-#include <mpc_utils.h>
#include <gl2ps.h>
using namespace arma;
-//-------------------------------------------------------------------------
-// Holds the sizes of the window and of the OpenGL front-buffer (they might
-// be different, for instance on a 4K screen)
-//-------------------------------------------------------------------------
-struct window_size_t {
- int win_width;
- int win_height;
- int fb_width;
- int fb_height;
+/***************************** ALGORITHM SECTION *****************************/
+
+//-----------------------------------------------------------------------------
+// Contains all the parameters used by the algorithm. Some of them are
+// modifiable through the UI, others are hard-coded.
+//-----------------------------------------------------------------------------
+struct parameters_t {
+ int nb_targets;
+ int nb_dimensions;
+ int order;
+ double global_scale; // global scale, avoids numerical issues in batch method
+ double end_weight; // forces movement to a stop (see stepwiseReference function)
+ float maximum_displacement; // maximum displacement, used to compute R diagonal
+ float stroke_duration; // duration of a stroke
+ double dt;
};
-//-------------------------------------------------------------------------
-// Converts some coordinates from UI-space to OpenGL-space
-//
-// UI coordinates range from (0, 0) to (win_width, win_height)
-// OpenGL coordinates range from (0, 0) to (fb_width, fb_height)
-//-------------------------------------------------------------------------
-arma::vec ui2fb(const arma::vec& coords, const window_size_t& window_size) {
- arma::vec result = coords;
+//-----------------------------------------------
- result(0) = coords(0) * (float) window_size.fb_width / (float) window_size.win_width;
- result(1) = coords(1) * (float) window_size.fb_height / (float) window_size.win_height;
+mat compute_LQR(const parameters_t& parameters, const mat& Mu, const cube& Sigma) {
- return result;
-}
+ const double duration = parameters.stroke_duration * parameters.nb_targets;
+ const int n = (int) (duration / parameters.dt);
+ const int cDim = parameters.nb_dimensions * parameters.order;
-//-------------------------------------------------------------------------
-// Converts some coordinates from OpenGL-space to UI-space
-//
-// OpenGL coordinates range from (0, 0) to (fb_width, fb_height)
-// UI coordinates range from (0, 0) to (win_width, win_height)
-//-------------------------------------------------------------------------
-arma::vec fb2ui(const arma::vec& coords, const window_size_t& window_size) {
- arma::vec result = coords;
+ // Integration with higher order Taylor series expansion
+ mat A, B;
+ makeIntegratorChain(&A, &B, parameters.order);
+ discretizeSystem(&A, &B, A, B, parameters.dt);
+ A = kron(A, eye(parameters.nb_dimensions, parameters.nb_dimensions));
+ B = kron(B, eye(parameters.nb_dimensions, parameters.nb_dimensions));
- result(0) = coords(0) * (float) window_size.win_width / (float) window_size.fb_width;
- result(1) = coords(1) * (float) window_size.win_height / (float) window_size.fb_height;
+ // Reference
+ mat Q, MuQ;
+ stepwiseReference(&MuQ, &Q, Mu, Sigma, n, parameters.order,
+ parameters.nb_dimensions, parameters.end_weight);
+ MuQ *= parameters.global_scale;
+ Q /= parameters.global_scale * parameters.global_scale;
- return result;
-}
+ // r based on oscillatory movement displacement
+ double r = SHM_r(parameters.maximum_displacement, parameters.stroke_duration,
+ parameters.order);
-//-----------------------------------------------
+ mat R = kron(eye(n - 1, n - 1), eye(parameters.nb_dimensions, parameters.nb_dimensions) * r);
-static void error_callback(int error, const char* description){
- fprintf(stderr, "Error %d: %s\n", error, description);
-}
+ ////////////////////////////////////
+ // Batch LQR
-//-----------------------------------------------
+ // Sx and Su matrices for batch LQR
+ mat Su = zeros(cDim * n, parameters.nb_dimensions * (n - 1));
+ mat Sx = kron(ones(n, 1),
+ eye(parameters.nb_dimensions * parameters.order,
+ parameters.nb_dimensions * parameters.order)
+ );
+ mat M = B;
+ for (int i = 1; i < n; i++) {
+ Sx.rows(i * cDim, n * cDim - 1) = Sx.rows(i * cDim, n * cDim - 1) * A;
+ Su.submat(i * cDim, 0, (i + 1) * cDim - 1, i * parameters.nb_dimensions - 1) = M;
+ M = join_horiz(A * M.cols(0, parameters.nb_dimensions - 1), M);
+ }
-void setOrtho( float w, float h )
-{
- glMatrixMode( GL_PROJECTION );
- glLoadIdentity();
- glOrtho( 0, 0+w, 0+h, 0, -1., 1.);
- glMatrixMode( GL_MODELVIEW );
- glLoadIdentity();
-}
+ arma::vec x0 = MuQ.col(0);
-//-----------------------------------------------
+ // Flatten Mu's
+ mat Xi_hat = reshape(MuQ, cDim * n, 1);
-void gauss_to_trans2d(ui::Trans2d *t2d, const arma::vec& mu, const arma::mat& Sigma,
- const window_size_t& window_size)
-{
- arma::vec ui_mu = fb2ui(mu, window_size);
+ mat SuInvSigmaQ = Su.t() * Q;
- t2d->pos.x = ui_mu(0);
- t2d->pos.y = ui_mu(1);
+ mat Rq, rq;
- arma::mat V;
- arma::vec d;
- arma::eig_sym(d, V, Sigma);
- arma::mat VD = V*diagmat(sqrt(d));
+ Rq = SuInvSigmaQ * Su + R;
+ rq = SuInvSigmaQ * (Xi_hat - Sx * x0);
- arma::vec t_x = fb2ui(arma::vec({VD.col(0)(0), VD.col(1)(0)}), window_size);
- arma::vec t_y = fb2ui(arma::vec({VD.col(0)(1), VD.col(1)(1)}), window_size);
+ // Least squares solution
+ vec u = pinv(Rq) * rq;;
+ mat Y = reshape(Sx * x0 + Su * u, cDim, n);
- t2d->x.x = t_x(0);
- t2d->x.y = t_x(1);
- t2d->y.x = t_y(0);
- t2d->y.y = t_y(1);
+ return Y.rows(0, parameters.nb_dimensions - 1) / parameters.global_scale;
}
-//-----------------------------------------------
-void draw(const arma::mat& pts, int primitive=GL_LINE_STRIP)
-{
- glBegin(primitive);
- for (uint t=0; t<pts.n_cols; t++){
- glVertex2f(pts(0,t), pts(1,t));
- }
- glEnd();
+/****************************** HELPER FUNCTIONS *****************************/
+
+static void error_callback(int error, const char* description){
+ fprintf(stderr, "Error %d: %s\n", error, description);
}
//-----------------------------------------------
-arma::mat gradient_2d( arma::mat X, int order=1 )
-{
+arma::mat gradient_2d(arma::mat X, int order = 1) {
mat df = diff(X, 1, 1);
- mat db = fliplr( -diff(fliplr(X), 1, 1) );
- mat d = (df+db)/2;
- d = join_horiz(zeros(2,1), d);
+ mat db = fliplr(-diff(fliplr(X), 1, 1));
+
+ mat d = (df + db) / 2;
+ d = join_horiz(zeros(2, 1), d);
d.col(0) = df.col(0);
- d.col(d.n_cols-1) = db.col(db.n_cols-1);
- if(order>1)
- return gradient_2d(d, order-1);
+ d.col(d.n_cols - 1) = db.col(db.n_cols - 1);
+
+ if(order > 1)
+ return gradient_2d(d, order - 1);
+
return d;
}
//-----------------------------------------------
-void plot( float x, float y, float w, float h, const vec& v )
-{
+void plot(float x, float y, float w, float h, const vec& v, const fvec& color) {
float v_min = v.min();
float v_max = v.max();
- float inc = w / v.n_rows;
- glBegin(GL_LINE_STRIP);
- for (int i=0; i < v.n_rows; i++)
- {
- glVertex2f(x + inc*i, y - h * ((v[i] - v_min) / (v_max - v_min)));
- }
- glEnd();
-}
-
-//-----------------------------------------------
-
-void drawGauss(ui::Trans2d& t2d, const window_size_t& window_size)
-{
- static arma::mat circ(2,35);
- static bool circ_init = true;
- if(circ_init)
- {
- circ = join_cols(cos(linspace<rowvec>(0,2*datum::pi,35)),
- sin(linspace<rowvec>(0,2*datum::pi,35)));
- circ_init = false;
- }
-
- arma::vec t_x = ui2fb(arma::vec({t2d.x.x, t2d.x.y}), window_size);
- arma::vec t_y = ui2fb(arma::vec({t2d.y.x, t2d.y.y}), window_size);
- arma::mat basis = arma::mat{{t_x(0), t_y(0)}, {t_x(1), t_y(1)}};
+ mat points(2, v.n_rows);
+ points(0, span::all) = linspace<vec>(0, w, v.n_rows).t() + x;
+ points(1, span::all) = (v.t() - v_min) / (v_max - v_min) * h + y;
- vec mu = ui2fb(vec({t2d.pos.x, t2d.pos.y}), window_size);
-
- arma::mat pts = basis * circ + arma::repmat(mu, 1, 35);
-
- glBegin(GL_TRIANGLE_FAN);
- glVertex2f(mu(0), mu(1));
- for (uint t=0; t<pts.n_cols; t++){
- glVertex2f(pts(0,t), pts(1,t));
- }
- glEnd();
+ gfx2::draw_line(color, points);
}
//-----------------------------------------------
-arma::mat semitiedBasis( const arma::vec& params )
-{
+arma::mat semitiedBasis(const arma::vec& params) {
float t1 = params[0];
float t2 = params[1];
return {{cos(t1), cos(t2)}, {sin(t1), sin(t2)}};
@@ -184,40 +148,46 @@ arma::mat semitiedBasis( const arma::vec& params )
//-----------------------------------------------
-arma::mat semitiedSigma( const arma::vec& params )
-{
+arma::mat semitiedSigma(const arma::vec& params) {
float h = params[2];
arma::mat H = semitiedBasis(params);
- return H*H.t()*h*h;
+
+ arma::mat sigma = H * H.t() * h * h;
+
+ // This is needed to compensate the fact that the coordinates system of the UI
+ // and OpenGL are inverted on the Y axis
+ sigma(0, 1) = -sigma(0, 1);
+ sigma(1, 0) = -sigma(1, 0);
+
+ return sigma;
}
//-----------------------------------------------
-arma::cube semitiedCovariances( const arma::mat& Mu, const arma::vec& params )
-{
+arma::cube semitiedCovariances(const arma::mat& Mu, const arma::vec& params) {
int m = Mu.n_cols;
arma::cube Sigma = arma::zeros(2,2,m);
arma::mat sigm = semitiedSigma(params);
- for( int i = 0; i < m; i++ )
- {
+
+ for (int i = 0; i < m; i++)
Sigma.slice(i) = sigm;
- }
+
return Sigma;
}
//-----------------------------------------------
arma::vec semitiedWidget(int id, arma::vec params, const arma::vec& pos,
- const window_size_t& window_size, float minLength=2.0,
- float maxLength=500.0)
-{
+ const gfx2::window_size_t& window_size, float minLength=2.0,
+ float maxLength=500.0) {
+
float h = params[2] * (float) window_size.win_height / window_size.fb_height;
arma::vec theta = params.subvec(0,1);
- for( int i = 0; i < 2; i++ )
- {
- ImVec2 theta_length = ui::lengthHandle(id+i, ImVec2(theta[i], h), 0.0, pos,
- ImVec2(-1000.0, minLength),
- ImVec2(1000.0, maxLength)
+
+ for (int i = 0; i < 2; i++) {
+ ImVec2 theta_length = ui::lengthHandle(
+ id + i, ImVec2(theta[i], h), 0.0, pos,
+ ImVec2(-1000.0, minLength), ImVec2(1000.0, maxLength)
);
params[i] = theta_length.x;
h = theta_length.y;
@@ -228,76 +198,98 @@ arma::vec semitiedWidget(int id, arma::vec params, const arma::vec& pos,
params[2] = h;
// draw ellipse
- static arma::mat circ(2,35);
+ static arma::mat circ(2, 35);
static bool circ_init = true;
- if(circ_init)
- {
- circ = join_cols(cos(linspace<rowvec>(0,2*datum::pi,35)),
- sin(linspace<rowvec>(0,2*datum::pi,35)));
+ if (circ_init) {
+ circ = join_cols(cos(linspace<rowvec>(0, 2 * datum::pi, 35)),
+ sin(linspace<rowvec>(0, 2 * datum::pi, 35)));
circ_init = false;
}
+
arma::mat basis = semitiedBasis(params);
- arma::mat pts = basis*circ*h + arma::repmat(ui2fb(pos, window_size), 1, 35);
- glColor4f(1.0,0.0,0.0,1.0);
- draw(pts);
- return params;
-}
-//-----------------------------------------------
+ arma::mat pts = basis * circ * h;
-int main(int argc, char **argv){
+ // This is needed to compensate the fact that the coordinates system of the UI
+ // and OpenGL are inverted on the Y axis
+ pts.row(1) = -pts.row(1);
- arma_rng::set_seed_random();
+ pts = pts + arma::repmat(ui2fb_centered(pos, window_size), 1, 35);
- //--------------- Setup parameters ---------------
+ gfx2::draw_line(fvec({ 1.0f, 0.0f, 0.0f }), pts);
- double dt = 0.01;
- int order = 4;
+ return params;
+}
- int m = 4; // Number of targets
- double globScale = 0.001; // global scale, avoids numerical issues in batch method
- double endWeight = 1.; //1e-10; // forces movement to a stop (see stepwiseReference function)
- float d=0.05; // maximum displacement, used to compute R diagonal
- float stroke_duration=0.3; // duration of a stroke
+/******************************* MAIN FUNCTION *******************************/
+int main(int argc, char **argv){
+
+ arma_rng::set_seed_random();
+
+ // Parameters
+ parameters_t parameters;
+ parameters.nb_targets = 4;
+ parameters.nb_dimensions = 2;
+ parameters.order = 4;
+ parameters.global_scale = 0.001;
+ parameters.end_weight = 1.;
+ parameters.maximum_displacement = 0.05;
+ parameters.stroke_duration = 0.3;
+ parameters.dt = 0.01;
- //--------------- Setup of the rendering ---------------
// Take 4k screens into account (framebuffer size != window size)
- window_size_t window_size;
+ gfx2::window_size_t window_size;
window_size.win_width = 800;
window_size.win_height = 800;
window_size.fb_width = -1; // Will be known later
window_size.fb_height = -1;
- //Setup GUI
+
+ // Initialise GLFW
glfwSetErrorCallback(error_callback);
+
if (!glfwInit())
- exit(1);
+ return -1;
+
+ glfwWindowHint(GLFW_SAMPLES, 4);
+ glfwWindowHint(GLFW_CONTEXT_VERSION_MAJOR, 2);
+ glfwWindowHint(GLFW_CONTEXT_VERSION_MINOR, 1);
+ // Open a window and create its OpenGL context
GLFWwindow* window = create_window_at_optimal_size(
"Demo Semitied MPC", window_size.win_width, window_size.win_height
);
glfwMakeContextCurrent(window);
- //Setup ImGui
+
+ // Setup GLSL
+ gfx2::init();
+ glEnable(GL_DEPTH_TEST);
+ glEnable(GL_CULL_FACE);
+ glEnable(GL_LINE_SMOOTH);
+ glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
+
+ // Setup ImGui
ImGui::CreateContext();
ImGui_ImplGlfwGL2_Init(window, true);
- ImVec4 clear_color = ImColor(255, 255, 255);
- //--------------- Main loop ---------------
-
// Targets
mat Mu;
+ cube Sigma;
- // semi tied parameters (theta1, theta2, h)
+ // Semi-tied parameters (theta1, theta2, h)
arma::vec semitied_params;
+ // Main loop
FILE* eps_file = NULL;
bool saving_eps = false;
+ bool must_recompute = true;
+ mat trajectory;
while (!glfwWindowShouldClose(window)) {
glfwPollEvents();
@@ -318,22 +310,23 @@ int main(int argc, char **argv){
// screens into account)
if (first && (window_size.fb_width > 0)) {
- Mu = arma::randu(2, m);
- Mu.row(0) = Mu.row(0) * (window_size.fb_width - 200) + 100;
- Mu.row(1) = Mu.row(1) * (window_size.fb_height - 200) + 100;
+ Mu = randu(2, parameters.nb_targets);
+ Mu.row(0) = Mu.row(0) * (window_size.fb_width - 200) - (window_size.fb_width / 2 - 100);
+ Mu.row(1) = Mu.row(1) * (window_size.fb_height - 200) - (window_size.fb_height / 2 - 100);
semitied_params = {
0.0,
- datum::pi/2,
+ datum::pi / 2.0,
100.0 * (float) window_size.fb_height / window_size.win_height
};
}
}
+
// Start of rendering
ImGui_ImplGlfwGL2_NewFrame();
- if(saving_eps)
+ if (saving_eps)
{
eps_file = fopen("out.eps", "wb");
gl2psBeginPage("grab", "gl2psTestSimple", NULL, GL2PS_EPS, GL2PS_SIMPLE_SORT,
@@ -342,159 +335,125 @@ int main(int argc, char **argv){
}
glViewport(0, 0, window_size.fb_width, window_size.fb_height);
- glClearColor(clear_color.x, clear_color.y, clear_color.z, clear_color.w);
- glClear(GL_COLOR_BUFFER_BIT);
+ glClearColor(1.0f, 1.0f, 1.0f, 0.0f);
+ glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
- setOrtho(window_size.fb_width, window_size.fb_height);
+ glMatrixMode(GL_PROJECTION);
+ glLoadIdentity();
+ glOrtho(-window_size.fb_width / 2, window_size.fb_width / 2,
+ -window_size.fb_height / 2, window_size.fb_height / 2, -1.0f, 1.0f);
+ glMatrixMode(GL_MODELVIEW);
+ glLoadIdentity();
- //Model rendering
glPushMatrix();
- // Gauss UI
+
+ // Gaussian UI
ui::begin("Gaussian");
arma::vec mu;
arma::mat Sigm;
// Drag only target means
- for( int i = 0; i < m; i++ )
- Mu.col(i) = ui2fb((arma::vec) ui::dragger(i, fb2ui(Mu.col(i), window_size)), window_size);
-
- // manipulate semitied covariance
- semitied_params = semitiedWidget(m, semitied_params, {100, 100}, window_size);
- // Setup cov states
- cube Sigma = semitiedCovariances(Mu, semitied_params);
+ for (int i = 0; i < parameters.nb_targets; i++) {
+ vec mu = ui2fb_centered((arma::vec) ui::dragger(i, fb2ui_centered(Mu.col(i), window_size)), window_size);
+ must_recompute = must_recompute || (norm(mu - Mu.col(i)) > 1e-6);
+ Mu.col(i) = mu;
+ }
- std::vector<ui::Trans2d> t2ds(m, ui::Trans2d());
- for( int i = 0; i < m; i++ )
- gauss_to_trans2d(&t2ds[i], Mu.col(i), Sigma.slice(i), window_size);
+ // Manipulate semitied covariance
+ semitied_params = semitiedWidget(parameters.nb_targets, semitied_params, {100, 100}, window_size);
- ui::end();
+ // Setup cov states
+ cube new_sigma = semitiedCovariances(Mu, semitied_params);
+ for (int i = 0; !must_recompute && (i < parameters.nb_targets); i++)
+ must_recompute = (norm(new_sigma.slice(i) - Sigma.slice(i)) > 1e-6);
- // Parameters window
- int winw = 360;
- ImGui::SetNextWindowPos(ImVec2(window_size.win_width - winw, 2));
- ImGui::Begin("Params", NULL, ImVec2(winw,84), 0.5f,
- ImGuiWindowFlags_NoTitleBar|ImGuiWindowFlags_NoResize|
- ImGuiWindowFlags_NoMove|ImGuiWindowFlags_NoSavedSettings);
+ Sigma = new_sigma;
- if(ImGui::Button("Save EPS"))
- saving_eps = true;
-
- ImGui::SliderInt("Order", &order, 2, 7);
- ImGui::SliderFloat("Max Displacement", &d, 0.01, 5.);
- ImGui::End();
+ ui::end();
- // Recompute LQR
- int dim = 2;
- double duration = stroke_duration * m;
- int n = (int)(duration/dt);
- int cDim = dim * order;
-
- // system matrices
- mat A, B;
- makeIntegratorChain(&A, &B, order);
- discretizeSystem(&A, &B, A, B, dt);
- // make bi-variate
- A = kron(A, eye(dim, dim));
- B = kron( B, eye(dim, dim) );
-
- // reference
- mat Q, MuQ;
- stepwiseReference( &MuQ, &Q, Mu, Sigma, n, order, dim, endWeight );
- MuQ *= globScale;
- Q /= globScale*globScale;
-
- // r based on oscillatory movement displacement
- double r = SHM_r(d, stroke_duration, order);
- mat R = kron( eye(n-1, n-1),
- eye(dim, dim) * r );
-
- ////////////////////////////////////
- // Batch LQR
-
- // Sx and Su matrices for batch LQR
- mat Su = zeros(cDim*n, dim*(n-1));
- mat Sx = kron( ones(n,1),
- eye(dim*order, dim*order));
- mat M = B;
- for( int i = 1; i < n; i++ )
- {
- Sx.rows( i*cDim, n*cDim-1 ) =
- Sx.rows( i*cDim, n*cDim-1 ) * A;
- Su.submat( i*cDim, 0,
- (i+1)*cDim-1, i*dim-1 ) = M;
- M = join_horiz( A*M.cols(0, dim-1), M );
+ // Recompute the LQR when needed
+ if (must_recompute && !ImGui::IsMouseDown(GLFW_MOUSE_BUTTON_1)) {
+ trajectory = compute_LQR(parameters, Mu, Sigma);
+ must_recompute = false;
}
- arma::vec x0 = MuQ.col(0);
-
- // Flatten Mu's
- mat Xi_hat = reshape(MuQ, cDim*n, 1);
- mat SuInvSigmaQ = Su.t()*Q;
-
- mat Rq, rq;
- Rq = SuInvSigmaQ*Su + R;
- rq = SuInvSigmaQ*(Xi_hat - Sx*x0);
-
- // least squares solution
- vec u = solve(Rq,rq);
- mat Y = reshape( Sx*x0 + Su*u, cDim, n );
- mat Xi = Y.submat(0,0, dim-1, n-1) / globScale;
-
- //////////////////////////////////////
-
- glEnable( GL_BLEND );
- glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
+ // Draw the gaussians
+ for( int i = 0; i < parameters.nb_targets; i++ ) {
+ glClear(GL_DEPTH_BUFFER_BIT);
+ gfx2::draw_gaussian_background(fvec({ 0.0f, 0.5f, 1.0f }), Mu.col(i), Sigma.slice(i));
+ }
+ glClear(GL_DEPTH_BUFFER_BIT);
- // draw gaussians
- glColor4f(0.0, 0.5f, 1.0f, 0.2f);
- for( int i = 0; i < m; i++ )
- drawGauss(t2ds[i], window_size);
+ // Draw the motor plan
+ glColor3f(0.5, 0.5 ,0.5);
+ gfx2::draw_line(fvec({ 0.5f, 0.5f, 0.5f }), Mu);
- // draw trajectory
- glColor3f(0, 0, 1);
- draw(Xi);
+ // Draw the trajectory
+ gfx2::draw_line(fvec({ 0.0f, 0.0f, 1.0f }), trajectory);
- // plot derivatives magnitude
+ // Plot derivatives magnitude
int plot_width = 200 * window_size.fb_width / window_size.win_width;
int plot_height = 100 * window_size.fb_height / window_size.win_height;
- int plot_y = window_size.fb_height - 25 * window_size.fb_height / window_size.win_height;
+ int plot_x = -window_size.fb_width / 2;
+ int plot_y = -window_size.fb_height / 2 + 25 * window_size.fb_height / window_size.win_height;
- glColor3f(1,0,0);
- mat dx = gradient_2d(Xi, 1);
- vec speed = sqrt(sum(dx%dx, 0)).t();
- plot(0, plot_y, plot_width, plot_height, speed);
+ mat dx = gradient_2d(trajectory, 1);
+ vec speed = sqrt(sum(dx % dx, 0)).t();
+ plot(plot_x, plot_y, plot_width, plot_height, speed, {1.0f, 0.0f, 0.0f});
ui::begin("Text");
ui::text(ImVec2(10, window_size.win_height - 25), "velocity magnitude",
- ImVec4(1,0,0,1));
+ ImVec4(1, 0, 0, 1));
ui::end();
- glColor3f(0,0,1);
- dx = gradient_2d(Xi, 2);
- speed = sqrt(sum(dx%dx, 0)).t();
- plot(plot_width, plot_y, plot_width, plot_height, speed);
+ dx = gradient_2d(trajectory, 2);
+ speed = sqrt(sum(dx % dx, 0)).t();
+ plot(plot_x + plot_width, plot_y, plot_width, plot_height, speed, {0.0f, 0.0f, 1.0f});
ui::begin("Text");
ui::text(ImVec2(200 + 10, window_size.win_height - 25), "acceleration magnitude",
- ImVec4(0,0,1,1));
+ ImVec4(0, 0, 1, 1));
ui::end();
- glColor3f(0,0.5,0);
- dx = gradient_2d(Xi, 3);
- speed = sqrt(sum(dx%dx, 0)).t();
- plot(2 * plot_width, plot_y, plot_width, plot_height, speed);
+ dx = gradient_2d(trajectory, 3);
+ speed = sqrt(sum(dx % dx, 0)).t();
+ plot(plot_x + 2 * plot_width, plot_y, plot_width, plot_height, speed, {0.0f, 0.5f, 0.0f});
ui::begin("Text");
ui::text(ImVec2(400 + 10, window_size.win_height - 25), "jerk magnitude",
- ImVec4(0,0.5,0,1));
+ ImVec4(0, 0.5, 0, 1));
ui::end();
glPopMatrix();
+
+ // Parameters window
+ int winw = 360;
+ ImGui::SetNextWindowPos(ImVec2(window_size.win_width - winw, 2));
+ ImGui::Begin("Params", NULL, ImVec2(winw, 86), 0.5f,
+ ImGuiWindowFlags_NoTitleBar|ImGuiWindowFlags_NoResize|
+ ImGuiWindowFlags_NoMove|ImGuiWindowFlags_NoSavedSettings
+ );
+
+ if (ImGui::Button("Save EPS"))
+ saving_eps = true;
+
+ int previous_order = parameters.order;
+ float previous_maximum_displacement = parameters.maximum_displacement;
+
+ ImGui::SliderInt("Order", ¶meters.order, 2, 7);
+ ImGui::SliderFloat("Max Displacement", ¶meters.maximum_displacement, 0.01, 5.);
+ ImGui::End();
+
+ must_recompute = must_recompute ||
+ (parameters.order != previous_order) ||
+ !gfx2::is_close(parameters.maximum_displacement, previous_maximum_displacement);
+
+
// Render UI
ImGui::Render();
ImGui_ImplGlfwGL2_RenderDrawData(ImGui::GetDrawData());
@@ -504,19 +463,20 @@ int main(int argc, char **argv){
glFlush();
gl2psEndPage();
fclose(eps_file);
- eps_file=NULL;
- saving_eps=false;
+ eps_file = NULL;
+ saving_eps = false;
}
glfwSwapBuffers(window);
- //Keyboard input
+ // Keyboard input
if (ImGui::IsKeyPressed(GLFW_KEY_ESCAPE))
break;
}
- //Cleanup
+ // Cleanup
ImGui_ImplGlfwGL2_Shutdown();
glfwTerminate();
+
return 0;
}
diff --git a/src/demo_MPC_velocity01.cpp b/src/demo_MPC_velocity01.cpp
index f4eb36c..69677ca 100644
--- a/src/demo_MPC_velocity01.cpp
+++ b/src/demo_MPC_velocity01.cpp
@@ -3,251 +3,298 @@
*
* Interactive MPC demo, with batch LQT and repulsive field test
*
- * Fabien Crépon, Sylvain Calinon, 2017
+ * Fabien Crépon, Philip Abbet, Sylvain Calinon, 2017
*/
#include <stdio.h>
-#include <imgui.h>
-#include <imgui_impl_glfw_gl2.h>
+#include <armadillo>
+#include <mpc_utils.h>
+
+#include <gfx2.h>
#include <gfx_ui.h>
#include <GLFW/glfw3.h>
+#include <imgui.h>
+#include <imgui_impl_glfw_gl2.h>
#include <window_utils.h>
-#include <armadillo>
-#include <mpc_utils.h>
-
using namespace arma;
-//-------------------------------------------------------------------------
-// Holds the sizes of the window and of the OpenGL front-buffer (they might
-// be different, for instance on a 4K screen)
-//-------------------------------------------------------------------------
-struct window_size_t {
- int win_width;
- int win_height;
- int fb_width;
- int fb_height;
+/***************************** ALGORITHM SECTION *****************************/
+
+//-----------------------------------------------------------------------------
+// Contains all the parameters used by the algorithm. Some of them are
+// modifiable through the UI, others are hard-coded.
+//-----------------------------------------------------------------------------
+struct parameters_t {
+ int nb_targets; // Number of gaussians
+ int nb_repulsive_gaussians; // Number of repulsive gaussians
+ int nb_dimensions;
+ int order;
+ double global_scale; // global scale, avoids numerical issues in batch method
+ double end_weight; // forces movement to a stop (see stepwiseReference function)
+ float maximum_displacement; // maximum displacement, used to compute R diagonal
+ float stroke_duration; // duration of a stroke
+ float covscale; // hack, field covariance scaling factor
+ int field_derivative; // derivative used for additional field
+ bool use_field;
+ bool stepwise;
+ double dt;
};
-//-------------------------------------------------------------------------
-// Converts some coordinates from UI-space to OpenGL-space
-//
-// UI coordinates range from (0, 0) to (win_width, win_height)
-// OpenGL coordinates range from (0, 0) to (fb_width, fb_height)
-//-------------------------------------------------------------------------
-arma::vec ui2fb(const arma::vec& coords, const window_size_t& window_size) {
- arma::vec result = coords;
+//-----------------------------------------------
- result(0) = coords(0) * (float) window_size.fb_width / (float) window_size.win_width;
- result(1) = coords(1) * (float) window_size.fb_height / (float) window_size.win_height;
+mat compute_LQR(const parameters_t& parameters, const mat& Mu, const cube& Sigma,
+ const mat& Mu_repulsive, const cube& Sigma_repulsive) {
+
+ const double duration = parameters.stroke_duration * parameters.nb_targets;
+ const int n = (int) (duration / parameters.dt);
+ const int cDim = parameters.nb_dimensions * parameters.order;
+
+ // Integration with higher order Taylor series expansion
+ mat A, B;
+ makeIntegratorChain(&A, &B, parameters.order);
+ discretizeSystem(&A, &B, A, B, parameters.dt);
+ A = kron(A, eye(parameters.nb_dimensions, parameters.nb_dimensions));
+ B = kron(B, eye(parameters.nb_dimensions, parameters.nb_dimensions));
+
+ // Reference
+ mat Q, MuQ;
+
+ if (parameters.stepwise) {
+ stepwiseReference(&MuQ, &Q, Mu, Sigma, n, parameters.order,
+ parameters.nb_dimensions, parameters.end_weight);
+ } else {
+ viaPointReference(&MuQ, &Q, Mu, Sigma, n, parameters.order,
+ parameters.nb_dimensions, parameters.end_weight);
+ }
- return result;
-}
+ MuQ *= parameters.global_scale;
+ Q /= parameters.global_scale * parameters.global_scale;
-//-------------------------------------------------------------------------
-// Converts some coordinates from OpenGL-space to UI-space
-//
-// OpenGL coordinates range from (0, 0) to (fb_width, fb_height)
-// UI coordinates range from (0, 0) to (win_width, win_height)
-//-------------------------------------------------------------------------
-arma::vec fb2ui(const arma::vec& coords, const window_size_t& window_size) {
- arma::vec result = coords;
+ // r based on oscillatory movement displacement
+ double r = SHM_r(parameters.maximum_displacement, parameters.stroke_duration,
+ parameters.order);
- result(0) = coords(0) * (float) window_size.win_width / (float) window_size.fb_width;
- result(1) = coords(1) * (float) window_size.win_height / (float) window_size.fb_height;
+ mat R = kron(eye(n - 1, n - 1), eye(parameters.nb_dimensions, parameters.nb_dimensions) * r);
- return result;
-}
+ ////////////////////////////////////
+ // Batch LQR
-//-----------------------------------------------
+ // Sx and Su matrices for batch LQR
+ mat Su = zeros(cDim * n, parameters.nb_dimensions * (n - 1));
+ mat Sx = kron(ones(n, 1),
+ eye(parameters.nb_dimensions * parameters.order,
+ parameters.nb_dimensions * parameters.order)
+ );
+ mat M = B;
+ for (int i = 1; i < n; i++) {
+ Sx.rows(i * cDim, n * cDim - 1) = Sx.rows(i * cDim, n * cDim - 1) * A;
+ Su.submat(i * cDim, 0, (i + 1) * cDim - 1, i * parameters.nb_dimensions - 1) = M;
+ M = join_horiz(A * M.cols(0, parameters.nb_dimensions - 1), M);
+ }
-static void error_callback(int error, const char* description){
- fprintf(stderr, "Error %d: %s\n", error, description);
-}
+ arma::vec x0 = MuQ.col(0);
-//-----------------------------------------------
+ // Flatten Mu's
+ mat Xi_hat = reshape(MuQ, cDim * n, 1);
-void setOrtho( float w, float h )
-{
- glMatrixMode( GL_PROJECTION );
- glLoadIdentity();
- glOrtho( 0, 0+w, 0+h, 0, -1., 1.);
- glMatrixMode( GL_MODELVIEW );
- glLoadIdentity();
-}
+ mat SuInvSigmaQ = Su.t() * Q;
-//-----------------------------------------------
+ mat Rq = SuInvSigmaQ * Su + R;
+ mat rq = SuInvSigmaQ * (Xi_hat - Sx * x0);
-void trans2d_to_gauss(arma::vec* mu, arma::mat* Sigma, const ui::Trans2d& t2d,
- const window_size_t& window_size)
-{
- arma::vec t_x = ui2fb(arma::vec({t2d.x.x, t2d.x.y}), window_size);
- arma::vec t_y = ui2fb(arma::vec({t2d.y.x, t2d.y.y}), window_size);
+ // Repulsive field
+ if (parameters.use_field) {
+ int deriv = std::min(parameters.field_derivative, parameters.order - 2);
- arma::mat basis = arma::mat{{t_x(0), t_y(0)}, {t_x(1), t_y(1)}};
- *Sigma = basis * basis.t();
- *mu = ui2fb(arma::vec({t2d.pos.x, t2d.pos.y}), window_size);
-}
+ for (int i = 0; i < Sigma_repulsive.n_slices; ++i) {
+ mat MuQ_repulsive = repmat(Mu_repulsive.col(i), 1, n);
+ mat invSigma_repulsive = zeros(cDim, cDim);
-//-----------------------------------------------
+ invSigma_repulsive(span(parameters.nb_dimensions * deriv, parameters.nb_dimensions * deriv + 1),
+ span(parameters.nb_dimensions * deriv, parameters.nb_dimensions * deriv + 1)) =
+ inv(Sigma_repulsive.slice(i) * parameters.covscale * parameters.covscale);
-void gauss_to_trans2d(ui::Trans2d *t2d, const arma::vec& mu, const arma::mat& Sigma,
- const window_size_t& window_size)
-{
- arma::vec ui_mu = fb2ui(mu, window_size);
+ mat Q_repulsive = kron(eye(n, n), invSigma_repulsive);
- t2d->pos.x = ui_mu(0);
- t2d->pos.y = ui_mu(1);
+ mat Xi_hat_repulsive = reshape(MuQ_repulsive, cDim * n, 1);
+ mat SuInvSigmaQ_repulsive = Su.t() * Q_repulsive;
- arma::mat V;
- arma::vec d;
- arma::eig_sym(d, V, Sigma);
- arma::mat VD = V*diagmat(sqrt(d));
+ Rq = Rq + SuInvSigmaQ_repulsive * Su;
+ rq = rq + SuInvSigmaQ_repulsive * (Xi_hat_repulsive - Sx * x0);
+ }
+ }
- arma::vec t_x = fb2ui(arma::vec({VD.col(0)(0), VD.col(1)(0)}), window_size);
- arma::vec t_y = fb2ui(arma::vec({VD.col(0)(1), VD.col(1)(1)}), window_size);
+ // Least squares solution
+ vec u = pinv(Rq) * rq;;
+ mat Y = reshape(Sx * x0 + Su * u, cDim, n);
- t2d->x.x = t_x(0);
- t2d->x.y = t_x(1);
- t2d->y.x = t_y(0);
- t2d->y.y = t_y(1);
+ return Y.rows(0, parameters.nb_dimensions - 1) / parameters.global_scale;
}
-//-----------------------------------------------
-void draw(const arma::mat& pts, int primitive=GL_LINE_STRIP)
-{
- glBegin(primitive);
- for (uint t=0; t<pts.n_cols; t++){
- glVertex2f(pts(0,t), pts(1,t));
- }
- glEnd();
+/****************************** HELPER FUNCTIONS *****************************/
+
+static void error_callback(int error, const char* description){
+ fprintf(stderr, "Error %d: %s\n", error, description);
}
//-----------------------------------------------
-arma::mat gradient_2d( arma::mat X, int order=1 )
-{
- mat df = diff(X, 1, 1);
- mat db = fliplr( -diff(fliplr(X), 1, 1) );
- mat d = (df+db)/2;
- d = join_horiz(zeros(2,1), d);
- d.col(0) = df.col(0);
- d.col(d.n_cols-1) = db.col(db.n_cols-1);
- if(order>1)
- return gradient_2d(d, order-1);
- return d;
-}
+std::tuple<vec, mat> trans2d_to_gauss(const ui::Trans2d& gaussian_transforms,
+ const gfx2::window_size_t& window_size) {
-//-----------------------------------------------
+ vec mu = gfx2::ui2fb_centered(vec({ gaussian_transforms.pos.x, gaussian_transforms.pos.y }),
+ window_size);
-void plot( float x, float y, float w, float h, const vec& v )
-{
- float v_min = v.min();
- float v_max = v.max();
- float inc = w / v.n_rows;
- glBegin(GL_LINE_STRIP);
- for (int i=0; i < v.n_rows; i++)
- {
- glVertex2f(x + inc*i, y - h * ((v[i] - v_min) / (v_max - v_min)));
- }
- glEnd();
+ vec t_x({
+ gaussian_transforms.x.x * window_size.scale_x(),
+ gaussian_transforms.x.y * window_size.scale_y()
+ });
+
+ vec t_y({
+ gaussian_transforms.y.x * window_size.scale_x(),
+ gaussian_transforms.y.y * window_size.scale_y()
+ });
+
+ mat RG = {
+ { t_x(0), t_y(0) },
+ { -t_x(1), -t_y(1) }
+ };
+
+ mat sigma = RG * RG.t();
+
+ return std::make_tuple(mu, sigma);
}
//-----------------------------------------------
-void drawGauss(ui::Trans2d& t2d, const window_size_t& window_size)
-{
- static arma::mat circ(2,35);
- static bool circ_init = true;
- if(circ_init)
- {
- circ = join_cols(cos(linspace<rowvec>(0,2*datum::pi,35)),
- sin(linspace<rowvec>(0,2*datum::pi,35)));
- circ_init = false;
- }
+void gauss_to_trans2d(const vec& mu, const mat& sigma,
+ const gfx2::window_size_t& window_size, ui::Trans2d &t2d) {
- arma::vec t_x = ui2fb(arma::vec({t2d.x.x, t2d.x.y}), window_size);
- arma::vec t_y = ui2fb(arma::vec({t2d.y.x, t2d.y.y}), window_size);
+ vec ui_mu = gfx2::fb2ui_centered(mu, window_size);
- arma::mat basis = arma::mat{{t_x(0), t_y(0)}, {t_x(1), t_y(1)}};
+ t2d.pos.x = ui_mu(0);
+ t2d.pos.y = ui_mu(1);
- vec mu = ui2fb(vec({t2d.pos.x, t2d.pos.y}), window_size);
+ mat V;
+ vec d;
+ eig_sym(d, V, sigma);
+ mat VD = V * diagmat(sqrt(d));
- arma::mat pts = basis * circ + arma::repmat(mu, 1, 35);
+ t2d.x.x = VD.col(0)(0) / window_size.scale_x();
+ t2d.x.y = VD.col(1)(0) / window_size.scale_y();
+ t2d.y.x = VD.col(0)(1) / window_size.scale_x();
+ t2d.y.y = VD.col(1)(1) / window_size.scale_y();
+}
- glBegin(GL_TRIANGLE_FAN);
- glVertex2f(mu(0), mu(1));
- for (uint t=0; t<pts.n_cols; t++){
- glVertex2f(pts(0,t), pts(1,t));
- }
- glEnd();
+//-----------------------------------------------
+
+arma::mat gradient_2d(arma::mat X, int order = 1) {
+ mat df = diff(X, 1, 1);
+ mat db = fliplr(-diff(fliplr(X), 1, 1));
+
+ mat d = (df + db) / 2;
+ d = join_horiz(zeros(2, 1), d);
+ d.col(0) = df.col(0);
+ d.col(d.n_cols - 1) = db.col(db.n_cols - 1);
+
+ if(order > 1)
+ return gradient_2d(d, order - 1);
+
+ return d;
}
//-----------------------------------------------
-int main(int argc, char **argv){
+void plot(float x, float y, float w, float h, const vec& v, const fvec& color) {
+ float v_min = v.min();
+ float v_max = v.max();
- arma_rng::set_seed_random();
+ mat points(2, v.n_rows);
+ points(0, span::all) = linspace<vec>(0, w, v.n_rows).t() + x;
+ points(1, span::all) = (v.t() - v_min) / (v_max - v_min) * h + y;
- //--------------- Setup parameters ---------------
+ gfx2::draw_line(color, points);
+}
- double dt = 0.01;
- int order = 3;
- int m = 4; // Number of targets
- double globScale = 0.001; // global scale, avoids numerical issues in batch method
- double endWeight = 1.; //1e-10; // forces movement to a stop (see stepwiseReference function)
+/******************************* MAIN FUNCTION *******************************/
- float d=0.1; // maximum displacement, used to compute R diagonal
- float stroke_duration=0.3; // duration of a stroke
- float covscale = 1.0; // hack, field covariance scaling factor
- int fieldDeriv=1; // derivative used for additional field
+int main(int argc, char **argv){
- // Gui settings
- bool useField = true;
- bool stepwise = false;
+ arma_rng::set_seed_random();
+ // Parameters
+ parameters_t parameters;
+ parameters.nb_targets = 4;
+ parameters.nb_repulsive_gaussians = 1;
+ parameters.nb_dimensions = 2;
+ parameters.order = 3;
+ parameters.global_scale = 0.001;
+ parameters.end_weight = 1.;
+ parameters.maximum_displacement = 0.1;
+ parameters.stroke_duration = 0.3;
+ parameters.covscale = 1.0;
+ parameters.field_derivative = 1;
+ parameters.use_field = true;
+ parameters.stepwise = false;
+ parameters.dt = 0.01;
- //--------------- Setup of the rendering ---------------
// Take 4k screens into account (framebuffer size != window size)
- window_size_t window_size;
+ gfx2::window_size_t window_size;
window_size.win_width = 800;
window_size.win_height = 800;
window_size.fb_width = -1; // Will be known later
window_size.fb_height = -1;
- //Setup GUI
+
+ // Initialise GLFW
glfwSetErrorCallback(error_callback);
+
if (!glfwInit())
- exit(1);
+ return -1;
+
+ glfwWindowHint(GLFW_SAMPLES, 4);
+ glfwWindowHint(GLFW_CONTEXT_VERSION_MAJOR, 2);
+ glfwWindowHint(GLFW_CONTEXT_VERSION_MINOR, 1);
+ // Open a window and create its OpenGL context
GLFWwindow* window = create_window_at_optimal_size(
"Demo Velocity MPC", window_size.win_width, window_size.win_height
);
glfwMakeContextCurrent(window);
- //Setup ImGui
+
+ // Setup GLSL
+ gfx2::init();
+ glEnable(GL_DEPTH_TEST);
+ glEnable(GL_CULL_FACE);
+ glEnable(GL_LINE_SMOOTH);
+ glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
+
+ // Setup ImGui
ImGui::CreateContext();
ImGui_ImplGlfwGL2_Init(window, true);
- ImVec4 clear_color = ImColor(255, 255, 255);
- //--------------- Main loop ---------------
-
// Covariances
- mat Mu;
- cube Sigma;
+ mat Mu = zeros(2, parameters.nb_targets);
+ cube Sigma = zeros(2, 2, parameters.nb_targets);
- mat Mu0;
- cube Sigma0;
+ mat Mu0 = zeros(2, parameters.nb_repulsive_gaussians);
+ cube Sigma0 = zeros(2, 2, parameters.nb_repulsive_gaussians);
// Gaussian widgets
- std::vector<ui::Trans2d> t2ds(m, ui::Trans2d());
- std::vector<ui::Trans2d> t2ds0(1, ui::Trans2d());
+ std::vector<ui::Trans2d> t2ds(parameters.nb_targets, ui::Trans2d());
+ std::vector<ui::Trans2d> t2ds0(parameters.nb_repulsive_gaussians, ui::Trans2d());
+
+ // Main loop
+ bool must_recompute = true;
+ mat trajectory;
while (!glfwWindowShouldClose(window)) {
glfwPollEvents();
@@ -267,247 +314,225 @@ int main(int argc, char **argv){
// At the very first frame: initialise the UI widgets of the gaussians
if (first && (window_size.fb_width > 0)) {
- Mu = arma::randu(2, m);
- Mu.row(0) = Mu.row(0) * (window_size.fb_width - 200) + 100;
- Mu.row(1) = Mu.row(1) * (window_size.fb_height - 200) + 100;
+ Mu = randu(2, parameters.nb_targets);
+ Mu.row(0) = Mu.row(0) * (window_size.fb_width - 200) - (window_size.fb_width / 2 - 100);
+ Mu.row(1) = Mu.row(1) * (window_size.fb_height - 200) - (window_size.fb_height / 2 - 100);
randomCovariances(
&Sigma, Mu,
- arma::vec({ 50 * (float) window_size.fb_width / window_size.win_width,
- 50 * (float) window_size.fb_height / window_size.win_height
+ vec({ 100 * (float) window_size.fb_width / window_size.win_width,
+ 100 * (float) window_size.fb_height / window_size.win_height
}),
- false, 0.0, 0.8
+ true, 0.0, 0.2
);
- Mu0 = arma::randu(2, 1);
- Mu0.row(0) = Mu0.row(0) * (window_size.fb_width - 200) + 100;
- Mu0.row(1) = Mu0.row(1) * (window_size.fb_height - 200) + 100;
+ Mu0 = randu(2, parameters.nb_repulsive_gaussians);
+ Mu0.row(0) = Mu0.row(0) * (window_size.fb_width - 200) - (window_size.fb_width / 2 - 100);
+ Mu0.row(1) = Mu0.row(1) * (window_size.fb_height - 200) - (window_size.fb_height / 2 - 100);
randomCovariances(
&Sigma0, Mu0,
- arma::vec({ 120 * (float) window_size.fb_width / window_size.win_width,
- 120 * (float) window_size.fb_height / window_size.win_height
+ vec({ 150 * (float) window_size.fb_width / window_size.win_width,
+ 150 * (float) window_size.fb_height / window_size.win_height
}),
- false, 0.0, 0.8
+ true, 0.0, 0.2
);
- for( int i = 0; i < t2ds.size(); i++ )
- gauss_to_trans2d(&t2ds[i], Mu.col(i), Sigma.slice(i), window_size);
-
- for( int i = 0; i < t2ds0.size(); i++ )
- gauss_to_trans2d(&t2ds0[i], Mu0.col(i), Sigma0.slice(i), window_size);
- }
- }
+ for (int i = 0; i < parameters.nb_targets; ++i) {
+ gauss_to_trans2d(Mu.col(i), Sigma.slice(i), window_size, t2ds[i]);
- // Start of rendering
- ImGui_ImplGlfwGL2_NewFrame();
+ fmat rotation = gfx2::rotate(fvec({ 0.0f, 0.0f, 1.0f }), randu() * 2 * datum::pi);
- glViewport(0, 0, window_size.fb_width, window_size.fb_height);
- glClearColor(clear_color.x, clear_color.y, clear_color.z, clear_color.w);
- glClear(GL_COLOR_BUFFER_BIT);
+ fvec x = rotation * fvec({ t2ds[i].x.x, t2ds[i].x.y, 0.0f, 0.0f });
+ t2ds[i].x.x = x(0);
+ t2ds[i].x.y = x(1);
- setOrtho(window_size.fb_width, window_size.fb_height);
+ fvec y = rotation * fvec({ t2ds[i].y.x, t2ds[i].y.y, 0.0f, 0.0f });
+ t2ds[i].y.x = y(0);
+ t2ds[i].y.y = y(1);
+ }
- //Model rendering
- glPushMatrix();
+ for (int i = 0; i < parameters.nb_repulsive_gaussians; ++i) {
+ gauss_to_trans2d(Mu0.col(i), Sigma0.slice(i), window_size, t2ds0[i]);
- // Gauss UI
- ui::begin("Gaussian");
- arma::vec mu;
- arma::mat Sigm;
+ fmat rotation = gfx2::rotate(fvec({ 0.0f, 0.0f, 1.0f }), randu() * 2 * datum::pi);
- for( int i = 0; i < t2ds.size(); i++ )
- {
- t2ds[i] = ui::affineSimple(i, t2ds[i]);
- trans2d_to_gauss(&mu, &Sigm, t2ds[i], window_size);
- Mu.col(i) = mu;
- Sigma.slice(i) = Sigm;
- }
+ fvec x = rotation * fvec({ t2ds0[i].x.x, t2ds0[i].x.y, 0.0f, 0.0f });
+ t2ds0[i].x.x = x(0);
+ t2ds0[i].x.y = x(1);
- // Velocity field Gaussians
- for( int i = 0; i < t2ds0.size(); i++ )
- {
- t2ds0[i] = ui::affineSimple(i+m, t2ds0[i]);
- trans2d_to_gauss(&mu, &Sigm, t2ds0[i], window_size);
- Mu0.col(i) = mu;
- Sigma0.slice(i) = Sigm;
+ fvec y = rotation * fvec({ t2ds0[i].y.x, t2ds0[i].y.y, 0.0f, 0.0f });
+ t2ds0[i].y.x = y(0);
+ t2ds0[i].y.y = y(1);
+ }
+ }
}
- ui::end();
-
-
- // Parameters window
- int winw = 400;
- ImGui::SetNextWindowPos(ImVec2(window_size.win_width - winw, 2));
- ImGui::Begin("Params", NULL, ImVec2(winw,154), 0.5f,
- ImGuiWindowFlags_NoTitleBar|ImGuiWindowFlags_NoResize|
- ImGuiWindowFlags_NoMove|ImGuiWindowFlags_NoSavedSettings);
- ImGui::SliderInt("Order", &order, 2, 7);
- ImGui::SliderInt("Field deriv", &fieldDeriv, 0, 4);
- ImGui::SliderFloat("covscale", &covscale, 0.1, 1.0);
- ImGui::SliderFloat("Max Displacement", &d, 0.01, 2.);
- ImGui::Checkbox("Use Field", &useField);
- ImGui::Checkbox("Stepwise", &stepwise);
- ImGui::End();
- // Recompute LQR
- int dim = 2;
- double duration = stroke_duration * m;
- int n = (int)(duration/dt);
- int cDim = dim * order;
-
- // system matrices
- mat A, B;
- makeIntegratorChain(&A, &B, order);
- discretizeSystem(&A, &B, A, B, dt);
- // make bi-variate
- A = kron(A, eye(dim, dim));
- B = kron( B, eye(dim, dim) );
-
- // reference
- mat Q, MuQ, Q0, MuQ0;
- if(stepwise)
- stepwiseReference( &MuQ, &Q, Mu, Sigma, n, order, dim, endWeight );
- else
- viaPointReference( &MuQ, &Q, Mu, Sigma, n, order, dim, endWeight );
- MuQ *= globScale;
- Q /= globScale*globScale;
-
- // velocity field
- int deriv=std::min(fieldDeriv, order-2);
- // Mu0 = zeros(cDim,1);
- MuQ0 = repmat(Mu0.col(0), 1, n);// * globScale;
- mat invSigma0 = zeros(cDim, cDim);
- invSigma0(span(dim*deriv, dim*deriv+1), span(dim*deriv, dim*deriv+1)) = inv(Sigma0.slice(0)*covscale*covscale);
- Q0 = kron(eye(n,n), invSigma0);// / (globScale*globScale);
-
- /*
- Q0 = zeros(cDim, cDim);
- Q0(span(0, dim-1), span(0, dim-1)) = inv(Sigma0.slice(0));
- Q0 = kron(eye(n,n), Q0) / (globScale*globScale);
- Q0 = (kron(ones(nbData,1), eye(model.nbVar)) * reshape(model0.invSigma(:,:,qList0), model.nbVar, model.nbVar*nbData)) .* kron(eye(nbData), ones(model.nbVar));
- */
- // Q0 = (kron(ones(n,1), eye(cDim, cDim)) * kron(ones(1,n), invSigma0)) % kron(eye(n,n), ones(cDim,cDim));
-
-
- // r based on oscillatory movement displacement
- double r = SHM_r(d, stroke_duration, order);
- mat R = kron( eye(n-1, n-1),
- eye(dim, dim) * r );
-
- ////////////////////////////////////
- // Batch LQR
-
- // Sx and Su matrices for batch LQR
- mat Su = zeros(cDim*n, dim*(n-1));
- mat Sx = kron( ones(n,1),
- eye(dim*order, dim*order));
- mat M = B;
- for( int i = 1; i < n; i++ )
- {
- Sx.rows( i*cDim, n*cDim-1 ) =
- Sx.rows( i*cDim, n*cDim-1 ) * A;
- Su.submat( i*cDim, 0,
- (i+1)*cDim-1, i*dim-1 ) = M;
- M = join_horiz( A*M.cols(0, dim-1), M );
+ // Recompute the LQR when needed
+ if (must_recompute && !ImGui::IsMouseDown(GLFW_MOUSE_BUTTON_1)) {
+ trajectory = compute_LQR(parameters, Mu, Sigma, Mu0, Sigma0);
+ must_recompute = false;
}
- arma::vec x0 = MuQ.col(0);
- // Flatten Mu's
- mat Xi_hat = reshape(MuQ, cDim*n, 1);
- mat Xi_hat0 = reshape(MuQ0, cDim*n, 1);
-
- mat SuInvSigmaQ = Su.t()*Q;
- mat SuInvSigmaQ0 = Su.t()*Q0;
+ // Start of rendering
+ ImGui_ImplGlfwGL2_NewFrame();
- mat Rq, rq;
+ glViewport(0, 0, window_size.fb_width, window_size.fb_height);
+ glClearColor(1.0f, 1.0f, 1.0f, 0.0f);
+ glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
- if(useField)
- {
- Rq = SuInvSigmaQ*Su + SuInvSigmaQ0*Su + R;
- rq = SuInvSigmaQ*(Xi_hat - Sx*x0) + SuInvSigmaQ0*(Xi_hat0 - Sx*x0);
- }
- else
- {
- Rq = SuInvSigmaQ*Su + R;
- rq = SuInvSigmaQ*(Xi_hat - Sx*x0);
- }
+ glMatrixMode(GL_PROJECTION);
+ glLoadIdentity();
+ glOrtho(-window_size.fb_width / 2, window_size.fb_width / 2,
+ -window_size.fb_height / 2, window_size.fb_height / 2, -1.0f, 1.0f);
+ glMatrixMode(GL_MODELVIEW);
+ glLoadIdentity();
- // least squares solution
- vec u = solve(Rq,rq);
- mat Y = reshape( Sx*x0 + Su*u, cDim, n );
- mat Xi = Y.submat(0,0, dim-1, n-1) / globScale;
+ glPushMatrix();
- //////////////////////////////////////
- glEnable( GL_BLEND );
- glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
+ // Draw the gaussians
+ for( int i = 0; i < parameters.nb_targets; i++ ) {
+ glClear(GL_DEPTH_BUFFER_BIT);
+ gfx2::draw_gaussian_background(fvec({ 0.0f, 0.5f, 1.0f }), Mu.col(i), Sigma.slice(i));
+ }
+ glClear(GL_DEPTH_BUFFER_BIT);
- // draw gaussians
- glColor4f(0.0, 0.5f, 1.0f, 0.2f);
- for( int i = 0; i < t2ds.size(); i++ )
- drawGauss(t2ds[i], window_size);
+ // Draw the repulsive gaussians
+ for( int i = 0; i < parameters.nb_repulsive_gaussians; i++ ) {
+ glClear(GL_DEPTH_BUFFER_BIT);
+ gfx2::draw_gaussian_background(fvec({ 1.0f, 0.5f, 0.0f }), Mu0.col(i), Sigma0.slice(i));
+ }
+ glClear(GL_DEPTH_BUFFER_BIT);
- // repulsive gaussians
- glColor4f(1.0, 0.5f, 0.0f, 0.2f);
- for( int i = 0; i < t2ds0.size(); i++ )
- drawGauss(t2ds0[i], window_size);
+ // Draw the motor plan
+ glColor3f(0.5, 0.5 ,0.5);
+ gfx2::draw_line(fvec({ 0.5f, 0.5f, 0.5f }), Mu);
- // draw trajectory
- glColor3f(0, 0, 1);
- draw(Xi);
+ // Draw the trajectory
+ gfx2::draw_line(fvec({ 0.0f, 0.0f, 1.0f }), trajectory);
- // plot derivatives magnitude
+ // Plot derivatives magnitude
int plot_width = 200 * window_size.fb_width / window_size.win_width;
int plot_height = 100 * window_size.fb_height / window_size.win_height;
- int plot_y = window_size.fb_height - 25 * window_size.fb_height / window_size.win_height;
+ int plot_x = -window_size.fb_width / 2;
+ int plot_y = -window_size.fb_height / 2 + 25 * window_size.fb_height / window_size.win_height;
- glColor3f(1,0,0);
- mat dx = gradient_2d(Xi, 1);
- vec speed = sqrt(sum(dx%dx, 0)).t();
- plot(0, plot_y, plot_width, plot_height, speed);
+ mat dx = gradient_2d(trajectory, 1);
+ vec speed = sqrt(sum(dx % dx, 0)).t();
+ plot(plot_x, plot_y, plot_width, plot_height, speed, {1.0f, 0.0f, 0.0f});
ui::begin("Text");
ui::text(ImVec2(10, window_size.win_height - 25), "velocity magnitude",
- ImVec4(1,0,0,1));
+ ImVec4(1, 0, 0, 1));
ui::end();
- glColor3f(0,0,1);
- dx = gradient_2d(Xi, 2);
- speed = sqrt(sum(dx%dx, 0)).t();
- plot(plot_width, plot_y, plot_width, plot_height, speed);
+ dx = gradient_2d(trajectory, 2);
+ speed = sqrt(sum(dx % dx, 0)).t();
+ plot(plot_x + plot_width, plot_y, plot_width, plot_height, speed, {0.0f, 0.0f, 1.0f});
ui::begin("Text");
ui::text(ImVec2(200 + 10, window_size.win_height - 25), "acceleration magnitude",
- ImVec4(0,0,1,1));
+ ImVec4(0, 0, 1, 1));
ui::end();
- glColor3f(0,0.5,0);
- dx = gradient_2d(Xi, 3);
- speed = sqrt(sum(dx%dx, 0)).t();
- plot(2 * plot_width, plot_y, plot_width, plot_height, speed);
+ dx = gradient_2d(trajectory, 3);
+ speed = sqrt(sum(dx % dx, 0)).t();
+ plot(plot_x + 2 * plot_width, plot_y, plot_width, plot_height, speed, {0.0f, 0.5f, 0.0f});
ui::begin("Text");
ui::text(ImVec2(400 + 10, window_size.win_height - 25), "jerk magnitude",
- ImVec4(0,0.5,0,1));
+ ImVec4(0, 0.5, 0, 1));
ui::end();
glPopMatrix();
- // Render UI
+
+ // Gaussians UI
+ ui::begin("Gaussian");
+
+ for (int i = 0; i < parameters.nb_targets; ++i) {
+ t2ds[i] = ui::affineSimple(i, t2ds[i]);
+
+ vec mu;
+ mat sigma;
+ std::tie(mu, sigma) = trans2d_to_gauss(t2ds[i], window_size);
+
+ must_recompute = must_recompute ||
+ (norm(mu - Mu.col(i)) > 1e-6) ||
+ (norm(sigma - Sigma.slice(i)) > 1e-6);
+
+ Mu.col(i) = mu;
+ Sigma.slice(i) = sigma;
+ }
+
+ for (int i = 0; i < parameters.nb_repulsive_gaussians; ++i) {
+ t2ds0[i] = ui::affineSimple(i + parameters.nb_targets, t2ds0[i]);
+
+ vec mu;
+ mat sigma;
+ std::tie(mu, sigma) = trans2d_to_gauss(t2ds0[i], window_size);
+
+ must_recompute = must_recompute ||
+ (norm(mu - Mu0.col(i)) > 1e-6) ||
+ (norm(sigma - Sigma0.slice(i)) > 1e-6);
+
+ Mu0.col(i) = mu;
+ Sigma0.slice(i) = sigma;
+ }
+
+ ui::end();
+
+
+ // Parameters window
+ int winw = 400;
+ ImGui::SetNextWindowPos(ImVec2(window_size.win_width - winw, 2));
+ ImGui::Begin("Params", NULL, ImVec2(winw, 154), 0.5f,
+ ImGuiWindowFlags_NoTitleBar|ImGuiWindowFlags_NoResize|
+ ImGuiWindowFlags_NoMove|ImGuiWindowFlags_NoSavedSettings
+ );
+
+ int previous_order = parameters.order;
+ int previous_field_derivative = parameters.field_derivative;
+ float previous_covscale = parameters.covscale;
+ float previous_maximum_displacement = parameters.maximum_displacement;
+ bool previous_use_field = parameters.use_field;
+ bool previous_stepwise = parameters.stepwise;
+
+ ImGui::SliderInt("Order", ¶meters.order, 2, 7);
+ ImGui::SliderInt("Field deriv", ¶meters.field_derivative, 0, 4);
+ ImGui::SliderFloat("covscale", ¶meters.covscale, 0.1, 1.0);
+ ImGui::SliderFloat("Max Displacement", ¶meters.maximum_displacement, 0.1, 100.);
+ ImGui::Checkbox("Use Field", ¶meters.use_field);
+ ImGui::Checkbox("Stepwise", ¶meters.stepwise);
+
+ ImGui::End();
+
+ must_recompute = must_recompute ||
+ (parameters.order != previous_order) ||
+ (parameters.field_derivative != previous_field_derivative) ||
+ !gfx2::is_close(parameters.covscale, previous_covscale) ||
+ !gfx2::is_close(parameters.maximum_displacement, previous_maximum_displacement) ||
+ (parameters.use_field != previous_use_field) ||
+ (parameters.stepwise != previous_stepwise);
+
+
+ // GUI rendering
ImGui::Render();
ImGui_ImplGlfwGL2_RenderDrawData(ImGui::GetDrawData());
glfwSwapBuffers(window);
- //Keyboard input
+ // Keyboard input
if (ImGui::IsKeyPressed(GLFW_KEY_ESCAPE))
break;
}
- //Cleanup
+ // Cleanup
ImGui_ImplGlfwGL2_Shutdown();
glfwTerminate();
+
return 0;
}
diff --git a/src/demo_Riemannian_cov_interp02.cpp b/src/demo_Riemannian_cov_interp02.cpp
index aaa1773..40e145c 100644
--- a/src/demo_Riemannian_cov_interp02.cpp
+++ b/src/demo_Riemannian_cov_interp02.cpp
@@ -28,8 +28,8 @@ void trans2d_to_gauss(const ui::Trans2d& gaussian_transforms,
const gfx2::window_size_t& window_size,
arma::vec &mu, arma::mat &sigma) {
- mu = gfx2::ui2fb(vec({ gaussian_transforms.pos.x, gaussian_transforms.pos.y }),
- window_size);
+ mu = gfx2::ui2fb_centered(vec({ gaussian_transforms.pos.x, gaussian_transforms.pos.y }),
+ window_size);
vec t_x({
gaussian_transforms.x.x * window_size.scale_x(),
diff --git a/src/demo_Riemannian_pose_GMM01.cpp b/src/demo_Riemannian_pose_GMM01.cpp
index c7ac8af..6898975 100644
--- a/src/demo_Riemannian_pose_GMM01.cpp
+++ b/src/demo_Riemannian_pose_GMM01.cpp
@@ -9,6 +9,7 @@
#include <stdio.h>
#include <armadillo>
+#include <cfloat>
using namespace arma;
@@ -197,7 +198,7 @@ arma::vec gaussPDF(mat Data, colvec Mu, mat Sigma) {
vec prob = sum((Data * inv(Sigma)) % Data, 1);
- prob = exp(-0.5 * prob) / sqrt(pow((2 * datum::pi), nbVar) * det(Sigma) + 2.2251E-308);
+ prob = exp(-0.5 * prob) / sqrt(pow((2 * datum::pi), nbVar) * det(Sigma) + DBL_MIN);
return prob;
}
diff --git a/src/demo_Riemannian_pose_TPGMM01.cpp b/src/demo_Riemannian_pose_TPGMM01.cpp
index 8af6774..9c9b2ee 100644
--- a/src/demo_Riemannian_pose_TPGMM01.cpp
+++ b/src/demo_Riemannian_pose_TPGMM01.cpp
@@ -197,7 +197,7 @@ arma::vec gaussPDF(mat Data, colvec Mu, mat Sigma) {
vec prob = sum((Data * inv(Sigma)) % Data, 1);
- prob = exp(-0.5 * prob) / sqrt(pow((2 * datum::pi), nbVar) * det(Sigma)); // + 2.2251E-308);
+ prob = exp(-0.5 * prob) / sqrt(pow((2 * datum::pi), nbVar) * det(Sigma)); // + DBL_MIN);
return prob;
}
diff --git a/src/demo_Riemannian_pose_batchLQR01.cpp b/src/demo_Riemannian_pose_batchLQR01.cpp
index d8ee330..eb0205e 100644
--- a/src/demo_Riemannian_pose_batchLQR01.cpp
+++ b/src/demo_Riemannian_pose_batchLQR01.cpp
@@ -222,7 +222,7 @@ arma::vec gaussPDF(mat Data, colvec Mu, mat Sigma) {
vec prob = sum((Data * inv(Sigma)) % Data, 1);
- prob = exp(-0.5 * prob) / sqrt(pow((2 * datum::pi), nbVar) * det(Sigma) + 2.2251E-308);
+ prob = exp(-0.5 * prob) / sqrt(pow((2 * datum::pi), nbVar) * det(Sigma) + DBL_MIN);
return prob;
}
diff --git a/src/demo_Riemannian_pose_infHorLQR01.cpp b/src/demo_Riemannian_pose_infHorLQR01.cpp
index fb83376..3513882 100644
--- a/src/demo_Riemannian_pose_infHorLQR01.cpp
+++ b/src/demo_Riemannian_pose_infHorLQR01.cpp
@@ -210,7 +210,7 @@ arma::vec gaussPDF(mat Data, colvec Mu, mat Sigma) {
vec prob = sum((Data * inv(Sigma)) % Data, 1);
- prob = exp(-0.5 * prob) / sqrt(pow((2 * datum::pi), nbVar) * det(Sigma) + 2.2251E-308);
+ prob = exp(-0.5 * prob) / sqrt(pow((2 * datum::pi), nbVar) * det(Sigma) + DBL_MIN);
return prob;
}
diff --git a/src/demo_Riemannian_quat_TPGMM01.cpp b/src/demo_Riemannian_quat_TPGMM01.cpp
index e35f527..db8d3d9 100644
--- a/src/demo_Riemannian_quat_TPGMM01.cpp
+++ b/src/demo_Riemannian_quat_TPGMM01.cpp
@@ -185,7 +185,7 @@ arma::vec gaussPDF(mat Data, colvec Mu, mat Sigma) {
vec prob = sum((Data * inv(Sigma)) % Data, 1);
- prob = exp(-0.5 * prob) / sqrt(pow((2 * datum::pi), nbVar) * det(Sigma) + 2.2251E-308);
+ prob = exp(-0.5 * prob) / sqrt(pow((2 * datum::pi), nbVar) * det(Sigma) + DBL_MIN);
return prob;
}
diff --git a/src/demo_Riemannian_quat_infHorLQR01.cpp b/src/demo_Riemannian_quat_infHorLQR01.cpp
index fd93161..9923e97 100644
--- a/src/demo_Riemannian_quat_infHorLQR01.cpp
+++ b/src/demo_Riemannian_quat_infHorLQR01.cpp
@@ -14,6 +14,10 @@
#include <math.h>
#include <GLFW/glfw3.h>
+#include <imgui.h>
+#include <imgui_internal.h>
+#include <imgui_impl_glfw_gl2.h>
+#include <gfx_ui.h>
#include <window_utils.h>
namespace linmath{
@@ -35,6 +39,9 @@ using namespace arma;
#define DIST_BALL (RADIUS * 2.f + RADIUS * 0.1f)
#define VIEW_SCENE_DIST (DIST_BALL * 3.f + 200.f)
+#define MARGIN 50
+
+
/* Vertex type */
typedef struct {float x; float y; float z;} vertex_t;
@@ -219,36 +226,112 @@ arma::mat logmap(arma::mat x, arma::vec mu)
//-----------------------------------------------
-void DrawTarget(int nbData)
+void DrawResults(int nbData, int nbRepros, const arma::mat& x_y,
+ const window_size_t& window_size)
{
+ const int plot_width = (window_size.win_width - 3 * MARGIN) / 2;
+ const int plot_height = (window_size.win_height - 3 * MARGIN) / 2;
+
+ const float scale_x = (float) plot_width / (nbData - 1);
+ const float scale_y = (float) plot_height / 2;
+
+ // Draw the plot backgrounds
+ glColor3f(0.95f, 0.95f, 0.95f);
+
+ glBegin (GL_QUADS);
+ glVertex2f(MARGIN, window_size.win_height - MARGIN);
+ glVertex2f(MARGIN, window_size.win_height - (MARGIN + plot_height));
+ glVertex2f(MARGIN + plot_width, window_size.win_height - (MARGIN + plot_height));
+ glVertex2f(MARGIN + plot_width, window_size.win_height - MARGIN);
+ glEnd();
+
+ glBegin (GL_QUADS);
+ glVertex2f(window_size.win_width - (MARGIN + plot_width), window_size.win_height - MARGIN);
+ glVertex2f(window_size.win_width - (MARGIN + plot_width), window_size.win_height - (MARGIN + plot_height));
+ glVertex2f(window_size.win_width - (MARGIN + plot_width) + plot_width, window_size.win_height - (MARGIN + plot_height));
+ glVertex2f(window_size.win_width - (MARGIN + plot_width) + plot_width, window_size.win_height - MARGIN);
+ glEnd();
+
+ glBegin (GL_QUADS);
+ glVertex2f(MARGIN, MARGIN + plot_height);
+ glVertex2f(MARGIN, MARGIN);
+ glVertex2f(MARGIN + plot_width, MARGIN);
+ glVertex2f(MARGIN + plot_width, MARGIN + plot_height);
+ glEnd();
+
+ glBegin (GL_QUADS);
+ glVertex2f(window_size.win_width - (MARGIN + plot_width), MARGIN + plot_height);
+ glVertex2f(window_size.win_width - (MARGIN + plot_width), MARGIN);
+ glVertex2f(window_size.win_width - (MARGIN + plot_width) + plot_width, MARGIN);
+ glVertex2f(window_size.win_width - (MARGIN + plot_width) + plot_width, MARGIN + plot_height);
+ glEnd();
+
+ // Draw the axes
+ glColor3f(0.0f, 0.0f, 0.0f);
+ glLineWidth(2);
+
+ glBegin(GL_LINES);
+ glVertex2f(MARGIN, window_size.win_height - MARGIN);
+ glVertex2f(MARGIN, window_size.win_height - (MARGIN + plot_height));
+ glVertex2f(MARGIN, window_size.win_height - (MARGIN + plot_height / 2));
+ glVertex2f(MARGIN + plot_width, window_size.win_height - (MARGIN + plot_height / 2));
+ glEnd();
+
+ glBegin(GL_LINES);
+ glVertex2f(window_size.win_width - (MARGIN + plot_width), window_size.win_height - MARGIN);
+ glVertex2f(window_size.win_width - (MARGIN + plot_width), window_size.win_height - (MARGIN + plot_height));
+ glVertex2f(window_size.win_width - (MARGIN + plot_width), window_size.win_height - (MARGIN + plot_height / 2));
+ glVertex2f(window_size.win_width - MARGIN, window_size.win_height - (MARGIN + plot_height / 2));
+ glEnd();
+
+ glBegin(GL_LINES);
+ glVertex2f(MARGIN, MARGIN + plot_height);
+ glVertex2f(MARGIN, MARGIN);
+ glVertex2f(MARGIN, MARGIN + plot_height / 2);
+ glVertex2f(MARGIN + plot_width, MARGIN + plot_height / 2);
+ glEnd();
+
+ glBegin(GL_LINES);
+ glVertex2f(window_size.win_width - (MARGIN + plot_width), MARGIN + plot_height);
+ glVertex2f(window_size.win_width - (MARGIN + plot_width), MARGIN);
+ glVertex2f(window_size.win_width - (MARGIN + plot_width), MARGIN + plot_height / 2);
+ glVertex2f(window_size.win_width - MARGIN, MARGIN + plot_height / 2);
+ glEnd();
+
+ // Draw the targets
glColor3f(0.98, 0.349, 0.329);
- glLineWidth(1.5);
+ glLineWidth(4);
+
glBegin(GL_LINE_STRIP);
for (int t = 0; t < nbData; t++) {
- glVertex2f(t, 1);
+ glVertex2f(MARGIN + t * scale_x,
+ window_size.win_height - (MARGIN + plot_height / 2) + 1 * scale_y
+ );
}
glEnd();
glBegin(GL_LINE_STRIP);
for (int t = 0; t < nbData; t++) {
- glVertex2f(nbData + 0.05 + t, 0);
+ glVertex2f(window_size.win_width - (MARGIN + plot_width) + t * scale_x,
+ window_size.win_height - (MARGIN + plot_height / 2) + 0 * scale_y
+ );
}
glEnd();
glBegin(GL_LINE_STRIP);
for (int t = 0; t < nbData; t++) {
- glVertex2f(t, -2.10);
+ glVertex2f(MARGIN + t * scale_x,
+ MARGIN + plot_height / 2 + 0 * scale_y
+ );
}
glEnd();
glBegin(GL_LINE_STRIP);
for (int t = 0; t < nbData; t++) {
- glVertex2f(nbData + 0.05 + t, -2.10);
+ glVertex2f(window_size.win_width - (MARGIN + plot_width) + t * scale_x,
+ MARGIN + plot_height / 2 + 0 * scale_y
+ );
}
glEnd();
-}
-//-----------------------------------------------
-
-void DrawResults(int nbData, int nbRepros, arma::mat x_y)
-{
+ // Draw the results
const arma::fmat COLORS({
{ 0.00f, 0.00f, 1.00f },
{ 0.00f, 0.50f, 0.00f },
@@ -262,14 +345,16 @@ void DrawResults(int nbData, int nbRepros, arma::mat x_y)
{ 1.00f, 0.00f, 0.00f },
});
+ glLineWidth(1);
- glLineWidth(1.3);
for (int n = 0; n < nbRepros; n++) {
glColor3f(COLORS(n, 0), COLORS(n, 1), COLORS(n, 2));
glBegin(GL_LINE_STRIP);
for (int t = 0; t < nbData; t++) {
- glVertex2f(t, x_y(0, n * nbData + t));
+ glVertex2f(MARGIN + t * scale_x,
+ window_size.win_height - (MARGIN + plot_height / 2) + x_y(0, n * nbData + t) * scale_y
+ );
}
glEnd();
}
@@ -279,7 +364,9 @@ void DrawResults(int nbData, int nbRepros, arma::mat x_y)
glBegin(GL_LINE_STRIP);
for (int t = 0; t < nbData; t++) {
- glVertex2f(nbData + 0.05 + t, x_y(1, n * nbData + t));
+ glVertex2f(window_size.win_width - (MARGIN + plot_width) + t * scale_x,
+ window_size.win_height - (MARGIN + plot_height / 2) + x_y(1, n * nbData + t) * scale_y
+ );
}
glEnd();
}
@@ -289,7 +376,9 @@ void DrawResults(int nbData, int nbRepros, arma::mat x_y)
glBegin(GL_LINE_STRIP);
for (int t = 0; t < nbData; t++) {
- glVertex2f(t, x_y(2, n * nbData + t) - 2.10);
+ glVertex2f(MARGIN + t * scale_x,
+ MARGIN + plot_height / 2 + x_y(2, n * nbData + t) * scale_y
+ );
}
glEnd();
}
@@ -299,7 +388,9 @@ void DrawResults(int nbData, int nbRepros, arma::mat x_y)
glBegin(GL_LINE_STRIP);
for (int t = 0; t < nbData; t++) {
- glVertex2f(nbData + 0.05 + t, x_y(3, n * nbData + t) - 2.10);
+ glVertex2f(window_size.win_width - (MARGIN + plot_width) + t * scale_x,
+ MARGIN + plot_height / 2 + x_y(3, n * nbData + t) * scale_y
+ );
}
glEnd();
}
@@ -422,7 +513,7 @@ int main(int argc, char **argv){
//---------------- Iterative discrete LQR with infinite horizon ----------------
- arma:: mat duTar = zeros(nbVarPos*(nbDeriv-1),1);
+ arma::mat duTar = zeros(nbVarPos*(nbDeriv-1),1);
arma::mat Q = inv(uCov);
Q.resize(6,6);
@@ -477,6 +568,13 @@ int main(int argc, char **argv){
glfwMakeContextCurrent(window);
+ // Setup ImGui binding
+ if (!REFERENTIALS)
+ {
+ ImGui::CreateContext();
+ ImGui_ImplGlfwGL2_Init(window, true);
+ }
+
glfwSetInputMode(window, GLFW_STICKY_KEYS, 1);
while (!glfwWindowShouldClose(window)) {
@@ -489,7 +587,8 @@ int main(int argc, char **argv){
glfwGetWindowSize(window, ¤t_win_width, ¤t_win_height);
if ((current_win_width != window_size.win_width) ||
- (current_win_height != window_size.win_height)) {
+ (current_win_height != window_size.win_height) ||
+ (window_size.fb_width == -1)) {
// Retrieve the new window size
window_size.win_width = current_win_width;
@@ -499,6 +598,37 @@ int main(int argc, char **argv){
glfwGetFramebufferSize(window, &window_size.fb_width, &window_size.fb_height);
}
+ if (!REFERENTIALS)
+ {
+ ImGui_ImplGlfwGL2_NewFrame();
+
+ ui::begin("demo");
+ ImGuiWindow *win = ImGui::GetCurrentWindow();
+ ui::end();
+
+ ImVec4 clip_rect(0, 0, window_size.win_width, window_size.win_height);
+
+ const int plot_height = (window_size.win_height - 3 * MARGIN) / 2;
+
+ win->DrawList->AddText(ImGui::GetFont(), ImGui::GetFontSize() * 1.5f,
+ ImVec2(10, MARGIN + plot_height / 2 - 10),
+ ImColor(0, 0, 0, 255), "qw", NULL, 0.0f, &clip_rect);
+
+ win->DrawList->AddText(ImGui::GetFont(), ImGui::GetFontSize() * 1.5f,
+ ImVec2(window_size.win_width / 2 - 10,
+ MARGIN + plot_height / 2 - 10),
+ ImColor(0, 0, 0, 255), "qx", NULL, 0.0f, &clip_rect);
+
+ win->DrawList->AddText(ImGui::GetFont(), ImGui::GetFontSize() * 1.5f,
+ ImVec2(10, MARGIN * 2 + plot_height + plot_height / 2 - 10),
+ ImColor(0, 0, 0, 255), "qy", NULL, 0.0f, &clip_rect);
+
+ win->DrawList->AddText(ImGui::GetFont(), ImGui::GetFontSize() * 1.5f,
+ ImVec2(window_size.win_width / 2 - 10,
+ MARGIN * 2 + plot_height + plot_height / 2 - 10),
+ ImColor(0, 0, 0, 255), "qz", NULL, 0.0f, &clip_rect);
+ }
+
glViewport(0, 0, window_size.fb_width, window_size.fb_height);
glClearColor(1.f, 1.f, 1.f, 1.f);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
@@ -506,11 +636,17 @@ int main(int argc, char **argv){
glMatrixMode( GL_PROJECTION );
glLoadIdentity();
if (!REFERENTIALS)
- glOrtho(0, 2 * nbData + 0.1, -3.15, 1.05, 0, 1);
+ glOrtho(0, window_size.win_width, 0, window_size.win_height, 0, 1);
glMatrixMode( GL_MODELVIEW );
glLoadIdentity();
+ if (!REFERENTIALS)
+ {
+ ImGui::Render();
+ ImGui_ImplGlfwGL2_RenderDrawData(ImGui::GetDrawData());
+ }
+
glPushMatrix();
//------------ Draw referentials in sphere ---------------
@@ -525,8 +661,7 @@ int main(int argc, char **argv){
//--------------- Draw Q1,Q2,Q3,Q4 ---------------
else
{
- DrawTarget(nbData);
- DrawResults(nbData, nbRepros, x_y);
+ DrawResults(nbData, nbRepros, x_y, window_size);
}
glPopMatrix();
@@ -539,7 +674,11 @@ int main(int argc, char **argv){
}
//Cleanup
+ if (!REFERENTIALS)
+ ImGui_ImplGlfwGL2_Shutdown();
+
glfwTerminate();
+
return 0;
}
diff --git a/src/demo_Riemannian_sphere_TPGMM01.cpp b/src/demo_Riemannian_sphere_TPGMM01.cpp
index a261a49..3c91a78 100644
--- a/src/demo_Riemannian_sphere_TPGMM01.cpp
+++ b/src/demo_Riemannian_sphere_TPGMM01.cpp
@@ -180,7 +180,7 @@ arma::vec gaussPDF(mat Data, colvec Mu, mat Sigma) {
vec prob = sum((Data * inv(Sigma)) % Data, 1);
- prob = exp(-0.5 * prob) / sqrt(pow((2 * datum::pi), nbVar) * det(Sigma) + 2.2251E-308);
+ prob = exp(-0.5 * prob) / sqrt(pow((2 * datum::pi), nbVar) * det(Sigma) + DBL_MIN);
return prob;
}
diff --git a/src/demo_TPGMMProduct01.cpp b/src/demo_TPGMMProduct01.cpp
index 49274e7..5fb0870 100644
--- a/src/demo_TPGMMProduct01.cpp
+++ b/src/demo_TPGMMProduct01.cpp
@@ -110,7 +110,7 @@ public:
Demonstration(coordinate_system_list_t coordinate_systems,
const std::vector<arma::vec>& points,
const parameters_t& parameters)
- : coordinate_systems(coordinate_systems)
+ : coordinate_systems(coordinate_systems)
{
points_original = mat(2, points.size());
@@ -525,9 +525,6 @@ const arma::mat COLORS({
{ 0.75, 0.0, 0.75 },
{ 0.75, 0.75, 0.0 },
{ 0.25, 0.25, 0.25 },
- { 0.0, 0.0, 1.0 },
- { 0.0, 0.5, 0.0 },
- { 1.0, 0.0, 0.0 },
});
@@ -540,28 +537,42 @@ class Handler
{
public:
Handler(const viewport_t* viewport, const ImVec2& position, const ImVec2& y,
- int index)
- : viewport(viewport), hovered(false), fixed(false), moved(false), index(index)
+ int index, bool small)
+ : viewport(viewport), hovered(false), fixed(false), moved(false), index(index)
{
ui_position = position;
ui_y = y;
fvec color = HANDLER_COLORS.row(index).t();
- models[0] = gfx2::create_rectangle(color, 25.0f, 5.0f);
- models[0].transforms.parent = &transforms;
- models[0].transforms.rotation = gfx2::rotate(arma::fvec({0.0f, 0.0f, 1.0f}),
- gfx2::deg2rad(90.0f));
+ if (small) {
+ models[0] = gfx2::create_rectangle(color, 12.0f, 2.0f);
- models[1] = gfx2::create_rectangle(color, 60.0f, 5.0f);
- models[1].transforms.parent = &transforms;
- models[1].transforms.position(0) = 30.0f;
- models[1].transforms.position(1) = -10.0f;
+ models[1] = gfx2::create_rectangle(color, 30.0f, 2.0f);
+ models[1].transforms.position(0) = 15.0f;
+ models[1].transforms.position(1) = -5.0f;
- models[2] = gfx2::create_rectangle(color, 60.0f, 5.0f);
+ models[2] = gfx2::create_rectangle(color, 30.0f, 2.0f);
+ models[2].transforms.position(0) = 15.0f;
+ models[2].transforms.position(1) = 5.0f;
+ } else {
+ models[0] = gfx2::create_rectangle(color, 25.0f, 5.0f);
+
+ models[1] = gfx2::create_rectangle(color, 60.0f, 5.0f);
+ models[1].transforms.position(0) = 30.0f;
+ models[1].transforms.position(1) = -10.0f;
+
+ models[2] = gfx2::create_rectangle(color, 60.0f, 5.0f);
+ models[2].transforms.position(0) = 30.0f;
+ models[2].transforms.position(1) = 10.0f;
+ }
+
+ models[0].transforms.parent = &transforms;
+ models[1].transforms.parent = &transforms;
models[2].transforms.parent = &transforms;
- models[2].transforms.position(0) = 30.0f;
- models[2].transforms.position(1) = 10.0f;
+
+ models[0].transforms.rotation = gfx2::rotate(arma::fvec({0.0f, 0.0f, 1.0f}),
+ gfx2::deg2rad(90.0f));
}
@@ -712,13 +723,15 @@ struct gui_state_t {
//-----------------------------------------------------------------------------
// Create a handler at a random position (within the given boundaries)
//-----------------------------------------------------------------------------
-Handler* create_random_handler(const viewport_t* viewport, int index,
- int min_x, int min_y, int max_x, int max_y) {
+Handler* create_random_handler(const viewport_t* viewport, int index, int min_x,
+ int min_y, int max_x, int max_y, bool small) {
return new Handler(viewport,
ImVec2((randu() * 0.8f + 0.1f) * (max_x - min_x) + min_x,
(randu() * 0.5f + 0.1f) * (max_y - min_y) + min_y),
ImVec2((randu() - 0.5) * 10, randu() * -10 - 10),
- index);
+ index,
+ small
+ );
}
@@ -738,14 +751,15 @@ void create_new_demonstration_handlers(const viewport_t& viewport,
handlers.push_back(
new Handler(&viewport, ImVec2(window_size.win_width / 6,
window_size.win_height - 50),
- ImVec2(0, 30), 0)
+ ImVec2(0, 30), 0, (window_size.fb_width == window_size.win_width))
);
for (int n = 1; n < nb_frames; ++n) {
handlers.push_back(
create_random_handler(&viewport, n, 10, 20,
window_size.win_width / 3 - 10,
- window_size.win_height / 2 - 20)
+ window_size.win_height / 2 - 20,
+ (window_size.fb_width == window_size.win_width))
);
};
}
@@ -767,7 +781,7 @@ void create_reproduction_handlers(const viewport_t& viewport,
handlers.push_back(
new Handler(&viewport, ImVec2(window_size.win_width / 2,
window_size.win_height - 50),
- ImVec2(0, 30), 0)
+ ImVec2(0, 30), 0, (window_size.fb_width == window_size.win_width))
);
for (int n = 1; n < nb_frames; ++n) {
@@ -776,7 +790,8 @@ void create_reproduction_handlers(const viewport_t& viewport,
window_size.win_width / 3 + 20,
window_size.win_height / 2 + 20,
window_size.win_width * 2 / 3 - 20,
- window_size.win_height - 20)
+ window_size.win_height - 20,
+ (window_size.fb_width == window_size.win_width))
);
};
}
@@ -874,7 +889,7 @@ void draw_demos_viewport(const viewport_t& viewport,
gfx2::draw_line(color, datapoints);
++color_index;
- if (color_index >= demonstrations.size())
+ if (color_index >= COLORS.n_rows)
color_index = 0;
}
@@ -937,7 +952,7 @@ void draw_reproductions_viewport(const viewport_t& viewport,
// Render a "GMMs" viewport
//-----------------------------------------------------------------------------
void draw_GMMs_viewport(const viewport_t& viewport,
- const handler_list_t& handlers, model_t model) {
+ const handler_list_t& handlers, model_t model) {
glViewport(viewport.x, viewport.y, viewport.width, viewport.height);
glScissor(viewport.x, viewport.y, viewport.width, viewport.height);
@@ -964,8 +979,8 @@ void draw_GMMs_viewport(const viewport_t& viewport,
handler_list[n][i]->draw_anchor();
}
- // Draw the GMM states
if (model.mu.size() > 0 ) {
+ // Draw the GMM states
for (int f = 0; f < model.parameters.nb_frames; f++) {
for (int i = 0; i < model.parameters.nb_states; ++i) {
@@ -975,9 +990,27 @@ void draw_GMMs_viewport(const viewport_t& viewport,
handler_list[0][f]->transforms.rotation.submat(0, 0, 1, 1) * model.sigma[i][f].submat(0, 0, 1, 1) * handler_list[0][f]->transforms.rotation.submat(0, 0, 1, 1).t());
}
}
- }
+ // Draw the product of the GMM states
+ for (int i = 0; i < model.parameters.nb_states; ++i) {
+ vec mu = zeros(2, 1);
+ mat cov = zeros(2, 2);
+ for (int f = 0; f < model.parameters.nb_frames; f++) {
+ vec mutmp = handler_list[0][f]->transforms.rotation.submat(0, 0, 1, 1) * model.mu[i][f].subvec(0, 1) + handler_list[0][f]->transforms.position.subvec(0, 1);
+ mat covtmp = handler_list[0][f]->transforms.rotation.submat(0, 0, 1, 1) * model.sigma[i][f].submat(0, 0, 1, 1) * handler_list[0][f]->transforms.rotation.submat(0, 0, 1, 1).t();
+ mat icovtmp = arma::inv(covtmp);
+ cov = cov + icovtmp;
+ mu = mu + icovtmp * mutmp;
+
+ }
+
+ cov = arma::inv(cov);
+ mu = cov * mu;
+ glClear(GL_DEPTH_BUFFER_BIT);
+ gfx2::draw_gaussian(fvec({0.0f, 0.0f, 0.0f, 0.6f}), mu, cov);
+ }
+ }
}
//-----------------------------------------------------------------------------
@@ -1034,8 +1067,6 @@ void draw_product_viewport(const viewport_t& viewport,
gfx2::draw_gaussian(conv_to<fvec>::from(black.row(0).t()), mu, cov);
}
}
-
-
}
@@ -1048,15 +1079,15 @@ int main(int argc, char **argv) {
model_t model;
// Parameters
- model.parameters.nb_states = 4;
- model.parameters.nb_frames = 2;
- model.parameters.nb_deriv = 2;
- model.parameters.nb_data = 200;
- model.parameters.dt = 0.1f;
+ model.parameters.nb_states = 4;
+ model.parameters.nb_frames = 2;
+ model.parameters.nb_deriv = 2;
+ model.parameters.nb_data = 200;
+ model.parameters.dt = 0.1f;
// Take 4k screens into account (framebuffer size != window size)
gfx2::window_size_t window_size;
- window_size.win_width = 1200;
+ window_size.win_width = 800;
window_size.win_height = 400;
window_size.fb_width = -1; // Will be known later
window_size.fb_height = -1;
@@ -1097,12 +1128,11 @@ int main(int argc, char **argv) {
// Viewports
viewport_t viewport_demos;
- viewport_t viewport_product;
viewport_t viewport_GMMs;
// GUI state
gui_state_t gui_state;
- gui_state.can_draw_demonstration = true;
+ gui_state.can_draw_demonstration = false;
gui_state.is_drawing_demonstration = false;
gui_state.is_parameters_dialog_displayed = false;
gui_state.are_parameters_modified = false;
@@ -1116,15 +1146,6 @@ int main(int argc, char **argv) {
handler_list_t current_demonstration_handlers;
handler_list_t reproduction_handlers;
- // create_new_demonstration_handlers(viewport_demos, window_size,
- // model.parameters.nb_frames,
- // current_demonstration_handlers
- // );
- //
- // create_reproduction_handlers(viewport_product, window_size,
- // model.parameters.nb_frames,
- // reproduction_handlers);
-
// List of demonstrations and reproductions
demonstration_list_t demos;
@@ -1146,17 +1167,13 @@ int main(int argc, char **argv) {
glfwGetFramebufferSize(window, &window_size.fb_width, &window_size.fb_height);
- viewport_width = window_size.fb_width / 3 - 1;
+ viewport_width = window_size.fb_width / 2 - 1;
viewport_height = window_size.fb_height;
// Update all the viewports
setup_viewport(&viewport_demos, 0, window_size.fb_height - viewport_height,
viewport_width, viewport_height);
- setup_viewport(&viewport_product, viewport_width + 2,
- window_size.fb_height - viewport_height,
- viewport_width, viewport_height);
-
setup_viewport(&viewport_GMMs, window_size.fb_width - viewport_width,
window_size.fb_height - viewport_height,
viewport_width, viewport_height);
@@ -1180,28 +1197,30 @@ int main(int argc, char **argv) {
else if ((window_size.win_width != -1) && (window_size.fb_width != -1)) {
cube loaded_trajectories;
mat loaded_frames;
- loaded_trajectories.load("data/data_tpbatch_lqr_trajectories.txt");
- loaded_frames.load("data/data_tpbatch_lqr_frames.txt");
+ loaded_trajectories.load("data/data_4_trajectories.txt");
+ loaded_frames.load("data/data_4_frames.txt");
for (int n = 0; n < loaded_frames.n_cols / 2; ++n) {
Handler* handler1 = new Handler(
&viewport_demos,
- ImVec2(loaded_frames(0, n * 2) * window_size.win_width,
+ ImVec2(loaded_frames(0, n * 2) * window_size.win_width * 3 / 2,
loaded_frames(1, n * 2) * window_size.win_height * 2),
- ImVec2(loaded_frames(2, n * 2) * window_size.win_width,
+ ImVec2(loaded_frames(2, n * 2) * window_size.win_width * 3 / 2,
loaded_frames(3, n * 2) * window_size.win_height * 2),
- 0
+ 0,
+ (window_size.fb_width == window_size.win_width)
);
handler1->update(window_size);
handler1->fix();
Handler* handler2 = new Handler(
&viewport_demos,
- ImVec2(loaded_frames(0, n * 2 + 1) * window_size.win_width,
+ ImVec2(loaded_frames(0, n * 2 + 1) * window_size.win_width * 3 / 2,
loaded_frames(1, n * 2 + 1) * window_size.win_height * 2),
- ImVec2(loaded_frames(2, n * 2 + 1) * window_size.win_width,
+ ImVec2(loaded_frames(2, n * 2 + 1) * window_size.win_width * 3 / 2,
loaded_frames(3, n * 2 + 1) * window_size.win_height * 2),
- 1
+ 1,
+ (window_size.fb_width == window_size.win_width)
);
handler2->update(window_size);
handler2->fix();
@@ -1214,21 +1233,23 @@ int main(int argc, char **argv) {
}
Handler* handler_reproduction_1 = new Handler(
- &viewport_product,
+ &viewport_GMMs,
fixed_demonstration_handlers[0][0]->ui_position +
- ImVec2(window_size.win_width / 3, 0),
+ ImVec2(window_size.win_width / 2, 0),
fixed_demonstration_handlers[0][0]->ui_y,
- 0
+ 0,
+ (window_size.fb_width == window_size.win_width)
);
handler_reproduction_1->update(window_size);
reproduction_handlers.push_back(handler_reproduction_1);
Handler* handler_reproduction_2 = new Handler(
- &viewport_product,
- fixed_demonstration_handlers[0][1]->ui_position +
- ImVec2(window_size.win_width / 3, 0),
- fixed_demonstration_handlers[0][1]->ui_y,
- 1
+ &viewport_GMMs,
+ fixed_demonstration_handlers[2][1]->ui_position +
+ ImVec2(window_size.win_width / 2, 0),
+ fixed_demonstration_handlers[2][1]->ui_y,
+ 1,
+ (window_size.fb_width == window_size.win_width)
);
handler_reproduction_2->update(window_size);
reproduction_handlers.push_back(handler_reproduction_2);
@@ -1237,7 +1258,7 @@ int main(int argc, char **argv) {
vector_list_t trajectory;
for (int i = 0; i < loaded_trajectories.n_cols; ++i) {
mat t = loaded_trajectories(span::all, span(i), span(n));
- t(0, span::all) *= window_size.fb_width;
+ t(0, span::all) *= window_size.fb_width * 3 / 2;
t(1, span::all) *= window_size.fb_height * 2;
trajectory.push_back(t);
}
@@ -1285,7 +1306,7 @@ int main(int argc, char **argv) {
current_demonstration_handlers
);
- create_reproduction_handlers(viewport_product, window_size,
+ create_reproduction_handlers(viewport_GMMs, window_size,
gui_state.parameter_nb_frames,
reproduction_handlers);
@@ -1323,8 +1344,6 @@ int main(int argc, char **argv) {
fixed_demonstration_handlers,
current_demonstration_handlers);
- draw_product_viewport(viewport_product, reproduction_handlers, model);
-
draw_GMMs_viewport(viewport_GMMs, reproduction_handlers, model);
@@ -1344,7 +1363,7 @@ int main(int argc, char **argv) {
// Window: Demonstrations
- ImGui::SetNextWindowSize(ImVec2(window_size.win_width / 3, 36));
+ ImGui::SetNextWindowSize(ImVec2(window_size.win_width / 2, 36));
ImGui::SetNextWindowPos(ImVec2(0, 0));
ImGui::Begin("Demonstrations", NULL,
ImGuiWindowFlags_NoResize | ImGuiWindowFlags_NoSavedSettings |
@@ -1403,24 +1422,9 @@ int main(int argc, char **argv) {
ImGui::End();
- // Window: Product
- ImGui::SetNextWindowSize(ImVec2(window_size.win_width / 3, 36));
- ImGui::SetNextWindowPos(ImVec2(window_size.win_width / 3, 0));
- ImGui::Begin("Product", NULL,
- ImGuiWindowFlags_NoResize | ImGuiWindowFlags_NoSavedSettings |
- ImGuiWindowFlags_NoMove | ImGuiWindowFlags_NoCollapse |
- ImGuiWindowFlags_NoTitleBar
- );
-
- ImGui::Text("Product");
-
- hovering_ui = ImGui::IsWindowHovered() || hovering_ui;
-
- ImGui::End();
-
// Window: GMMs in global coordinates
- ImGui::SetNextWindowSize(ImVec2(window_size.win_width / 3, 36));
- ImGui::SetNextWindowPos(ImVec2(window_size.win_width * 2 / 3, 0));
+ ImGui::SetNextWindowSize(ImVec2(window_size.win_width / 2, 36));
+ ImGui::SetNextWindowPos(ImVec2(window_size.win_width / 2, 0));
ImGui::Begin("GMMs", NULL,
ImGuiWindowFlags_NoResize | ImGuiWindowFlags_NoSavedSettings |
ImGuiWindowFlags_NoMove | ImGuiWindowFlags_NoCollapse |
@@ -1482,7 +1486,7 @@ int main(int argc, char **argv) {
double mouse_x, mouse_y;
glfwGetCursorPos(window, &mouse_x, &mouse_y);
- if (!hovering_ui && (mouse_x <= window_size.win_width / 3))
+ if (!hovering_ui && (mouse_x <= window_size.win_width / 2))
{
gui_state.is_drawing_demonstration = true;
diff --git a/src/demo_TPGMR01.cpp b/src/demo_TPGMR01.cpp
index 586eb41..987d0c2 100644
--- a/src/demo_TPGMR01.cpp
+++ b/src/demo_TPGMR01.cpp
@@ -48,27 +48,27 @@ typedef std::vector<mat> matrix_list_t;
// modifiable through the UI, others are hard-coded.
//-----------------------------------------------------------------------------
struct parameters_t {
- int nb_states; // Number of components in the GMM
- int nb_frames; // Number of candidate frames of reference
- int nb_deriv; // Number of static and dynamic features
- int nb_data; // Number of datapoints in a trajectory <==== not used for product of Gaussians!!!
- float dt; // Time step duration <==== not used for product of Gaussians!!!
+ int nb_states; // Number of components in the GMM
+ int nb_frames; // Number of candidate frames of reference
+ int nb_deriv; // Number of static and dynamic features
+ int nb_data; // Number of datapoints in a trajectory <==== not used for product of Gaussians!!!
+ float dt; // Time step duration <==== not used for product of Gaussians!!!
};
//-----------------------------------------------------------------------------
// Model trained using the algorithm
//-----------------------------------------------------------------------------
struct model_t {
- parameters_t parameters; // Parameters used to train the model
+ parameters_t parameters; // Parameters used to train the model
- // These lists contain one element per GMM state and per frame (access them
- // by doing: mu[state][frame])
- std::vector<vector_list_t> mu;
- std::vector<matrix_list_t> sigma;
+ // These lists contain one element per GMM state and per frame (access them
+ // by doing: mu[state][frame])
+ std::vector<vector_list_t> mu;
+ std::vector<matrix_list_t> sigma;
- int nb_var;
- mat pix;
- vec priors;
+ int nb_var;
+ mat pix;
+ vec priors;
};
@@ -77,18 +77,18 @@ struct model_t {
//-----------------------------------------------------------------------------
struct coordinate_system_t {
- coordinate_system_t(const arma::vec& position, const arma::mat& orientation,
- const parameters_t& parameters) {
+ coordinate_system_t(const arma::vec& position, const arma::mat& orientation,
+ const parameters_t& parameters) {
- this->position = zeros(2 + (parameters.nb_deriv - 1) * 2);
- this->position(span(0, 1)) = position(span(0, 1));
+ this->position = zeros(2 + (parameters.nb_deriv - 1) * 2);
+ this->position(span(0, 1)) = position(span(0, 1));
- this->orientation = kron(eye(parameters.nb_deriv, parameters.nb_deriv),
- orientation(span(0, 1), span(0, 1)));
- }
+ this->orientation = kron(eye(parameters.nb_deriv, parameters.nb_deriv),
+ orientation(span(0, 1), span(0, 1)));
+ }
- vec position;
- mat orientation;
+ vec position;
+ mat orientation;
};
@@ -108,89 +108,88 @@ typedef std::vector<coordinate_system_t> coordinate_system_list_t;
class Demonstration
{
public:
- Demonstration(coordinate_system_list_t coordinate_systems,
- const std::vector<arma::vec>& points,
- const parameters_t& parameters)
- : coordinate_systems(coordinate_systems)
- {
- points_original = mat(3, points.size()); // added one for time (3rd dime)
+ Demonstration(coordinate_system_list_t coordinate_systems,
+ const std::vector<arma::vec>& points,
+ const parameters_t& parameters)
+ : coordinate_systems(coordinate_systems)
+ {
+ points_original = mat(3, points.size()); // added one for time (3rd dime)
- for (size_t i = 0; i < points.size(); ++i) {
- points_original(0, i) = points[i](0);
- points_original(1, i) = points[i](1);
- points_original(2, i) = points[i](2);
- }
+ for (size_t i = 0; i < points.size(); ++i) {
+ points_original(0, i) = points[i](0);
+ points_original(1, i) = points[i](1);
+ points_original(2, i) = points[i](2);
+ }
- update(parameters);
- }
+ update(parameters);
+ }
- //-------------------------------------------------------------------------
- // Resample the trajectory and recompute it in each reference frame
- // according to the provided parameters
- //-------------------------------------------------------------------------
- void update(const parameters_t& parameters)
- {
- // Resampling of the trajectory
- arma::vec x = points_original.row(0).t();
- arma::vec y = points_original.row(1).t();
- arma::vec x2(parameters.nb_data);
- arma::vec y2(parameters.nb_data);
+ //-------------------------------------------------------------------------
+ // Resample the trajectory and recompute it in each reference frame
+ // according to the provided parameters
+ //-------------------------------------------------------------------------
+ void update(const parameters_t& parameters)
+ {
+ // Resampling of the trajectory
+ arma::vec x = points_original.row(0).t();
+ arma::vec y = points_original.row(1).t();
+ arma::vec x2(parameters.nb_data);
+ arma::vec y2(parameters.nb_data);
- arma::vec from_indices = arma::linspace<arma::vec>(0, points_original.n_cols - 1, points_original.n_cols);
- arma::vec to_indices = arma::linspace<arma::vec>(0, points_original.n_cols - 1, parameters.nb_data);
+ arma::vec from_indices = arma::linspace<arma::vec>(0, points_original.n_cols - 1, points_original.n_cols);
+ arma::vec to_indices = arma::linspace<arma::vec>(0, points_original.n_cols - 1, parameters.nb_data);
- interp1(from_indices, x, to_indices, x2, "*linear");
- interp1(from_indices, y, to_indices, y2, "*linear");
+ interp1(from_indices, x, to_indices, x2, "*linear");
+ interp1(from_indices, y, to_indices, y2, "*linear");
- points = mat(2 * parameters.nb_deriv, parameters.nb_data);
- points(span(0), span::all) = x2.t();
- points(span(1), span::all) = y2.t();
-// points = join_linspace(0, parameters.nb_data-1, parameters.nb_data);
+ points = mat(2 * parameters.nb_deriv, parameters.nb_data);
+ points(span(0), span::all) = x2.t();
+ points(span(1), span::all) = y2.t();
- // Compute the derivatives
- mat D = (diagmat(ones(1, parameters.nb_data - 1), -1) -
- eye(parameters.nb_data, parameters.nb_data)) / parameters.dt;
+ // Compute the derivatives
+ mat D = (diagmat(ones(1, parameters.nb_data - 1), -1) -
+ eye(parameters.nb_data, parameters.nb_data)) / parameters.dt;
- D(parameters.nb_data - 1, parameters.nb_data - 1) = 0.0;
+ D(parameters.nb_data - 1, parameters.nb_data - 1) = 0.0;
- points(span(2, 3), span::all) = points(span(0, 1), span::all) * pow(D, 1);
+ points(span(2, 3), span::all) = points(span(0, 1), span::all) * pow(D, 1);
- // Compute the points in each coordinate system
- points_in_coordinate_systems.clear();
+ // Compute the points in each coordinate system
+ points_in_coordinate_systems.clear();
- points = join_vert(points, linspace(0, points.n_cols-1, points.n_cols).t());
+ points = join_vert(points, linspace(0, points.n_cols-1, points.n_cols).t());
- for (int m = 0; m < coordinate_systems.size(); ++m) {
- points_in_coordinate_systems.push_back(
- join_vert( pinv(coordinate_systems[m].orientation) *
- (points.rows(0, points.n_rows-2) - repmat(coordinate_systems[m].position, 1, parameters.nb_data)), points.row(points.n_rows-1)));
- }
- }
+ for (int m = 0; m < coordinate_systems.size(); ++m) {
+ points_in_coordinate_systems.push_back(
+ join_vert( pinv(coordinate_systems[m].orientation) *
+ (points.rows(0, points.n_rows-2) - repmat(coordinate_systems[m].position, 1, parameters.nb_data)), points.row(points.n_rows-1)));
+ }
+ }
- //-------------------------------------------------------------------------
- // Returns the coordinates of a point in a specific reference frame of
- // the demonstration
- //-------------------------------------------------------------------------
- arma::vec convert_to_coordinate_system(const arma::vec& point, int frame) const {
- vec original_point = zeros(points.n_rows);
- original_point(span(0, 1)) = point(span(0, 1));
+ //-------------------------------------------------------------------------
+ // Returns the coordinates of a point in a specific reference frame of
+ // the demonstration
+ //-------------------------------------------------------------------------
+ arma::vec convert_to_coordinate_system(const arma::vec& point, int frame) const {
+ vec original_point = zeros(points.n_rows);
+ original_point(span(0, 1)) = point(span(0, 1));
- vec result = pinv(coordinate_systems[frame].orientation) *
- (original_point - coordinate_systems[frame].position);
+ vec result = pinv(coordinate_systems[frame].orientation) *
+ (original_point - coordinate_systems[frame].position);
- return result(span(0, 1));
- }
+ return result(span(0, 1));
+ }
public:
- coordinate_system_list_t coordinate_systems;
- arma::mat points_original;
- arma::mat points;
- matrix_list_t points_in_coordinate_systems;
+ coordinate_system_list_t coordinate_systems;
+ arma::mat points_original;
+ arma::mat points;
+ matrix_list_t points_in_coordinate_systems;
};
@@ -204,7 +203,7 @@ typedef std::vector<Demonstration> demonstration_list_t;
// Computes the factorial of a number
//-----------------------------------------------------------------------------
int factorial(int n) {
- return (n == 1 || n == 0) ? 1 : factorial(n - 1) * n;
+ return (n == 1 || n == 0) ? 1 : factorial(n - 1) * n;
}
@@ -214,16 +213,16 @@ int factorial(int n) {
//-----------------------------------------------------------------------------
arma::vec gaussPDF(const mat& data, colvec mu, mat sigma) {
- int nb_var = data.n_rows;
- int nb_data = data.n_cols;
+ int nb_var = data.n_rows;
+ int nb_data = data.n_cols;
- mat data2 = data.t() - repmat(mu.t(), nb_data, 1);
+ mat data2 = data.t() - repmat(mu.t(), nb_data, 1);
- vec prob = sum((data2 * inv(sigma)) % data2, 1);
+ vec prob = sum((data2 * inv(sigma)) % data2, 1);
- prob = exp(-0.5 * prob) / sqrt(pow((2 * datum::pi), nb_var) * det(sigma) + DBL_MIN);
+ prob = exp(-0.5 * prob) / sqrt(pow((2 * datum::pi), nb_var) * det(sigma) + DBL_MIN);
- return prob;
+ return prob;
}
@@ -232,75 +231,75 @@ arma::vec gaussPDF(const mat& data, colvec mu, mat sigma) {
// ordered dataset into equal bins
//-----------------------------------------------------------------------------
void init_tensorGMM_kbins(const demonstration_list_t& demos,
- model_t &model) {
+ model_t &model) {
- model.priors.resize(model.parameters.nb_states);
- model.mu.clear();
- model.sigma.clear();
+ model.priors.resize(model.parameters.nb_states);
+ model.mu.clear();
+ model.sigma.clear();
- model.nb_var = demos[0].points_in_coordinate_systems[0].n_rows;
+ model.nb_var = demos[0].points_in_coordinate_systems[0].n_rows;
- // Initialize bins
- uvec t_sep = linspace<uvec>(0, model.parameters.nb_data - 1,
- model.parameters.nb_states + 1);
+ // Initialize bins
+ uvec t_sep = linspace<uvec>(0, model.parameters.nb_data - 1,
+ model.parameters.nb_states + 1);
- struct bin_t {
- mat data;
- vec mu;
- mat sigma;
- };
+ struct bin_t {
+ mat data;
+ vec mu;
+ mat sigma;
+ };
- std::vector<bin_t> bins;
- for (int i = 0; i < model.parameters.nb_states; ++i) {
- bin_t bin;
- bin.data = zeros(model.nb_var * model.parameters.nb_frames + 1, //adding time as last dimension
- demos.size() * (t_sep(i + 1) - t_sep(i) + 1));
+ std::vector<bin_t> bins;
+ for (int i = 0; i < model.parameters.nb_states; ++i) {
+ bin_t bin;
+ bin.data = zeros(model.nb_var * model.parameters.nb_frames + 1, //adding time as last dimension
+ demos.size() * (t_sep(i + 1) - t_sep(i) + 1));
- bins.push_back(bin);
- }
+ bins.push_back(bin);
+ }
- // Split each demonstration in K equal bins
- for (int n = 0; n < demos.size(); ++n) {
+ // Split each demonstration in K equal bins
+ for (int n = 0; n < demos.size(); ++n) {
- for (int i = 0; i < model.parameters.nb_states; ++i) {
- int bin_size = t_sep(i + 1) - t_sep(i) + 1;
+ for (int i = 0; i < model.parameters.nb_states; ++i) {
+ int bin_size = t_sep(i + 1) - t_sep(i) + 1;
- for (int m = 0; m < model.parameters.nb_frames; ++m) {
- bins[i].data(span(m * model.nb_var, (m + 1) * model.nb_var - 1),
- span(n * bin_size, (n + 1) * bin_size - 1)) =
- demos[n].points_in_coordinate_systems[m](span::all, span(t_sep(i), t_sep(i + 1)));
- }
- }
- }
+ for (int m = 0; m < model.parameters.nb_frames; ++m) {
+ bins[i].data(span(m * model.nb_var, (m + 1) * model.nb_var - 1),
+ span(n * bin_size, (n + 1) * bin_size - 1)) =
+ demos[n].points_in_coordinate_systems[m](span::all, span(t_sep(i), t_sep(i + 1)));
+ }
+ }
+ }
- // Calculate statistics on bin data
- for (int i = 0; i < model.parameters.nb_states; ++i) {
- bins[i].mu = mean(bins[i].data, 1);
- bins[i].sigma = cov(bins[i].data.t());
- model.priors(i) = bins[i].data.n_elem;
- }
+ // Calculate statistics on bin data
+ for (int i = 0; i < model.parameters.nb_states; ++i) {
+ bins[i].mu = mean(bins[i].data, 1);
+ bins[i].sigma = cov(bins[i].data.t());
+ model.priors(i) = bins[i].data.n_elem;
+ }
- // Reshape GMM into a tensor
- for (int i = 0; i < model.parameters.nb_states; ++i) {
- model.mu.push_back(vector_list_t());
- model.sigma.push_back(matrix_list_t());
- }
+ // Reshape GMM into a tensor
+ for (int i = 0; i < model.parameters.nb_states; ++i) {
+ model.mu.push_back(vector_list_t());
+ model.sigma.push_back(matrix_list_t());
+ }
- for (int m = 0; m < model.parameters.nb_frames; ++m) {
- for (int i = 0; i < model.parameters.nb_states; ++i) {
- model.mu[i].push_back(bins[i].mu(span(m * model.nb_var, (m + 1) * model.nb_var - 1)));
+ for (int m = 0; m < model.parameters.nb_frames; ++m) {
+ for (int i = 0; i < model.parameters.nb_states; ++i) {
+ model.mu[i].push_back(bins[i].mu(span(m * model.nb_var, (m + 1) * model.nb_var - 1)));
- model.sigma[i].push_back(bins[i].sigma(span(m * model.nb_var, (m + 1) * model.nb_var - 1),
- span(m * model.nb_var, (m + 1) * model.nb_var - 1)));
+ model.sigma[i].push_back(bins[i].sigma(span(m * model.nb_var, (m + 1) * model.nb_var - 1),
+ span(m * model.nb_var, (m + 1) * model.nb_var - 1)));
- }
+ }
- }
+ }
- model.priors /= sum(model.priors);
+ model.priors /= sum(model.priors);
}
@@ -313,85 +312,85 @@ void init_tensorGMM_kbins(const demonstration_list_t& demos,
// candidate coordinate systems.
//-----------------------------------------------------------------------------
void train_EM_tensorGMM(const demonstration_list_t& demos,
- model_t &model) {
+ model_t &model) {
- const int nb_max_steps = 100; // Maximum number of iterations allowed
- const int nb_min_steps = 5; // Minimum number of iterations allowed
- const double max_diff_log_likelihood = 1e-5; // Likelihood increase threshold
- // to stop the algorithm
- const double diag_reg_fact = 1e-2; // Regularization term is optional
+ const int nb_max_steps = 100; // Maximum number of iterations allowed
+ const int nb_min_steps = 5; // Minimum number of iterations allowed
+ const double max_diff_log_likelihood = 1e-5; // Likelihood increase threshold
+ // to stop the algorithm
+ const double diag_reg_fact = 1e-2; // Regularization term is optional
- cube data(model.nb_var, model.parameters.nb_frames,
- demos.size() * model.parameters.nb_data);
+ cube data(model.nb_var, model.parameters.nb_frames,
+ demos.size() * model.parameters.nb_data);
- for (int n = 0; n < demos.size(); ++n) {
- for (int m = 0; m < model.parameters.nb_frames; ++m) {
- data(span::all, span(m), span(n * model.parameters.nb_data,
- (n + 1) * model.parameters.nb_data - 1)) =
- demos[n].points_in_coordinate_systems[m];
- }
- }
+ for (int n = 0; n < demos.size(); ++n) {
+ for (int m = 0; m < model.parameters.nb_frames; ++m) {
+ data(span::all, span(m), span(n * model.parameters.nb_data,
+ (n + 1) * model.parameters.nb_data - 1)) =
+ demos[n].points_in_coordinate_systems[m];
+ }
+ }
- std::vector<double> log_likelihoods;
+ std::vector<double> log_likelihoods;
- for (int iter = 0; iter < nb_max_steps; ++iter) {
+ for (int iter = 0; iter < nb_max_steps; ++iter) {
- // E-step
- mat L = ones(model.parameters.nb_states, data.n_slices);
+ // E-step
+ mat L = ones(model.parameters.nb_states, data.n_slices);
- for (int i = 0; i < model.parameters.nb_states; ++i) {
- for (int m = 0; m < model.parameters.nb_frames; ++m) {
+ for (int i = 0; i < model.parameters.nb_states; ++i) {
+ for (int m = 0; m < model.parameters.nb_frames; ++m) {
- // Matricization/flattening of tensor
- mat data_mat(data(span::all, span(m), span::all));
+ // Matricization/flattening of tensor
+ mat data_mat(data(span::all, span(m), span::all));
- vec gamma0 = gaussPDF(data_mat, model.mu[i][m], model.sigma[i][m]);
+ vec gamma0 = gaussPDF(data_mat, model.mu[i][m], model.sigma[i][m]);
- L(i, span::all) = L(i, span::all) % gamma0.t();
- }
+ L(i, span::all) = L(i, span::all) % gamma0.t();
+ }
- L(i, span::all) = L(i, span::all) * model.priors(i);
- }
+ L(i, span::all) = L(i, span::all) * model.priors(i);
+ }
- mat gamma = L / repmat(sum(L, 0) + DBL_MIN, L.n_rows, 1);
- mat gamma2 = gamma / repmat(sum(gamma, 1), 1, data.n_slices);
+ mat gamma = L / repmat(sum(L, 0) + DBL_MIN, L.n_rows, 1);
+ mat gamma2 = gamma / repmat(sum(gamma, 1), 1, data.n_slices);
- model.pix = gamma2;
+ model.pix = gamma2;
- // M-step
- for (int i = 0; i < model.parameters.nb_states; ++i) {
+ // M-step
+ for (int i = 0; i < model.parameters.nb_states; ++i) {
- // Update priors
- model.priors(i) = sum(gamma(i, span::all)) / data.n_slices;
+ // Update priors
+ model.priors(i) = sum(gamma(i, span::all)) / data.n_slices;
- for (int m = 0; m < model.parameters.nb_frames; ++m) {
+ for (int m = 0; m < model.parameters.nb_frames; ++m) {
- // Matricization/flattening of tensor
- mat data_mat(data(span::all, span(m), span::all));
+ // Matricization/flattening of tensor
+ mat data_mat(data(span::all, span(m), span::all));
- // Update mu
- model.mu[i][m] = data_mat * gamma2(i, span::all).t();
+ // Update mu
+ model.mu[i][m] = data_mat * gamma2(i, span::all).t();
- // Update sigma
- mat data_tmp = data_mat - repmat(model.mu[i][m], 1, data.n_slices);
- model.sigma[i][m] = data_tmp * diagmat(gamma2(i, span::all)) * data_tmp.t() +
- eye(data_tmp.n_rows, data_tmp.n_rows) * diag_reg_fact;
- }
- }
+ // Update sigma
+ mat data_tmp = data_mat - repmat(model.mu[i][m], 1, data.n_slices);
+ model.sigma[i][m] = data_tmp * diagmat(gamma2(i, span::all)) * data_tmp.t() +
+ eye(data_tmp.n_rows, data_tmp.n_rows) * diag_reg_fact;
+ }
+ }
- // Compute average log-likelihood
- log_likelihoods.push_back(vec(sum(log(sum(L, 0)), 1))[0] / data.n_slices);
+ // Compute average log-likelihood
+ log_likelihoods.push_back(vec(sum(log(sum(L, 0)), 1))[0] / data.n_slices);
- // Stop the algorithm if EM converged (small change of log-likelihood)
- if (iter >= nb_min_steps) {
- if (log_likelihoods[iter] - log_likelihoods[iter - 1] < max_diff_log_likelihood)
- break;
- }
- }
+ // Stop the algorithm if EM converged (small change of log-likelihood)
+ if (iter >= nb_min_steps) {
+ if (log_likelihoods[iter] - log_likelihoods[iter - 1] < max_diff_log_likelihood)
+ break;
+ }
+ }
}
@@ -400,8 +399,8 @@ void train_EM_tensorGMM(const demonstration_list_t& demos,
//-----------------------------------------------------------------------------
void learn(const demonstration_list_t& demos, model_t &model) {
- init_tensorGMM_kbins(demos, model);
- train_EM_tensorGMM(demos, model);
+ init_tensorGMM_kbins(demos, model);
+ train_EM_tensorGMM(demos, model);
}
@@ -409,7 +408,7 @@ void learn(const demonstration_list_t& demos, model_t &model) {
/*************************** DEMONSTRATION SECTION ***************************/
static void error_callback(int error, const char* description) {
- fprintf(stderr, "Error %d: %s\n", error, description);
+ fprintf(stderr, "Error %d: %s\n", error, description);
}
@@ -417,19 +416,19 @@ static void error_callback(int error, const char* description) {
// Contains all the informations about a viewport
//-----------------------------------------------------------------------------
struct viewport_t {
- int x;
- int y;
- int width;
- int height;
-
- // Projection matrix parameters
- arma::vec projection_top_left;
- arma::vec projection_bottom_right;
- double projection_near;
- double projection_far;
-
- // View matrix parameters
- arma::fvec view;
+ int x;
+ int y;
+ int width;
+ int height;
+
+ // Projection matrix parameters
+ arma::vec projection_top_left;
+ arma::vec projection_bottom_right;
+ double projection_near;
+ double projection_far;
+
+ // View matrix parameters
+ arma::fvec view;
};
@@ -437,20 +436,20 @@ struct viewport_t {
// Helper function to setup a viewport
//-----------------------------------------------------------------------------
void setup_viewport(viewport_t* viewport, int x, int y, int width, int height,
- double near = -1.0, double far = 1.0,
- const fvec& view_transforms = zeros<fvec>(3)) {
-
- viewport->x = x;
- viewport->y = y;
- viewport->width = width;
- viewport->height = height;
- viewport->projection_top_left = vec({ (double) -width / 2,
- (double) height / 2 });
- viewport->projection_bottom_right = vec({ (double) width / 2,
- (double) -height / 2 });
- viewport->projection_near = near;
- viewport->projection_far = far;
- viewport->view = view_transforms;
+ double near = -1.0, double far = 1.0,
+ const fvec& view_transforms = zeros<fvec>(3)) {
+
+ viewport->x = x;
+ viewport->y = y;
+ viewport->width = width;
+ viewport->height = height;
+ viewport->projection_top_left = vec({ (double) -width / 2,
+ (double) height / 2 });
+ viewport->projection_bottom_right = vec({ (double) width / 2,
+ (double) -height / 2 });
+ viewport->projection_near = near;
+ viewport->projection_far = far;
+ viewport->view = view_transforms;
}
@@ -459,19 +458,19 @@ void setup_viewport(viewport_t* viewport, int x, int y, int width, int height,
// coordinates of a viewport into account
//-----------------------------------------------------------------------------
arma::vec ui2fb(const arma::vec& coords, const gfx2::window_size_t& window_size,
- const viewport_t& viewport) {
- arma::vec result = coords;
+ const viewport_t& viewport) {
+ arma::vec result = coords;
- // ui -> viewport
- result(0) = coords(0) * (float) window_size.fb_width / (float) window_size.win_width - viewport.x;
- result(1) = (window_size.win_height - coords(1)) *
- (float) window_size.fb_height / (float) window_size.win_height - viewport.y;
+ // ui -> viewport
+ result(0) = coords(0) * (float) window_size.fb_width / (float) window_size.win_width - viewport.x;
+ result(1) = (window_size.win_height - coords(1)) *
+ (float) window_size.fb_height / (float) window_size.win_height - viewport.y;
- // viewport -> fb
- result(0) = result(0) - (float) viewport.width * 0.5f;
- result(1) = result(1) - (float) viewport.height * 0.5f;
+ // viewport -> fb
+ result(0) = result(0) - (float) viewport.width * 0.5f;
+ result(1) = result(1) - (float) viewport.height * 0.5f;
- return result;
+ return result;
}
@@ -480,21 +479,21 @@ arma::vec ui2fb(const arma::vec& coords, const gfx2::window_size_t& window_size,
// coordinates of a viewport into account
//-----------------------------------------------------------------------------
arma::vec fb2ui(const arma::vec& coords, const gfx2::window_size_t& window_size,
- const viewport_t& viewport) {
- arma::vec result = coords;
+ const viewport_t& viewport) {
+ arma::vec result = coords;
- // fb -> viewport
- result(0) = result(0) + (float) viewport.width * 0.5f;
- result(1) = result(1) + (float) viewport.height * 0.5f;
+ // fb -> viewport
+ result(0) = result(0) + (float) viewport.width * 0.5f;
+ result(1) = result(1) + (float) viewport.height * 0.5f;
- // viewport -> ui
- result(0) = (result(0) + viewport.x) * (float) window_size.win_width /
- (float) window_size.fb_width;
+ // viewport -> ui
+ result(0) = (result(0) + viewport.x) * (float) window_size.win_width /
+ (float) window_size.fb_width;
- result(1) = window_size.win_height - (result(1) + viewport.y) *
- (float) window_size.win_height / (float) window_size.fb_height;
+ result(1) = window_size.win_height - (result(1) + viewport.y) *
+ (float) window_size.win_height / (float) window_size.fb_height;
- return result;
+ return result;
}
@@ -502,41 +501,38 @@ arma::vec fb2ui(const arma::vec& coords, const gfx2::window_size_t& window_size,
// Colors used by the movable handlers
//-----------------------------------------------------------------------------
const arma::fmat HANDLER_COLORS({
- { 0.0, 0.0, 0.0 },
- { 0.0, 0.0, 1.0 },
- { 0.0, 0.5, 0.0 },
- { 1.0, 0.0, 0.0 },
- { 0.0, 0.75, 0.75 },
- });
+ { 0.0, 0.0, 0.0 },
+ { 0.0, 0.0, 1.0 },
+ { 0.0, 0.5, 0.0 },
+ { 1.0, 0.0, 0.0 },
+ { 0.0, 0.75, 0.75 },
+});
//-----------------------------------------------------------------------------
// Colors used by the fixed handlers
//-----------------------------------------------------------------------------
const arma::fmat HANDLER_FIXED_COLORS({
- { 0.4, 0.4, 0.4 },
- { 0.4, 0.4, 1.0 },
- { 0.2, 0.5, 0.2 },
- { 1.0, 0.4, 0.4 },
- { 0.3, 0.75, 0.75 },
- });
+ { 0.4, 0.4, 0.4 },
+ { 0.4, 0.4, 1.0 },
+ { 0.2, 0.5, 0.2 },
+ { 1.0, 0.4, 0.4 },
+ { 0.3, 0.75, 0.75 },
+});
//-----------------------------------------------------------------------------
// Colors of the displayed lines and gaussians
//-----------------------------------------------------------------------------
const arma::mat COLORS({
- { 0.0, 0.0, 1.0 },
- { 0.0, 0.5, 0.0 },
- { 1.0, 0.0, 0.0 },
- { 0.0, 0.75, 0.75 },
- { 0.75, 0.0, 0.75 },
- { 0.75, 0.75, 0.0 },
- { 0.25, 0.25, 0.25 },
- { 0.0, 0.0, 1.0 },
- { 0.0, 0.5, 0.0 },
- { 1.0, 0.0, 0.0 },
- });
+ { 0.0, 0.0, 1.0 },
+ { 0.0, 0.5, 0.0 },
+ { 1.0, 0.0, 0.0 },
+ { 0.0, 0.75, 0.75 },
+ { 0.75, 0.0, 0.75 },
+ { 0.75, 0.75, 0.0 },
+ { 0.25, 0.25, 0.25 },
+});
//-----------------------------------------------------------------------------
@@ -547,141 +543,155 @@ const arma::mat COLORS({
class Handler
{
public:
- Handler(const viewport_t* viewport, const ImVec2& position, const ImVec2& y,
- int index)
- : viewport(viewport), hovered(false), fixed(false), moved(false), index(index)
- {
- ui_position = position;
- ui_y = y;
+ Handler(const viewport_t* viewport, const ImVec2& position, const ImVec2& y,
+ int index, bool small)
+ : viewport(viewport), hovered(false), fixed(false), moved(false), index(index)
+ {
+ ui_position = position;
+ ui_y = y;
- fvec color = HANDLER_COLORS.row(index).t();
+ fvec color = HANDLER_COLORS.row(index).t();
- models[0] = gfx2::create_rectangle(color, 25.0f, 5.0f);
- models[0].transforms.parent = &transforms;
- models[0].transforms.rotation = gfx2::rotate(arma::fvec({0.0f, 0.0f, 1.0f}),
- gfx2::deg2rad(90.0f));
+ if (small) {
+ models[0] = gfx2::create_rectangle(color, 12.0f, 2.0f);
- models[1] = gfx2::create_rectangle(color, 60.0f, 5.0f);
- models[1].transforms.parent = &transforms;
- models[1].transforms.position(0) = 30.0f;
- models[1].transforms.position(1) = -10.0f;
+ models[1] = gfx2::create_rectangle(color, 30.0f, 2.0f);
+ models[1].transforms.position(0) = 15.0f;
+ models[1].transforms.position(1) = -5.0f;
- models[2] = gfx2::create_rectangle(color, 60.0f, 5.0f);
- models[2].transforms.parent = &transforms;
- models[2].transforms.position(0) = 30.0f;
- models[2].transforms.position(1) = 10.0f;
- }
+ models[2] = gfx2::create_rectangle(color, 30.0f, 2.0f);
+ models[2].transforms.position(0) = 15.0f;
+ models[2].transforms.position(1) = 5.0f;
+ } else {
+ models[0] = gfx2::create_rectangle(color, 25.0f, 5.0f);
+ models[1] = gfx2::create_rectangle(color, 60.0f, 5.0f);
+ models[1].transforms.position(0) = 30.0f;
+ models[1].transforms.position(1) = -10.0f;
- void update(const gfx2::window_size_t& window_size)
- {
- transforms.position.rows(0, 1) = arma::conv_to<arma::fvec>::from(
- ui2fb(ui_position, window_size, *viewport)
- );
+ models[2] = gfx2::create_rectangle(color, 60.0f, 5.0f);
+ models[2].transforms.position(0) = 30.0f;
+ models[2].transforms.position(1) = 10.0f;
+ }
- arma::vec delta = ui_y / arma::norm(arma::vec(ui_y));
+ models[0].transforms.parent = &transforms;
+ models[1].transforms.parent = &transforms;
+ models[2].transforms.parent = &transforms;
- transforms.rotation(0, 0) = -delta(0);
- transforms.rotation(1, 0) = delta(1);
- transforms.rotation(0, 1) = -delta(1);
- transforms.rotation(1, 1) = -delta(0);
- }
+ models[0].transforms.rotation = gfx2::rotate(arma::fvec({0.0f, 0.0f, 1.0f}),
+ gfx2::deg2rad(90.0f));
+ }
- void update()
- {
- transforms.position(0) = ui_position.x;
- transforms.position(1) = ui_position.y;
+ void update(const gfx2::window_size_t& window_size)
+ {
+ transforms.position.rows(0, 1) = arma::conv_to<arma::fvec>::from(
+ ui2fb(ui_position, window_size, *viewport)
+ );
- arma::vec delta = ui_y / arma::norm(arma::vec(ui_y));
+ arma::vec delta = ui_y / arma::norm(arma::vec(ui_y));
- transforms.rotation(0, 0) = -delta(0);
- transforms.rotation(1, 0) = delta(1);
- transforms.rotation(0, 1) = -delta(1);
- transforms.rotation(1, 1) = -delta(0);
- }
+ transforms.rotation(0, 0) = -delta(0);
+ transforms.rotation(1, 0) = delta(1);
+ transforms.rotation(0, 1) = -delta(1);
+ transforms.rotation(1, 1) = -delta(0);
+ }
- void viewport_resized(const gfx2::window_size_t& window_size)
- {
- ui_position = fb2ui(arma::conv_to<arma::vec>::from(transforms.position.rows(0, 1)),
- window_size, *viewport);
- }
+ void update()
+ {
+ transforms.position(0) = ui_position.x;
+ transforms.position(1) = ui_position.y;
+ arma::vec delta = ui_y / arma::norm(arma::vec(ui_y));
- void fix()
- {
- fixed = true;
+ transforms.rotation(0, 0) = -delta(0);
+ transforms.rotation(1, 0) = delta(1);
+ transforms.rotation(0, 1) = -delta(1);
+ transforms.rotation(1, 1) = -delta(0);
+ }
- for (int i = 0; i < 3; ++i)
- models[i].diffuse_color = HANDLER_FIXED_COLORS.row(index).t();
- }
+ void viewport_resized(const gfx2::window_size_t& window_size)
+ {
+ ui_position = fb2ui(arma::conv_to<arma::vec>::from(transforms.position.rows(0, 1)),
+ window_size, *viewport);
+ }
- bool draw(const gfx2::window_size_t& window_size)
- {
- if (!fixed)
- {
- std::stringstream id;
- id << "handler" << (uint64_t) this;
- ImGuiWindow* window = ImGui::GetCurrentWindow();
- if (window->SkipItems)
- return false;
+ void fix()
+ {
+ fixed = true;
- ImGui::PushID(id.str().c_str());
+ for (int i = 0; i < 3; ++i)
+ models[i].diffuse_color = HANDLER_FIXED_COLORS.row(index).t();
+ }
- // Position
- ImVec2 current_position = ui_position;
- ui_position = ui::dragger(0, ui_position, false, ui::config.draggerSize );
+ bool draw(const gfx2::window_size_t& window_size)
+ {
+ if (!fixed)
+ {
+ std::stringstream id;
+ id << "handler" << (uint64_t) this;
- moved = moved || (ui_position.x != current_position.x) || (ui_position.y != current_position.y);
+ ImGuiWindow* window = ImGui::GetCurrentWindow();
+ if (window->SkipItems)
+ return false;
- hovered = ImGui::IsItemHovered();
+ ImGui::PushID(id.str().c_str());
- // y-axis
- ImVec2 py = ui_position + ui_y;
- current_position = ui_y;
+ // Position
+ ImVec2 current_position = ui_position;
- py = ui::dragger(1, py, false, ui::config.draggerSize * 0.7);
- ui_y = py - ui_position;
+ ui_position = ui::dragger(0, ui_position, false, ui::config.draggerSize );
- moved = moved || ((ui_y.x != current_position.x) || (ui_y.y != current_position.y));
+ moved = moved || (ui_position.x != current_position.x) || (ui_position.y != current_position.y);
- hovered = ImGui::IsItemHovered() || hovered;
+ hovered = ImGui::IsItemHovered();
- window->DrawList->AddLine(ui_position, py, ui::config.lineColor);
+ // y-axis
+ ImVec2 py = ui_position + ui_y;
+ current_position = ui_y;
- ImGui::PopID();
+ py = ui::dragger(1, py, false, ui::config.draggerSize * 0.7);
+ ui_y = py - ui_position;
- update(window_size);
- }
+ moved = moved || ((ui_y.x != current_position.x) || (ui_y.y != current_position.y));
- return hovered;
- }
+ hovered = ImGui::IsItemHovered() || hovered;
+ window->DrawList->AddLine(ui_position, py, ui::config.lineColor);
- void draw_anchor() const
- {
- for (int i = 0; i < 3; ++i)
- gfx2::draw(models[i]);
- }
+ ImGui::PopID();
+
+ update(window_size);
+ }
+
+ return hovered;
+ }
+
+
+ void draw_anchor() const
+ {
+ for (int i = 0; i < 3; ++i)
+ gfx2::draw(models[i]);
+ }
public:
- const viewport_t* viewport;
- int index;
+ const viewport_t* viewport;
+ int index;
- ImVec2 ui_position;
- ImVec2 ui_y;
+ ImVec2 ui_position;
+ ImVec2 ui_y;
- gfx2::transforms_t transforms;
- gfx2::model_t models[3];
+ gfx2::transforms_t transforms;
+ gfx2::model_t models[3];
- bool hovered;
- bool fixed;
- bool moved;
+ bool hovered;
+ bool fixed;
+ bool moved;
};
@@ -697,38 +707,40 @@ typedef std::vector<Handler*> handler_list_t;
// doing, ...)
//-----------------------------------------------------------------------------
struct gui_state_t {
- // Indicates if the user can draw a new demonstration
- bool can_draw_demonstration;
+ // Indicates if the user can draw a new demonstration
+ bool can_draw_demonstration;
- // Indicates if the user is currently drawing a new demonstration
- bool is_drawing_demonstration;
+ // Indicates if the user is currently drawing a new demonstration
+ bool is_drawing_demonstration;
- // Indicates if the parameters dialog is displayed
- bool is_parameters_dialog_displayed;
+ // Indicates if the parameters dialog is displayed
+ bool is_parameters_dialog_displayed;
- // Indicates if the parameters were modified through the UI
- bool are_parameters_modified;
+ // Indicates if the parameters were modified through the UI
+ bool are_parameters_modified;
- // Parameters modifiable via the UI (they correspond to the ones declared
- //in parameters_t)
- int parameter_nb_states;
- int parameter_nb_frames;
- int parameter_nb_data;
+ // Parameters modifiable via the UI (they correspond to the ones declared
+ //in parameters_t)
+ int parameter_nb_states;
+ int parameter_nb_frames;
+ int parameter_nb_data;
- int parameter_nb_gmr_components;
+ int parameter_nb_gmr_components;
};
//-----------------------------------------------------------------------------
// Create a handler at a random position (within the given boundaries)
//-----------------------------------------------------------------------------
-Handler* create_random_handler(const viewport_t* viewport, int index,
- int min_x, int min_y, int max_x, int max_y) {
- return new Handler(viewport,
- ImVec2((randu() * 0.8f + 0.1f) * (max_x - min_x) + min_x,
- (randu() * 0.5f + 0.1f) * (max_y - min_y) + min_y),
- ImVec2((randu() - 0.5) * 10, randu() * -10 - 10),
- index);
+Handler* create_random_handler(const viewport_t* viewport, int index, int min_x,
+ int min_y, int max_x, int max_y, bool small) {
+ return new Handler(viewport,
+ ImVec2((randu() * 0.8f + 0.1f) * (max_x - min_x) + min_x,
+ (randu() * 0.5f + 0.1f) * (max_y - min_y) + min_y),
+ ImVec2((randu() - 0.5) * 10, randu() * -10 - 10),
+ index,
+ small
+ );
}
@@ -736,28 +748,29 @@ Handler* create_random_handler(const viewport_t* viewport, int index,
// Create handlers to be used for a new demonstration at random positions
//-----------------------------------------------------------------------------
void create_new_demonstration_handlers(const viewport_t& viewport,
- const gfx2::window_size_t& window_size,
- int nb_frames,
- handler_list_t &handlers) {
-
- for (size_t i = 0; i < handlers.size(); ++i)
- delete handlers[i];
-
- handlers.clear();
-
- handlers.push_back(
- new Handler(&viewport, ImVec2(window_size.win_width / 6,
- window_size.win_height - 50),
- ImVec2(0, 30), 0)
- );
-
- for (int n = 1; n < nb_frames; ++n) {
- handlers.push_back(
- create_random_handler(&viewport, n, 10, 20,
- window_size.win_width / 3 - 10,
- window_size.win_height / 2 - 20)
- );
- };
+ const gfx2::window_size_t& window_size,
+ int nb_frames,
+ handler_list_t &handlers) {
+
+ for (size_t i = 0; i < handlers.size(); ++i)
+ delete handlers[i];
+
+ handlers.clear();
+
+ handlers.push_back(
+ new Handler(&viewport, ImVec2(window_size.win_width / 6,
+ window_size.win_height / 2 - 50),
+ ImVec2(0, 30), 0, (window_size.fb_width == window_size.win_width))
+ );
+
+ for (int n = 1; n < nb_frames; ++n) {
+ handlers.push_back(
+ create_random_handler(&viewport, n, 10, 20,
+ window_size.win_width / 3 - 10,
+ window_size.win_height / 2 - 20,
+ (window_size.fb_width == window_size.win_width))
+ );
+ };
}
@@ -765,67 +778,69 @@ void create_new_demonstration_handlers(const viewport_t& viewport,
// Create handlers to be used for a new reproduction at random positions
//-----------------------------------------------------------------------------
void create_reproduction_handlers(const viewport_t& viewport,
- const gfx2::window_size_t& window_size,
- int nb_frames,
- handler_list_t &handlers) {
-
- for (size_t i = 0; i < handlers.size(); ++i)
- delete handlers[i];
-
- handlers.clear();
-
- handlers.push_back(
- new Handler(&viewport, ImVec2(window_size.win_width / 2,
- window_size.win_height - 50),
- ImVec2(0, 30), 0)
- );
-
- for (int n = 1; n < nb_frames; ++n) {
- handlers.push_back(
- create_random_handler(&viewport, n,
- window_size.win_width / 3 + 20,
- 20,
- window_size.win_width * 2 / 3 - 20,
- window_size.win_height / 2- 20)
- );
- };
+ const gfx2::window_size_t& window_size,
+ int nb_frames,
+ handler_list_t &handlers) {
+
+ for (size_t i = 0; i < handlers.size(); ++i)
+ delete handlers[i];
+
+ handlers.clear();
+
+ handlers.push_back(
+ new Handler(&viewport, ImVec2(window_size.win_width / 2,
+ window_size.win_height - 50),
+ ImVec2(0, 30), 0, (window_size.fb_width == window_size.win_width))
+ );
+
+ for (int n = 1; n < nb_frames; ++n) {
+ handlers.push_back(
+ create_random_handler(&viewport, n,
+ window_size.win_width / 3 + 20,
+ 20,
+ window_size.win_width * 2 / 3 - 20,
+ window_size.win_height / 2- 20,
+ (window_size.fb_width == window_size.win_width))
+ );
+ };
}
//-----------------------------------------------------------------------------
// Create handlers to be used for moving GMR window
//-----------------------------------------------------------------------------
void create_reproduction_handlers_gmrmoving(const viewport_t& viewport,
- const gfx2::window_size_t& window_size,
- int nb_frames,
- handler_list_t &handlers) {
-
- for (size_t i = 0; i < handlers.size(); ++i)
- delete handlers[i];
-
- handlers.clear();
-
- handlers.push_back(
- new Handler(&viewport, ImVec2(window_size.win_width *5 / 6,
- window_size.win_height - 50),
- ImVec2(0, 30), 0)
- );
-
- if (nb_frames > 1) {
- for (int n = 1; n < nb_frames; ++n) {
- handlers.push_back(
- create_random_handler(&viewport, n,
- window_size.win_width * 2 / 3 + 20,
- 20,
- window_size.win_width - 20,
- window_size.win_height / 2 - 20)
- );
- };
- };
-
- for (int i = 0; i < handlers.size(); i++) {
- handlers.at(i)->fix();
- handlers.at(i)->update(window_size);
- }
+ const gfx2::window_size_t& window_size,
+ int nb_frames,
+ handler_list_t &handlers) {
+
+ for (size_t i = 0; i < handlers.size(); ++i)
+ delete handlers[i];
+
+ handlers.clear();
+
+ handlers.push_back(
+ new Handler(&viewport, ImVec2(window_size.win_width *5 / 6,
+ window_size.win_height - 50),
+ ImVec2(0, 30), 0, (window_size.fb_width == window_size.win_width))
+ );
+
+ if (nb_frames > 1) {
+ for (int n = 1; n < nb_frames; ++n) {
+ handlers.push_back(
+ create_random_handler(&viewport, n,
+ window_size.win_width * 2 / 3 + 20,
+ 20,
+ window_size.win_width - 20,
+ window_size.win_height / 2 - 20,
+ (window_size.fb_width == window_size.win_width))
+ );
+ };
+ };
+
+ for (int i = 0; i < handlers.size(); i++) {
+ handlers.at(i)->fix();
+ handlers.at(i)->update(window_size);
+ }
}
@@ -835,17 +850,17 @@ void create_reproduction_handlers_gmrmoving(const viewport_t& viewport,
// Extract a list of coordinate systems from a list of handlers
//-----------------------------------------------------------------------------
void convert(const handler_list_t& from, coordinate_system_list_t &to,
- const parameters_t& parameters) {
+ const parameters_t& parameters) {
- to.clear();
+ to.clear();
- for (int n = 0; n < from.size(); ++n) {
- to.push_back(
- coordinate_system_t(arma::conv_to<arma::vec>::from(from[n]->transforms.position),
- arma::conv_to<arma::mat>::from(from[n]->transforms.rotation),
- parameters)
- );
- }
+ for (int n = 0; n < from.size(); ++n) {
+ to.push_back(
+ coordinate_system_t(arma::conv_to<arma::vec>::from(from[n]->transforms.position),
+ arma::conv_to<arma::mat>::from(from[n]->transforms.rotation),
+ parameters)
+ );
+ }
}
@@ -854,11 +869,11 @@ void convert(const handler_list_t& from, coordinate_system_list_t &to,
//-----------------------------------------------------------------------------
void convert(const demonstration_list_t& from, std::vector<coordinate_system_list_t> &to) {
- to.clear();
+ to.clear();
- for (int n = 0; n < from.size(); ++n) {
- to.push_back(from[n].coordinate_systems);
- }
+ for (int n = 0; n < from.size(); ++n) {
+ to.push_back(from[n].coordinate_systems);
+ }
}
@@ -867,21 +882,21 @@ void convert(const demonstration_list_t& from, std::vector<coordinate_system_lis
// demonstrations
//-----------------------------------------------------------------------------
arma::fvec compute_centered_view_matrix(const demonstration_list_t& demonstrations,
- int frame) {
- vec top_left({-30, 0});
- vec bottom_right({0, 0});
+ int frame) {
+ vec top_left({-30, 0});
+ vec bottom_right({0, 0});
- for (auto iter = demonstrations.begin(); iter != demonstrations.end(); ++iter) {
- top_left(0) = fmin(top_left(0), iter->points_in_coordinate_systems[frame](0, span::all).min());
- top_left(1) = fmax(top_left(1), iter->points_in_coordinate_systems[frame](1, span::all).max());
+ for (auto iter = demonstrations.begin(); iter != demonstrations.end(); ++iter) {
+ top_left(0) = fmin(top_left(0), iter->points_in_coordinate_systems[frame](0, span::all).min());
+ top_left(1) = fmax(top_left(1), iter->points_in_coordinate_systems[frame](1, span::all).max());
- bottom_right(0) = fmax(bottom_right(0), iter->points_in_coordinate_systems[frame](0, span::all).max());
- bottom_right(1) = fmin(bottom_right(1), iter->points_in_coordinate_systems[frame](1, span::all).min());
- }
+ bottom_right(0) = fmax(bottom_right(0), iter->points_in_coordinate_systems[frame](0, span::all).max());
+ bottom_right(1) = fmin(bottom_right(1), iter->points_in_coordinate_systems[frame](1, span::all).min());
+ }
- vec center = (bottom_right - top_left) / 2 + top_left;
+ vec center = (bottom_right - top_left) / 2 + top_left;
- return fvec({ (float) -center(0), (float) -center(1), 0.0f });
+ return fvec({ (float) -center(0), (float) -center(1), 0.0f });
}
@@ -889,58 +904,58 @@ arma::fvec compute_centered_view_matrix(const demonstration_list_t& demonstratio
// Render the "demonstrations" viewport
//-----------------------------------------------------------------------------
void draw_demos_viewport(const viewport_t& viewport,
- const std::vector<arma::vec>& current_trajectory,
- const demonstration_list_t& demonstrations,
- const std::vector<handler_list_t> fixed_demonstration_handlers,
- const handler_list_t current_demonstration_handlers) {
-
- glViewport(viewport.x, viewport.y, viewport.width, viewport.height);
- glScissor(viewport.x, viewport.y, viewport.width, viewport.height);
- glClearColor(0.7f, 0.7f, 0.7f, 0.0f);
- glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
-
- glMatrixMode(GL_PROJECTION);
- glLoadIdentity();
- glOrtho(viewport.projection_top_left(0), viewport.projection_bottom_right(0),
- viewport.projection_bottom_right(1), viewport.projection_top_left(1),
- viewport.projection_near, viewport.projection_far);
-
- glMatrixMode(GL_MODELVIEW);
- glLoadIdentity();
- glTranslatef(viewport.view(0), viewport.view(1), viewport.view(2));
-
- // Draw the currently created demonstration (if any)
- if (current_trajectory.size() > 1) {
- std::vector<arma::vec> tmpvec;
- for (int i = 0; i < current_trajectory.size(); i++) {
- tmpvec.push_back(current_trajectory.at(i).subvec(0, 1));
- }
- gfx2::draw_line(arma::fvec({0.33f, 0.97f, 0.33f}), tmpvec);
- tmpvec.clear();
- }
-
- // Draw the demonstrations
- int color_index = 0;
- for (auto iter = demonstrations.begin(); iter != demonstrations.end(); ++iter) {
- arma::mat datapoints = iter->points(span(0, 1), span::all);
-
- arma::fvec color = arma::conv_to<arma::fvec>::from(COLORS.row(color_index));
-
- gfx2::draw_line(color, datapoints);
-
- ++color_index;
- if (color_index >= demonstrations.size())
- color_index = 0;
- }
-
- // Draw the handlers
- for (size_t n = 0; n < fixed_demonstration_handlers.size(); ++n) {
- for (size_t i = 0; i < fixed_demonstration_handlers[n].size(); ++i)
- fixed_demonstration_handlers[n][i]->draw_anchor();
- }
-
- for (size_t i = 0; i < current_demonstration_handlers.size(); ++i)
- current_demonstration_handlers[i]->draw_anchor();
+ const std::vector<arma::vec>& current_trajectory,
+ const demonstration_list_t& demonstrations,
+ const std::vector<handler_list_t> fixed_demonstration_handlers,
+ const handler_list_t current_demonstration_handlers) {
+
+ glViewport(viewport.x, viewport.y, viewport.width, viewport.height);
+ glScissor(viewport.x, viewport.y, viewport.width, viewport.height);
+ glClearColor(0.7f, 0.7f, 0.7f, 0.0f);
+ glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
+
+ glMatrixMode(GL_PROJECTION);
+ glLoadIdentity();
+ glOrtho(viewport.projection_top_left(0), viewport.projection_bottom_right(0),
+ viewport.projection_bottom_right(1), viewport.projection_top_left(1),
+ viewport.projection_near, viewport.projection_far);
+
+ glMatrixMode(GL_MODELVIEW);
+ glLoadIdentity();
+ glTranslatef(viewport.view(0), viewport.view(1), viewport.view(2));
+
+ // Draw the currently created demonstration (if any)
+ if (current_trajectory.size() > 1) {
+ std::vector<arma::vec> tmpvec;
+ for (int i = 0; i < current_trajectory.size(); i++) {
+ tmpvec.push_back(current_trajectory.at(i).subvec(0, 1));
+ }
+ gfx2::draw_line(arma::fvec({0.33f, 0.97f, 0.33f}), tmpvec);
+ tmpvec.clear();
+ }
+
+ // Draw the demonstrations
+ int color_index = 0;
+ for (auto iter = demonstrations.begin(); iter != demonstrations.end(); ++iter) {
+ arma::mat datapoints = iter->points(span(0, 1), span::all);
+
+ arma::fvec color = arma::conv_to<arma::fvec>::from(COLORS.row(color_index));
+
+ gfx2::draw_line(color, datapoints);
+
+ ++color_index;
+ if (color_index >= COLORS.n_rows)
+ color_index = 0;
+ }
+
+ // Draw the handlers
+ for (size_t n = 0; n < fixed_demonstration_handlers.size(); ++n) {
+ for (size_t i = 0; i < fixed_demonstration_handlers[n].size(); ++i)
+ fixed_demonstration_handlers[n][i]->draw_anchor();
+ }
+
+ for (size_t i = 0; i < current_demonstration_handlers.size(); ++i)
+ current_demonstration_handlers[i]->draw_anchor();
}
@@ -948,29 +963,29 @@ void draw_demos_viewport(const viewport_t& viewport,
// Render a "reproduction" viewport
//-----------------------------------------------------------------------------
void draw_reproductions_viewport(const viewport_t& viewport,
- const std::vector<handler_list_t>& handlers,
- const matrix_list_t& reproductions) {
-
- glViewport(viewport.x, viewport.y, viewport.width, viewport.height);
- glScissor(viewport.x, viewport.y, viewport.width, viewport.height);
- glClearColor(0.9f, 0.9f, 0.9f, 0.0f);
- glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
-
- glMatrixMode(GL_PROJECTION);
- glLoadIdentity();
- glOrtho(viewport.projection_top_left(0), viewport.projection_bottom_right(0),
- viewport.projection_bottom_right(1), viewport.projection_top_left(1),
- viewport.projection_near, viewport.projection_far);
-
- glMatrixMode(GL_MODELVIEW);
- glLoadIdentity();
- glTranslatef(viewport.view(0), viewport.view(1), viewport.view(2));
-
- // Draw the handlers
- for (size_t n = 0; n < handlers.size(); ++n) {
- for (size_t i = 0; i < handlers[n].size(); ++i)
- handlers[n][i]->draw_anchor();
- }
+ const std::vector<handler_list_t>& handlers,
+ const matrix_list_t& reproductions) {
+
+ glViewport(viewport.x, viewport.y, viewport.width, viewport.height);
+ glScissor(viewport.x, viewport.y, viewport.width, viewport.height);
+ glClearColor(0.9f, 0.9f, 0.9f, 0.0f);
+ glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
+
+ glMatrixMode(GL_PROJECTION);
+ glLoadIdentity();
+ glOrtho(viewport.projection_top_left(0), viewport.projection_bottom_right(0),
+ viewport.projection_bottom_right(1), viewport.projection_top_left(1),
+ viewport.projection_near, viewport.projection_far);
+
+ glMatrixMode(GL_MODELVIEW);
+ glLoadIdentity();
+ glTranslatef(viewport.view(0), viewport.view(1), viewport.view(2));
+
+ // Draw the handlers
+ for (size_t n = 0; n < handlers.size(); ++n) {
+ for (size_t i = 0; i < handlers[n].size(); ++i)
+ handlers[n][i]->draw_anchor();
+ }
}
@@ -978,13 +993,13 @@ void draw_reproductions_viewport(const viewport_t& viewport,
// Render a "reproduction" viewport
//-----------------------------------------------------------------------------
void draw_reproductions_viewport(const viewport_t& viewport,
- const handler_list_t& handlers,
- const matrix_list_t& reproductions) {
+ const handler_list_t& handlers,
+ const matrix_list_t& reproductions) {
- std::vector<handler_list_t> handler_list;
- handler_list.push_back(handlers);
+ std::vector<handler_list_t> handler_list;
+ handler_list.push_back(handlers);
- draw_reproductions_viewport(viewport, handler_list, reproductions);
+ draw_reproductions_viewport(viewport, handler_list, reproductions);
}
@@ -992,949 +1007,927 @@ void draw_reproductions_viewport(const viewport_t& viewport,
// Render a "GMMs" viewport
//-----------------------------------------------------------------------------
void draw_gmrmoving_viewport(const viewport_t& viewport,
- const handler_list_t& handlers, model_t model, int nb_gmr_components, int drawIndex) {
-
- glViewport(viewport.x, viewport.y, viewport.width, viewport.height);
- glScissor(viewport.x, viewport.y, viewport.width, viewport.height);
- glClearColor(0.9f, 0.9f, 0.9f, 0.0f);
- glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
-
- glMatrixMode(GL_PROJECTION);
- glLoadIdentity();
- glOrtho(viewport.projection_top_left(0), viewport.projection_bottom_right(0),
- viewport.projection_bottom_right(1), viewport.projection_top_left(1),
- viewport.projection_near, viewport.projection_far);
-
- glMatrixMode(GL_MODELVIEW);
- glLoadIdentity();
- glTranslatef(viewport.view(0), viewport.view(1), viewport.view(2));
-
-
- std::vector<handler_list_t> handler_list;
- handler_list.push_back(handlers);
-
- // Draw the handlers
- for (size_t n = 0; n < handler_list.size(); ++n) {
- for (size_t i = 0; i < handler_list[n].size(); ++i)
- handler_list[n][i]->draw_anchor();
- }
-
- mat grey = {0.9, 0.9, 0.9};
- mat black = {0.0, 0.0, 0.0};
-
- if (model.mu.size() > 0) {
- mat inputs = linspace(0, 199, nb_gmr_components);
- inputs = inputs.t();
- mat H(model.parameters.nb_states, inputs.size());
-
- cube muGMR(2 * model.parameters.nb_deriv, inputs.size(), model.parameters.nb_frames);
- muGMR = zeros(2 * model.parameters.nb_deriv, inputs.size(), model.parameters.nb_frames);
- field<cube> sigmaGMR(model.parameters.nb_frames);
-
- for (int i = 0; i < model.parameters.nb_frames; i++) {
- sigmaGMR(i).set_size(2 * model.parameters.nb_deriv, 2 * model.parameters.nb_deriv, inputs.size());
- sigmaGMR(i) = zeros(2 * model.parameters.nb_deriv, 2 * model.parameters.nb_deriv, inputs.size());
- }
-
- for (int m = 0; m < model.parameters.nb_frames; m++) {
- for (int i = 0; i < model.parameters.nb_states; i++) {
- H.row(i) = model.priors(i) * gaussPDF(inputs, model.mu[i][m].row(model.nb_var - 1),
- model.sigma[i][m].row(model.nb_var - 1).col(model.nb_var - 1)).t();
- }
- H = H / repmat(sum(H + 1e-300), model.parameters.nb_states, 1);
-
- mat muTmp(2 * model.parameters.nb_deriv, model.parameters.nb_states);
- mat sigmaTmp;
-
- for (int t = 0; t < inputs.size(); t++) {
- // Compute conditional means
- for (int i = 0; i < model.parameters.nb_states; i++) {
- muTmp.col(i) = model.mu[i][m].subvec(0, 2 * model.parameters.nb_deriv - 1) +
- model.sigma[i][m].col(2 * model.parameters.nb_deriv).rows(0, 2 *
- model.parameters.nb_deriv -
- 1) *
- inv(model.sigma[i][m].row(model.nb_var - 1).col(model.nb_var - 1)) *
- (inputs(t) - model.mu[i][m].row(model.nb_var - 1));
- muGMR.slice(m).col(t) += H(i, t) * muTmp.col(i);
- }
-
- // Compute conditional covariances
- for (int i = 0; i < model.parameters.nb_states; i++) {
- sigmaTmp = model.sigma[i][m].submat(0, 0, model.nb_var - 2, model.nb_var - 2) -
- model.sigma[i][m].col(2 * model.parameters.nb_deriv).rows(0,
- 2 * model.parameters.nb_deriv -
- 1) *
- inv(model.sigma[i][m].row(model.nb_var - 1).col(model.nb_var - 1)) *
- model.sigma[i][m].row(2 * model.parameters.nb_deriv).cols(0,
- 2 * model.parameters.nb_deriv -
- 1);
- sigmaGMR(m).slice(t) += H(i, t) * (sigmaTmp + muTmp.col(i) * muTmp.col(i).t());
- }
-
- sigmaGMR(m).slice(t) += -muGMR.slice(m).col(t) * muGMR.slice(m).col(t).t() +
- eye(2 * model.parameters.nb_deriv, 2 * model.parameters.nb_deriv) * 1e-4;
- }
- }
-
- // transform mu/sigma GMR components into coordinate systems
- cube muGMRt = zeros(2, inputs.size(), model.parameters.nb_frames);
- field<cube> sigmaGMRt(model.parameters.nb_frames);
- for (int i = 0; i < model.parameters.nb_frames; i++) {
- sigmaGMRt(i).resize(2, 2, inputs.size());
- sigmaGMRt(i) = zeros(2, 2, inputs.size());
- }
-
- for (int f = 0; f < model.parameters.nb_frames; f++) {
- muGMRt.slice(f) = handler_list[0][f]->transforms.rotation.submat(0, 0, 1, 1) * muGMR.slice(f).rows(0, 1);
- //muGMRt.slice(f).each_col() += handler_list[0][f]->transforms.position.subvec(0, 1);
- vec b = {handler_list[0][f]->transforms.position(0), handler_list[0][f]->transforms.position(1)};
- muGMRt.slice(f).each_col() += b;
-// mat dummy = repmat(b , 1, inputs.n_cols);
-// muGMR.slice(f) += tmpmat;
- for (int t = 0; t < inputs.size(); t++ ) {
- sigmaGMRt(f).slice(t) = handler_list[0][f]->transforms.rotation.submat(0, 0, 1, 1) *
- sigmaGMR(f).slice(t).submat(0, 0, 1, 1) *
- handler_list[0][f]->transforms.rotation.submat(0, 0, 1, 1).t();
- }
- }
-
-
-
- // product
- vec maxMuP = zeros(2, 1);
- mat maxSigmaP = eye(2, 2);
- for (int t = 0; t < inputs.size(); t++) {
- vec muP = zeros(2, 1);
- mat sigmaP = zeros(2, 2);
-
- for (int m = 0; m < model.parameters.nb_frames; m++) {
-
- sigmaP += inv(sigmaGMRt(m).slice(t) + eye(2, 2) * 1e-4);
- muP += inv(sigmaGMRt(m).slice(t) + eye(2, 2) * 1e-4) * muGMRt.slice(m).col(t);
- }
-
- sigmaP = inv(sigmaP);
- muP = sigmaP * muP;
-
-
- if (t == drawIndex) {
- maxMuP = muP;
- maxSigmaP = sigmaP;
- }
-
-
- glClear(GL_DEPTH_BUFFER_BIT);
- gfx2::draw_gaussian(conv_to<fvec>::from(grey.row(0).t()), muP, sigmaP);
- }
-
- glClear(GL_DEPTH_BUFFER_BIT);
- gfx2::draw_gaussian(conv_to<fvec>::from(black.row(0).t()), maxMuP, maxSigmaP);
-
- }
-
-
+ const handler_list_t& handlers, model_t model, int nb_gmr_components, int drawIndex) {
+
+ glViewport(viewport.x, viewport.y, viewport.width, viewport.height);
+ glScissor(viewport.x, viewport.y, viewport.width, viewport.height);
+ glClearColor(0.9f, 0.9f, 0.9f, 0.0f);
+ glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
+
+ glMatrixMode(GL_PROJECTION);
+ glLoadIdentity();
+ glOrtho(viewport.projection_top_left(0), viewport.projection_bottom_right(0),
+ viewport.projection_bottom_right(1), viewport.projection_top_left(1),
+ viewport.projection_near, viewport.projection_far);
+
+ glMatrixMode(GL_MODELVIEW);
+ glLoadIdentity();
+ glTranslatef(viewport.view(0), viewport.view(1), viewport.view(2));
+
+
+ std::vector<handler_list_t> handler_list;
+ handler_list.push_back(handlers);
+
+ // Draw the handlers
+ for (size_t n = 0; n < handler_list.size(); ++n) {
+ for (size_t i = 0; i < handler_list[n].size(); ++i)
+ handler_list[n][i]->draw_anchor();
+ }
+
+ mat grey = {0.9, 0.9, 0.9};
+ mat black = {0.0, 0.0, 0.0};
+
+ if (model.mu.size() > 0) {
+ mat inputs = linspace(0, 199, nb_gmr_components);
+ inputs = inputs.t();
+ mat H(model.parameters.nb_states, inputs.size());
+
+ cube muGMR(2 * model.parameters.nb_deriv, inputs.size(), model.parameters.nb_frames);
+ muGMR = zeros(2 * model.parameters.nb_deriv, inputs.size(), model.parameters.nb_frames);
+ field<cube> sigmaGMR(model.parameters.nb_frames);
+
+ for (int i = 0; i < model.parameters.nb_frames; i++) {
+ sigmaGMR(i).set_size(2 * model.parameters.nb_deriv, 2 * model.parameters.nb_deriv, inputs.size());
+ sigmaGMR(i) = zeros(2 * model.parameters.nb_deriv, 2 * model.parameters.nb_deriv, inputs.size());
+ }
+
+ for (int m = 0; m < model.parameters.nb_frames; m++) {
+ for (int i = 0; i < model.parameters.nb_states; i++) {
+ H.row(i) = model.priors(i) * gaussPDF(inputs, model.mu[i][m].row(model.nb_var - 1),
+ model.sigma[i][m].row(model.nb_var - 1).col(model.nb_var - 1)).t();
+ }
+ H = H / repmat(sum(H + 1e-300), model.parameters.nb_states, 1);
+
+ mat muTmp(2 * model.parameters.nb_deriv, model.parameters.nb_states);
+ mat sigmaTmp;
+
+ for (int t = 0; t < inputs.size(); t++) {
+ // Compute conditional means
+ for (int i = 0; i < model.parameters.nb_states; i++) {
+ muTmp.col(i) = model.mu[i][m].subvec(0, 2 * model.parameters.nb_deriv - 1) +
+ model.sigma[i][m].col(2 * model.parameters.nb_deriv).rows(0, 2 *
+ model.parameters.nb_deriv -
+ 1) *
+ inv(model.sigma[i][m].row(model.nb_var - 1).col(model.nb_var - 1)) *
+ (inputs(t) - model.mu[i][m].row(model.nb_var - 1));
+ muGMR.slice(m).col(t) += H(i, t) * muTmp.col(i);
+ }
+
+ // Compute conditional covariances
+ for (int i = 0; i < model.parameters.nb_states; i++) {
+ sigmaTmp = model.sigma[i][m].submat(0, 0, model.nb_var - 2, model.nb_var - 2) -
+ model.sigma[i][m].col(2 * model.parameters.nb_deriv).rows(0,
+ 2 * model.parameters.nb_deriv -
+ 1) *
+ inv(model.sigma[i][m].row(model.nb_var - 1).col(model.nb_var - 1)) *
+ model.sigma[i][m].row(2 * model.parameters.nb_deriv).cols(0,
+ 2 * model.parameters.nb_deriv -
+ 1);
+ sigmaGMR(m).slice(t) += H(i, t) * (sigmaTmp + muTmp.col(i) * muTmp.col(i).t());
+ }
+
+ sigmaGMR(m).slice(t) += -muGMR.slice(m).col(t) * muGMR.slice(m).col(t).t() +
+ eye(2 * model.parameters.nb_deriv, 2 * model.parameters.nb_deriv) * 1e-4;
+ }
+ }
+
+ // transform mu/sigma GMR components into coordinate systems
+ cube muGMRt = zeros(2, inputs.size(), model.parameters.nb_frames);
+ field<cube> sigmaGMRt(model.parameters.nb_frames);
+ for (int i = 0; i < model.parameters.nb_frames; i++) {
+ sigmaGMRt(i).resize(2, 2, inputs.size());
+ sigmaGMRt(i) = zeros(2, 2, inputs.size());
+ }
+
+ for (int f = 0; f < model.parameters.nb_frames; f++) {
+ muGMRt.slice(f) = handler_list[0][f]->transforms.rotation.submat(0, 0, 1, 1) * muGMR.slice(f).rows(0, 1);
+ vec b = {handler_list[0][f]->transforms.position(0), handler_list[0][f]->transforms.position(1)};
+ muGMRt.slice(f).each_col() += b;
+ for (int t = 0; t < inputs.size(); t++ ) {
+ sigmaGMRt(f).slice(t) = handler_list[0][f]->transforms.rotation.submat(0, 0, 1, 1) *
+ sigmaGMR(f).slice(t).submat(0, 0, 1, 1) *
+ handler_list[0][f]->transforms.rotation.submat(0, 0, 1, 1).t();
+ }
+ }
+
+ // product
+ vec maxMuP = zeros(2, 1);
+ mat maxSigmaP = eye(2, 2);
+ for (int t = 0; t < inputs.size(); t++) {
+ vec muP = zeros(2, 1);
+ mat sigmaP = zeros(2, 2);
+
+ for (int m = 0; m < model.parameters.nb_frames; m++) {
+
+ sigmaP += inv(sigmaGMRt(m).slice(t) + eye(2, 2) * 1e-4);
+ muP += inv(sigmaGMRt(m).slice(t) + eye(2, 2) * 1e-4) * muGMRt.slice(m).col(t);
+ }
+
+ sigmaP = inv(sigmaP);
+ muP = sigmaP * muP;
+
+
+ if (t == drawIndex) {
+ maxMuP = muP;
+ maxSigmaP = sigmaP;
+ }
+
+
+ glClear(GL_DEPTH_BUFFER_BIT);
+ gfx2::draw_gaussian(conv_to<fvec>::from(grey.row(0).t()), muP, sigmaP);
+ }
+
+ glClear(GL_DEPTH_BUFFER_BIT);
+ gfx2::draw_gaussian(conv_to<fvec>::from(black.row(0).t()), maxMuP, maxSigmaP);
+
+ }
}
//-----------------------------------------------------------------------------
// Render a "Product" viewport
//-----------------------------------------------------------------------------
void draw_gmr_viewport(const viewport_t& viewport,
- const handler_list_t& handlers, model_t model, int nb_gmr_components, vec mouse, int &drawIndex) {
-
- glViewport(viewport.x, viewport.y, viewport.width, viewport.height);
- glScissor(viewport.x, viewport.y, viewport.width, viewport.height);
- glClearColor(0.9f, 0.9f, 0.9f, 0.0f);
- glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
-
- glMatrixMode(GL_PROJECTION);
- glLoadIdentity();
- glOrtho(viewport.projection_top_left(0), viewport.projection_bottom_right(0),
- viewport.projection_bottom_right(1), viewport.projection_top_left(1),
- viewport.projection_near, viewport.projection_far);
-
- glMatrixMode(GL_MODELVIEW);
- glLoadIdentity();
- glTranslatef(viewport.view(0), viewport.view(1), viewport.view(2));
-
-
- std::vector<handler_list_t> handler_list;
- handler_list.push_back(handlers);
-
- // Draw the handlers
- for (size_t n = 0; n < handler_list.size(); ++n) {
- for (size_t i = 0; i < handler_list[n].size(); ++i)
- handler_list[n][i]->draw_anchor();
- }
-
- mat grey = {0.9, 0.9, 0.9};
- mat black = {0.0, 0.0, 0.0};
-
- // Draw the Product GMM states
-
- // GMR
- //int numGauss = 20; // later load it from GUI
- if (model.mu.size() > 0) {
- mat inputs = linspace(0, 199, nb_gmr_components);
- inputs = inputs.t();
- mat H(model.parameters.nb_states, inputs.size());
-
- cube muGMR(2 * model.parameters.nb_deriv, inputs.size(), model.parameters.nb_frames);
- muGMR = zeros(2 * model.parameters.nb_deriv, inputs.size(), model.parameters.nb_frames);
- field<cube> sigmaGMR(model.parameters.nb_frames);
-
- for (int i = 0; i < model.parameters.nb_frames; i++) {
- sigmaGMR(i).set_size(2 * model.parameters.nb_deriv, 2 * model.parameters.nb_deriv, inputs.size());
- sigmaGMR(i) = zeros(2 * model.parameters.nb_deriv, 2 * model.parameters.nb_deriv, inputs.size());
- }
-
- for (int m = 0; m < model.parameters.nb_frames; m++) {
- for (int i = 0; i < model.parameters.nb_states; i++) {
- H.row(i) = model.priors(i) * gaussPDF(inputs, model.mu[i][m].row(model.nb_var - 1),
- model.sigma[i][m].row(model.nb_var - 1).col(model.nb_var - 1)).t();
- }
- H = H / repmat(sum(H + 1e-300), model.parameters.nb_states, 1);
-
- mat muTmp(2 * model.parameters.nb_deriv, model.parameters.nb_states);
- mat sigmaTmp;
-
- for (int t = 0; t < inputs.size(); t++) {
- // Compute conditional means
- for (int i = 0; i < model.parameters.nb_states; i++) {
- muTmp.col(i) = model.mu[i][m].subvec(0, 2 * model.parameters.nb_deriv - 1) +
- model.sigma[i][m].col(2 * model.parameters.nb_deriv).rows(0, 2 *
- model.parameters.nb_deriv -
- 1) *
- inv(model.sigma[i][m].row(model.nb_var - 1).col(model.nb_var - 1)) *
- (inputs(t) - model.mu[i][m].row(model.nb_var - 1));
- muGMR.slice(m).col(t) += H(i, t) * muTmp.col(i);
- }
-
- // Compute conditional covariances
- for (int i = 0; i < model.parameters.nb_states; i++) {
- sigmaTmp = model.sigma[i][m].submat(0, 0, model.nb_var - 2, model.nb_var - 2) -
- model.sigma[i][m].col(2 * model.parameters.nb_deriv).rows(0,
- 2 * model.parameters.nb_deriv -
- 1) *
- inv(model.sigma[i][m].row(model.nb_var - 1).col(model.nb_var - 1)) *
- model.sigma[i][m].row(2 * model.parameters.nb_deriv).cols(0,
- 2 * model.parameters.nb_deriv -
- 1);
- sigmaGMR(m).slice(t) += H(i, t) * (sigmaTmp + muTmp.col(i) * muTmp.col(i).t());
- }
-
- sigmaGMR(m).slice(t) += -muGMR.slice(m).col(t) * muGMR.slice(m).col(t).t() +
- eye(2 * model.parameters.nb_deriv, 2 * model.parameters.nb_deriv) * 1e-4;
- }
- }
-
- // transform mu/sigma GMR components into coordinate systems
- cube muGMRt = zeros(2, inputs.size(), model.parameters.nb_frames);
- field<cube> sigmaGMRt(model.parameters.nb_frames);
- for (int i = 0; i < model.parameters.nb_frames; i++) {
- sigmaGMRt(i).resize(2, 2, inputs.size());
- sigmaGMRt(i) = zeros(2, 2, inputs.size());
- }
-
- for (int f = 0; f < model.parameters.nb_frames; f++) {
- muGMRt.slice(f) = handler_list[0][f]->transforms.rotation.submat(0, 0, 1, 1) * muGMR.slice(f).rows(0, 1);
- //muGMRt.slice(f).each_col() += handler_list[0][f]->transforms.position.subvec(0, 1);
- vec b = {handler_list[0][f]->transforms.position(0), handler_list[0][f]->transforms.position(1)};
- muGMRt.slice(f).each_col() += b;
-// mat dummy = repmat(b , 1, inputs.n_cols);
-// muGMR.slice(f) += tmpmat;
- for (int t = 0; t < inputs.size(); t++ ) {
- sigmaGMRt(f).slice(t) = handler_list[0][f]->transforms.rotation.submat(0, 0, 1, 1) *
- sigmaGMR(f).slice(t).submat(0, 0, 1, 1) *
- handler_list[0][f]->transforms.rotation.submat(0, 0, 1, 1).t();
- }
- }
-
-
-
- // product
- double maxLL = 0.0;
- vec LLs = zeros(inputs.size(), 1);
- vec maxMuP = zeros(2, 1);
- mat maxSigmaP = eye(2, 2);
- for (int t = 0; t < inputs.size(); t++) {
- vec muP = zeros(2, 1);
- mat sigmaP = zeros(2, 2);
-
- for (int m = 0; m < model.parameters.nb_frames; m++) {
-
- sigmaP += inv(sigmaGMRt(m).slice(t) + eye(2, 2) * 1e-4);
- muP += inv(sigmaGMRt(m).slice(t) + eye(2, 2) * 1e-4) * muGMRt.slice(m).col(t);
- }
-
- sigmaP = inv(sigmaP);
- muP = sigmaP * muP;
-
- vec currLL = gaussPDF(mouse, muP, sigmaP);
- LLs.at(t) = currLL(0);
-
- if (LLs.at(t) >= maxLL) {
- maxMuP = muP;
- maxSigmaP = sigmaP;
- maxLL =LLs.at(t);
- drawIndex = t;
- }
-
-
- glClear(GL_DEPTH_BUFFER_BIT);
- gfx2::draw_gaussian(conv_to<fvec>::from(grey.row(0).t()), muP, sigmaP);
- }
-
- glClear(GL_DEPTH_BUFFER_BIT);
- gfx2::draw_gaussian(conv_to<fvec>::from(black.row(0).t()), maxMuP, maxSigmaP);
-
- }
-
-
+ const handler_list_t& handlers, model_t model, int nb_gmr_components, vec mouse, int &drawIndex) {
+
+ glViewport(viewport.x, viewport.y, viewport.width, viewport.height);
+ glScissor(viewport.x, viewport.y, viewport.width, viewport.height);
+ glClearColor(0.9f, 0.9f, 0.9f, 0.0f);
+ glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
+
+ glMatrixMode(GL_PROJECTION);
+ glLoadIdentity();
+ glOrtho(viewport.projection_top_left(0), viewport.projection_bottom_right(0),
+ viewport.projection_bottom_right(1), viewport.projection_top_left(1),
+ viewport.projection_near, viewport.projection_far);
+
+ glMatrixMode(GL_MODELVIEW);
+ glLoadIdentity();
+ glTranslatef(viewport.view(0), viewport.view(1), viewport.view(2));
+
+
+ std::vector<handler_list_t> handler_list;
+ handler_list.push_back(handlers);
+
+ // Draw the handlers
+ for (size_t n = 0; n < handler_list.size(); ++n) {
+ for (size_t i = 0; i < handler_list[n].size(); ++i)
+ handler_list[n][i]->draw_anchor();
+ }
+
+ mat grey = {0.9, 0.9, 0.9};
+ mat black = {0.0, 0.0, 0.0};
+
+ // Draw the Product GMM states
+
+ // GMR
+ //int numGauss = 20; // later load it from GUI
+ if (model.mu.size() > 0) {
+ mat inputs = linspace(0, 199, nb_gmr_components);
+ inputs = inputs.t();
+ mat H(model.parameters.nb_states, inputs.size());
+
+ cube muGMR(2 * model.parameters.nb_deriv, inputs.size(), model.parameters.nb_frames);
+ muGMR = zeros(2 * model.parameters.nb_deriv, inputs.size(), model.parameters.nb_frames);
+ field<cube> sigmaGMR(model.parameters.nb_frames);
+
+ for (int i = 0; i < model.parameters.nb_frames; i++) {
+ sigmaGMR(i).set_size(2 * model.parameters.nb_deriv, 2 * model.parameters.nb_deriv, inputs.size());
+ sigmaGMR(i) = zeros(2 * model.parameters.nb_deriv, 2 * model.parameters.nb_deriv, inputs.size());
+ }
+
+ for (int m = 0; m < model.parameters.nb_frames; m++) {
+ for (int i = 0; i < model.parameters.nb_states; i++) {
+ H.row(i) = model.priors(i) * gaussPDF(inputs, model.mu[i][m].row(model.nb_var - 1),
+ model.sigma[i][m].row(model.nb_var - 1).col(model.nb_var - 1)).t();
+ }
+ H = H / repmat(sum(H + 1e-300), model.parameters.nb_states, 1);
+
+ mat muTmp(2 * model.parameters.nb_deriv, model.parameters.nb_states);
+ mat sigmaTmp;
+
+ for (int t = 0; t < inputs.size(); t++) {
+ // Compute conditional means
+ for (int i = 0; i < model.parameters.nb_states; i++) {
+ muTmp.col(i) = model.mu[i][m].subvec(0, 2 * model.parameters.nb_deriv - 1) +
+ model.sigma[i][m].col(2 * model.parameters.nb_deriv).rows(0, 2 *
+ model.parameters.nb_deriv -
+ 1) *
+ inv(model.sigma[i][m].row(model.nb_var - 1).col(model.nb_var - 1)) *
+ (inputs(t) - model.mu[i][m].row(model.nb_var - 1));
+ muGMR.slice(m).col(t) += H(i, t) * muTmp.col(i);
+ }
+
+ // Compute conditional covariances
+ for (int i = 0; i < model.parameters.nb_states; i++) {
+ sigmaTmp = model.sigma[i][m].submat(0, 0, model.nb_var - 2, model.nb_var - 2) -
+ model.sigma[i][m].col(2 * model.parameters.nb_deriv).rows(0,
+ 2 * model.parameters.nb_deriv -
+ 1) *
+ inv(model.sigma[i][m].row(model.nb_var - 1).col(model.nb_var - 1)) *
+ model.sigma[i][m].row(2 * model.parameters.nb_deriv).cols(0,
+ 2 * model.parameters.nb_deriv -
+ 1);
+ sigmaGMR(m).slice(t) += H(i, t) * (sigmaTmp + muTmp.col(i) * muTmp.col(i).t());
+ }
+
+ sigmaGMR(m).slice(t) += -muGMR.slice(m).col(t) * muGMR.slice(m).col(t).t() +
+ eye(2 * model.parameters.nb_deriv, 2 * model.parameters.nb_deriv) * 1e-4;
+ }
+ }
+
+ // transform mu/sigma GMR components into coordinate systems
+ cube muGMRt = zeros(2, inputs.size(), model.parameters.nb_frames);
+ field<cube> sigmaGMRt(model.parameters.nb_frames);
+ for (int i = 0; i < model.parameters.nb_frames; i++) {
+ sigmaGMRt(i).resize(2, 2, inputs.size());
+ sigmaGMRt(i) = zeros(2, 2, inputs.size());
+ }
+
+ for (int f = 0; f < model.parameters.nb_frames; f++) {
+ muGMRt.slice(f) = handler_list[0][f]->transforms.rotation.submat(0, 0, 1, 1) * muGMR.slice(f).rows(0, 1);
+ vec b = {handler_list[0][f]->transforms.position(0), handler_list[0][f]->transforms.position(1)};
+ muGMRt.slice(f).each_col() += b;
+ for (int t = 0; t < inputs.size(); t++ ) {
+ sigmaGMRt(f).slice(t) = handler_list[0][f]->transforms.rotation.submat(0, 0, 1, 1) *
+ sigmaGMR(f).slice(t).submat(0, 0, 1, 1) *
+ handler_list[0][f]->transforms.rotation.submat(0, 0, 1, 1).t();
+ }
+ }
+
+ // product
+ double maxLL = 0.0;
+ vec LLs = zeros(inputs.size(), 1);
+ vec maxMuP = zeros(2, 1);
+ mat maxSigmaP = eye(2, 2);
+ for (int t = 0; t < inputs.size(); t++) {
+ vec muP = zeros(2, 1);
+ mat sigmaP = zeros(2, 2);
+
+ for (int m = 0; m < model.parameters.nb_frames; m++) {
+
+ sigmaP += inv(sigmaGMRt(m).slice(t) + eye(2, 2) * 1e-4);
+ muP += inv(sigmaGMRt(m).slice(t) + eye(2, 2) * 1e-4) * muGMRt.slice(m).col(t);
+ }
+
+ sigmaP = inv(sigmaP);
+ muP = sigmaP * muP;
+
+ vec currLL = gaussPDF(mouse, muP, sigmaP);
+ LLs.at(t) = currLL(0);
+
+ if (LLs.at(t) >= maxLL) {
+ maxMuP = muP;
+ maxSigmaP = sigmaP;
+ maxLL =LLs.at(t);
+ drawIndex = t;
+ }
+
+ glClear(GL_DEPTH_BUFFER_BIT);
+ gfx2::draw_gaussian(conv_to<fvec>::from(grey.row(0).t()), muP, sigmaP);
+ }
+
+ glClear(GL_DEPTH_BUFFER_BIT);
+ gfx2::draw_gaussian(conv_to<fvec>::from(black.row(0).t()), maxMuP, maxSigmaP);
+ }
}
/******************************* MAIN FUNCTION *******************************/
int main(int argc, char **argv) {
- arma_rng::set_seed_random();
-
- // Model
- model_t model;
-
- // Parameters
- model.parameters.nb_states = 4;
- model.parameters.nb_frames = 2;
- model.parameters.nb_deriv = 2;
- model.parameters.nb_data = 200;
- model.parameters.dt = 0.1f;
-
- // Take 4k screens into account (framebuffer size != window size)
- gfx2::window_size_t window_size;
- window_size.win_width = 1200;
- window_size.win_height = 400;
- window_size.fb_width = -1; // Will be known later
- window_size.fb_height = -1;
- int viewport_width = 0;
- int viewport_height = 0;
-
-
- // Initialise GLFW
- glfwSetErrorCallback(error_callback);
+ arma_rng::set_seed_random();
+
+ // Model
+ model_t model;
+
+ // Parameters
+ model.parameters.nb_states = 4;
+ model.parameters.nb_frames = 2;
+ model.parameters.nb_deriv = 2;
+ model.parameters.nb_data = 200;
+ model.parameters.dt = 0.1f;
+
+ // Take 4k screens into account (framebuffer size != window size)
+ gfx2::window_size_t window_size;
+ window_size.win_width = 1200;
+ window_size.win_height = 400;
+ window_size.fb_width = -1; // Will be known later
+ window_size.fb_height = -1;
+ int viewport_width = 0;
+ int viewport_height = 0;
- if (!glfwInit())
- return -1;
-
- glfwWindowHint(GLFW_SAMPLES, 4);
- glfwWindowHint(GLFW_CONTEXT_VERSION_MAJOR, 2);
- glfwWindowHint(GLFW_CONTEXT_VERSION_MINOR, 1);
- // Open a window and create its OpenGL context
- GLFWwindow* window = create_window_at_optimal_size(
- "Demo - TPGMR",
- window_size.win_width, window_size.win_height
- );
+ // Initialise GLFW
+ glfwSetErrorCallback(error_callback);
- glfwMakeContextCurrent(window);
-
- // Setup GLSL
- gfx2::init();
- glEnable(GL_SCISSOR_TEST);
- glEnable(GL_DEPTH_TEST);
- glEnable(GL_CULL_FACE);
- glEnable(GL_LINE_SMOOTH);
- glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
-
- // Setup ImGui
- ImGui::CreateContext();
- ImGui_ImplGlfwGL2_Init(window, true);
-
-
- // Viewports
- viewport_t viewport_demos;
- viewport_t viewport_gmr;
- viewport_t viewport_gmrmoving;
-
- // GUI state
- gui_state_t gui_state;
- gui_state.can_draw_demonstration = false;
- gui_state.is_drawing_demonstration = false;
- gui_state.is_parameters_dialog_displayed = false;
- gui_state.are_parameters_modified = false;
- gui_state.parameter_nb_data = model.parameters.nb_data;
- gui_state.parameter_nb_states = model.parameters.nb_states;
- gui_state.parameter_nb_frames = model.parameters.nb_frames;
- gui_state.parameter_nb_gmr_components = 20;
- std::chrono::microseconds ms2 = std::chrono::duration_cast< std::chrono::milliseconds >( std::chrono::system_clock::now().time_since_epoch());
- long startTimeMsec = ms2.count();
- ImVec2 initFramePos;
- int drawIndex = 0;
- bool reset_moving_handler = true;
-
-
- // Initial handlers
- std::vector<handler_list_t> fixed_demonstration_handlers;
- handler_list_t current_demonstration_handlers;
- handler_list_t reproduction_handlers;
- handler_list_t reproduction_handlers_moving;
-
- // create_new_demonstration_handlers(viewport_demos, window_size,
- // model.parameters.nb_frames,
- // current_demonstration_handlers
- // );
- //
-
-
- // List of demonstrations and reproductions
- demonstration_list_t demos;
-
- // Main loop
- std::vector<arma::vec> current_trajectory;
-
- while (!glfwWindowShouldClose(window)) {
- glfwPollEvents();
-
- // Detect when the window was resized
- if ((ImGui::GetIO().DisplaySize.x != window_size.win_width) ||
- (ImGui::GetIO().DisplaySize.y != window_size.win_height)) {
-
- bool first = (window_size.win_width == -1) || (window_size.fb_width == -1);
-
- window_size.win_width = ImGui::GetIO().DisplaySize.x;
- window_size.win_height = ImGui::GetIO().DisplaySize.y;
-
- glfwGetFramebufferSize(window, &window_size.fb_width, &window_size.fb_height);
-
- viewport_width = window_size.fb_width / 3 - 1;
- viewport_height = window_size.fb_height;
-
- // Update all the viewports
- setup_viewport(&viewport_demos, 0, window_size.fb_height - viewport_height,
- viewport_width, viewport_height);
-
- setup_viewport(&viewport_gmr, viewport_width + 2,
- window_size.fb_height - viewport_height,
- viewport_width, viewport_height);
-
- setup_viewport(&viewport_gmrmoving, window_size.fb_width - viewport_width,
- window_size.fb_height - viewport_height,
- viewport_width, viewport_height);
-
-
- // Update all the handlers
- if (!first) {
- for (size_t i = 0; i < current_demonstration_handlers.size(); ++i)
- current_demonstration_handlers[i]->viewport_resized(window_size);
-
- for (size_t i = 0; i < reproduction_handlers.size(); ++i)
- reproduction_handlers[i]->viewport_resized(window_size);
-
- for (size_t i = 0; i < reproduction_handlers_moving.size(); ++i)
- reproduction_handlers_moving[i]->viewport_resized(window_size);
- }
-
- // At the very first frame: load initial data from files (can't be done
- // outside the loop because we need to know the size of the OpenGL front
- // buffer)
- //
- // Note: The loaded data was recorded in another demo with 3x2 viewports,
- // so appropriate scaling must be applied
- else if ((window_size.win_width != -1) && (window_size.fb_width != -1)) {
-
- cube loaded_trajectories;
- mat loaded_frames;
- //loaded_trajectories.load("data/data_tpgmm_product_trajectories.txt");
- //loaded_frames.load("data/data_tpgmm_product_frames.txt");
- loaded_trajectories.load("data/data_tpgmr_trajectories.txt");
- loaded_frames.load("data/data_tpgmr_frames.txt");
-
- // adding time as 3rd dimension
- cube loaded_trajectories_tmp(loaded_trajectories.n_rows + 1, loaded_trajectories.n_cols, loaded_trajectories.n_slices);
- for (int i = 0; i < loaded_trajectories.n_slices; i++) {
- vec tmpvec = linspace(0, loaded_trajectories.n_cols-1, loaded_trajectories.n_cols);
- loaded_trajectories_tmp.slice(i) = join_vert(loaded_trajectories.slice(i), tmpvec.t());
- }
- loaded_trajectories.resize(loaded_trajectories.n_rows + 1, loaded_trajectories.n_cols, loaded_trajectories.n_slices);
- loaded_trajectories = loaded_trajectories_tmp;
-
- for (int n = 0; n < loaded_frames.n_cols / 2; ++n) {
- Handler* handler1 = new Handler(
- &viewport_demos,
- ImVec2(loaded_frames(0, n * 2) * window_size.win_width,
- loaded_frames(1, n * 2) * window_size.win_height * 2),
- ImVec2(loaded_frames(2, n * 2) * window_size.win_width,
- loaded_frames(3, n * 2) * window_size.win_height * 2),
- 0
- );
- handler1->update(window_size);
- handler1->fix();
-
- Handler* handler2 = new Handler(
- &viewport_demos,
- ImVec2(loaded_frames(0, n * 2 + 1) * window_size.win_width,
- loaded_frames(1, n * 2 + 1) * window_size.win_height * 2),
- ImVec2(loaded_frames(2, n * 2 + 1) * window_size.win_width,
- loaded_frames(3, n * 2 + 1) * window_size.win_height * 2),
- 1
- );
- handler2->update(window_size);
- handler2->fix();
-
- handler_list_t handlers;
- handlers.push_back(handler1);
- handlers.push_back(handler2);
-
- fixed_demonstration_handlers.push_back(handlers);
- }
-
- Handler* handler_reproduction_1 = new Handler(
- &viewport_gmr,
- fixed_demonstration_handlers[0][0]->ui_position +
- ImVec2(window_size.win_width / 3, 0),
- fixed_demonstration_handlers[0][0]->ui_y,
- 0
- );
- handler_reproduction_1->update(window_size);
- reproduction_handlers.push_back(handler_reproduction_1);
-
- Handler* handler_reproduction_2 = new Handler(
- &viewport_gmr,
- fixed_demonstration_handlers[0][1]->ui_position +
- ImVec2(window_size.win_width / 3, 0),
- fixed_demonstration_handlers[0][1]->ui_y,
- 1
- );
- handler_reproduction_2->update(window_size);
- reproduction_handlers.push_back(handler_reproduction_2);
-
-
- // moving frames
- Handler* handler_reproduction_moving1 = new Handler(
- &viewport_gmrmoving,
- fixed_demonstration_handlers[0][0]->ui_position +
- ImVec2(window_size.win_width * 2 / 3, 0),
- fixed_demonstration_handlers[0][0]->ui_y,
- 0
- );
- handler_reproduction_moving1->fix();
- handler_reproduction_moving1->update(window_size);
- reproduction_handlers_moving.push_back(handler_reproduction_moving1);
-
- Handler* handler_reproduction_moving2 = new Handler(
- &viewport_gmrmoving,
- fixed_demonstration_handlers[0][1]->ui_position +
- ImVec2(window_size.win_width * 2 / 3, 0),
- fixed_demonstration_handlers[0][1]->ui_y,
- 1
- );
- handler_reproduction_moving2->fix();
- handler_reproduction_moving2->update(window_size);
- reproduction_handlers_moving.push_back(handler_reproduction_moving2);
-
-
- for (int n = 0; n < loaded_trajectories.n_slices; ++n) {
- vector_list_t trajectory;
- for (int i = 0; i < loaded_trajectories.n_cols; ++i) {
- mat t = loaded_trajectories(span::all, span(i), span(n));
- t(0, span::all) *= window_size.fb_width;
- t(1, span::all) *= window_size.fb_height * 2;
- trajectory.push_back(t);
- }
-
- coordinate_system_list_t coordinate_systems;
- convert(fixed_demonstration_handlers[n], coordinate_systems, model.parameters);
-
- Demonstration demonstration(coordinate_systems, trajectory, model.parameters);
- demos.push_back(demonstration);
- }
-
- // Initial learning from the loaded data
- learn(demos, model);
-
- }
- }
-
-
- // If the parameters changed, recompute
- if (gui_state.are_parameters_modified) {
-
- // If the number of frames changed, clear everything
- if (model.parameters.nb_frames != gui_state.parameter_nb_frames) {
- demos.clear();
- model.mu.clear();
- model.sigma.clear();
-
- for (size_t i = 0; i < current_demonstration_handlers.size(); ++i)
- delete current_demonstration_handlers[i];
-
- for (size_t n = 0; n < fixed_demonstration_handlers.size(); ++n) {
- for (size_t i = 0; i < fixed_demonstration_handlers[n].size(); ++i)
- delete fixed_demonstration_handlers[n][i];
- }
-
- for (size_t i = 0; i < reproduction_handlers.size(); ++i)
- delete reproduction_handlers[i];
+ if (!glfwInit())
+ return -1;
- for (size_t i = 0; i < reproduction_handlers_moving.size(); ++i)
- delete reproduction_handlers_moving[i];
+ glfwWindowHint(GLFW_SAMPLES, 4);
+ glfwWindowHint(GLFW_CONTEXT_VERSION_MAJOR, 2);
+ glfwWindowHint(GLFW_CONTEXT_VERSION_MINOR, 1);
+ // Open a window and create its OpenGL context
+ GLFWwindow* window = create_window_at_optimal_size(
+ "Demo - TPGMR",
+ window_size.win_width, window_size.win_height
+ );
- current_demonstration_handlers.clear();
- fixed_demonstration_handlers.clear();
- reproduction_handlers.clear();
- reproduction_handlers_moving.clear();
+ glfwMakeContextCurrent(window);
+
+ // Setup GLSL
+ gfx2::init();
+ glEnable(GL_SCISSOR_TEST);
+ glEnable(GL_DEPTH_TEST);
+ glEnable(GL_CULL_FACE);
+ glEnable(GL_LINE_SMOOTH);
+ glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
+
+ // Setup ImGui
+ ImGui::CreateContext();
+ ImGui_ImplGlfwGL2_Init(window, true);
+
+
+ // Viewports
+ viewport_t viewport_demos;
+ viewport_t viewport_gmr;
+ viewport_t viewport_gmrmoving;
+
+ // GUI state
+ gui_state_t gui_state;
+ gui_state.can_draw_demonstration = false;
+ gui_state.is_drawing_demonstration = false;
+ gui_state.is_parameters_dialog_displayed = false;
+ gui_state.are_parameters_modified = false;
+ gui_state.parameter_nb_data = model.parameters.nb_data;
+ gui_state.parameter_nb_states = model.parameters.nb_states;
+ gui_state.parameter_nb_frames = model.parameters.nb_frames;
+ gui_state.parameter_nb_gmr_components = 20;
+ std::chrono::microseconds ms2 = std::chrono::duration_cast< std::chrono::milliseconds >( std::chrono::system_clock::now().time_since_epoch());
+ long startTimeMsec = ms2.count();
+ ImVec2 initFramePos;
+ int drawIndex = 0;
+ bool reset_moving_handler = true;
+
+
+ // Initial handlers
+ std::vector<handler_list_t> fixed_demonstration_handlers;
+ handler_list_t current_demonstration_handlers;
+ handler_list_t reproduction_handlers;
+ handler_list_t reproduction_handlers_moving;
+
+
+ // List of demonstrations and reproductions
+ demonstration_list_t demos;
+
+ // Main loop
+ std::vector<arma::vec> current_trajectory;
+
+ while (!glfwWindowShouldClose(window)) {
+ glfwPollEvents();
+
+ // Detect when the window was resized
+ if ((ImGui::GetIO().DisplaySize.x != window_size.win_width) ||
+ (ImGui::GetIO().DisplaySize.y != window_size.win_height)) {
+
+ bool first = (window_size.win_width == -1) || (window_size.fb_width == -1);
+
+ window_size.win_width = ImGui::GetIO().DisplaySize.x;
+ window_size.win_height = ImGui::GetIO().DisplaySize.y;
+
+ glfwGetFramebufferSize(window, &window_size.fb_width, &window_size.fb_height);
+
+ viewport_width = window_size.fb_width / 3 - 1;
+ viewport_height = window_size.fb_height;
+
+ // Update all the viewports
+ setup_viewport(&viewport_demos, 0, window_size.fb_height - viewport_height,
+ viewport_width, viewport_height);
+
+ setup_viewport(&viewport_gmr, viewport_width + 2,
+ window_size.fb_height - viewport_height,
+ viewport_width, viewport_height);
+
+ setup_viewport(&viewport_gmrmoving, window_size.fb_width - viewport_width,
+ window_size.fb_height - viewport_height,
+ viewport_width, viewport_height);
+
+
+ // Update all the handlers
+ if (!first) {
+ for (size_t i = 0; i < current_demonstration_handlers.size(); ++i)
+ current_demonstration_handlers[i]->viewport_resized(window_size);
+
+ for (size_t i = 0; i < reproduction_handlers.size(); ++i)
+ reproduction_handlers[i]->viewport_resized(window_size);
+
+ for (size_t i = 0; i < reproduction_handlers_moving.size(); ++i)
+ reproduction_handlers_moving[i]->viewport_resized(window_size);
+ }
+
+ // At the very first frame: load initial data from files (can't be done
+ // outside the loop because we need to know the size of the OpenGL front
+ // buffer)
+ //
+ // Note: The loaded data was recorded in another demo with 3x2 viewports,
+ // so appropriate scaling must be applied
+ else if ((window_size.win_width != -1) && (window_size.fb_width != -1)) {
+
+ cube loaded_trajectories;
+ mat loaded_frames;
+ loaded_trajectories.load("data/data_4_trajectories.txt");
+ loaded_frames.load("data/data_4_frames.txt");
+
+ // adding time as 3rd dimension
+ cube loaded_trajectories_tmp(loaded_trajectories.n_rows + 1, loaded_trajectories.n_cols, loaded_trajectories.n_slices);
+ for (int i = 0; i < loaded_trajectories.n_slices; i++) {
+ vec tmpvec = linspace(0, loaded_trajectories.n_cols-1, loaded_trajectories.n_cols);
+ loaded_trajectories_tmp.slice(i) = join_vert(loaded_trajectories.slice(i), tmpvec.t());
+ }
+ loaded_trajectories.resize(loaded_trajectories.n_rows + 1, loaded_trajectories.n_cols, loaded_trajectories.n_slices);
+ loaded_trajectories = loaded_trajectories_tmp;
+
+ for (int n = 0; n < loaded_frames.n_cols / 2; ++n) {
+ Handler* handler1 = new Handler(
+ &viewport_demos,
+ ImVec2(loaded_frames(0, n * 2) * window_size.win_width,
+ loaded_frames(1, n * 2) * window_size.win_height * 2),
+ ImVec2(loaded_frames(2, n * 2) * window_size.win_width,
+ loaded_frames(3, n * 2) * window_size.win_height * 2),
+ 0,
+ (window_size.fb_width == window_size.win_width)
+ );
+ handler1->update(window_size);
+ handler1->fix();
+
+ Handler* handler2 = new Handler(
+ &viewport_demos,
+ ImVec2(loaded_frames(0, n * 2 + 1) * window_size.win_width,
+ loaded_frames(1, n * 2 + 1) * window_size.win_height * 2),
+ ImVec2(loaded_frames(2, n * 2 + 1) * window_size.win_width,
+ loaded_frames(3, n * 2 + 1) * window_size.win_height * 2),
+ 1,
+ (window_size.fb_width == window_size.win_width)
+ );
+ handler2->update(window_size);
+ handler2->fix();
+
+ handler_list_t handlers;
+ handlers.push_back(handler1);
+ handlers.push_back(handler2);
+
+ fixed_demonstration_handlers.push_back(handlers);
+ }
+
+ Handler* handler_reproduction_1 = new Handler(
+ &viewport_gmr,
+ fixed_demonstration_handlers[0][0]->ui_position +
+ ImVec2(window_size.win_width / 3, 0),
+ fixed_demonstration_handlers[0][0]->ui_y,
+ 0,
+ (window_size.fb_width == window_size.win_width)
+ );
+ handler_reproduction_1->update(window_size);
+ reproduction_handlers.push_back(handler_reproduction_1);
+
+ Handler* handler_reproduction_2 = new Handler(
+ &viewport_gmr,
+ fixed_demonstration_handlers[2][1]->ui_position +
+ ImVec2(window_size.win_width / 3, 0),
+ fixed_demonstration_handlers[2][1]->ui_y,
+ 1,
+ (window_size.fb_width == window_size.win_width)
+ );
+ handler_reproduction_2->update(window_size);
+ reproduction_handlers.push_back(handler_reproduction_2);
+
+
+ // moving frames
+ Handler* handler_reproduction_moving1 = new Handler(
+ &viewport_gmrmoving,
+ fixed_demonstration_handlers[0][0]->ui_position +
+ ImVec2(window_size.win_width * 2 / 3, 0),
+ fixed_demonstration_handlers[0][0]->ui_y,
+ 0,
+ (window_size.fb_width == window_size.win_width)
+ );
+ handler_reproduction_moving1->fix();
+ handler_reproduction_moving1->update(window_size);
+ reproduction_handlers_moving.push_back(handler_reproduction_moving1);
+
+ Handler* handler_reproduction_moving2 = new Handler(
+ &viewport_gmrmoving,
+ fixed_demonstration_handlers[0][1]->ui_position +
+ ImVec2(window_size.win_width * 2 / 3, 0),
+ fixed_demonstration_handlers[0][1]->ui_y,
+ 1,
+ (window_size.fb_width == window_size.win_width)
+ );
+ handler_reproduction_moving2->fix();
+ handler_reproduction_moving2->update(window_size);
+ reproduction_handlers_moving.push_back(handler_reproduction_moving2);
+
+
+ for (int n = 0; n < loaded_trajectories.n_slices; ++n) {
+ vector_list_t trajectory;
+ for (int i = 0; i < loaded_trajectories.n_cols; ++i) {
+ mat t = loaded_trajectories(span::all, span(i), span(n));
+ t(0, span::all) *= window_size.fb_width;
+ t(1, span::all) *= window_size.fb_height * 2;
+ trajectory.push_back(t);
+ }
+
+ coordinate_system_list_t coordinate_systems;
+ convert(fixed_demonstration_handlers[n], coordinate_systems, model.parameters);
+
+ Demonstration demonstration(coordinate_systems, trajectory, model.parameters);
+ demos.push_back(demonstration);
+ }
+
+ // Initial learning from the loaded data
+ learn(demos, model);
+ }
+ }
+
+
+ // If the parameters changed, recompute
+ if (gui_state.are_parameters_modified) {
+
+ // If the number of frames changed, clear everything
+ if (model.parameters.nb_frames != gui_state.parameter_nb_frames) {
+ demos.clear();
+ model.mu.clear();
+ model.sigma.clear();
+
+ for (size_t i = 0; i < current_demonstration_handlers.size(); ++i)
+ delete current_demonstration_handlers[i];
+
+ for (size_t n = 0; n < fixed_demonstration_handlers.size(); ++n) {
+ for (size_t i = 0; i < fixed_demonstration_handlers[n].size(); ++i)
+ delete fixed_demonstration_handlers[n][i];
+ }
+
+ for (size_t i = 0; i < reproduction_handlers.size(); ++i)
+ delete reproduction_handlers[i];
+
+ for (size_t i = 0; i < reproduction_handlers_moving.size(); ++i)
+ delete reproduction_handlers_moving[i];
- create_new_demonstration_handlers(viewport_demos, window_size,
- gui_state.parameter_nb_frames,
- current_demonstration_handlers
- );
+ current_demonstration_handlers.clear();
+ fixed_demonstration_handlers.clear();
+ reproduction_handlers.clear();
+ reproduction_handlers_moving.clear();
- create_reproduction_handlers(viewport_gmr, window_size,
- gui_state.parameter_nb_frames,
- reproduction_handlers);
+ create_new_demonstration_handlers(viewport_demos, window_size,
+ gui_state.parameter_nb_frames,
+ current_demonstration_handlers
+ );
- create_reproduction_handlers_gmrmoving(viewport_gmrmoving, window_size,
- gui_state.parameter_nb_frames,
- reproduction_handlers_moving);
+ create_reproduction_handlers(viewport_gmr, window_size,
+ gui_state.parameter_nb_frames,
+ reproduction_handlers);
- model.parameters.nb_frames = gui_state.parameter_nb_frames;
- gui_state.can_draw_demonstration = true;
- reset_moving_handler = true;
- }
+ create_reproduction_handlers_gmrmoving(viewport_gmrmoving, window_size,
+ gui_state.parameter_nb_frames,
+ reproduction_handlers_moving);
- // If the number of states changed, recompute the model
- if (model.parameters.nb_states != gui_state.parameter_nb_states) {
+ model.parameters.nb_frames = gui_state.parameter_nb_frames;
- model.parameters.nb_states = gui_state.parameter_nb_states;
+ gui_state.can_draw_demonstration = true;
+ reset_moving_handler = true;
+ }
- for (auto iter = demos.begin(); iter != demos.end(); ++iter)
- iter->update(model.parameters);
+ // If the number of states changed, recompute the model
+ if (model.parameters.nb_states != gui_state.parameter_nb_states) {
- if (!demos.empty()) {
- learn(demos, model);
- }
- }
+ model.parameters.nb_states = gui_state.parameter_nb_states;
- gui_state.are_parameters_modified = false;
- }
+ for (auto iter = demos.begin(); iter != demos.end(); ++iter)
+ iter->update(model.parameters);
+ if (!demos.empty()) {
+ learn(demos, model);
+ }
+ }
- // Start the rendering
- ImGui_ImplGlfwGL2_NewFrame();
+ gui_state.are_parameters_modified = false;
+ }
- glViewport(0, 0, window_size.fb_width, window_size.fb_height);
- glScissor(0, 0, window_size.fb_width, window_size.fb_height);
- glClearColor(0.0f, 0.0f, 0.0f, 0.0f);
- glClear(GL_COLOR_BUFFER_BIT);
- draw_demos_viewport(viewport_demos, current_trajectory, demos,
- fixed_demonstration_handlers,
- current_demonstration_handlers);
+ // Start the rendering
+ ImGui_ImplGlfwGL2_NewFrame();
- double mouse_x, mouse_y;
- glfwGetCursorPos(window, &mouse_x, &mouse_y);
- vec mp = ui2fb({ mouse_x, mouse_y }, window_size, viewport_gmr);
+ glViewport(0, 0, window_size.fb_width, window_size.fb_height);
+ glScissor(0, 0, window_size.fb_width, window_size.fb_height);
+ glClearColor(0.0f, 0.0f, 0.0f, 0.0f);
+ glClear(GL_COLOR_BUFFER_BIT);
- draw_gmr_viewport(viewport_gmr, reproduction_handlers, model, gui_state.parameter_nb_gmr_components, mp, drawIndex);
+ draw_demos_viewport(viewport_demos, current_trajectory, demos,
+ fixed_demonstration_handlers,
+ current_demonstration_handlers);
+ double mouse_x, mouse_y;
+ glfwGetCursorPos(window, &mouse_x, &mouse_y);
+ vec mp = ui2fb({ mouse_x, mouse_y }, window_size, viewport_gmr);
+ draw_gmr_viewport(viewport_gmr, reproduction_handlers, model, gui_state.parameter_nb_gmr_components, mp, drawIndex);
- if (reproduction_handlers.size() > 0) {
- int moving_handler_ix;
- if (model.parameters.nb_frames > 1) {
- moving_handler_ix = 1;
- } else {
- moving_handler_ix = 0;
- }
- if ( reset_moving_handler) {
- initFramePos.x = reproduction_handlers_moving.at(moving_handler_ix)->ui_position.x;
- initFramePos.y = reproduction_handlers_moving.at(moving_handler_ix)->ui_position.y;
- reset_moving_handler = false;
- }
- ImVec2 diff;
- std::chrono::microseconds ms = std::chrono::duration_cast< std::chrono::milliseconds >( std::chrono::system_clock::now().time_since_epoch());
- long currTimeMsec = ms.count();
- float phase = (currTimeMsec-startTimeMsec)/1E6 ;
- diff.x = 50.0 * sin(phase);
- diff.y = 10.0 * sin(2 * phase);
- reproduction_handlers_moving.at(moving_handler_ix)->ui_position = initFramePos + diff;
- reproduction_handlers_moving.at(moving_handler_ix)->update(window_size);
- }
+ if (reproduction_handlers.size() > 0) {
+ int moving_handler_ix;
+ if (model.parameters.nb_frames > 1)
+ moving_handler_ix = 1;
+ else
+ moving_handler_ix = 0;
- draw_gmrmoving_viewport(viewport_gmrmoving, reproduction_handlers_moving, model, gui_state.parameter_nb_gmr_components, drawIndex);
+ if (reset_moving_handler) {
+ initFramePos.x = reproduction_handlers_moving.at(moving_handler_ix)->ui_position.x;
+ initFramePos.y = reproduction_handlers_moving.at(moving_handler_ix)->ui_position.y;
+ reset_moving_handler = false;
+ }
+ ImVec2 diff;
+ std::chrono::microseconds ms = std::chrono::duration_cast< std::chrono::milliseconds >( std::chrono::system_clock::now().time_since_epoch());
+ long currTimeMsec = ms.count();
+ float phase = (currTimeMsec-startTimeMsec)/1E6 ;
+ diff.x = 50.0 * sin(phase);
+ diff.y = 10.0 * sin(2 * phase);
+ reproduction_handlers_moving.at(moving_handler_ix)->ui_position = initFramePos + diff;
+ reproduction_handlers_moving.at(moving_handler_ix)->update(window_size);
+ }
- // Draw the UI controls of the handlers
- ui::begin("handlers");
+ draw_gmrmoving_viewport(viewport_gmrmoving, reproduction_handlers_moving, model, gui_state.parameter_nb_gmr_components, drawIndex);
- bool hovering_ui = false;
- for (size_t i = 0; i < reproduction_handlers.size(); ++i) {
- hovering_ui = reproduction_handlers[i]->draw(window_size) || hovering_ui;
- }
+ // Draw the UI controls of the handlers
+ ui::begin("handlers");
+ bool hovering_ui = false;
- for (size_t i = 0; i < reproduction_handlers_moving.size(); ++i) {
- hovering_ui = reproduction_handlers_moving[i]->draw(window_size) || hovering_ui;
- }
+ for (size_t i = 0; i < reproduction_handlers.size(); ++i) {
+ hovering_ui = reproduction_handlers[i]->draw(window_size) || hovering_ui;
+ }
- for (size_t i = 0; i < current_demonstration_handlers.size(); ++i)
- hovering_ui = current_demonstration_handlers[i]->draw(window_size) || hovering_ui;
- ui::end();
+ for (size_t i = 0; i < reproduction_handlers_moving.size(); ++i) {
+ hovering_ui = reproduction_handlers_moving[i]->draw(window_size) || hovering_ui;
+ }
+ for (size_t i = 0; i < current_demonstration_handlers.size(); ++i)
+ hovering_ui = current_demonstration_handlers[i]->draw(window_size) || hovering_ui;
- // Window: Demonstrations
- ImGui::SetNextWindowSize(ImVec2(window_size.win_width / 3, 36));
- ImGui::SetNextWindowPos(ImVec2(0, 0));
- ImGui::Begin("Demonstrations", NULL,
- ImGuiWindowFlags_NoResize | ImGuiWindowFlags_NoSavedSettings |
- ImGuiWindowFlags_NoMove | ImGuiWindowFlags_NoCollapse |
- ImGuiWindowFlags_NoTitleBar
- );
+ ui::end();
- ImGui::Text("Demonstrations ");
- ImGui::SameLine();
- if (!gui_state.can_draw_demonstration) {
- if (ImGui::Button("Add")) {
- create_new_demonstration_handlers(viewport_demos, window_size,
- gui_state.parameter_nb_frames,
- current_demonstration_handlers
- );
+ // Window: Demonstrations
+ ImGui::SetNextWindowSize(ImVec2(window_size.win_width / 3, 36));
+ ImGui::SetNextWindowPos(ImVec2(0, 0));
+ ImGui::Begin("Demonstrations", NULL,
+ ImGuiWindowFlags_NoResize | ImGuiWindowFlags_NoSavedSettings |
+ ImGuiWindowFlags_NoMove | ImGuiWindowFlags_NoCollapse |
+ ImGuiWindowFlags_NoTitleBar
+ );
- gui_state.can_draw_demonstration = true;
- }
- }
+ ImGui::Text("Demonstrations ");
+ ImGui::SameLine();
- ImGui::SameLine();
+ if (!gui_state.can_draw_demonstration) {
+ if (ImGui::Button("Add")) {
+ create_new_demonstration_handlers(viewport_demos, window_size,
+ gui_state.parameter_nb_frames,
+ current_demonstration_handlers
+ );
- if (ImGui::Button("Clear")) {
- demos.clear();
- model.mu.clear();
- model.sigma.clear();
+ gui_state.can_draw_demonstration = true;
+ }
+ }
- for (size_t i = 0; i < current_demonstration_handlers.size(); ++i)
- delete current_demonstration_handlers[i];
+ ImGui::SameLine();
- for (size_t n = 0; n < fixed_demonstration_handlers.size(); ++n) {
- for (size_t i = 0; i < fixed_demonstration_handlers[n].size(); ++i)
- delete fixed_demonstration_handlers[n][i];
- }
+ if (ImGui::Button("Clear")) {
+ demos.clear();
+ model.mu.clear();
+ model.sigma.clear();
- current_demonstration_handlers.clear();
- fixed_demonstration_handlers.clear();
+ for (size_t i = 0; i < current_demonstration_handlers.size(); ++i)
+ delete current_demonstration_handlers[i];
- create_new_demonstration_handlers(viewport_demos, window_size,
- model.parameters.nb_frames,
- current_demonstration_handlers
- );
+ for (size_t n = 0; n < fixed_demonstration_handlers.size(); ++n) {
+ for (size_t i = 0; i < fixed_demonstration_handlers[n].size(); ++i)
+ delete fixed_demonstration_handlers[n][i];
+ }
- gui_state.can_draw_demonstration = true;
- }
+ current_demonstration_handlers.clear();
+ fixed_demonstration_handlers.clear();
- ImGui::SameLine();
- ImGui::Text(" ");
- ImGui::SameLine();
+ create_new_demonstration_handlers(viewport_demos, window_size,
+ model.parameters.nb_frames,
+ current_demonstration_handlers
+ );
- if (ImGui::Button("Parameters"))
- gui_state.is_parameters_dialog_displayed = true;
+ gui_state.can_draw_demonstration = true;
+ }
- ImGui::SameLine();
- if (ImGui::Button("Save")) {
- cube tmpTrajs(2, model.parameters.nb_data, fixed_demonstration_handlers.size());
- mat tmpFrames(4, 2 * fixed_demonstration_handlers.size());
+ ImGui::SameLine();
+ ImGui::Text(" ");
+ ImGui::SameLine();
- for (int i = 0; i < fixed_demonstration_handlers.size(); i++) {
- tmpFrames(0, i * 2) = fixed_demonstration_handlers.at(i).at(0)->ui_position.x / window_size.win_width ;
- tmpFrames(1, i * 2) =fixed_demonstration_handlers.at(i).at(0)->ui_position.y / window_size.win_height / 2;
- tmpFrames(2, i * 2) =fixed_demonstration_handlers.at(i).at(0)->ui_y.x / window_size.win_width ;
- tmpFrames(3, i * 2) =fixed_demonstration_handlers.at(i).at(0)->ui_y.y / window_size.win_height / 2;
+ if (ImGui::Button("Parameters"))
+ gui_state.is_parameters_dialog_displayed = true;
- tmpFrames(0, i*2 + 1) = fixed_demonstration_handlers.at(i).at(1)->ui_position.x / window_size.win_width;
- tmpFrames(1, i*2 + 1) =fixed_demonstration_handlers.at(i).at(1)->ui_position.y / window_size.win_height / 2;
- tmpFrames(2, i*2 + 1) =fixed_demonstration_handlers.at(i).at(1)->ui_y.x / window_size.win_width;
- tmpFrames(3, i*2 + 1) =fixed_demonstration_handlers.at(i).at(1)->ui_y.y / window_size.win_height / 2;
+ ImGui::SameLine();
+ if (ImGui::Button("Save")) {
+ cube tmpTrajs(2, model.parameters.nb_data, fixed_demonstration_handlers.size());
+ mat tmpFrames(4, 2 * fixed_demonstration_handlers.size());
- }
- tmpFrames.save("data/data_tpgmr_frames.txt", arma_ascii);
+ for (int i = 0; i < fixed_demonstration_handlers.size(); i++) {
+ tmpFrames(0, i * 2) = fixed_demonstration_handlers.at(i).at(0)->ui_position.x / window_size.win_width ;
+ tmpFrames(1, i * 2) =fixed_demonstration_handlers.at(i).at(0)->ui_position.y / window_size.win_height / 2;
+ tmpFrames(2, i * 2) =fixed_demonstration_handlers.at(i).at(0)->ui_y.x / window_size.win_width ;
+ tmpFrames(3, i * 2) =fixed_demonstration_handlers.at(i).at(0)->ui_y.y / window_size.win_height / 2;
- for (int i = 0; i < demos.size(); i++ ) {
- tmpTrajs.slice(i).row(0) = demos.at(i).points.row(0) / window_size.fb_width;
- tmpTrajs.slice(i).row(1) = demos.at(i).points.row(1) / window_size.fb_height / 2;
- }
+ tmpFrames(0, i*2 + 1) = fixed_demonstration_handlers.at(i).at(1)->ui_position.x / window_size.win_width;
+ tmpFrames(1, i*2 + 1) =fixed_demonstration_handlers.at(i).at(1)->ui_position.y / window_size.win_height / 2;
+ tmpFrames(2, i*2 + 1) =fixed_demonstration_handlers.at(i).at(1)->ui_y.x / window_size.win_width;
+ tmpFrames(3, i*2 + 1) =fixed_demonstration_handlers.at(i).at(1)->ui_y.y / window_size.win_height / 2;
- tmpTrajs.save("data/data_tpgmr_trajectories.txt", arma_ascii);
+ }
+ tmpFrames.save("data/data_tpgmr_frames.txt", arma_ascii);
- }
+ for (int i = 0; i < demos.size(); i++ ) {
+ tmpTrajs.slice(i).row(0) = demos.at(i).points.row(0) / window_size.fb_width;
+ tmpTrajs.slice(i).row(1) = demos.at(i).points.row(1) / window_size.fb_height / 2;
+ }
- hovering_ui = ImGui::IsWindowHovered() || hovering_ui;
+ tmpTrajs.save("data/data_tpgmr_trajectories.txt", arma_ascii);
+ }
+ hovering_ui = ImGui::IsWindowHovered() || hovering_ui;
- ImGui::End();
- // Window: GMR
- ImGui::SetNextWindowSize(ImVec2(window_size.win_width / 3, 36));
- ImGui::SetNextWindowPos(ImVec2(window_size.win_width / 3, 0));
- ImGui::Begin("TPGMR", NULL,
- ImGuiWindowFlags_NoResize | ImGuiWindowFlags_NoSavedSettings |
- ImGuiWindowFlags_NoMove | ImGuiWindowFlags_NoCollapse |
- ImGuiWindowFlags_NoTitleBar
- );
+ ImGui::End();
- ImGui::Text("TPGMR");
- ImGui::SameLine();
- ImGui::SliderInt("Nb components", &gui_state.parameter_nb_gmr_components, 10, 199);
+ // Window: GMR
+ ImGui::SetNextWindowSize(ImVec2(window_size.win_width / 3, 36));
+ ImGui::SetNextWindowPos(ImVec2(window_size.win_width / 3, 0));
+ ImGui::Begin("TPGMR", NULL,
+ ImGuiWindowFlags_NoResize | ImGuiWindowFlags_NoSavedSettings |
+ ImGuiWindowFlags_NoMove | ImGuiWindowFlags_NoCollapse |
+ ImGuiWindowFlags_NoTitleBar
+ );
- hovering_ui = ImGui::IsWindowHovered() || hovering_ui;
+ ImGui::Text("TPGMR");
+ ImGui::SameLine();
+ ImGui::SliderInt("Nb components", &gui_state.parameter_nb_gmr_components, 10, 199);
- ImGui::End();
+ hovering_ui = ImGui::IsWindowHovered() || hovering_ui;
- // Window: GMMs in global coordinates
- ImGui::SetNextWindowSize(ImVec2(window_size.win_width / 3, 36));
- ImGui::SetNextWindowPos(ImVec2(window_size.win_width * 2 / 3, 0));
- ImGui::Begin("GMMs", NULL,
- ImGuiWindowFlags_NoResize | ImGuiWindowFlags_NoSavedSettings |
- ImGuiWindowFlags_NoMove | ImGuiWindowFlags_NoCollapse |
- ImGuiWindowFlags_NoTitleBar
- );
+ ImGui::End();
- ImGui::Text("TPGMR (changing TPs)");
- ImGui::SameLine();
- if (ImGui::Button("Randomize")) {
- for (size_t i = 0; i < reproduction_handlers_moving.size(); ++i)
- delete reproduction_handlers_moving[i];
+ // Window: GMMs in global coordinates
+ ImGui::SetNextWindowSize(ImVec2(window_size.win_width / 3, 36));
+ ImGui::SetNextWindowPos(ImVec2(window_size.win_width * 2 / 3, 0));
+ ImGui::Begin("GMMs", NULL,
+ ImGuiWindowFlags_NoResize | ImGuiWindowFlags_NoSavedSettings |
+ ImGuiWindowFlags_NoMove | ImGuiWindowFlags_NoCollapse |
+ ImGuiWindowFlags_NoTitleBar
+ );
- reproduction_handlers_moving.clear();
+ ImGui::Text("TPGMR (changing TPs)");
+ ImGui::SameLine();
+ if (ImGui::Button("Randomize")) {
+ for (size_t i = 0; i < reproduction_handlers_moving.size(); ++i)
+ delete reproduction_handlers_moving[i];
- create_reproduction_handlers_gmrmoving(viewport_gmrmoving, window_size,
- gui_state.parameter_nb_frames,
- reproduction_handlers_moving);
+ reproduction_handlers_moving.clear();
- reset_moving_handler = true;
+ create_reproduction_handlers_gmrmoving(viewport_gmrmoving, window_size,
+ gui_state.parameter_nb_frames,
+ reproduction_handlers_moving);
- }
+ reset_moving_handler = true;
+ }
- hovering_ui = ImGui::IsWindowHovered() || hovering_ui;
+ hovering_ui = ImGui::IsWindowHovered() || hovering_ui;
- ImGui::End();
+ ImGui::End();
- // Window: Parameters
- ImGui::SetNextWindowSize(ImVec2(600, 100));
- ImGui::SetNextWindowPos(ImVec2((window_size.win_width - 600) / 2, (window_size.win_height - 100) / 2));
- ImGui::PushStyleColor(ImGuiCol_WindowBg, ImVec4(0, 0, 0, 255));
+ // Window: Parameters
+ ImGui::SetNextWindowSize(ImVec2(600, 100));
+ ImGui::SetNextWindowPos(ImVec2((window_size.win_width - 600) / 2, (window_size.win_height - 100) / 2));
+ ImGui::PushStyleColor(ImGuiCol_WindowBg, ImVec4(0, 0, 0, 255));
- if (gui_state.is_parameters_dialog_displayed)
- ImGui::OpenPopup("Parameters");
+ if (gui_state.is_parameters_dialog_displayed)
+ ImGui::OpenPopup("Parameters");
- if (ImGui::BeginPopupModal("Parameters", NULL,
- ImGuiWindowFlags_NoResize |
- ImGuiWindowFlags_NoSavedSettings)) {
+ if (ImGui::BeginPopupModal("Parameters", NULL,
+ ImGuiWindowFlags_NoResize |
+ ImGuiWindowFlags_NoSavedSettings)) {
- ImGui::SliderInt("Nb states", &gui_state.parameter_nb_states, 1, 10);
- ImGui::SliderInt("Nb frames", &gui_state.parameter_nb_frames, 1, 5);
+ ImGui::SliderInt("Nb states", &gui_state.parameter_nb_states, 1, 10);
+ ImGui::SliderInt("Nb frames", &gui_state.parameter_nb_frames, 1, 5);
- if (ImGui::Button("Close")) {
- ImGui::CloseCurrentPopup();
- gui_state.is_parameters_dialog_displayed = false;
- gui_state.are_parameters_modified = true;
- }
+ if (ImGui::Button("Close")) {
+ ImGui::CloseCurrentPopup();
+ gui_state.is_parameters_dialog_displayed = false;
+ gui_state.are_parameters_modified = true;
+ }
- ImGui::EndPopup();
+ ImGui::EndPopup();
- hovering_ui = true;
- }
+ hovering_ui = true;
+ }
- ImGui::PopStyleColor();
+ ImGui::PopStyleColor();
- // GUI rendering
- ImGui::Render();
- ImGui_ImplGlfwGL2_RenderDrawData(ImGui::GetDrawData());
+ // GUI rendering
+ ImGui::Render();
+ ImGui_ImplGlfwGL2_RenderDrawData(ImGui::GetDrawData());
- // Swap buffers
- glfwSwapBuffers(window);
+ // Swap buffers
+ glfwSwapBuffers(window);
- // Keyboard input
- if (ImGui::IsKeyPressed(GLFW_KEY_ESCAPE))
- break;
+ // Keyboard input
+ if (ImGui::IsKeyPressed(GLFW_KEY_ESCAPE))
+ break;
- // Left click: start a new demonstration (only if not on the UI and in the
- // demonstrations viewport)
- if (!gui_state.is_drawing_demonstration) {
- if (ImGui::IsMouseClicked(GLFW_MOUSE_BUTTON_1) && gui_state.can_draw_demonstration) {
- double mouse_x, mouse_y;
- glfwGetCursorPos(window, &mouse_x, &mouse_y);
+ // Left click: start a new demonstration (only if not on the UI and in the
+ // demonstrations viewport)
+ if (!gui_state.is_drawing_demonstration) {
+ if (ImGui::IsMouseClicked(GLFW_MOUSE_BUTTON_1) && gui_state.can_draw_demonstration) {
+ double mouse_x, mouse_y;
+ glfwGetCursorPos(window, &mouse_x, &mouse_y);
- if (!hovering_ui && (mouse_x <= window_size.win_width / 3))
- {
- gui_state.is_drawing_demonstration = true;
+ if (!hovering_ui && (mouse_x <= window_size.win_width / 3))
+ {
+ gui_state.is_drawing_demonstration = true;
- vec coords = ui2fb({ mouse_x, mouse_y }, window_size, viewport_demos);
- vec tmpvec = {0.0};
- coords = join_vert(coords, tmpvec);
+ vec coords = ui2fb({ mouse_x, mouse_y }, window_size, viewport_demos);
+ vec tmpvec = {0.0};
+ coords = join_vert(coords, tmpvec);
- current_trajectory.push_back(coords);
- }
- }
- } else {
- double mouse_x, mouse_y;
- glfwGetCursorPos(window, &mouse_x, &mouse_y);
+ current_trajectory.push_back(coords);
+ }
+ }
+ } else {
+ double mouse_x, mouse_y;
+ glfwGetCursorPos(window, &mouse_x, &mouse_y);
- vec coords = ui2fb({ mouse_x, mouse_y }, window_size, viewport_demos);
- vec tmpvec = {(float)current_trajectory.size() - 1};
- coords = join_vert(coords, tmpvec);
+ vec coords = ui2fb({ mouse_x, mouse_y }, window_size, viewport_demos);
+ vec tmpvec = {(float)current_trajectory.size() - 1};
+ coords = join_vert(coords, tmpvec);
- vec last_point = current_trajectory[current_trajectory.size() - 1];
- vec diff = abs(coords - last_point);
+ vec last_point = current_trajectory[current_trajectory.size() - 1];
+ vec diff = abs(coords - last_point);
- if ((diff(0) > 1e-6) && (diff(1) > 1e-6))
- current_trajectory.push_back(coords);
+ if ((diff(0) > 1e-6) && (diff(1) > 1e-6))
+ current_trajectory.push_back(coords);
- // Left mouse button release: end the demonstration creation
- if (!ImGui::IsMouseDown(GLFW_MOUSE_BUTTON_1)) {
- gui_state.is_drawing_demonstration = false;
+ // Left mouse button release: end the demonstration creation
+ if (!ImGui::IsMouseDown(GLFW_MOUSE_BUTTON_1)) {
+ gui_state.is_drawing_demonstration = false;
- if (current_trajectory.size() > 1) {
+ if (current_trajectory.size() > 1) {
- coordinate_system_list_t coordinate_systems;
- convert(current_demonstration_handlers, coordinate_systems, model.parameters);
+ coordinate_system_list_t coordinate_systems;
+ convert(current_demonstration_handlers, coordinate_systems, model.parameters);
- Demonstration demonstration(coordinate_systems, current_trajectory,
- model.parameters);
+ Demonstration demonstration(coordinate_systems, current_trajectory,
+ model.parameters);
- demos.push_back(demonstration);
+ demos.push_back(demonstration);
- for (int i = 0; i < current_demonstration_handlers.size(); ++i)
- current_demonstration_handlers[i]->fix();
+ for (int i = 0; i < current_demonstration_handlers.size(); ++i)
+ current_demonstration_handlers[i]->fix();
- fixed_demonstration_handlers.push_back(current_demonstration_handlers);
- current_demonstration_handlers.clear();
+ fixed_demonstration_handlers.push_back(current_demonstration_handlers);
+ current_demonstration_handlers.clear();
- learn(demos, model);
+ learn(demos, model);
- gui_state.can_draw_demonstration = false;
- }
+ gui_state.can_draw_demonstration = false;
+ }
- current_trajectory.clear();
- }
- }
+ current_trajectory.clear();
+ }
+ }
- ImGui::CaptureMouseFromApp();
- }
+ ImGui::CaptureMouseFromApp();
+ }
- // Cleanup
- ImGui_ImplGlfwGL2_Shutdown();
- glfwTerminate();
+ // Cleanup
+ ImGui_ImplGlfwGL2_Shutdown();
+ glfwTerminate();
- return 0;
+ return 0;
}
diff --git a/src/demo_TPbatchLQR01.cpp b/src/demo_TPbatchLQR01.cpp
index a15a5c1..7e1832f 100644
--- a/src/demo_TPbatchLQR01.cpp
+++ b/src/demo_TPbatchLQR01.cpp
@@ -782,10 +782,10 @@ arma::vec fb2ui(const arma::vec& coords, const gfx2::window_size_t& window_size,
// Colors used by the movable handlers
//-----------------------------------------------------------------------------
const arma::fmat HANDLER_COLORS({
- { 0.0, 0.0, 0.0 },
- { 0.0, 0.0, 1.0 },
- { 0.0, 0.5, 0.0 },
- { 1.0, 0.0, 0.0 },
+ { 0.0, 0.0, 0.0 },
+ { 0.0, 0.0, 1.0 },
+ { 0.0, 0.5, 0.0 },
+ { 1.0, 0.0, 0.0 },
{ 0.0, 0.75, 0.75 },
});
@@ -794,10 +794,10 @@ const arma::fmat HANDLER_COLORS({
// Colors used by the fixed handlers
//-----------------------------------------------------------------------------
const arma::fmat HANDLER_FIXED_COLORS({
- { 0.4, 0.4, 0.4 },
- { 0.4, 0.4, 1.0 },
- { 0.2, 0.5, 0.2 },
- { 1.0, 0.4, 0.4 },
+ { 0.4, 0.4, 0.4 },
+ { 0.4, 0.4, 1.0 },
+ { 0.2, 0.5, 0.2 },
+ { 1.0, 0.4, 0.4 },
{ 0.3, 0.75, 0.75 },
});
@@ -806,16 +806,13 @@ const arma::fmat HANDLER_FIXED_COLORS({
// Colors of the displayed lines and gaussians
//-----------------------------------------------------------------------------
const arma::mat COLORS({
- { 0.0, 0.0, 1.0 },
- { 0.0, 0.5, 0.0 },
- { 1.0, 0.0, 0.0 },
- { 0.0, 0.75, 0.75 },
+ { 0.0, 0.0, 1.0 },
+ { 0.0, 0.5, 0.0 },
+ { 1.0, 0.0, 0.0 },
+ { 0.0, 0.75, 0.75 },
{ 0.75, 0.0, 0.75 },
{ 0.75, 0.75, 0.0 },
{ 0.25, 0.25, 0.25 },
- { 0.0, 0.0, 1.0 },
- { 0.0, 0.5, 0.0 },
- { 1.0, 0.0, 0.0 },
});
@@ -828,7 +825,7 @@ class Handler
{
public:
Handler(const viewport_t* viewport, const ImVec2& position, const ImVec2& y,
- int index)
+ int index, bool small)
: viewport(viewport), hovered(false), fixed(false), moved(false), index(index)
{
ui_position = position;
@@ -836,20 +833,34 @@ public:
fvec color = HANDLER_COLORS.row(index).t();
- models[0] = gfx2::create_rectangle(color, 25.0f, 5.0f);
- models[0].transforms.parent = &transforms;
- models[0].transforms.rotation = gfx2::rotate(arma::fvec({0.0f, 0.0f, 1.0f}),
- gfx2::deg2rad(90.0f));
+ if (small) {
+ models[0] = gfx2::create_rectangle(color, 12.0f, 2.0f);
- models[1] = gfx2::create_rectangle(color, 60.0f, 5.0f);
- models[1].transforms.parent = &transforms;
- models[1].transforms.position(0) = 30.0f;
- models[1].transforms.position(1) = -10.0f;
+ models[1] = gfx2::create_rectangle(color, 30.0f, 2.0f);
+ models[1].transforms.position(0) = 15.0f;
+ models[1].transforms.position(1) = -5.0f;
+
+ models[2] = gfx2::create_rectangle(color, 30.0f, 2.0f);
+ models[2].transforms.position(0) = 15.0f;
+ models[2].transforms.position(1) = 5.0f;
+ } else {
+ models[0] = gfx2::create_rectangle(color, 25.0f, 5.0f);
- models[2] = gfx2::create_rectangle(color, 60.0f, 5.0f);
+ models[1] = gfx2::create_rectangle(color, 60.0f, 5.0f);
+ models[1].transforms.position(0) = 30.0f;
+ models[1].transforms.position(1) = -10.0f;
+
+ models[2] = gfx2::create_rectangle(color, 60.0f, 5.0f);
+ models[2].transforms.position(0) = 30.0f;
+ models[2].transforms.position(1) = 10.0f;
+ }
+
+ models[0].transforms.parent = &transforms;
+ models[1].transforms.parent = &transforms;
models[2].transforms.parent = &transforms;
- models[2].transforms.position(0) = 30.0f;
- models[2].transforms.position(1) = 10.0f;
+
+ models[0].transforms.rotation = gfx2::rotate(arma::fvec({0.0f, 0.0f, 1.0f}),
+ gfx2::deg2rad(90.0f));
}
@@ -1007,13 +1018,15 @@ struct gui_state_t {
//-----------------------------------------------------------------------------
// Create a handler at a random position (within the given boundaries)
//-----------------------------------------------------------------------------
-Handler* create_random_handler(const viewport_t* viewport, int index,
- int min_x, int min_y, int max_x, int max_y) {
+Handler* create_random_handler(const viewport_t* viewport, int index, int min_x,
+ int min_y, int max_x, int max_y, bool small) {
return new Handler(viewport,
ImVec2((randu() * 0.8f + 0.1f) * (max_x - min_x) + min_x,
(randu() * 0.5f + 0.1f) * (max_y - min_y) + min_y),
ImVec2((randu() - 0.5) * 10, randu() * -10 - 10),
- index);
+ index,
+ small
+ );
}
@@ -1033,14 +1046,15 @@ void create_new_demonstration_handlers(const viewport_t& viewport,
handlers.push_back(
new Handler(&viewport, ImVec2(window_size.win_width / 6,
window_size.win_height / 2 - 50),
- ImVec2(0, 30), 0)
+ ImVec2(0, 30), 0, (window_size.fb_width == window_size.win_width))
);
for (int n = 1; n < nb_frames; ++n) {
handlers.push_back(
create_random_handler(&viewport, n, 10, 20,
window_size.win_width / 3 - 10,
- window_size.win_height / 2 - 20)
+ window_size.win_height / 2 - 20,
+ (window_size.fb_width == window_size.win_width))
);
};
}
@@ -1062,7 +1076,7 @@ void create_reproduction_handlers(const viewport_t& viewport,
handlers.push_back(
new Handler(&viewport, ImVec2(window_size.win_width / 2,
window_size.win_height - 50),
- ImVec2(0, 30), 0)
+ ImVec2(0, 30), 0, (window_size.fb_width == window_size.win_width))
);
for (int n = 1; n < nb_frames; ++n) {
@@ -1071,7 +1085,8 @@ void create_reproduction_handlers(const viewport_t& viewport,
window_size.win_width / 3 + 20,
window_size.win_height / 2 + 20,
window_size.win_width * 2 / 3 - 20,
- window_size.win_height - 20)
+ window_size.win_height - 20,
+ (window_size.fb_width == window_size.win_width))
);
};
}
@@ -1169,7 +1184,7 @@ void draw_demos_viewport(const viewport_t& viewport,
gfx2::draw_line(color, datapoints);
++color_index;
- if (color_index >= demonstrations.size())
+ if (color_index >= COLORS.n_rows)
color_index = 0;
}
@@ -1188,6 +1203,7 @@ void draw_demos_viewport(const viewport_t& viewport,
// Render a "model" viewport
//-----------------------------------------------------------------------------
void draw_model_viewport(const viewport_t& viewport,
+ const gfx2::window_size_t window_size,
const demonstration_list_t& demonstrations,
int perspective,
const model_t& model,
@@ -1241,12 +1257,13 @@ void draw_model_viewport(const viewport_t& viewport,
gfx2::draw_line(color, datapoints);
++color_index;
- if (color_index >= demonstrations.size())
+ if (color_index >= COLORS.n_rows)
color_index = 0;
}
// Draw the handler
- Handler handler(&viewport, ImVec2(0, 0), ImVec2(-30, 0), perspective);
+ Handler handler(&viewport, ImVec2(0, 0), ImVec2(-30, 0), perspective,
+ (window_size.fb_width == window_size.win_width));
handler.update();
handler.draw_anchor();
@@ -1308,7 +1325,7 @@ void draw_reproductions_viewport(const viewport_t& viewport,
gfx2::draw_line(color, *iter);
++color_index;
- if (color_index >= reproductions.size())
+ if (color_index >= COLORS.n_rows)
color_index = 0;
}
@@ -1343,7 +1360,7 @@ int main(int argc, char **argv) {
model_t model;
// Parameters
- model.parameters.nb_states = 6;
+ model.parameters.nb_states = 3;
model.parameters.nb_frames = 2;
model.parameters.nb_deriv = 2;
model.parameters.nb_data = 200;
@@ -1404,7 +1421,7 @@ int main(int argc, char **argv) {
// GUI state
gui_state_t gui_state;
- gui_state.can_draw_demonstration = true;
+ gui_state.can_draw_demonstration = false;
gui_state.is_drawing_demonstration = false;
gui_state.is_parameters_dialog_displayed = false;
gui_state.are_parameters_modified = false;
@@ -1413,7 +1430,7 @@ int main(int argc, char **argv) {
gui_state.parameter_nb_frames = model.parameters.nb_frames;
gui_state.parameter_nb_data = model.parameters.nb_data;
gui_state.parameter_nb_stoch_repros = model.parameters.nb_stoch_repros;
- gui_state.displayed_frame = 2;
+ gui_state.displayed_frame = 1;
// Demonstration and reproduction handlers
@@ -1487,8 +1504,8 @@ int main(int argc, char **argv) {
else if ((window_size.win_width != -1) && (window_size.fb_width != -1)) {
cube loaded_trajectories;
mat loaded_frames;
- loaded_trajectories.load("data/data_tpbatch_lqr_trajectories.txt");
- loaded_frames.load("data/data_tpbatch_lqr_frames.txt");
+ loaded_trajectories.load("data/data_4_trajectories.txt");
+ loaded_frames.load("data/data_4_frames.txt");
for (int n = 0; n < loaded_frames.n_cols / 2; ++n) {
Handler* handler1 = new Handler(
@@ -1497,7 +1514,8 @@ int main(int argc, char **argv) {
loaded_frames(1, n * 2) * window_size.win_height),
ImVec2(loaded_frames(2, n * 2) * window_size.win_width,
loaded_frames(3, n * 2) * window_size.win_height),
- 0
+ 0,
+ (window_size.fb_width == window_size.win_width)
);
handler1->update(window_size);
handler1->fix();
@@ -1508,7 +1526,8 @@ int main(int argc, char **argv) {
loaded_frames(1, n * 2 + 1) * window_size.win_height),
ImVec2(loaded_frames(2, n * 2 + 1) * window_size.win_width,
loaded_frames(3, n * 2 + 1) * window_size.win_height),
- 1
+ 1,
+ (window_size.fb_width == window_size.win_width)
);
handler2->update(window_size);
handler2->fix();
@@ -1525,7 +1544,8 @@ int main(int argc, char **argv) {
fixed_demonstration_handlers[0][0]->ui_position +
ImVec2(window_size.win_width / 3, window_size.win_height / 2),
fixed_demonstration_handlers[0][0]->ui_y,
- 0
+ 0,
+ (window_size.fb_width == window_size.win_width)
);
handler_reproduction_1->update(window_size);
reproduction_handlers.push_back(handler_reproduction_1);
@@ -1535,7 +1555,8 @@ int main(int argc, char **argv) {
fixed_demonstration_handlers[0][1]->ui_position +
ImVec2(window_size.win_width / 3, window_size.win_height / 2),
fixed_demonstration_handlers[0][1]->ui_y,
- 1
+ 1,
+ (window_size.fb_width == window_size.win_width)
);
handler_reproduction_2->update(window_size);
reproduction_handlers.push_back(handler_reproduction_2);
@@ -1715,13 +1736,14 @@ int main(int argc, char **argv) {
draw_reproductions_viewport(viewport_repros, fixed_demonstration_handlers,
reproductions);
- draw_model_viewport(viewport_model, demos, gui_state.displayed_frame - 1, model);
+ draw_model_viewport(viewport_model, window_size, demos,
+ gui_state.displayed_frame - 1, model);
draw_reproductions_viewport(viewport_new_repros, reproduction_handlers,
new_reproductions);
- draw_model_viewport(viewport_stochastic_model, demos, gui_state.displayed_frame - 1,
- model, &stochastic_mu);
+ draw_model_viewport(viewport_stochastic_model, window_size, demos,
+ gui_state.displayed_frame - 1, model, &stochastic_mu);
draw_reproductions_viewport(viewport_stochastic_repros, reproduction_handlers,
stochastic_reproductions);
@@ -1947,10 +1969,34 @@ int main(int argc, char **argv) {
if (ImGui::IsKeyPressed(GLFW_KEY_ESCAPE))
break;
+ // When the 'S' key is pressed, save the demonstrations in files
+ if (ImGui::IsKeyPressed(GLFW_KEY_S)) {
+ mat frames(4, fixed_demonstration_handlers.size() * gui_state.parameter_nb_frames);
+ for (size_t i = 0; i < fixed_demonstration_handlers.size(); ++i) {
+ for (size_t j = 0; j < fixed_demonstration_handlers[i].size(); ++j) {
+ frames(0, i * gui_state.parameter_nb_frames + j) = (float) fixed_demonstration_handlers[i][j]->ui_position.x / window_size.win_width;
+ frames(1, i * gui_state.parameter_nb_frames + j) = (float) fixed_demonstration_handlers[i][j]->ui_position.y / window_size.win_height;
+ frames(2, i * gui_state.parameter_nb_frames + j) = (float) fixed_demonstration_handlers[i][j]->ui_y.x / window_size.win_width;
+ frames(3, i * gui_state.parameter_nb_frames + j) = (float) fixed_demonstration_handlers[i][j]->ui_y.y / window_size.win_height;
+ }
+ }
+
+ frames.save("data_tpbatch_lqr_frames.txt", arma_ascii);
+
+ cube trajectories(2, gui_state.parameter_nb_data, demos.size());
+ for (size_t i = 0; i < demos.size(); ++i) {
+ for (size_t j = 0; j < gui_state.parameter_nb_data; ++j) {
+ trajectories(0, j, i) = demos[i].points(0, j) / window_size.fb_width;
+ trajectories(1, j, i) = demos[i].points(1, j) / window_size.fb_height;
+ }
+ }
+
+ trajectories.save("data_tpbatch_lqr_trajectories.txt", arma_ascii);
+ }
// Left click: start a new demonstration (only if not on the UI and in the
// demonstrations viewport)
- if (!gui_state.is_drawing_demonstration) {
+ if (!gui_state.is_drawing_demonstration && !gui_state.is_parameters_dialog_displayed) {
if (ImGui::IsMouseClicked(GLFW_MOUSE_BUTTON_1) && gui_state.can_draw_demonstration) {
double mouse_x, mouse_y;
glfwGetCursorPos(window, &mouse_x, &mouse_y);
@@ -1964,7 +2010,7 @@ int main(int argc, char **argv) {
current_trajectory.push_back(coords);
}
}
- } else {
+ } else if (gui_state.is_drawing_demonstration) {
double mouse_x, mouse_y;
glfwGetCursorPos(window, &mouse_x, &mouse_y);
diff --git a/src/demo_ergodicControl_2D01.cpp b/src/demo_ergodicControl_2D01.cpp
new file mode 100644
index 0000000..d6bc3f9
--- /dev/null
+++ b/src/demo_ergodicControl_2D01.cpp
@@ -0,0 +1,562 @@
+/*
+ * demo_ergodicControl_2D01.cpp
+ *
+ * 2D ergodic control with spectral multiscale coverage (SMC) algorithm, based on
+ * "Spectral Multiscale Coverage: A Uniform Coverage Algorithm for Mobile Sensor Networks"
+ * by George Mathew and Igor Mezic (http://www.geoggy.net/resources/SMC_CDC09.pdf)
+ *
+ * Authors: Sylvain Calinon, Philip Abbet
+ */
+
+#include <stdio.h>
+#include <armadillo>
+#include <mvn.h>
+#include <tuple>
+#include <mpc_utils.h>
+
+#include <gfx2.h>
+#include <gfx_ui.h>
+#include <imgui.h>
+#include <imgui_impl_glfw_gl2.h>
+#include <GLFW/glfw3.h>
+#include <window_utils.h>
+
+using namespace arma;
+
+
+/***************************** ALGORITHM SECTION *****************************/
+
+typedef std::vector<vec> vector_list_t;
+typedef std::vector<mat> matrix_list_t;
+
+
+//-----------------------------------------------------------------------------
+// Contains all the parameters used by the algorithm. Some of them are
+// modifiable through the UI, others are hard-coded.
+//-----------------------------------------------------------------------------
+struct parameters_t {
+ int nb_gaussians; // Number of gaussians that control the trajectory
+ int nb_data; // Number of datapoints
+ int nb_fct[2]; // Number of basis functions along x and y
+ int nb_res; // Resolution of discretization for the computation of
+ // Fourier coefficients of coverage distribution
+ float dt; // Time step
+ mat xlim; // Domain limits
+};
+
+
+//-----------------------------------------------------------------------------
+// Implementation of the algorithm
+//-----------------------------------------------------------------------------
+std::tuple<mat, mat> compute(const parameters_t& parameters, const mat& mu,
+ const cube& sigma) {
+
+ const int nb_var = 2; // Dimension of datapoint
+ const float sp = ((float) nb_var + 1.0f) / 2.0f; // Sobolev norm parameter
+
+ vec xsiz({ parameters.xlim(0, 1) - parameters.xlim(0, 0),
+ parameters.xlim(1, 1) - parameters.xlim(1, 0)
+ }); // Domain size
+
+ vec dx = xsiz / parameters.nb_res; // Spatial increments
+ vec x({0.1f, 0.3f}); // Initial position
+
+
+ // Basis functions (Fourier coefficients of coverage distribution)
+ //----------------------------------------------------------------
+ vector_list_t rg;
+ rg.push_back(linspace<vec>(0, parameters.nb_fct[0] - 1, parameters.nb_fct[0]));
+ rg.push_back(linspace<vec>(0, parameters.nb_fct[1] - 1, parameters.nb_fct[1]));
+
+ mat KX1 = repmat(rg[0], 1, parameters.nb_fct[1]);
+ mat KX2 = repmat(rg[1].t(), parameters.nb_fct[0], 1);
+
+ mat LK = pow(pow(KX1, 2) + pow(KX2, 2) + 1, -sp); // Weighting matrix
+
+ mat HK = join_vert(mat({1.0}), sqrt(0.5) * ones(parameters.nb_fct[0] - 1)) *
+ join_vert(mat({1.0}), sqrt(0.5) * ones(parameters.nb_fct[1] - 1)).t() *
+ sqrt(xsiz(0) * xsiz(1)); // Normalizing matrix
+
+ mat X = repmat(linspace<vec>(parameters.xlim(0, 0), parameters.xlim(0, 1) - dx(0), parameters.nb_res).t(),
+ parameters.nb_res, 1);
+
+ mat Y = repmat(linspace<vec>(parameters.xlim(1, 0), parameters.xlim(1, 1) - dx(1), parameters.nb_res),
+ 1, parameters.nb_res);
+
+ // Desired spatial distribution as mixture of Gaussians
+ cube G_(X.n_rows, X.n_cols, mu.n_cols);
+
+ mat XY(X.n_elem, 2);
+ XY(span(0, X.n_elem - 1), 0) = reshape(X, X.n_elem, 1);
+ XY(span(0, X.n_elem - 1), 1) = reshape(Y, Y.n_elem, 1);
+
+ for (int k = 0; k < mu.n_cols; ++k) {
+ G_.slice(k) = reshape(
+ mvn::getPDFValue(mu(span::all, k), sigma.slice(k), XY.t()),
+ X.n_rows, X.n_cols
+ ).t() / mu.n_cols;
+ }
+
+ mat G = sum(G_, 2);
+ G /= accu(G); // Spatial distribution
+
+ // Computation of phi_k by discretization
+ // mat phi = zeros(parameters.nb_fct[0], parameters.nb_fct[1]);
+ // for (int kx = 0; kx < parameters.nb_fct[0]; ++kx) {
+ // for (int ky = 0; ky < parameters.nb_fct[1]; ++ky) {
+ // phi(kx, ky) = accu(G % cos(X * kx * datum::pi / xsiz(0)) % cos(Y * ky * datum::pi / xsiz(1))) /
+ // HK(kx, ky); // Fourier coefficients of spatial distribution
+ // }
+ // }
+
+ // Explicit description of phi_k by exploiting the Fourier transform properties
+ // of Gaussians
+ mat w1 = KX1 * datum::pi / xsiz(0);
+ mat w2 = KX2 * datum::pi / xsiz(1);
+
+ mat w(2, w1.n_elem);
+ w(0, span::all) = reshape(w1, 1, w1.n_elem);
+ w(1, span::all) = reshape(w2, 1, w1.n_elem);
+
+ // Enumerate symmetry operations for 2D signal ([-1,-1],[-1,1],[1,-1] and [1,1])
+ mat op({ {-1, 1, -1, 1}, {-1, -1, 1, 1} });
+
+ // Compute phi_k
+ mat phi = zeros(parameters.nb_fct[0], parameters.nb_fct[1]);
+ for (int k = 0; k < mu.n_cols; ++k) {
+ for (int n = 0; n < op.n_cols; ++n) {
+ mat MuTmp = diagmat(op(span::all, n)) * mu(span::all, k);
+ mat SigmaTmp = diagmat(op(span::all, n)) * sigma.slice(k) * diagmat(op(span::all, n)).t();
+ phi = phi + reshape(cos(w.t() * MuTmp) % diagvec(exp(-0.5 * w.t() * SigmaTmp * w)), size(HK));
+ }
+ }
+ phi = phi / HK / mu.n_cols / op.n_cols;
+
+
+ // Ergodic control with spectral multiscale coverage (SMC) algorithm
+ //------------------------------------------------------------------
+ mat Ck = zeros(parameters.nb_fct[0], parameters.nb_fct[1]);
+
+ mat result = zeros(nb_var, parameters.nb_data);
+
+ for (int t = 0; t < parameters.nb_data; ++t) {
+
+ // Log data
+ result(span::all, t) = x;
+
+ // Updating Fourier cosine coefficients of coverage distribution for each dimension
+ vector_list_t cx;
+ vector_list_t dcx;
+
+ for (int i = 0; i < nb_var; ++i) {
+ cx.push_back(cos(rg[i] * datum::pi * (x(i) - parameters.xlim(i, 0)) / xsiz(i)));
+ dcx.push_back(sin(rg[i] * datum::pi * (x(i) - parameters.xlim(i, 0)) / xsiz(i)) % rg[i] * datum::pi / xsiz(i));
+ }
+
+ // Fourier cosine coefficients along trajectory
+ Ck = Ck + (repmat(cx[0], 1, parameters.nb_fct[1]) % repmat(cx[1].t(), parameters.nb_fct[0], 1)) / HK * parameters.dt;
+
+ // SMC feedback control law
+ dx(0) = accu((LK / HK) % (Ck - phi * (t + 1) * parameters.dt) %
+ (repmat(dcx[0], 1, parameters.nb_fct[1]) % repmat(cx[1].t(), parameters.nb_fct[0], 1)));
+
+ dx(1) = accu((LK / HK) % (Ck - phi * (t + 1) * parameters.dt) %
+ (repmat(cx[0], 1, parameters.nb_fct[1]) % repmat(dcx[1].t(), parameters.nb_fct[0], 1)));
+
+ x = x + dx * parameters.dt;
+ }
+
+ return std::make_tuple(result, G);
+}
+
+
+/****************************** HELPER FUNCTIONS *****************************/
+
+static void error_callback(int error, const char* description){
+ fprintf(stderr, "Error %d: %s\n", error, description);
+}
+
+//-----------------------------------------------
+
+std::tuple<vec, mat> trans2d_to_gauss(const ui::Trans2d& gaussian_transforms,
+ const gfx2::window_size_t& window_size) {
+
+ vec mu = gfx2::ui2fb_centered(vec({ gaussian_transforms.pos.x, gaussian_transforms.pos.y }),
+ window_size);
+
+ vec t_x({
+ gaussian_transforms.x.x * window_size.scale_x(),
+ gaussian_transforms.x.y * window_size.scale_y()
+ });
+
+ vec t_y({
+ gaussian_transforms.y.x * window_size.scale_x(),
+ gaussian_transforms.y.y * window_size.scale_y()
+ });
+
+ mat RG = {
+ { t_x(0), t_y(0) },
+ { -t_x(1), -t_y(1) }
+ };
+
+ mat sigma = RG * RG.t();
+
+ return std::make_tuple(mu, sigma);
+}
+
+//-----------------------------------------------
+
+void gauss_to_trans2d(const vec& mu, const mat& sigma,
+ const gfx2::window_size_t& window_size, ui::Trans2d &t2d) {
+
+ vec ui_mu = gfx2::fb2ui_centered(mu, window_size);
+
+ t2d.pos.x = ui_mu(0);
+ t2d.pos.y = ui_mu(1);
+
+ mat V;
+ vec d;
+ eig_sym(d, V, sigma);
+ mat VD = V * diagmat(sqrt(d));
+
+ t2d.x.x = VD.col(0)(0) / window_size.scale_x();
+ t2d.x.y = VD.col(1)(0) / window_size.scale_y();
+ t2d.y.x = VD.col(0)(1) / window_size.scale_x();
+ t2d.y.y = VD.col(1)(1) / window_size.scale_y();
+}
+
+//-----------------------------------------------
+
+std::tuple<mat, cube, std::vector<ui::Trans2d> > create_random_gaussians(
+ const parameters_t& parameters, const gfx2::window_size_t& window_size) {
+
+ mat Mu = randu(2, parameters.nb_gaussians);
+ Mu.row(0) = Mu.row(0) * (window_size.fb_width - 200) - (window_size.fb_width / 2 - 100);
+ Mu.row(1) = Mu.row(1) * (window_size.fb_height - 200) - (window_size.fb_height / 2 - 100);
+
+ cube Sigma;
+ randomCovariances(
+ &Sigma, Mu,
+ vec({ 100 * (float) window_size.fb_width / window_size.win_width,
+ 100 * (float) window_size.fb_height / window_size.win_height
+ }),
+ true, 0.0, 0.2
+ );
+
+ std::vector<ui::Trans2d> gaussians(parameters.nb_gaussians, ui::Trans2d());
+
+ for (int i = 0; i < parameters.nb_gaussians; ++i) {
+ gauss_to_trans2d(Mu.col(i), Sigma.slice(i), window_size, gaussians[i]);
+
+ fmat rotation = gfx2::rotate(fvec({ 0.0f, 0.0f, 1.0f }), randu() * 2 * datum::pi);
+
+ fvec x = rotation * fvec({ gaussians[i].x.x, gaussians[i].x.y, 0.0f, 0.0f });
+ gaussians[i].x.x = x(0);
+ gaussians[i].x.y = x(1);
+
+ fvec y = rotation * fvec({ gaussians[i].y.x, gaussians[i].y.y, 0.0f, 0.0f });
+ gaussians[i].y.x = y(0);
+ gaussians[i].y.y = y(1);
+
+ vec mu_;
+ mat sigma_;
+ std::tie(mu_, sigma_) = trans2d_to_gauss(gaussians[i], window_size);
+
+ Sigma.slice(i) = sigma_;
+ }
+
+ return std::make_tuple(Mu, Sigma, gaussians);
+}
+
+
+/******************************* MAIN FUNCTION *******************************/
+
+int main(int argc, char **argv){
+
+ arma_rng::set_seed_random();
+
+ // Parameters
+ parameters_t parameters;
+ parameters.nb_gaussians = 2;
+ parameters.nb_data = 2000;
+ parameters.nb_fct[0] = 20;
+ parameters.nb_fct[1] = 20;
+ parameters.nb_res = 100;
+ parameters.dt = 0.01f;
+ parameters.xlim = mat({ { 0.0f, 1.0f }, { 0.0f, 1.0f } } );
+
+
+ // Take 4k screens into account (framebuffer size != window size)
+ gfx2::window_size_t window_size;
+ window_size.win_width = 800;
+ window_size.win_height = 800;
+ window_size.fb_width = -1; // Will be known later
+ window_size.fb_height = -1;
+
+
+ // Initialise GLFW
+ glfwSetErrorCallback(error_callback);
+
+ if (!glfwInit())
+ return -1;
+
+ glfwWindowHint(GLFW_SAMPLES, 4);
+ glfwWindowHint(GLFW_CONTEXT_VERSION_MAJOR, 2);
+ glfwWindowHint(GLFW_CONTEXT_VERSION_MINOR, 1);
+
+ // Open a window and create its OpenGL context
+ GLFWwindow* window = create_window_at_optimal_size(
+ "Demo 2D ergodic control",
+ window_size.win_width, window_size.win_height
+ );
+
+ glfwMakeContextCurrent(window);
+
+
+ // Setup GLSL
+ gfx2::init();
+ glEnable(GL_DEPTH_TEST);
+ glEnable(GL_CULL_FACE);
+ glEnable(GL_LINE_SMOOTH);
+ glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
+
+ // Setup ImGui
+ ImGui::CreateContext();
+ ImGui_ImplGlfwGL2_Init(window, true);
+
+
+ // Gaussian widgets
+ std::vector<ui::Trans2d> gaussians;
+
+ // Covariances
+ mat Mu;
+ cube Sigma;
+
+ // Main loop
+ mat result;
+ mat G;
+ const float speed = 1.0f / 20.0f;
+ float t = 0.0f;
+ bool must_recompute = false;
+
+ gfx2::texture_t background_texture = {0};
+
+ while (!glfwWindowShouldClose(window)) {
+ glfwPollEvents();
+
+ // Detect when the window was resized
+ if ((ImGui::GetIO().DisplaySize.x != window_size.win_width) ||
+ (ImGui::GetIO().DisplaySize.y != window_size.win_height)) {
+
+ bool first = (window_size.win_width == -1) || (window_size.fb_width == -1);
+
+ int previous_win_width = window_size.win_width;
+ int previous_win_height = window_size.win_height;
+ int previous_fb_width = window_size.fb_width;
+ int previous_fb_height = window_size.fb_height;
+
+ window_size.win_width = ImGui::GetIO().DisplaySize.x;
+ window_size.win_height = ImGui::GetIO().DisplaySize.y;
+
+ glfwGetFramebufferSize(window, &window_size.fb_width, &window_size.fb_height);
+
+ // Move and rescale the various objects so they stay in the window
+ if (!first) {
+ float scale = std::min((float) window_size.fb_width / previous_fb_width,
+ (float) window_size.fb_height / previous_fb_height);
+
+ for (int i = 0; i < parameters.nb_gaussians; ++i) {
+ arma::vec target = gfx2::fb2ui_centered(gfx2::ui2fb_centered({gaussians[i].pos.x, gaussians[i].pos.y},
+ previous_win_width, previous_win_height,
+ previous_fb_width, previous_fb_height) * scale,
+ window_size.win_width, window_size.win_height,
+ window_size.fb_width, window_size.fb_height);
+ gaussians[i].pos.x = target(0);
+ gaussians[i].pos.y = target(1);
+
+ gaussians[i].x.x *= scale;
+ gaussians[i].x.y *= scale;
+ gaussians[i].y.x *= scale;
+ gaussians[i].y.y *= scale;
+ }
+ }
+
+ // At the very first frame: random initialisation of the gaussians (taking 4K
+ // screens into account)
+ else if ((window_size.fb_width > 0) && (window_size.win_width > 0)) {
+ std::tie(Mu, Sigma, gaussians) = create_random_gaussians(parameters, window_size);
+ }
+
+ must_recompute = true;
+ }
+
+
+ // Start the rendering
+ ImGui_ImplGlfwGL2_NewFrame();
+
+ glViewport(0, 0, window_size.fb_width, window_size.fb_height);
+ glClearColor(1.0f, 1.0f, 1.0f, 1.0f);
+ glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
+
+ glMatrixMode(GL_PROJECTION);
+ glLoadIdentity();
+ glOrtho(-window_size.fb_width / 2, window_size.fb_width / 2,
+ -window_size.fb_height / 2, window_size.fb_height / 2,
+ -1.0f, 1.0f
+ );
+
+ glMatrixMode(GL_MODELVIEW);
+ glLoadIdentity();
+
+ if (result.n_cols > 0) {
+
+ double max = G.max();
+ double min = G.min();
+
+ if (background_texture.width == 0) {
+ background_texture = gfx2::create_texture(
+ parameters.nb_res, parameters.nb_res, GL_RGB, GL_FLOAT
+ );
+
+ for (int j = 0; j < parameters.nb_res; ++j) {
+ for (int i = 0; i < parameters.nb_res; ++i) {
+ float color = 1.0f - (G(i, j) - min) / (max - min);
+
+ background_texture.pixels_f[(j * parameters.nb_res + i) * 3] = color;
+ background_texture.pixels_f[(j * parameters.nb_res + i) * 3 + 1] = 1.0f;
+ background_texture.pixels_f[(j * parameters.nb_res + i) * 3 + 2] = color;
+ }
+ }
+ }
+
+ gfx2::draw_rectangle(background_texture, window_size.fb_width, window_size.fb_height);
+
+ glClear(GL_DEPTH_BUFFER_BIT);
+
+ mat result2(result.n_rows, result.n_cols);
+ result2(0, span::all) = (result(0, span::all) - 0.5) * window_size.fb_width;
+ result2(1, span::all) = (result(1, span::all) - 0.5) * window_size.fb_height;
+
+ gfx2::draw_line(fvec({ 0.0f, 0.0f, 1.0f }), result2);
+
+ int current_index = t * result2.n_cols;
+
+ if (current_index > 0) {
+ glClear(GL_DEPTH_BUFFER_BIT);
+ glLineWidth(4.0f);
+ gfx2::draw_line(fvec({ 1.0f, 0.0f, 0.0f }), result2(span::all, span(0, current_index)));
+ glLineWidth(1.0f);
+ }
+
+ fvec current_position = zeros<fvec>(3);
+ current_position(0) = result2(0, current_index);
+ current_position(1) = result2(1, current_index);
+
+ gfx2::draw_rectangle(fvec({ 1.0f, 0.0f, 0.0f }), 10.0f, 10.0f, current_position);
+ }
+
+
+ // Control panel GUI
+ ImGui::SetNextWindowSize(ImVec2(650, 130));
+ ImGui::SetNextWindowPos(ImVec2(0, 0));
+ ImGui::Begin("Control Panel", NULL,
+ ImGuiWindowFlags_NoTitleBar|ImGuiWindowFlags_NoResize|
+ ImGuiWindowFlags_NoMove|ImGuiWindowFlags_NoSavedSettings);
+
+ int previous_nb_gaussians = parameters.nb_gaussians;
+ int previous_nb_data = parameters.nb_data;
+ int previous_nb_fct_x = parameters.nb_fct[0];
+ int previous_nb_fct_y = parameters.nb_fct[1];
+ int previous_nb_res = parameters.nb_res;
+
+ ImGui::SliderInt("Nb gaussians", ¶meters.nb_gaussians, 1, 10);
+ ImGui::SliderInt("Nb data", ¶meters.nb_data, 500, 10000);
+ ImGui::SliderInt("Nb basis functions along X", ¶meters.nb_fct[0], 5, 100);
+ ImGui::SliderInt("Nb basis functions along Y", ¶meters.nb_fct[1], 5, 100);
+ ImGui::SliderInt("Resolution of discretization", ¶meters.nb_res, 20, 500);
+
+ if ((parameters.nb_gaussians != previous_nb_gaussians) ||
+ (parameters.nb_data != previous_nb_data) ||
+ (parameters.nb_fct[0] != previous_nb_fct_x) ||
+ (parameters.nb_fct[1] != previous_nb_fct_y) ||
+ (parameters.nb_res != previous_nb_res)) {
+
+ must_recompute = true;
+ }
+
+ ImGui::End();
+
+
+ // Gaussian widgets
+ if (parameters.nb_gaussians != gaussians.size())
+ std::tie(Mu, Sigma, gaussians) = create_random_gaussians(parameters, window_size);
+
+ ui::begin("Gaussian");
+
+ if (!gaussians.empty()) {
+ for (int i = 0; i < parameters.nb_gaussians; ++i) {
+ ui::Trans2d previous_gaussian = gaussians[i];
+
+ gaussians[i] = ui::affineSimple(i, gaussians[i]);
+
+ vec mu;
+ mat sigma;
+ std::tie(mu, sigma) = trans2d_to_gauss(gaussians[i], window_size);
+
+ Mu.col(i) = mu;
+ Sigma.slice(i) = sigma;
+
+ must_recompute = must_recompute ||
+ !gfx2::is_close(gaussians[i].pos.x, previous_gaussian.pos.x) ||
+ !gfx2::is_close(gaussians[i].pos.y, previous_gaussian.pos.y) ||
+ !gfx2::is_close(gaussians[i].x.x, previous_gaussian.x.x) ||
+ !gfx2::is_close(gaussians[i].x.y, previous_gaussian.x.y) ||
+ !gfx2::is_close(gaussians[i].y.x, previous_gaussian.y.x) ||
+ !gfx2::is_close(gaussians[i].y.y, previous_gaussian.y.y);
+ }
+ }
+
+ ui::end();
+
+
+ // Redo the computation when necessary
+ if (must_recompute && !ImGui::IsMouseDown(GLFW_MOUSE_BUTTON_1)) {
+ mat mu = Mu;
+ mu(0, span::all) = mu(0, span::all) / window_size.fb_width + 0.5;
+ mu(1, span::all) = mu(1, span::all) / window_size.fb_height + 0.5;
+
+ std::tie(result, G) = compute(parameters, mu, Sigma / (window_size.fb_width * window_size.fb_height));
+ t = 0.0f;
+
+ if (background_texture.width > 0)
+ gfx2::destroy(background_texture);
+
+ must_recompute = false;
+ }
+
+
+ // GUI rendering
+ ImGui::Render();
+ ImGui_ImplGlfwGL2_RenderDrawData(ImGui::GetDrawData());
+
+ // Swap buffers
+ glPopMatrix();
+ glfwSwapBuffers(window);
+
+ // Keyboard input
+ if (ImGui::IsKeyPressed(GLFW_KEY_ESCAPE))
+ break;
+
+
+ t += speed * ImGui::GetIO().DeltaTime;
+ if (t >= 1.0f)
+ t = 0.0f;
+ }
+
+
+ // Cleanup
+ ImGui_ImplGlfwGL2_Shutdown();
+ glfwTerminate();
+
+ return 0;
+}
diff --git a/src/demo_infHorLQR01_glsl.cpp b/src/demo_infHorLQR01_glsl.cpp
deleted file mode 100644
index 7a4774a..0000000
--- a/src/demo_infHorLQR01_glsl.cpp
+++ /dev/null
@@ -1,341 +0,0 @@
-/*
- * demo_infHorLQR01_glsl.cpp
- *
- * Discrete infinite horizon linear quadratic regulation
- *
- * Fabien Crépon, Philip Abbet, Sylvain Calinon, 2017
- */
-
-#include <stdio.h>
-#include <imgui.h>
-#include <imgui_impl_glfw_gl3.h>
-#include <gfx3.h>
-#include <gfx_ui.h>
-#include <GLFW/glfw3.h>
-#include <lqr.h>
-#include <window_utils.h>
-#include <armadillo>
-
-using namespace arma;
-
-
-/****************************** HELPER FUNCTIONS *****************************/
-
-static void error_callback(int error, const char* description){
- fprintf(stderr, "Error %d: %s\n", error, description);
-}
-
-//-----------------------------------------------
-
-int factorial(int n) {
- return (n == 1 || n == 0) ? 1 : factorial(n - 1) * n;
-}
-
-//-----------------------------------------------------------------------------
-// Computes RG (in OpenGL-space) from gaussian transformations (in UI-space)
-//
-// UI coordinates range from (0, 0) to (win_width, win_height)
-// OpenGL coordinates range from (-fb_width / 2, fb_height / 2) to
-// (fb_width / 2, -fb_height / 2)
-//-----------------------------------------------------------------------------
-arma::mat trans2RG(const ui::Trans2d& trans, const gfx3::window_size_t& window_size) {
-
- float scale_x = (float) window_size.fb_width / (float) window_size.win_width;
- float scale_y = (float) window_size.fb_height / (float) window_size.win_height;
-
- arma::mat RG = {
- { trans.x.x * scale_x, trans.y.x * scale_x },
- { -trans.x.y * scale_y, -trans.y.y * scale_y }
- };
-
- return RG;
-}
-
-
-/******************************* MAIN FUNCTION *******************************/
-
-int main(int argc, char **argv){
- arma_rng::set_seed_random();
-
- //--------------- Setup parameters ---------------
-
- int nbData = 100; //Number of datapoints
- int nbRepros = 10; //Number of reproductions
- int nbVarPos = 2; //Dimension of position data (here: x1,x2)
- int nbDeriv = 2; //Number of static & dynamic features (D=2 for [x,dx])
- int nbVar = nbVarPos * nbDeriv; //Dimension of state vector in the tangent space
- double dt = 1E-2; //Time step duration
- double rfactor = 1E-8; //Control cost in LQR
-
- // Control cost
- arma::mat R = eye(nbVarPos,nbVarPos) * rfactor;
-
- // Target
- arma::vec Utar = {100.0, 300.0, 0, 0};
-
- // Initial positions
- arma:mat U0(nbVarPos, 0);
- arma::mat pts0(2, 35), pts(3, 35, fill::zeros);
- pts0 = join_cols(cos(linspace<rowvec>(0, 2 * datum::pi, 35)), sin(linspace<rowvec>(0, 2 * datum::pi, 35)));
- arma::mat RG(2, 2, fill::eye);
-
-
- //--------------- Discrete dynamical system settings ---------------
-
- arma::mat A, B;
- arma::mat A1d(zeros(nbDeriv, nbDeriv));
- for (int i = 0; i <= nbDeriv - 1 ; i++) {
- A1d = A1d + diagmat(ones(nbDeriv - i, 1), i) * pow(dt, i) * 1. / factorial(i);
- }
- arma::mat B1d(zeros(nbDeriv, 1));
- for (int i = 1; i <= nbDeriv ; i++) {
- B1d(nbDeriv - i, 0) = pow(dt, i) * 1. / factorial(i);
- }
- A = kron(A1d, eye(nbVarPos, nbVarPos));
- B = kron(B1d, eye(nbVarPos, nbVarPos));
-
-
- //--------------- Setup of the rendering ---------------
-
- // Take 4k screens into account (framebuffer size != window size)
- gfx3::window_size_t window_size;
- window_size.win_width = 800;
- window_size.win_height = 800;
- window_size.fb_width = -1; // Will be known later
- window_size.fb_height = -1;
-
- // Setup GUI
- glfwSetErrorCallback(error_callback);
- if (!glfwInit())
- return -1;
-
- glfwWindowHint(GLFW_SAMPLES, 4);
- glfwWindowHint(GLFW_CONTEXT_VERSION_MAJOR, 3);
- glfwWindowHint(GLFW_CONTEXT_VERSION_MINOR, 3);
- glfwWindowHint(GLFW_OPENGL_FORWARD_COMPAT, GL_TRUE);
- glfwWindowHint(GLFW_OPENGL_PROFILE, GLFW_OPENGL_CORE_PROFILE);
-
- GLFWwindow* window = create_window_at_optimal_size(
- "Demo LQR", window_size.win_width, window_size.win_height
- );
-
- glfwMakeContextCurrent(window);
-
- // Setup GLSL
- gfx3::init();
- glEnable(GL_DEPTH_TEST);
- glEnable(GL_CULL_FACE);
- glEnable(GL_LINE_SMOOTH);
- glDepthFunc(GL_LESS);
-
- // Creation of the Vertex Array Object (VAO)
- GLuint vertexArrayID;
- glGenVertexArrays(1, &vertexArrayID);
- glBindVertexArray(vertexArrayID);
-
- // Setup ImGui
- ImGui::CreateContext();
- ImGui_ImplGlfwGL3_Init(window, true);
- ImVec4 clear_color = ImColor(0, 0, 40);
-
-
- //--------------- Rendering matrices, shaders, models ---------------
-
- // Gaussian UI widget
- ui::Trans2d trans(ImVec2(80.0f, 0.0f), ImVec2(0.0f, 100.0f),
- ImVec2((float) Utar(0),(float) Utar(1)));
-
-
- // Projection matrix
- arma::fmat projection;
-
- // Camera matrix
- arma::fmat view = gfx3::lookAt(
- arma::fvec({0, 0, 3}), // Position of the camera
- arma::fvec({0, 0, 0}), // Look at the origin
- arma::fvec({0, 1, 0}) // Head is up
- );
-
-
- // Loading of the shaders
- gfx3::shader_t rtt_shader = gfx3::loadShader(gfx3::RTT_VERTEX_SHADER,
- gfx3::RTT_FRAGMENT_SHADER_LIC);
-
- rtt_shader.setUniform("Resolution", arma::fvec({512, 512}));
-
- gfx3::shader_t background_shader = gfx3::loadShader(gfx3::VERTEX_SHADER_TEXTURED,
- gfx3::FRAGMENT_SHADER_ONE_TEXTURE);
-
- gfx3::shader_t colored_shader = gfx3::loadShader(gfx3::VERTEX_SHADER_COLORED,
- gfx3::FRAGMENT_SHADER_COLORED);
-
- // Creation of the RTTs
- gfx3::render_to_texture_t background_rtt = gfx3::createRTT(rtt_shader, 512, 512,
- arma::fvec({ 0.5f, 0.5f, 0.5f }));
-
- // Background model
- gfx3::model_t background;
-
-
- //--------------- Main loop ---------------
-
- while (!glfwWindowShouldClose(window)) {
- glfwPollEvents();
-
- // Detect when the window was resized
- if ((ImGui::GetIO().DisplaySize.x != window_size.win_width) ||
- (ImGui::GetIO().DisplaySize.y != window_size.win_height)) {
-
- bool first = (window_size.win_width == -1) || (window_size.fb_width == -1);
-
- int previous_win_width = window_size.win_width;
- int previous_win_height = window_size.win_height;
- int previous_fb_width = window_size.fb_width;
- int previous_fb_height = window_size.fb_height;
-
- // Retrieve the new window size
- window_size.win_width = ImGui::GetIO().DisplaySize.x;
- window_size.win_height = ImGui::GetIO().DisplaySize.y;
-
- // Retrieve the new framebuffer size
- glfwGetFramebufferSize(window, &window_size.fb_width, &window_size.fb_height);
-
- // Update the projection matrix
- projection = gfx3::orthographic(
- (float) window_size.fb_width, (float) window_size.fb_height, 0.1f, 10.0f);
-
- // Recreate the background model
- gfx3::destroy(background);
-
- background = gfx3::create_rectangle(background_shader,
- arma::fvec({ 0.5f, 0.0f, 0.0f }),
- (float) window_size.fb_width,
- (float) window_size.fb_height);
-
- background.diffuse_texture = background_rtt.texture();
-
- // Move and rescale the various objects so they stay in the window
- if (!first) {
- float scale = std::min((float) window_size.fb_width / previous_fb_width,
- (float) window_size.fb_height / previous_fb_height);
-
- U0 *= scale;
-
- arma::vec target = gfx3::fb2ui(gfx3::ui2fb({trans.pos.x, trans.pos.y},
- previous_win_width, previous_win_height,
- previous_fb_width, previous_fb_height) * scale,
- window_size.win_width, window_size.win_height,
- window_size.fb_width, window_size.fb_height);
- trans.pos.x = target(0);
- trans.pos.y = target(1);
-
- trans.x.x *= scale;
- trans.x.y *= scale;
- trans.y.x *= scale;
- trans.y.y *= scale;
- }
- }
-
- // Detect if the number of reproductions has changed
- if (nbRepros > U0.n_cols) {
- unsigned int nb = U0.n_cols;
- U0.reshape(nbVarPos, nbRepros);
-
- for (int i = nb; i < nbRepros; ++i) {
- U0.col(i) = arma::vec({ (randu() - 0.5) * window_size.fb_width,
- (randu() - 0.5) * window_size.fb_height });
- }
- }
- else if (nbRepros < U0.n_cols) {
- U0.reshape(nbVarPos, nbRepros);
- }
-
- // Start of rendering
- ImGui_ImplGlfwGL3_NewFrame();
- glViewport(0, 0, window_size.fb_width, window_size.fb_height);
- glClearColor(clear_color.x, clear_color.y, clear_color.z, clear_color.w);
- glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
-
- // Gaussian UI widget
- ui::begin("Gaussian");
- trans = ui::affineSimple(0, trans);
- Utar = gfx3::ui2fb({ trans.pos.x, trans.pos.y, 0, 0 }, window_size);
- RG = trans2RG(trans, window_size);
- ui::end();
-
- // Recompute LQR
- arma::mat Q = inv(RG * RG.t());
- Q.resize(nbVar, nbVar);
- arma::mat P = lqr::solve_algebraic_Riccati_discrete(A, B, Q, R);
- arma::mat L = inv(B.t() * P * B + R) * B.t() * P * A;
- arma::vec U(nbVar, fill::zeros);
- arma::vec ddu(nbVarPos);
- std::vector<arma::mat> reproductions;
-
- for (int n = 0; n < nbRepros; n++) {
- arma::mat reproduction(nbVar, nbData);
- U = { U0(0, n), U0(1, n), 0, 0 };
-
- for (int t = 0; t < nbData; t++) {
- reproduction.col(t) = U;
- ddu = L * (Utar - U);
- U = A * U + B * ddu;
- }
-
- reproduction.rows(nbVarPos, nbVar-1).zeros();
-
- reproductions.push_back(reproduction);
- }
-
- // RTT rendering
- rtt_shader.setUniform("Time", (float) glfwGetTime());
- rtt_shader.setUniform("Sigma", conv_to<fmat>::from(inv(RG * RG.t())));
- rtt_shader.setUniform("Target", arma::vec(gfx3::ui2shader({ trans.pos.x, trans.pos.y },
- window_size)));
-
- gfx3::draw(background_rtt);
-
- background.diffuse_texture = background_rtt.texture();
-
- // Draw repros
- for (size_t i = 0; i < reproductions.size(); ++i) {
- gfx3::draw_line(colored_shader, arma::fvec({0.33f, 0.97f, 0.33f}),
- reproductions[i], view, projection);
- }
-
- // Draw the gaussian
- pts.rows(0, 1) = arma::mat(RG * pts0).each_col() + Utar.subvec(0, 1);
-
- gfx3::draw_line(colored_shader, arma::fvec({1.0f, 0.33f, 0.33f}), pts, view,
- projection);
-
- // Draw the background
- gfx3::draw(background, view, projection);
-
- // Parameter window
- ImGui::SetNextWindowSize(ImVec2(400, 56));
- ImGui::Begin("Parameters", NULL,
- ImGuiWindowFlags_NoResize | ImGuiWindowFlags_NoSavedSettings |
- ImGuiWindowFlags_NoMove
- );
- ImGui::SliderInt("Nb reproductions", &nbRepros, 1, 10);
- ImGui::End();
-
- // UI rendering
- ImGui::Render();
- ImGui_ImplGlfwGL3_RenderDrawData(ImGui::GetDrawData());
-
- // End of rendering
- glfwSwapBuffers(window);
-
- // Keyboard input
- if (ImGui::IsKeyPressed(GLFW_KEY_ESCAPE))
- break;
- }
-
- // Cleanup
- ImGui_ImplGlfwGL3_Shutdown();
- glfwTerminate();
-
- return 0;
-}
diff --git a/src/demo_proMP01.cpp b/src/demo_proMP01.cpp
index 4ce11e8..0b0e94c 100644
--- a/src/demo_proMP01.cpp
+++ b/src/demo_proMP01.cpp
@@ -55,6 +55,9 @@ struct parameters_t {
float dt; // Time step (without rescaling, large values such
// as 1 has the advantage of creating clusers based
// on position information)
+ float rbf_width;
+ float regularized_pseudoinverse_parameter;
+ float minimum_variance_parameter;
};
@@ -88,13 +91,13 @@ void learn(const matrix_list_t& demos, model_t &model) {
timesteps(0), timesteps(timesteps.n_rows - 1), model.parameters.nb_states
);
- double sigma = 0.01;
-
// Compute basis functions activation
model.H = mat(model.parameters.nb_states, model.parameters.nb_data);
- for (unsigned int i = 0; i < model.parameters.nb_states; ++i)
- model.H.row(i) = mvn::getPDFValue(colvec{ mu(i) }, mat({ sigma }), timesteps.t()).t();
+ for (unsigned int i = 0; i < model.parameters.nb_states; ++i) {
+ model.H.row(i) = mvn::getPDFValue(colvec{ mu(i) }, mat({ model.parameters.rbf_width }),
+ timesteps.t()).t();
+ }
model.H = model.H / repmat(sum(model.H, 0), model.parameters.nb_states, 1);
@@ -110,13 +113,21 @@ void learn(const matrix_list_t& demos, model_t &model) {
}
mat w(model.nb_var * model.parameters.nb_states, demos.size());
- for (size_t i = 0; i < demos.size(); ++i)
- w.col(i) = pinv(model.psi) * (mat) vectorise(demos[i]);
+ for (size_t i = 0; i < demos.size(); ++i) {
+ w.col(i) = solve(model.psi.t() * model.psi +
+ eye(
+ model.nb_var * model.parameters.nb_states,
+ model.nb_var * model.parameters.nb_states
+ ) * model.parameters.regularized_pseudoinverse_parameter,
+ model.psi.t()
+ ) * (mat) vectorise(demos[i]);
+ }
model.mu_w = mean(w, 1);
model.sigma_w = eye(model.nb_var * model.parameters.nb_states,
- model.nb_var * model.parameters.nb_states);
+ model.nb_var * model.parameters.nb_states
+ ) * model.parameters.minimum_variance_parameter;
if (w.n_cols == 1)
model.sigma_w += rowvec(cov(w.t()))[0];
@@ -253,16 +264,13 @@ arma::vec ui2fb(const arma::vec& coords, const gfx2::window_size_t& window_size,
// Colors of the displayed lines and gaussians
//-----------------------------------------------------------------------------
const mat COLORS({
- { 0.0, 0.0, 1.0 },
- { 0.0, 0.5, 0.0 },
- { 1.0, 0.0, 0.0 },
- { 0.0, 0.75, 0.75 },
+ { 0.0, 0.0, 1.0 },
+ { 0.0, 0.5, 0.0 },
+ { 1.0, 0.0, 0.0 },
+ { 0.0, 0.75, 0.75 },
{ 0.75, 0.0, 0.75 },
{ 0.75, 0.75, 0.0 },
{ 0.25, 0.25, 0.25 },
- { 0.0, 0.0, 1.0 },
- { 0.0, 0.5, 0.0 },
- { 1.0, 0.0, 0.0 },
});
@@ -323,6 +331,9 @@ struct gui_state_t {
int parameter_nb_states;
int parameter_nb_data;
int parameter_nb_reproductions;
+ float parameter_rbf_width;
+ float parameter_regularized_pseudoinverse_parameter;
+ float parameter_minimum_variance_parameter;
bool display_colored_points;
};
@@ -363,7 +374,7 @@ void draw_demos_viewport(const viewport_t& viewport,
gfx2::draw_line(color, datapoints);
++color_index;
- if (color_index >= demonstrations.size())
+ if (color_index >= COLORS.n_rows)
color_index = 0;
}
}
@@ -473,10 +484,13 @@ int main(int argc, char **argv) {
model_t model;
// Parameters
- model.parameters.nb_states = 10;
- model.parameters.nb_data = 200;
- model.parameters.nb_reproductions = 10;
- model.parameters.dt = 0.01f;
+ model.parameters.nb_states = 10;
+ model.parameters.nb_data = 200;
+ model.parameters.nb_reproductions = 10;
+ model.parameters.dt = 0.01f;
+ model.parameters.rbf_width = 1e-2f;
+ model.parameters.regularized_pseudoinverse_parameter = 3e-2f;
+ model.parameters.minimum_variance_parameter = 1.0f;
// Take 4k screens into account (framebuffer size != window size)
@@ -536,7 +550,10 @@ int main(int argc, char **argv) {
gui_state.parameter_nb_states = model.parameters.nb_states;
gui_state.parameter_nb_data = model.parameters.nb_data;
gui_state.parameter_nb_reproductions = model.parameters.nb_reproductions;
- gui_state.display_colored_points = true;
+ gui_state.parameter_rbf_width = model.parameters.rbf_width;
+ gui_state.parameter_regularized_pseudoinverse_parameter = model.parameters.regularized_pseudoinverse_parameter;
+ gui_state.parameter_minimum_variance_parameter = model.parameters.minimum_variance_parameter;
+ gui_state.display_colored_points = false;
// List of demonstrations and reproductions
@@ -590,6 +607,9 @@ int main(int argc, char **argv) {
model.parameters.nb_data = gui_state.parameter_nb_data;
model.parameters.nb_states = gui_state.parameter_nb_states;
+ model.parameters.rbf_width = gui_state.parameter_rbf_width;
+ model.parameters.regularized_pseudoinverse_parameter = gui_state.parameter_regularized_pseudoinverse_parameter;
+ model.parameters.minimum_variance_parameter = gui_state.parameter_minimum_variance_parameter;
if (!demos.empty()) {
learn(demos, model);
@@ -694,8 +714,9 @@ int main(int argc, char **argv) {
// Window: Parameters
- ImGui::SetNextWindowSize(ImVec2(440, 146));
- ImGui::SetNextWindowPos(ImVec2((window_size.win_width - 440) / 2, (window_size.win_height - 146) / 2));
+ ImGui::SetNextWindowSize(ImVec2(800, 216));
+ ImGui::SetNextWindowPos(ImVec2((window_size.win_width - 800) / 2,
+ (window_size.win_height - 216) / 2));
ImGui::PushStyleColor(ImGuiCol_WindowBg, ImVec4(0, 0, 0, 255));
if (gui_state.is_parameters_dialog_displayed)
@@ -708,6 +729,12 @@ int main(int argc, char **argv) {
ImGui::SliderInt("Nb states", &gui_state.parameter_nb_states, 2, 20);
ImGui::SliderInt("Nb data", &gui_state.parameter_nb_data, 100, 300);
ImGui::SliderInt("Nb reproductions", &gui_state.parameter_nb_reproductions, 2, 10);
+ ImGui::SliderFloat("RBF width", &gui_state.parameter_rbf_width, 1e-3f, 3e-2f);
+ ImGui::SliderFloat("Regularized pseudoinverse parameter",
+ &gui_state.parameter_regularized_pseudoinverse_parameter,
+ 3e-2f, 1e-1f);
+ ImGui::SliderFloat("Minimum variance parameter",
+ &gui_state.parameter_minimum_variance_parameter, 1e-3f, 1e0f);
ImGui::Checkbox("Show colored points in reproductions", &gui_state.display_colored_points);
if (ImGui::Button("Close")) {
@@ -734,7 +761,7 @@ int main(int argc, char **argv) {
break;
- if (!gui_state.is_drawing_demonstration) {
+ if (!gui_state.is_drawing_demonstration && !gui_state.is_parameters_dialog_displayed) {
// Left click: start a new demonstration (only if not on the UI and in the
// demonstrations viewport)
if (ImGui::IsMouseClicked(GLFW_MOUSE_BUTTON_1)) {
@@ -749,7 +776,7 @@ int main(int argc, char **argv) {
current_trajectory.push_back(coords);
}
}
- } else {
+ } else if (gui_state.is_drawing_demonstration) {
double mouse_x, mouse_y;
glfwGetCursorPos(window, &mouse_x, &mouse_y);
diff --git a/src/utils/gfx2.cpp b/src/utils/gfx2.cpp
index b8cfbc3..28d014e 100644
--- a/src/utils/gfx2.cpp
+++ b/src/utils/gfx2.cpp
@@ -53,6 +53,31 @@ arma::vec ui2fb(const arma::vec& coords, int win_width, int win_height,
int fb_width, int fb_height) {
arma::vec result = coords;
+ result(0) = coords(0) * (float) fb_width / (float) win_width;
+ result(1) = ((float) win_height - coords(1)) * (float) fb_height / (float) win_height;
+
+ return result;
+}
+
+//-----------------------------------------------
+
+arma::vec ui2fb(const arma::vec& coords, const window_size_t& window_size) {
+ arma::vec result = coords;
+
+ result(0) = coords(0) * (float) window_size.fb_width / (float) window_size.win_width;
+
+ result(1) = ((float) window_size.win_height - coords(1)) *
+ (float) window_size.fb_height / (float) window_size.win_height;
+
+ return result;
+}
+
+//-----------------------------------------------
+
+arma::vec ui2fb_centered(const arma::vec& coords, int win_width, int win_height,
+ int fb_width, int fb_height) {
+ arma::vec result = coords;
+
result(0) = (coords(0) - (float) win_width * 0.5f) * (float) fb_width / (float) win_width;
result(1) = ((float) win_height * 0.5f - coords(1)) * (float) fb_height / (float) win_height;
@@ -61,7 +86,7 @@ arma::vec ui2fb(const arma::vec& coords, int win_width, int win_height,
//-----------------------------------------------
-arma::vec ui2fb(const arma::vec& coords, const window_size_t& window_size) {
+arma::vec ui2fb_centered(const arma::vec& coords, const window_size_t& window_size) {
arma::vec result = coords;
result(0) = (coords(0) - (float) window_size.win_width * 0.5f) *
@@ -79,6 +104,30 @@ arma::vec fb2ui(const arma::vec& coords, int win_width, int win_height,
int fb_width, int fb_height) {
arma::vec result = coords;
+ result(0) = coords(0) * (float) win_width / (float) fb_width;
+ result(1) = -(coords(1) * (float) win_height / (float) fb_height - (float) win_height);
+
+ return result;
+}
+
+//-----------------------------------------------
+
+arma::vec fb2ui(const arma::vec& coords, const window_size_t& window_size) {
+ arma::vec result = coords;
+
+ result(0) = coords(0) * (float) window_size.win_width / (float) window_size.fb_width;
+ result(1) = -(coords(1) * (float) window_size.win_height / (float) window_size.fb_height -
+ (float) window_size.win_height);
+
+ return result;
+}
+
+//-----------------------------------------------
+
+arma::vec fb2ui_centered(const arma::vec& coords, int win_width, int win_height,
+ int fb_width, int fb_height) {
+ arma::vec result = coords;
+
result(0) = coords(0) * (float) win_width / (float) fb_width + (float) win_width * 0.5f;
result(1) = -(coords(1) * (float) win_height / (float) fb_height - (float) win_height * 0.5f);
@@ -87,7 +136,7 @@ arma::vec fb2ui(const arma::vec& coords, int win_width, int win_height,
//-----------------------------------------------
-arma::vec fb2ui(const arma::vec& coords, const window_size_t& window_size) {
+arma::vec fb2ui_centered(const arma::vec& coords, const window_size_t& window_size) {
arma::vec result = coords;
result(0) = coords(0) * (float) window_size.win_width / (float) window_size.fb_width +
@@ -240,7 +289,6 @@ arma::fmat worldTransforms(const transforms_t* transforms)
return result;
}
-
//-----------------------------------------------
arma::fvec worldPosition(const transforms_t* transforms)
@@ -259,7 +307,6 @@ arma::fvec worldPosition(const transforms_t* transforms)
return transforms->position;
}
-
//-----------------------------------------------
arma::fmat worldRotation(const transforms_t* transforms)
@@ -274,6 +321,46 @@ arma::fmat worldRotation(const transforms_t* transforms)
}
+/********************************** TEXTURES *********************************/
+
+texture_t create_texture(int width, int height, GLenum format, GLenum type)
+{
+ texture_t texture = { 0 };
+
+ texture.width = (GLuint) width;
+ texture.height = (GLuint) height;
+ texture.format = format;
+ texture.type = type;
+
+ glGenTextures(1, &texture.id);
+
+ glBindTexture(GL_TEXTURE_2D, texture.id);
+ glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
+ glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
+
+ if (texture.type == GL_FLOAT)
+ texture.pixels_f = new float[width * height * 3];
+ else
+ texture.pixels_b = new unsigned char[width * height * 3];
+
+ return texture;
+}
+
+//-----------------------------------------------
+
+void destroy(texture_t &texture)
+{
+ if (texture.type == GL_FLOAT)
+ delete[] texture.pixels_f;
+ else
+ delete[] texture.pixels_b;
+
+ glDeleteTextures(1, &texture.id);
+
+ texture = {0};
+}
+
+
/*********************************** MESHES **********************************/
model_t create_rectangle(const arma::fvec& color, float width, float height,
@@ -332,6 +419,21 @@ model_t create_rectangle(const arma::fvec& color, float width, float height,
//-----------------------------------------------
+model_t create_rectangle(const texture_t& texture, float width, float height,
+ const arma::fvec& position, const arma::fmat& rotation,
+ transforms_t* parent_transforms)
+{
+ model_t model = create_rectangle(arma::fvec({1.0f, 1.0f, 1.0f, 1.0f}),
+ width, height, position, rotation,
+ parent_transforms);
+
+ model.texture = texture;
+
+ return model;
+}
+
+//-----------------------------------------------
+
model_t create_square(const arma::fvec& color, float size, const arma::fvec& position,
const arma::fmat& rotation, transforms_t* parent_transforms)
{
@@ -579,32 +681,7 @@ model_t create_gaussian_background(const arma::fvec& color, const arma::vec& mu,
const arma::fvec& position, const arma::fmat& rotation,
transforms_t* parent_transforms)
{
- const int NB_POINTS = 60;
-
- arma::mat pts0 = arma::join_cols(arma::cos(arma::linspace<arma::rowvec>(0, 2 * arma::datum::pi, NB_POINTS)),
- arma::sin(arma::linspace<arma::rowvec>(0, 2 * arma::datum::pi, NB_POINTS))
- );
-
- arma::vec eigval(2);
- arma::mat eigvec(2, 2);
- eig_sym(eigval, eigvec, sigma(arma::span(0, 1), arma::span(0, 1)));
-
- arma::mat R = eigvec * diagmat(sqrt(eigval));
-
- arma::mat pts = R * pts0 + arma::repmat(mu(arma::span(0, 1)), 1, NB_POINTS);
-
- arma::mat vertices(2, NB_POINTS * 3);
-
- for (int i = 0; i < NB_POINTS - 1; ++i)
- {
- vertices(arma::span::all, i * 3) = mu(arma::span(0, 1));
- vertices(arma::span::all, i * 3 + 1) = pts(arma::span::all, i + 1);
- vertices(arma::span::all, i * 3 + 2) = pts(arma::span::all, i);
- }
-
- vertices(arma::span::all, (NB_POINTS - 1) * 3) = mu(arma::span(0, 1));
- vertices(arma::span::all, (NB_POINTS - 1) * 3 + 1) = pts(arma::span::all, 0);
- vertices(arma::span::all, (NB_POINTS - 1) * 3 + 2) = pts(arma::span::all, NB_POINTS - 1);
+ arma::mat vertices = get_gaussian_background_vertices(mu, sigma, 60);
model_t model = create_mesh(color, vertices, position, rotation, parent_transforms);
@@ -620,26 +697,14 @@ model_t create_gaussian_border(const arma::fvec& color, const arma::vec& mu,
const arma::fvec& position, const arma::fmat& rotation,
transforms_t* parent_transforms)
{
- const int NB_POINTS = 60;
-
- arma::mat pts0 = arma::join_cols(arma::cos(arma::linspace<arma::rowvec>(0, 2 * arma::datum::pi, NB_POINTS)),
- arma::sin(arma::linspace<arma::rowvec>(0, 2 * arma::datum::pi, NB_POINTS))
- );
-
- arma::vec eigval(2);
- arma::mat eigvec(2, 2);
- eig_sym(eigval, eigvec, sigma(arma::span(0, 1), arma::span(0, 1)));
-
- arma::mat R = eigvec * diagmat(sqrt(eigval));
-
- arma::mat pts = R * pts0 + arma::repmat(mu(arma::span(0, 1)), 1, NB_POINTS);
+ arma::mat pts = get_gaussian_border_vertices(mu, sigma, 60, true);
return create_line(color, pts, position, rotation, parent_transforms);
}
//-----------------------------------------------
-void destroy(const model_t& model)
+void destroy(model_t &model)
{
if (model.vertex_buffer)
delete[] model.vertex_buffer;
@@ -649,6 +714,8 @@ void destroy(const model_t& model)
if (model.uv_buffer)
delete[] model.uv_buffer;
+
+ model = {0};
}
@@ -667,7 +734,9 @@ bool draw(const model_t& model, const light_list_t& lights)
glMaterialfv(GL_FRONT, GL_SPECULAR, model.specular_color.memptr());
glMaterialf(GL_FRONT, GL_SHININESS, model.specular_power);
} else {
- if (model.diffuse_color.n_rows == 3)
+ if (model.texture.width > 0)
+ glColor4f(1.0f, 1.0f, 1.0f, 1.0f);
+ else if (model.diffuse_color.n_rows == 3)
glColor3fv(model.diffuse_color.memptr());
else
glColor4fv(model.diffuse_color.memptr());
@@ -699,6 +768,26 @@ bool draw(const model_t& model, const light_list_t& lights)
glTexCoordPointer(2, GL_FLOAT, 0, model.uv_buffer);
}
+ // Texturing
+ if (model.texture.width > 0) {
+ glEnable(GL_TEXTURE_2D);
+ glBindTexture(GL_TEXTURE_2D, model.texture.id);
+
+ if (model.texture.type == GL_FLOAT) {
+ glTexImage2D(GL_TEXTURE_2D, 0, model.texture.format,
+ model.texture.width, model.texture.height,
+ 0, model.texture.format, GL_FLOAT,
+ model.texture.pixels_f
+ );
+ } else {
+ glTexImage2D(GL_TEXTURE_2D, 0, model.texture.format,
+ model.texture.width, model.texture.height,
+ 0, model.texture.format, GL_UNSIGNED_BYTE,
+ model.texture.pixels_b
+ );
+ }
+ }
+
// Apply the model matrix
arma::fmat model_matrix = worldTransforms(&model.transforms);
@@ -751,6 +840,9 @@ bool draw(const model_t& model, const light_list_t& lights)
glDisableClientState(GL_NORMAL_ARRAY);
glDisableClientState(GL_TEXTURE_COORD_ARRAY);
+ if (model.texture.width > 0)
+ glDisable(GL_TEXTURE_2D);
+
return true;
}
@@ -770,6 +862,20 @@ bool draw_rectangle(const arma::fvec& color, float width, float height,
//-----------------------------------------------
+bool draw_rectangle(const texture_t& texture, float width, float height,
+ const arma::fvec& position, const arma::fmat& rotation)
+{
+ model_t rect = create_rectangle(texture, width, height, position, rotation);
+
+ bool result = draw(rect);
+
+ destroy(rect);
+
+ return result;
+}
+
+//-----------------------------------------------
+
bool draw_line(const arma::fvec& color, const arma::mat& points,
const arma::fvec& position, const arma::fmat& rotation)
{
@@ -817,17 +923,7 @@ bool draw_gaussian(const arma::fvec& color, const arma::vec& mu, const arma::mat
{
const int NB_POINTS = 60;
- arma::mat pts0 = arma::join_cols(arma::cos(arma::linspace<arma::rowvec>(0, 2 * arma::datum::pi, NB_POINTS)),
- arma::sin(arma::linspace<arma::rowvec>(0, 2 * arma::datum::pi, NB_POINTS))
- );
-
- arma::vec eigval(2);
- arma::mat eigvec(2, 2);
- eig_sym(eigval, eigvec, sigma(arma::span(0, 1), arma::span(0, 1)));
-
- arma::mat R = eigvec * diagmat(sqrt(eigval));
-
- arma::mat pts = R * pts0 + arma::repmat(mu(arma::span(0, 1)), 1, NB_POINTS);
+ arma::mat pts = get_gaussian_border_vertices(mu, sigma, NB_POINTS, true);
arma::mat vertices(2, NB_POINTS * 3);
@@ -939,31 +1035,38 @@ bool intersects(const ray_t& ray, const arma::fvec& center, float radius,
arma::mat get_gaussian_background_vertices(const arma::vec& mu, const arma::mat& sigma,
int nb_points)
{
- arma::mat pts0 = arma::join_cols(arma::cos(arma::linspace<arma::rowvec>(0, 2 * arma::datum::pi, nb_points)),
- arma::sin(arma::linspace<arma::rowvec>(0, 2 * arma::datum::pi, nb_points))
- );
+ arma::mat pts = get_gaussian_border_vertices(mu, sigma, nb_points, true);
- arma::vec eigval(2);
- arma::mat eigvec(2, 2);
- eig_sym(eigval, eigvec, sigma(arma::span(0, 1), arma::span(0, 1)));
+ arma::mat vertices(2, nb_points * 3);
- arma::mat R = eigvec * diagmat(sqrt(eigval));
+ // We need to ensure that the vertices will be in a counter-clockwise order
+ arma::vec v1 = pts(arma::span::all, 0) - mu(arma::span(0, 1));
+ arma::vec v2 = pts(arma::span::all, 1) - mu(arma::span(0, 1));
- arma::mat pts = R * pts0 + arma::repmat(mu(arma::span(0, 1)), 1, nb_points);
+ if (atan2(v1(1), v1(0)) - atan2(v2(1), v2(0)) > 0.0) {
+ for (int i = 0; i < nb_points - 1; ++i)
+ {
+ vertices(arma::span::all, i * 3) = mu(arma::span(0, 1));
+ vertices(arma::span::all, i * 3 + 1) = pts(arma::span::all, i + 1);
+ vertices(arma::span::all, i * 3 + 2) = pts(arma::span::all, i);
+ }
- arma::mat vertices(2, nb_points * 3);
+ vertices(arma::span::all, (nb_points - 1) * 3) = mu(arma::span(0, 1));
+ vertices(arma::span::all, (nb_points - 1) * 3 + 1) = pts(arma::span::all, 0);
+ vertices(arma::span::all, (nb_points - 1) * 3 + 2) = pts(arma::span::all, nb_points - 1);
+ } else {
+ for (int i = 0; i < nb_points - 1; ++i)
+ {
+ vertices(arma::span::all, i * 3) = mu(arma::span(0, 1));
+ vertices(arma::span::all, i * 3 + 1) = pts(arma::span::all, i);
+ vertices(arma::span::all, i * 3 + 2) = pts(arma::span::all, i + 1);
+ }
- for (int i = 0; i < nb_points - 1; ++i)
- {
- vertices(arma::span::all, i * 3) = mu(arma::span(0, 1));
- vertices(arma::span::all, i * 3 + 1) = pts(arma::span::all, i + 1);
- vertices(arma::span::all, i * 3 + 2) = pts(arma::span::all, i);
+ vertices(arma::span::all, (nb_points - 1) * 3) = mu(arma::span(0, 1));
+ vertices(arma::span::all, (nb_points - 1) * 3 + 1) = pts(arma::span::all, nb_points - 1);
+ vertices(arma::span::all, (nb_points - 1) * 3 + 2) = pts(arma::span::all, 0);
}
- vertices(arma::span::all, (nb_points - 1) * 3) = mu(arma::span(0, 1));
- vertices(arma::span::all, (nb_points - 1) * 3 + 1) = pts(arma::span::all, 0);
- vertices(arma::span::all, (nb_points - 1) * 3 + 2) = pts(arma::span::all, nb_points - 1);
-
return vertices;
}
diff --git a/src/utils/gfx3.cpp b/src/utils/gfx3.cpp
deleted file mode 100644
index f9c1283..0000000
--- a/src/utils/gfx3.cpp
+++ /dev/null
@@ -1,1641 +0,0 @@
-/*
- * gfx3.cpp
- *
- * Rendering utility structures and functions based on OpenGL 3.3+
- *
- * Authors: Philip Abbet
- */
-
-#include <gfx3.h>
-
-namespace gfx3 {
-
-
-/****************************** UTILITY FUNCTIONS ****************************/
-
-void init()
-{
- glewExperimental = GL_TRUE;
- glewInit();
-}
-
-//-----------------------------------------------
-
-double deg2rad(double deg)
-{
- return deg / 360.0 * (2.0 * M_PI);
-}
-
-//-----------------------------------------------
-
-double sin_deg(double deg)
-{
- return sin(deg2rad(deg));
-}
-
-//-----------------------------------------------
-
-double cos_deg(double deg)
-{
- return cos(deg2rad(deg));
-}
-
-//-----------------------------------------------
-
-bool is_close(float a, float b, float epsilon)
-{
- return fabs(a - b) < epsilon;
-}
-
-//-----------------------------------------------
-
-arma::vec ui2fb(const arma::vec& coords, int win_width, int win_height,
- int fb_width, int fb_height) {
- arma::vec result = coords;
-
- result(0) = (coords(0) - (float) win_width * 0.5f) * (float) fb_width / (float) win_width;
- result(1) = ((float) win_height * 0.5f - coords(1)) * (float) fb_height / (float) win_height;
-
- return result;
-}
-
-//-----------------------------------------------
-
-arma::vec ui2fb(const arma::vec& coords, const window_size_t& window_size) {
- arma::vec result = coords;
-
- result(0) = (coords(0) - (float) window_size.win_width * 0.5f) *
- (float) window_size.fb_width / (float) window_size.win_width;
-
- result(1) = ((float) window_size.win_height * 0.5f - coords(1)) *
- (float) window_size.fb_height / (float) window_size.win_height;
-
- return result;
-}
-
-//-----------------------------------------------
-
-arma::vec fb2ui(const arma::vec& coords, int win_width, int win_height,
- int fb_width, int fb_height) {
- arma::vec result = coords;
-
- result(0) = coords(0) * (float) win_width / (float) fb_width + (float) win_width * 0.5f;
- result(1) = -(coords(1) * (float) win_height / (float) fb_height - (float) win_height * 0.5f);
-
- return result;
-}
-
-//-----------------------------------------------
-
-arma::vec fb2ui(const arma::vec& coords, const window_size_t& window_size) {
- arma::vec result = coords;
-
- result(0) = coords(0) * (float) window_size.win_width / (float) window_size.fb_width +
- (float) window_size.win_width * 0.5f;
- result(1) = -(coords(1) * (float) window_size.win_height / (float) window_size.fb_height -
- (float) window_size.win_height * 0.5f);
-
- return result;
-}
-
-//-----------------------------------------------
-
-arma::vec ui2shader(const arma::vec& coords, int win_width, int win_height,
- int fb_width, int fb_height, float sh_left, float sh_top,
- float sh_right, float sh_bottom) {
- arma::vec result = ui2fb(coords, win_width, win_height, fb_width, fb_height);
-
- result(0) = result(0) * (sh_right - sh_left) / (float) fb_width + (1.0f + sh_left);
- result(1) = result(1) * (sh_top - sh_bottom) / (float) fb_height + (1.0f + sh_bottom);
-
- return result;
-}
-
-//-----------------------------------------------
-
-arma::vec ui2shader(const arma::vec& coords, const window_size_t& window_size,
- float sh_left, float sh_top, float sh_right, float sh_bottom) {
- arma::vec result = ui2fb(coords, window_size);
-
- result(0) = result(0) * (sh_right - sh_left) / (float) window_size.fb_width + (1.0f + sh_left);
- result(1) = result(1) * (sh_top - sh_bottom) / (float) window_size.fb_height + (1.0f + sh_bottom);
-
- return result;
-}
-
-
-/************************* PROJECTION & VIEW MATRICES ************************/
-
-arma::fmat perspective(float fovy, float aspect, float zNear, float zFar)
-{
- const float top = zNear * tan(fovy / 2.0f);
- const float bottom = -top;
- const float right = top * aspect;
- const float left = -right;
-
- arma::fmat projection = arma::zeros<arma::fmat>(4,4);
-
- projection(0, 0) = 2.0f * zNear / (right - left);
- projection(0, 2) = (right + left) / (right - left);
- projection(1, 1) = 2.0f * zNear / (top - bottom);
- projection(1, 2) = (top + bottom) / (top - bottom);
- projection(2, 2) = -(zFar + zNear) / (zFar - zNear);
- projection(2, 3) = -(2.0f * zFar * zNear) / (zFar - zNear);
- projection(3, 2) = -1.0f;
-
- return projection;
-}
-
-//-----------------------------------------------
-
-arma::fmat orthographic(float width, float height, float zNear, float zFar)
-{
- const float top = height / 2.0f;
- const float bottom = -top;
- const float right = width / 2.0f;
- const float left = -right;
-
- arma::fmat projection = arma::zeros<arma::fmat>(4,4);
-
- projection(0, 0) = 2.0f / (right - left);
- projection(0, 3) = -(right + left) / (right - left);
- projection(1, 1) = 2.0f / (top - bottom);
- projection(1, 3) = -(top + bottom) / (top - bottom);
- projection(2, 2) = -2.0f / (zFar - zNear);
- projection(2, 3) = -(zFar + zNear) / (zFar - zNear);
- projection(3, 3) = 1.0f;
-
- return projection;
-}
-
-//-----------------------------------------------
-
-arma::fmat lookAt(const arma::fvec& position, const arma::fvec& target,
- const arma::fvec& up)
-{
- const arma::fvec f(arma::normalise(target - position));
- const arma::fvec s(arma::normalise(arma::cross(f, up)));
- const arma::fvec u(arma::cross(s, f));
-
- arma::fmat result = arma::zeros<arma::fmat>(4,4);
-
- result(0, 0) = s(0);
- result(0, 1) = s(1);
- result(0, 2) = s(2);
- result(1, 0) = u(0);
- result(1, 1) = u(1);
- result(1, 2) = u(2);
- result(2, 0) =-f(0);
- result(2, 1) =-f(1);
- result(2, 2) =-f(2);
- result(0, 3) =-arma::dot(s, position);
- result(1, 3) =-arma::dot(u, position);
- result(2, 3) = arma::dot(f, position);
- result(3, 3) = 1.0f;
-
- return result;
-}
-
-
-/****************************** TRANSFORMATIONS ******************************/
-
-arma::fmat rotate(const arma::fvec& axis, float angle)
-{
- float rcos = cos(angle);
- float rsin = sin(angle);
-
- arma::fmat matrix = arma::zeros<arma::fmat>(4, 4);
-
- matrix(0, 0) = rcos + axis(0) * axis(0) * (1.0f - rcos);
- matrix(1, 0) = axis(2) * rsin + axis(1) * axis(0) * (1.0f - rcos);
- matrix(2, 0) = -axis(1) * rsin + axis(2) * axis(0) * (1.0f - rcos);
- matrix(0, 1) = -axis(2) * rsin + axis(0) * axis(1) * (1.0f - rcos);
- matrix(1, 1) = rcos + axis(1) * axis(1) * (1.0f - rcos);
- matrix(2, 1) = axis(0) * rsin + axis(2) * axis(1) * (1.0f - rcos);
- matrix(0, 2) = axis(1) * rsin + axis(0) * axis(2) * (1.0f - rcos);
- matrix(1, 2) = -axis(0) * rsin + axis(1) * axis(2) * (1.0f - rcos);
- matrix(2, 2) = rcos + axis(2) * axis(2) * (1.0f - rcos);
- matrix(3, 3) = 1.0f;
-
- return matrix;
-}
-
-//-----------------------------------------------
-
-arma::fmat rotation(const arma::fvec& from, const arma::fvec& to)
-{
- const float dot = arma::dot(from, to);
- const arma::fvec cross = arma::cross(from, to);
- const float norm = arma::norm(cross);
-
- arma::fmat g({
- { dot, -norm, 0.0f },
- { norm, dot, 0.0f },
- { 0.0f, 0.0f, 1.0f },
- });
-
- arma::fmat fi(3, 3);
- fi.rows(0, 0) = from.t();
- fi.rows(1, 1) = arma::normalise(to - dot * from).t();
- fi.rows(2, 2) = arma::cross(to, from).t();
-
- arma::fmat result = arma::eye<arma::fmat>(4, 4);
-
- arma::fmat u;
- if (arma::inv(u, fi))
- {
- u = u * g * fi;
- result.submat(0, 0, 2, 2) = u;
- }
-
- return result;
-}
-
-//-----------------------------------------------
-
-void rigid_transform_3D(const arma::fmat& A, const arma::fmat& B,
- arma::fmat &rotation, arma::fvec &translation) {
-
- arma::fvec centroidsA = arma::mean(A, 1);
- arma::fvec centroidsB = arma::mean(B, 1);
-
- int n = A.n_cols;
-
- arma::fmat H = (A - repmat(centroidsA, 1, n)) * (B - repmat(centroidsB, 1, n)).t();
-
- arma::fmat U, V;
- arma::fvec s;
- arma::svd(U, s, V, H);
-
- rotation = V * U.t();
-
- if (arma::det(rotation) < 0.0f)
- rotation.col(2) *= -1.0f;
-
- translation = -rotation * centroidsA + centroidsB;
-}
-
-//-----------------------------------------------
-
-arma::fmat worldTransforms(const transforms_t* transforms)
-{
- arma::fmat result = arma::eye<arma::fmat>(4, 4);
- result(0, 3, arma::size(3, 1)) = worldPosition(transforms);
-
- result = result * worldRotation(transforms);
-
- return result;
-}
-
-
-//-----------------------------------------------
-
-arma::fvec worldPosition(const transforms_t* transforms)
-{
- if (transforms->parent)
- {
- arma::fvec position(4);
- position.rows(0, 2) = transforms->position;
- position(3) = 1.0f;
-
- position = worldRotation(transforms->parent) * position;
-
- return worldPosition(transforms->parent) + position.rows(0, 2);
- }
-
- return transforms->position;
-}
-
-
-//-----------------------------------------------
-
-arma::fmat worldRotation(const transforms_t* transforms)
-{
- if (transforms->parent)
- {
- arma::fmat result = worldRotation(transforms->parent) * transforms->rotation;
- return arma::normalise(result);
- }
-
- return transforms->rotation;
-}
-
-
-/********************************** SHADERS **********************************/
-
-void shader_t::setUniform(const std::string& name, const arma::fmat& value)
-{
- auto iter = fmat_uniforms.find(name);
-
- if (iter == fmat_uniforms.end())
- {
- shader_fmat_uniform_t entry;
- entry.handle = glGetUniformLocation(this->id, name.c_str());
- entry.value = value;
- fmat_uniforms[name] = entry;
- }
- else
- {
- iter->second.value = value;
- }
-}
-
-//-----------------------------------------------
-
-void shader_t::setUniform(const std::string& name, const arma::mat& value)
-{
- auto iter = fmat_uniforms.find(name);
-
- if (iter == fmat_uniforms.end())
- {
- shader_fmat_uniform_t entry;
- entry.handle = glGetUniformLocation(this->id, name.c_str());
- entry.value = arma::conv_to<arma::fmat>::from(value);
- fmat_uniforms[name] = entry;
- }
- else
- {
- iter->second.value = arma::conv_to<arma::fmat>::from(value);
- }
-}
-
-//-----------------------------------------------
-
-void shader_t::setUniform(const std::string& name, const arma::fvec& value)
-{
- auto iter = fvec_uniforms.find(name);
-
- if (iter == fvec_uniforms.end())
- {
- shader_fvec_uniform_t entry;
- entry.handle = glGetUniformLocation(this->id, name.c_str());
- entry.value = value;
- fvec_uniforms[name] = entry;
- }
- else
- {
- iter->second.value = value;
- }
-}
-
-//-----------------------------------------------
-
-void shader_t::setUniform(const std::string& name, const arma::vec& value)
-{
- auto iter = fvec_uniforms.find(name);
-
- if (iter == fvec_uniforms.end())
- {
- shader_fvec_uniform_t entry;
- entry.handle = glGetUniformLocation(this->id, name.c_str());
- entry.value = arma::conv_to<arma::fvec>::from(value);
- fvec_uniforms[name] = entry;
- }
- else
- {
- iter->second.value = arma::conv_to<arma::fvec>::from(value);
- }
-}
-
-//-----------------------------------------------
-
-void shader_t::setUniform(const std::string& name, float value)
-{
- auto iter = float_uniforms.find(name);
-
- if (iter == float_uniforms.end())
- {
- shader_float_uniform_t entry;
- entry.handle = glGetUniformLocation(this->id, name.c_str());
- entry.value = value;
- float_uniforms[name] = entry;
- }
- else
- {
- iter->second.value = value;
- }
-}
-
-//-----------------------------------------------
-
-void shader_t::setUniform(const std::string& name, bool value)
-{
- auto iter = bool_uniforms.find(name);
-
- if (iter == bool_uniforms.end())
- {
- shader_bool_uniform_t entry;
- entry.handle = glGetUniformLocation(this->id, name.c_str());
- entry.value = value;
- bool_uniforms[name] = entry;
- }
- else
- {
- iter->second.value = value;
- }
-}
-
-//-----------------------------------------------
-
-GLuint compileShader(GLenum shader_type, const char* shader_source)
-{
- GLuint id = glCreateShader(shader_type);
- GLint compiled;
-
- glShaderSource(id, 1, (const GLchar**) &shader_source, NULL);
- glCompileShader(id);
- glGetShaderiv(id, GL_COMPILE_STATUS, &compiled);
-
- if (!compiled)
- {
- char errors[1024];
- GLsizei len;
-
- glGetShaderInfoLog(id, 1024, &len, errors);
- printf("shader errors: %s\n", errors);
- return 0;
- }
-
- return id;
-}
-
-//-----------------------------------------------
-
-GLuint linkShader(GLuint vertex_shader, GLuint fragment_shader)
-{
- GLuint id = glCreateProgram();
-
- glAttachShader(id, vertex_shader);
- glAttachShader(id, fragment_shader);
- glLinkProgram(id);
-
- GLint linked;
-
- glGetProgramiv(id, GL_LINK_STATUS, &linked);
- if (!linked)
- {
- char errors[1024];
- GLsizei len;
-
- glGetProgramInfoLog(id, 1024, &len, errors);
- printf("GLSL Shader linker error:%s\n",errors);
- return 0;
- }
-
- return id;
-}
-
-//-----------------------------------------------
-
-shader_t loadShader(const std::string& vertex_shader,
- const std::string& fragment_shader,
- const std::string& version)
-{
- shader_t shader = { 0 };
- shader.id = 0;
-
- // Compile the vertex shader
- GLuint vs_id = compileShader(
- GL_VERTEX_SHADER, (std::string("#version ") + version + "\n\n" + vertex_shader).c_str());
-
- if (vs_id == 0)
- return shader;
-
- // Compile the fragment shader
- GLuint fg_id = compileShader(
- GL_FRAGMENT_SHADER, (std::string("#version ") + version + "\n\n" + fragment_shader).c_str());
-
- if (fg_id == 0)
- return shader;
-
- // Link the shaders into a GLSL program
- shader.id = linkShader(vs_id, fg_id);
-
- // Transformation matrices-related uniforms
- shader.model_matrix_handle = glGetUniformLocation(shader.id, "ModelMatrix");
- shader.view_matrix_handle = glGetUniformLocation(shader.id, "ViewMatrix");
- shader.projection_matrix_handle = glGetUniformLocation(shader.id, "ProjectionMatrix");
-
- // Material-related uniforms
- shader.ambiant_color_handle = glGetUniformLocation(shader.id, "AmbiantColor");
- shader.diffuse_color_handle = glGetUniformLocation(shader.id, "DiffuseColor");
- shader.specular_color_handle = glGetUniformLocation(shader.id, "SpecularColor");
- shader.specular_power_handle = glGetUniformLocation(shader.id, "SpecularPower");
-
- // Texture-related uniforms
- shader.diffuse_texture_handle = glGetUniformLocation(shader.id, "DiffuseTexture");
-
- // Light-related uniforms
- shader.light_position_handle = glGetUniformLocation(shader.id, "LightPosition");
- shader.light_color_handle = glGetUniformLocation(shader.id, "LightColor");
- shader.light_power_handle = glGetUniformLocation(shader.id, "LightPower");
-
- // Determine if lightning is used by the shaders
- shader.use_lightning = (shader.light_position_handle != -1);
-
- // Backbuffer
- shader.backbuffer_handle = glGetUniformLocation(shader.id, "BackBuffer");
-
- return shader;
-}
-
-//-----------------------------------------------
-
-void sendApplicationUniforms(const shader_t* shader)
-{
- // Send the application-specific uniforms to the shader
- for (auto iter = shader->fmat_uniforms.begin(), iterEnd = shader->fmat_uniforms.end();
- iter != iterEnd; ++iter)
- {
- if (iter->second.value.n_rows == 4)
- glUniformMatrix4fv(iter->second.handle, 1, GL_FALSE, iter->second.value.memptr());
- else if (iter->second.value.n_rows == 2)
- glUniformMatrix2fv(iter->second.handle, 1, GL_FALSE, iter->second.value.memptr());
- }
-
- for (auto iter = shader->fvec_uniforms.begin(), iterEnd = shader->fvec_uniforms.end();
- iter != iterEnd; ++iter)
- {
- if (iter->second.value.n_rows == 4)
- glUniform4fv(iter->second.handle, 1, iter->second.value.memptr());
- else if (iter->second.value.n_rows == 3)
- glUniform3fv(iter->second.handle, 1, iter->second.value.memptr());
- else if (iter->second.value.n_rows == 2)
- glUniform2fv(iter->second.handle, 1, iter->second.value.memptr());
- }
-
- for (auto iter = shader->float_uniforms.begin(), iterEnd = shader->float_uniforms.end();
- iter != iterEnd; ++iter)
- {
- glUniform1f(iter->second.handle, iter->second.value);
- }
-
- for (auto iter = shader->bool_uniforms.begin(), iterEnd = shader->bool_uniforms.end();
- iter != iterEnd; ++iter)
- {
- glUniform1i(iter->second.handle, iter->second.value);
- }
-}
-
-//-----------------------------------------------
-
-const char* VERTEX_SHADER_ONE_LIGHT = STRINGIFY(
- // Input vertex data
- layout(location = 0) in vec3 vertex_position;
- layout(location = 1) in vec3 normal;
-
- // Values that stay constant for the whole mesh
- uniform mat4 ModelMatrix;
- uniform mat4 ViewMatrix;
- uniform mat4 ProjectionMatrix;
- uniform vec3 LightPosition;
-
- // Output data ; will be interpolated for each fragment
- out vec3 position_worldspace;
- out vec3 eye_direction_cameraspace;
- out vec3 light_direction_cameraspace;
- out vec3 normal_cameraspace;
-
- void main() {
- // Position of the vertex, in clip space
- gl_Position = ProjectionMatrix * ViewMatrix * ModelMatrix * vec4(vertex_position, 1);
-
- // Position of the vertex, in worldspace
- position_worldspace = (ModelMatrix * vec4(vertex_position, 1)).xyz;
-
- // Vector that goes from the vertex to the camera, in camera space.
- // In camera space, the camera is at the origin (0,0,0).
- vec3 vertex_position_cameraspace = (ViewMatrix * vec4(position_worldspace, 1)).xyz;
- eye_direction_cameraspace = vec3(0,0,0) - vertex_position_cameraspace;
-
- // Vector that goes from the vertex to the light, in camera space
- vec3 light_position_cameraspace = (ViewMatrix * vec4(LightPosition, 1)).xyz;
- light_direction_cameraspace = light_position_cameraspace + eye_direction_cameraspace;
-
- // Normal of the the vertex, in camera space (Only correct if ModelMatrix does
- // not scale the model)
- normal_cameraspace = (ViewMatrix * ModelMatrix * vec4(normal, 0)).xyz;
- }
-);
-
-//-----------------------------------------------
-
-const char* FRAGMENT_SHADER_ONE_LIGHT = STRINGIFY(
- // Values that stay constant for the whole mesh
- uniform vec3 AmbiantColor;
- uniform vec3 DiffuseColor;
- uniform vec3 SpecularColor;
- uniform float SpecularPower;
- uniform vec3 LightPosition;
- uniform vec3 LightColor;
- uniform float LightPower;
-
- // Interpolated values from the vertex shaders
- in vec3 position_worldspace;
- in vec3 eye_direction_cameraspace;
- in vec3 light_direction_cameraspace;
- in vec3 normal_cameraspace;
-
- // Output data
- out vec3 color;
-
- void main() {
- // Normal of the computed fragment, in camera space
- vec3 n = normalize(normal_cameraspace);
-
- // Direction of the light (from the fragment to the light)
- vec3 l = normalize(light_direction_cameraspace);
-
- // Eye vector (towards the camera)
- vec3 E = normalize(eye_direction_cameraspace);
-
- // Direction in which the triangle reflects the light
- vec3 R = reflect(-l, n);
-
- // Cosine of the angle between the normal and the light direction,
- // clamped above 0
- // - light is at the vertical of the triangle -> 1
- // - light is perpendicular to the triangle -> 0
- // - light is behind the triangle -> 0
- float cos_theta = clamp(dot(n, l), 0, 1);
-
- // Cosine of the angle between the Eye vector and the Reflect vector,
- // clamped to 0
- // - Looking into the reflection -> 1
- // - Looking elsewhere -> < 1
- float cos_alpha = clamp(dot(E, R), 0, 1);
-
- // Distance to the light
- float distance = length(LightPosition - position_worldspace);
-
- // Computation of the color of the fragment
- color = AmbiantColor +
- DiffuseColor * LightColor * LightPower * cos_theta / (distance * distance) +
- SpecularColor * LightColor * LightPower * pow(cos_alpha, SpecularPower) / (distance * distance);
- }
-);
-
-//-----------------------------------------------
-
-const char* VERTEX_SHADER_COLORED = STRINGIFY(
- // Input vertex data
- layout(location = 0) in vec3 vertex_position;
-
- // Values that stay constant for the whole mesh
- uniform mat4 ModelMatrix;
- uniform mat4 ViewMatrix;
- uniform mat4 ProjectionMatrix;
-
- void main() {
- // Position of the vertex, in clip space
- gl_Position = ProjectionMatrix * ViewMatrix * ModelMatrix * vec4(vertex_position, 1);
- }
-);
-
-//-----------------------------------------------
-
-const char* FRAGMENT_SHADER_COLORED = STRINGIFY(
- // Values that stay constant for the whole mesh
- uniform vec3 DiffuseColor;
-
- // Output data
- out vec3 color;
-
- void main() {
- color = DiffuseColor;
- }
-);
-
-//-----------------------------------------------
-
-const char* VERTEX_SHADER_TEXTURED = STRINGIFY(
- // Input vertex data
- layout(location = 0) in vec3 vertex_position;
- layout(location = 2) in vec2 vertex_UV;
-
- // Values that stay constant for the whole mesh
- uniform mat4 ModelMatrix;
- uniform mat4 ViewMatrix;
- uniform mat4 ProjectionMatrix;
-
- // Output data ; will be interpolated for each fragment
- out vec2 UV;
-
- void main() {
- // Position of the vertex, in clip space
- gl_Position = ProjectionMatrix * ViewMatrix * ModelMatrix * vec4(vertex_position, 1);
-
- UV = vertex_UV;
- }
-);
-
-//-----------------------------------------------
-
-const char* FRAGMENT_SHADER_ONE_TEXTURE = STRINGIFY(
- // Values that stay constant for the whole mesh
- uniform sampler2D DiffuseTexture;
-
- // Input data
- in vec2 UV;
-
- // Output data
- out vec3 color;
-
- void main() {
- color = texture(DiffuseTexture, UV).rgb;
- }
-);
-
-//-----------------------------------------------
-
-char const* FRAGMENT_SHADER_GAUSSIAN = STRINGIFY(
- // Values that stay constant for the whole mesh
- uniform vec2 Mu;
- uniform mat2 Sigma;
- uniform vec4 GaussianColor;
-
- // Input data
- in vec2 UV;
-
- // Output data
- out vec4 color;
-
- void main() {
- // vec2 UV2 = vec2(UV.x, 1.0 - UV.y);
- // vec2 e = UV2 - Mu;
- vec2 e = UV - Mu;
-
- float p = clamp(exp(-(Sigma[0][0] * e.x * e.x + 2 * Sigma[0][1] * e.x * e.y +
- Sigma[1][1] * e.y * e.y)), 0, 0.5f);
-
- color = vec4(GaussianColor.x, GaussianColor.y, GaussianColor.z,
- clamp(GaussianColor.a * 2 * p, 0.0, 1.0));
- }
-);
-
-//-----------------------------------------------
-
-const char* RTT_VERTEX_SHADER = STRINGIFY(
- // Input vertex data
- layout(location = 0) in vec3 vertex_position;
-
- // Output data ; will be interpolated for each fragment
- out vec2 coords;
-
- void main() {
- gl_Position = vec4(vertex_position, 1);
- coords = vertex_position.xy;
- }
-);
-
-//-----------------------------------------------
-
-char const* RTT_FRAGMENT_SHADER_GAUSSIAN = STRINGIFY(
- // Values that stay constant for the whole mesh
- uniform vec2 Scale;
- uniform vec2 Mu;
- uniform mat2 Sigma;
- uniform vec3 GaussianColor;
- uniform vec3 BackgroundColor;
-
- // Input data
- in vec2 coords;
-
- // Output data
- layout(location = 0) out vec3 color;
-
- void main() {
- vec2 e = coords * Scale - Mu;
- float a = clamp(exp(-(Sigma[0][0] * e.x * e.x + 2 * Sigma[0][1] * e.x * e.y +
- Sigma[1][1] * e.y * e.y)), 0, 1.0f);
-
- color = GaussianColor * a + (1.0f - a) * BackgroundColor;
- }
-);
-
-//-----------------------------------------------
-
-const char* RTT_FRAGMENT_SHADER_LIC = STRINGIFY(
- // Values that stay constant for the whole mesh
- uniform vec2 Resolution;
- uniform float Time;
- uniform vec2 Target;
- uniform mat2 Sigma;
- uniform sampler2D BackBuffer;
-
- // Input data
- in vec2 coords;
-
- // Output data
- layout(location = 0) out vec3 color;
-
- // Constants
- const int Length = 3;
- const int nbPass = 5;
-
- void main() {
- vec2 uvUnit = 1.0 / Resolution.xy;
- vec2 uv = (coords.xy + 1.0) * 0.5;
-
- vec2 dTarget = -Sigma * (coords - Target);
- dTarget = dTarget / length(dTarget);
-
- color = vec3(0);
-
- // Random noise
- color += vec3(fract(sin(dot(uv.xy, vec2(12.9898, 78.233) * sin(Time))) * 43758.5453));
-
- for (int n = 0; n < nbPass; n++) {
- for (int i = 0; i < Length; i++) {
- color += texture(BackBuffer, uv - dTarget * uvUnit * float(i + 4)).rgb;
- }
- }
- color /= 1.0 * float(Length) * float(nbPass) + 1.0;
- }
-);
-
-
-/***************************** RENDER-TO-TEXTURE *****************************/
-
-render_to_texture_t createRTT(const shader_t& shader, unsigned int width,
- unsigned int height, const arma::fvec& color)
-{
- render_to_texture_t rtt = { 0 };
- rtt.width = width;
- rtt.height = height;
-
- rtt.shader = &shader;
-
- rtt.current_buffer = 0;
- rtt.nb_buffers = (shader.backbuffer_handle >= 0 ? 2 : 1);
-
- // Preparation of the default color buffer
- unsigned char* pixels = new unsigned char[width * height * 3];
- unsigned char* pDst = pixels;
- for (unsigned int y = 0; y < height; ++y)
- {
- for (unsigned int x = 0; x < width; ++x)
- {
- pDst[0] = (unsigned char) (color(0) * 255);
- pDst[1] = (unsigned char) (color(1) * 255);
- pDst[2] = (unsigned char) (color(2) * 255);
-
- pDst += 3;
- }
- }
-
- for (unsigned int i = 0; i < rtt.nb_buffers; ++i) {
- // Creates the framebuffer
- glGenFramebuffers(1, &rtt.buffers[i].framebuffer);
- glBindFramebuffer(GL_FRAMEBUFFER, rtt.buffers[i].framebuffer);
-
- // Creates the texture we're going to render to
- glActiveTexture(GL_TEXTURE0);
- glGenTextures(1, &rtt.buffers[i].texture);
- glBindTexture(GL_TEXTURE_2D, rtt.buffers[i].texture);
- glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, width, height, 0, GL_RGB, GL_UNSIGNED_BYTE, pixels);
- glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
- glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
-
- // Link the two
- glFramebufferTexture(GL_FRAMEBUFFER, GL_COLOR_ATTACHMENT0, rtt.buffers[i].texture, 0);
- }
-
- delete[] pixels;
-
- // The rectangular mesh on which the shader is applied
- rtt.nb_vertices = 6;
-
- const GLfloat vertex_buffer_data[] = {
- -1.0f, -1.0f, 0.0f,
- 1.0f, -1.0f, 0.0f,
- -1.0f, 1.0f, 0.0f,
- -1.0f, 1.0f, 0.0f,
- 1.0f, -1.0f, 0.0f,
- 1.0f, 1.0f, 0.0f,
- };
-
- // Vertex buffer
- glGenBuffers(1, &rtt.vertex_buffer);
- glBindBuffer(GL_ARRAY_BUFFER, rtt.vertex_buffer);
-
- glBufferData(GL_ARRAY_BUFFER, rtt.nb_vertices * 3 * sizeof(GLfloat),
- vertex_buffer_data, GL_STATIC_DRAW);
-
- glBindFramebuffer(GL_FRAMEBUFFER, 0);
-
- return rtt;
-}
-
-//-----------------------------------------------
-
-bool draw(render_to_texture_t &rtt)
-{
- // Various checks
- if (rtt.shader->id == 0)
- return false;
-
- // Retrieve the current viewport
- GLint previous_viewport[4];
- glGetIntegerv(GL_VIEWPORT, previous_viewport);
-
- // Activate the GLSL program
- glUseProgram(rtt.shader->id);
-
- // Backbuffer management
- if (rtt.shader->backbuffer_handle >= 0) {
- unsigned int previous_buffer = rtt.current_buffer;
-
- rtt.current_buffer++;
- if (rtt.current_buffer >= rtt.nb_buffers)
- rtt.current_buffer = 0;
-
- glActiveTexture(GL_TEXTURE0);
- glBindTexture(GL_TEXTURE_2D, rtt.buffers[previous_buffer].texture);
- glUniform1i(rtt.shader->backbuffer_handle, 0);
- }
-
- glBindFramebuffer(GL_FRAMEBUFFER, rtt.buffers[rtt.current_buffer].framebuffer);
-
- glViewport(0, 0, rtt.width, rtt.height);
-
- // Send the application-specific uniforms to the shader
- sendApplicationUniforms(rtt.shader);
-
- // Specify the vertices for the shader
- glEnableVertexAttribArray(0);
- glBindBuffer(GL_ARRAY_BUFFER, rtt.vertex_buffer);
- glVertexAttribPointer(0, 3, GL_FLOAT, GL_FALSE, 0, (void*) 0);
-
- // Set the list of draw buffers.
- GLenum draw_buffers[1] = { GL_COLOR_ATTACHMENT0 };
- glDrawBuffers(1, draw_buffers);
-
- // Draw the mesh
- glDrawArrays(GL_TRIANGLES, 0, rtt.nb_vertices);
-
- // Cleanup
- glDisableVertexAttribArray(0);
- glBindFramebuffer(GL_FRAMEBUFFER, 0);
-
- // Restore the previous viewport
- glViewport(previous_viewport[0], previous_viewport[1], previous_viewport[2],
- previous_viewport[3]);
-
- return true;
-}
-
-
-/*********************************** MESHES **********************************/
-
-model_t create_rectangle(const shader_t& shader, const arma::fvec& color,
- float width, float height, const arma::fvec& position,
- const arma::fmat& rotation, transforms_t* parent_transforms)
-{
- model_t model = { 0 };
-
- if (shader.use_lightning)
- return model;
-
- model.mode = GL_TRIANGLES;
- model.shader = &shader;
-
- // Position & rotation
- model.transforms.position = position;
- model.transforms.rotation = rotation;
- model.transforms.parent = parent_transforms;
-
- // Material
- model.diffuse_color = color;
-
- // Create the mesh
- model.nb_vertices = 6;
-
- //-- Vertex buffer
- float half_width = 0.5f * width;
- float half_height = 0.5f * height;
-
- const GLfloat vertex_buffer_data[] = {
- half_width, half_height, 0.0f,
- -half_width, half_height, 0.0f,
- -half_width, -half_height, 0.0f,
- -half_width, -half_height, 0.0f,
- half_width, -half_height, 0.0f,
- half_width, half_height, 0.0f,
- };
-
- glGenBuffers(1, &model.vertex_buffer);
- glBindBuffer(GL_ARRAY_BUFFER, model.vertex_buffer);
-
- glBufferData(GL_ARRAY_BUFFER, model.nb_vertices * 3 * sizeof(GLfloat),
- vertex_buffer_data, GL_STATIC_DRAW);
-
- //-- UVs buffer
- const GLfloat uv_buffer_data[] = {
- 1.0f, 1.0f,
- 0.0f, 1.0f,
- 0.0f, 0.0f,
- 0.0f, 0.0f,
- 1.0f, 0.0f,
- 1.0f, 1.0f,
- };
-
- glGenBuffers(1, &model.uv_buffer);
- glBindBuffer(GL_ARRAY_BUFFER, model.uv_buffer);
-
- glBufferData(GL_ARRAY_BUFFER, model.nb_vertices * 2 * sizeof(GLfloat),
- uv_buffer_data, GL_STATIC_DRAW);
-
- return model;
-}
-
-//-----------------------------------------------
-
-model_t create_square(const shader_t& shader, const arma::fvec& color, float size,
- const arma::fvec& position, const arma::fmat& rotation,
- transforms_t* parent_transforms)
-{
- model_t model = { 0 };
-
- if (shader.use_lightning)
- return model;
-
- model.mode = GL_TRIANGLES;
- model.shader = &shader;
-
- // Position & rotation
- model.transforms.position = position;
- model.transforms.rotation = rotation;
- model.transforms.parent = parent_transforms;
-
- // Material
- model.diffuse_color = color;
-
- // Create the mesh
- model.nb_vertices = 6;
-
- //-- Vertex buffer
- float half_size = 0.5f * size;
-
- const GLfloat vertex_buffer_data[] = {
- half_size, half_size, 0.0f,
- -half_size, half_size, 0.0f,
- -half_size, -half_size, 0.0f,
- -half_size, -half_size, 0.0f,
- half_size, -half_size, 0.0f,
- half_size, half_size, 0.0f,
- };
-
- glGenBuffers(1, &model.vertex_buffer);
- glBindBuffer(GL_ARRAY_BUFFER, model.vertex_buffer);
-
- glBufferData(GL_ARRAY_BUFFER, model.nb_vertices * 3 * sizeof(GLfloat),
- vertex_buffer_data, GL_STATIC_DRAW);
-
- //-- UVs buffer
- const GLfloat uv_buffer_data[] = {
- 1.0f, 1.0f,
- 0.0f, 1.0f,
- 0.0f, 0.0f,
- 0.0f, 0.0f,
- 1.0f, 0.0f,
- 1.0f, 1.0f,
- };
-
- glGenBuffers(1, &model.uv_buffer);
- glBindBuffer(GL_ARRAY_BUFFER, model.uv_buffer);
-
- glBufferData(GL_ARRAY_BUFFER, model.nb_vertices * 2 * sizeof(GLfloat),
- uv_buffer_data, GL_STATIC_DRAW);
-
- return model;
-}
-
-//-----------------------------------------------
-
-model_t create_sphere(const shader_t& shader, float radius, const arma::fvec& position,
- const arma::fmat& rotation, transforms_t* parent_transforms)
-{
- model_t model = { 0 };
-
- model.mode = GL_TRIANGLES;
- model.shader = &shader;
-
- // Position & rotation
- model.transforms.position = position;
- model.transforms.rotation = rotation;
- model.transforms.parent = parent_transforms;
-
- // Material
- model.ambiant_color = arma::fvec({0.2f, 0.2f, 0.2f});
- model.diffuse_color = arma::fvec({0.8f, 0.8f, 0.8f});
- model.specular_color = arma::fvec({0.0f, 0.0f, 0.0f});
- model.specular_power = 5;
-
- // Create the mesh
- const int NB_STEPS = 72;
- const float STEP_SIZE = 360.0f / NB_STEPS;
-
- model.nb_vertices = NB_STEPS / 2 * NB_STEPS * 6;
-
- GLfloat* vertex_buffer_data = new GLfloat[model.nb_vertices * 3];
-
- GLfloat* normal_buffer_data = (shader.use_lightning ?
- new GLfloat[model.nb_vertices * 3] : 0);
-
- GLfloat* dst_vertex = vertex_buffer_data;
- GLfloat* dst_normal = normal_buffer_data;
-
- for (int i = 0; i < NB_STEPS / 2; ++i)
- {
- GLfloat latitude_lo = (float) i * STEP_SIZE;
- GLfloat latitude_hi = latitude_lo + STEP_SIZE;
-
- for (int j = 0; j < NB_STEPS; ++j)
- {
- GLfloat longitude_lo = (float) j * STEP_SIZE;
- GLfloat longitude_hi = longitude_lo + STEP_SIZE;
-
- arma::fvec vert_ne(3);
- arma::fvec vert_nw(3);
- arma::fvec vert_sw(3);
- arma::fvec vert_se(3);
-
- // Assign each X,Z with sin,cos values scaled by latitude radius indexed by longitude.
- vert_ne(1) = vert_nw(1) = (float) -cos_deg(latitude_hi) * radius;
- vert_sw(1) = vert_se(1) = (float) -cos_deg(latitude_lo) * radius;
-
- vert_nw(0) = (float) cos_deg(longitude_lo) * (radius * (float) sin_deg(latitude_hi));
- vert_sw(0) = (float) cos_deg(longitude_lo) * (radius * (float) sin_deg(latitude_lo));
- vert_ne(0) = (float) cos_deg(longitude_hi) * (radius * (float) sin_deg(latitude_hi));
- vert_se(0) = (float) cos_deg(longitude_hi) * (radius * (float) sin_deg(latitude_lo));
-
- vert_nw(2) = (float) -sin_deg(longitude_lo) * (radius * (float) sin_deg(latitude_hi));
- vert_sw(2) = (float) -sin_deg(longitude_lo) * (radius * (float) sin_deg(latitude_lo));
- vert_ne(2) = (float) -sin_deg(longitude_hi) * (radius * (float) sin_deg(latitude_hi));
- vert_se(2) = (float) -sin_deg(longitude_hi) * (radius * (float) sin_deg(latitude_lo));
-
- dst_vertex[0] = vert_ne(0); dst_vertex[1] = vert_ne(1); dst_vertex[2] = vert_ne(2); dst_vertex += 3;
- dst_vertex[0] = vert_nw(0); dst_vertex[1] = vert_nw(1); dst_vertex[2] = vert_nw(2); dst_vertex += 3;
- dst_vertex[0] = vert_sw(0); dst_vertex[1] = vert_sw(1); dst_vertex[2] = vert_sw(2); dst_vertex += 3;
-
- dst_vertex[0] = vert_sw(0); dst_vertex[1] = vert_sw(1); dst_vertex[2] = vert_sw(2); dst_vertex += 3;
- dst_vertex[0] = vert_se(0); dst_vertex[1] = vert_se(1); dst_vertex[2] = vert_se(2); dst_vertex += 3;
- dst_vertex[0] = vert_ne(0); dst_vertex[1] = vert_ne(1); dst_vertex[2] = vert_ne(2); dst_vertex += 3;
-
- if (shader.use_lightning)
- {
- arma::fvec normal_ne = arma::normalise(vert_ne);
- arma::fvec normal_nw = arma::normalise(vert_nw);
- arma::fvec normal_sw = arma::normalise(vert_sw);
- arma::fvec normal_se = arma::normalise(vert_se);
-
- dst_normal[0] = normal_ne(0); dst_normal[1] = normal_ne(1); dst_normal[2] = normal_ne(2); dst_normal += 3;
- dst_normal[0] = normal_nw(0); dst_normal[1] = normal_nw(1); dst_normal[2] = normal_nw(2); dst_normal += 3;
- dst_normal[0] = normal_sw(0); dst_normal[1] = normal_sw(1); dst_normal[2] = normal_sw(2); dst_normal += 3;
-
- dst_normal[0] = normal_sw(0); dst_normal[1] = normal_sw(1); dst_normal[2] = normal_sw(2); dst_normal += 3;
- dst_normal[0] = normal_se(0); dst_normal[1] = normal_se(1); dst_normal[2] = normal_se(2); dst_normal += 3;
- dst_normal[0] = normal_ne(0); dst_normal[1] = normal_ne(1); dst_normal[2] = normal_ne(2); dst_normal += 3;
- }
- }
- }
-
- // Vertex buffer
- glGenBuffers(1, &model.vertex_buffer);
- glBindBuffer(GL_ARRAY_BUFFER, model.vertex_buffer);
-
- glBufferData(GL_ARRAY_BUFFER, model.nb_vertices * 3 * sizeof(GLfloat),
- vertex_buffer_data, GL_STATIC_DRAW);
-
- // Normal buffer
- if (shader.use_lightning)
- {
- glGenBuffers(1, &model.normal_buffer);
- glBindBuffer(GL_ARRAY_BUFFER, model.normal_buffer);
-
- glBufferData(GL_ARRAY_BUFFER, model.nb_vertices * 3 * sizeof(GLfloat),
- normal_buffer_data, GL_STATIC_DRAW);
- }
-
- // Cleanup
- delete[] vertex_buffer_data;
-
- if (shader.use_lightning)
- delete[] normal_buffer_data;
-
- return model;
-}
-
-//-----------------------------------------------
-
-model_t create_line(const shader_t& shader, const arma::fvec& color,
- const arma::mat& points, const arma::fvec& position,
- const arma::fmat& rotation, transforms_t* parent_transforms)
-{
- model_t model = { 0 };
-
- if (shader.use_lightning)
- return model;
-
- model.mode = GL_LINE_STRIP;
- model.shader = &shader;
-
- // Position & rotation
- model.transforms.position = position;
- model.transforms.rotation = rotation;
- model.transforms.parent = parent_transforms;
-
- // Material
- model.diffuse_color = color;
-
- // Create the mesh
- model.nb_vertices = points.n_cols;
-
- GLfloat* vertex_buffer_data = new GLfloat[model.nb_vertices * 3];
-
- GLfloat* dst = vertex_buffer_data;
-
- for (int i = 0; i < points.n_cols; ++i) {
- dst[0] = (float) points(0, i);
- dst[1] = (float) points(1, i);
-
- if (points.n_rows == 3)
- dst[2] = (float) points(2, i);
- else
- dst[2] = 0.0f;
-
- dst += 3;
- }
-
- // Vertex buffer
- glGenBuffers(1, &model.vertex_buffer);
- glBindBuffer(GL_ARRAY_BUFFER, model.vertex_buffer);
-
- glBufferData(GL_ARRAY_BUFFER, model.nb_vertices * 3 * sizeof(GLfloat),
- vertex_buffer_data, GL_STATIC_DRAW);
-
- // Cleanup
- delete[] vertex_buffer_data;
-
- return model;
-}
-
-//-----------------------------------------------
-
-model_t create_line(const shader_t& shader, const arma::fvec& color,
- const std::vector<arma::vec>& points, const arma::fvec& position,
- const arma::fmat& rotation, transforms_t* parent_transforms)
-{
- arma::mat points_mat(points[0].n_rows, points.size());
-
- for (size_t i = 0; i < points.size(); ++i)
- points_mat.col(i) = points[i];
-
- return create_line(shader, color, points_mat, position, rotation, parent_transforms);
-}
-
-//-----------------------------------------------
-
-model_t create_mesh(const shader_t& shader, const arma::fvec& color,
- const arma::mat& vertices,
- const arma::fvec& position, const arma::fmat& rotation,
- transforms_t* parent_transforms)
-{
- model_t model = { 0 };
-
- if (shader.use_lightning)
- return model;
-
- model.mode = GL_TRIANGLES;
- model.shader = &shader;
-
- // Position & rotation
- model.transforms.position = position;
- model.transforms.rotation = rotation;
- model.transforms.parent = parent_transforms;
-
- // Material
- model.diffuse_color = color;
-
- // Create the mesh
- model.nb_vertices = vertices.n_cols;
-
- GLfloat* vertex_buffer_data = new GLfloat[model.nb_vertices * 3];
-
- GLfloat* dst = vertex_buffer_data;
-
- for (int i = 0; i < vertices.n_cols; ++i) {
- dst[0] = (float) vertices(0, i);
- dst[1] = (float) vertices(1, i);
-
- if (vertices.n_rows == 3)
- dst[2] = (float) vertices(2, i);
- else
- dst[2] = 0.0f;
-
- dst += 3;
- }
-
- // Vertex buffer
- glGenBuffers(1, &model.vertex_buffer);
- glBindBuffer(GL_ARRAY_BUFFER, model.vertex_buffer);
-
- glBufferData(GL_ARRAY_BUFFER, model.nb_vertices * 3 * sizeof(GLfloat),
- vertex_buffer_data, GL_STATIC_DRAW);
-
- // Cleanup
- delete[] vertex_buffer_data;
-
- return model;
-}
-
-//-----------------------------------------------
-
-void destroy(const model_t& model)
-{
- if (model.vertex_buffer)
- glDeleteBuffers(1, &model.vertex_buffer);
-
- if (model.normal_buffer)
- glDeleteBuffers(1, &model.normal_buffer);
-
- if (model.uv_buffer)
- glDeleteBuffers(1, &model.uv_buffer);
-}
-
-
-/********************************** RENDERING ********************************/
-
-bool draw(const model_t& model, const arma::fmat& view,
- const arma::fmat& projection, const light_list_t& lights)
-{
- // Various checks
- if (model.shader->id == 0)
- return false;
-
- if (model.shader->use_lightning && lights.empty())
- return false;
-
- // Activate the GLSL program
- glUseProgram(model.shader->id);
-
- // Send the model, view and projection matrices to the shader
- arma::fmat model_matrix = worldTransforms(&model.transforms);
-
- glUniformMatrix4fv(model.shader->model_matrix_handle, 1, GL_FALSE, model_matrix.memptr());
- glUniformMatrix4fv(model.shader->view_matrix_handle, 1, GL_FALSE, view.memptr());
- glUniformMatrix4fv(model.shader->projection_matrix_handle, 1, GL_FALSE, projection.memptr());
-
- // Send the material parameters to the shader
- glUniform3fv(model.shader->diffuse_color_handle, 1, model.diffuse_color.memptr());
-
- if (model.shader->use_lightning) {
- glUniform3fv(model.shader->ambiant_color_handle, 1, model.ambiant_color.memptr());
- glUniform3fv(model.shader->specular_color_handle, 1, model.specular_color.memptr());
- glUniform1f(model.shader->specular_power_handle, model.specular_power);
- }
-
- // Send the texture parameters to the shader
- if (model.shader->diffuse_texture_handle > -1) {
- glActiveTexture(GL_TEXTURE0);
- glBindTexture(GL_TEXTURE_2D, model.diffuse_texture);
- glUniform1i(model.shader->diffuse_texture_handle, 0);
- }
-
- // Send the light parameters to the shader
- if (model.shader->use_lightning) {
- glUniform3fv(model.shader->light_position_handle, 1, lights[0].transforms.position.memptr());
- glUniform3fv(model.shader->light_color_handle, 1, lights[0].color.memptr());
- glUniform1f(model.shader->light_power_handle, lights[0].power);
- }
-
- // Send the application-specific uniforms to the shader
- sendApplicationUniforms(model.shader);
-
- // Specify the vertices for the shader
- glEnableVertexAttribArray(0);
- glBindBuffer(GL_ARRAY_BUFFER, model.vertex_buffer);
- glVertexAttribPointer(0, 3, GL_FLOAT, GL_FALSE, 0, (void*) 0);
-
- // Specify the normals for the shader
- if (model.shader->use_lightning) {
- glEnableVertexAttribArray(1);
- glBindBuffer(GL_ARRAY_BUFFER, model.normal_buffer);
- glVertexAttribPointer(1, 3, GL_FLOAT, GL_FALSE, 0, (void*) 0);
- }
-
- // Specify the UVs for the shader
- if (model.uv_buffer) {
- glEnableVertexAttribArray(2);
- glBindBuffer(GL_ARRAY_BUFFER, model.uv_buffer);
- glVertexAttribPointer(2, 2, GL_FLOAT, GL_FALSE, 0, (void*) 0);
- }
-
- // Draw the mesh
- glDrawArrays(model.mode, 0, model.nb_vertices);
-
- glDisableVertexAttribArray(0);
-
- if (model.shader->use_lightning)
- glDisableVertexAttribArray(1);
-
- if (model.uv_buffer)
- glDisableVertexAttribArray(2);
-
- return true;
-}
-
-//-----------------------------------------------
-
-bool draw_rectangle(const shader_t& shader, const arma::fvec& color, float width,
- float height, const arma::fmat& view, const arma::fmat& projection,
- const arma::fvec& position, const arma::fmat& rotation)
-{
- model_t rect = create_rectangle(shader, color, width, height, position, rotation);
-
- bool result = draw(rect, view, projection);
-
- destroy(rect);
-
- return result;
-}
-
-//-----------------------------------------------
-
-bool draw_line(const shader_t& shader, const arma::fvec& color, const arma::mat& points,
- const arma::fmat& view, const arma::fmat& projection,
- const arma::fvec& position, const arma::fmat& rotation)
-{
- model_t line = create_line(shader, color, points, position, rotation);
-
- bool result = draw(line, view, projection);
-
- destroy(line);
-
- return result;
-}
-
-//-----------------------------------------------
-
-bool draw_line(const shader_t& shader, const arma::fvec& color, const std::vector<arma::vec>& points,
- const arma::fmat& view, const arma::fmat& projection,
- const arma::fvec& position, const arma::fmat& rotation)
-{
- model_t line = create_line(shader, color, points, position, rotation);
-
- bool result = draw(line, view, projection);
-
- destroy(line);
-
- return result;
-}
-
-//-----------------------------------------------
-
-bool draw_mesh(const shader_t& shader, const arma::fvec& color, const arma::mat& vertices,
- const arma::fmat& view, const arma::fmat& projection,
- const arma::fvec& position, const arma::fmat& rotation)
-{
- model_t mesh = create_mesh(shader, color, vertices, position, rotation);
-
- bool result = draw(mesh, view, projection);
-
- destroy(mesh);
-
- return result;
-}
-
-//-----------------------------------------------
-
-bool draw_gaussian(shader_t* shader, const arma::fvec& color,
- const arma::vec& mu, const arma::mat& sigma,
- const arma::fmat& view, const arma::fmat& projection,
- float viewport_width, float viewport_height)
-{
- float square_size = fmax(viewport_width, viewport_height) +
- fmax(fabs(fabs(mu(0)) - fabs(view(0, 3))),
- fabs(fabs(mu(1)) - fabs(view(1, 3)))) * 2;
-
- gfx3::model_t square = gfx3::create_rectangle(*shader, color, square_size, square_size);
-
- square.transforms.position = { (float) mu(0), (float) mu(1), 0.0f };
-
- glDisable(GL_DEPTH_TEST);
- glEnable(GL_BLEND);
-
- arma::mat scaled_sigma = sigma(arma::span(0, 1), arma::span(0, 1)) /
- (double) (square_size * square_size);
-
- arma::vec gaussian_color;
- if (color.n_rows == 4)
- gaussian_color = arma::conv_to<arma::vec>::from(color);
- else
- gaussian_color = arma::vec({ color(0), color(1), color(2), 0.5 });
-
- shader->setUniform("Mu", arma::vec{0.5, 0.5});
- shader->setUniform("Sigma", arma::mat(arma::inv(scaled_sigma)));
- shader->setUniform("GaussianColor", gaussian_color);
-
- bool result = gfx3::draw(square, view, projection);
-
- glDisable(GL_BLEND);
- glEnable(GL_DEPTH_TEST);
-
- gfx3::destroy(square);
-
- return result;
-}
-
-
-//-----------------------------------------------
-
-bool draw_gaussian_border(shader_t* shader, const arma::fvec& color,
- const arma::vec& mu, const arma::mat& sigma,
- const arma::fmat& view, const arma::fmat& projection,
- float viewport_width, float viewport_height)
-{
- const int NB_POINTS = 60;
-
- arma::mat pts0 = arma::join_cols(
- arma::cos(arma::linspace<arma::rowvec>(0, 2 * arma::datum::pi, NB_POINTS)),
- arma::sin(arma::linspace<arma::rowvec>(0, 2 * arma::datum::pi, NB_POINTS))
- );
-
- arma::vec eigval(2);
- arma::mat eigvec(2, 2);
- eig_sym(eigval, eigvec, sigma(arma::span(0, 1), arma::span(0, 1)));
-
- arma::mat R = eigvec * diagmat(sqrt(eigval));
-
- arma::mat pts = R * pts0 + arma::repmat(mu(arma::span(0, 1)), 1, NB_POINTS);
-
- arma::fvec gaussian_color = color(arma::span(0, 2));
-
- return draw_line(*shader, gaussian_color, pts, view, projection);
-}
-
-
-/******************************** RAY CASTING ********************************/
-
-ray_t create_ray(const arma::fvec& origin, int mouse_x, int mouse_y,
- const arma::fmat& view, const arma::fmat& projection,
- int window_width, int window_height)
-{
- ray_t ray;
-
- ray.origin = origin;
-
- // Compute the ray in homogeneous clip coordinates (range [-1:1, -1:1, -1:1, -1:1])
- arma::fvec ray_clip(4);
- ray_clip(0) = (2.0f * mouse_x) / window_width - 1.0f;
- ray_clip(1) = 1.0f - (2.0f * mouse_y) / window_height;
- ray_clip(2) = -1.0f;
- ray_clip(3) = 1.0f;
-
- // Compute the ray in camera coordinates
- arma::fvec ray_eye = arma::inv(projection) * ray_clip;
- ray_eye(2) = -1.0f;
- ray_eye(3) = 0.0f;
-
- // Compute the ray in world coordinates
- arma::fvec ray_world = arma::inv(view) * ray_eye;
- ray.direction = arma::fvec(arma::normalise(ray_world)).rows(0, 2);
-
- return ray;
-}
-
-//-----------------------------------------------
-
-bool intersects(const ray_t& ray, const arma::fvec& center, float radius,
- arma::fvec &result)
-{
- arma::fvec O_C = ray.origin - center;
- float b = arma::dot(ray.direction, O_C);
- float c = arma::dot(O_C, O_C) - radius * radius;
-
- float det = b * b - c;
-
- if (det < 0.0f)
- return false;
-
- float t;
-
- if (det > 0.0f)
- {
- float t1 = -b + sqrtf(det);
- float t2 = -b - sqrtf(det);
-
- t = (t1 < t2 ? t1 : t2);
- }
- else
- {
- t = -b + sqrtf(det);
- }
-
- result = ray.origin + ray.direction * t;
-
- return true;
-}
-
-}
diff --git a/src/utils/imgui_impl_glfw_gl3.cpp b/src/utils/imgui_impl_glfw_gl3.cpp
deleted file mode 100644
index 9620870..0000000
--- a/src/utils/imgui_impl_glfw_gl3.cpp
+++ /dev/null
@@ -1,530 +0,0 @@
-// ImGui GLFW binding with OpenGL3 + shaders
-// (GLFW is a cross-platform general purpose library for handling windows, inputs, OpenGL/Vulkan graphics context creation, etc.)
-// (GL3W is a helper library to access OpenGL functions since there is no standard header to access modern OpenGL functions easily. Alternatives are GLEW, Glad, etc.)
-
-// Implemented features:
-// [X] User texture binding. Cast 'GLuint' OpenGL texture identifier as void*/ImTextureID. Read the FAQ about ImTextureID in imgui.cpp.
-// [X] Gamepad navigation mapping. Enable with 'io.ConfigFlags |= ImGuiConfigFlags_NavEnableGamepad'.
-
-// You can copy and use unmodified imgui_impl_* files in your project. See main.cpp for an example of using this.
-// If you use this binding you'll need to call 4 functions: ImGui_ImplXXXX_Init(), ImGui_ImplXXXX_NewFrame(), ImGui::Render() and ImGui_ImplXXXX_Shutdown().
-// If you are new to ImGui, see examples/README.txt and documentation at the top of imgui.cpp.
-// https://github.com/ocornut/imgui
-
-// CHANGELOG
-// (minor and older changes stripped away, please see git history for details)
-// 2018-03-20: Misc: Setup io.BackendFlags ImGuiBackendFlags_HasMouseCursors and ImGuiBackendFlags_HasSetMousePos flags + honor ImGuiConfigFlags_NoMouseCursorChange flag.
-// 2018-03-06: OpenGL: Added const char* glsl_version parameter to ImGui_ImplGlfwGL3_Init() so user can override the GLSL version e.g. "#version 150".
-// 2018-02-23: OpenGL: Create the VAO in the render function so the setup can more easily be used with multiple shared GL context.
-// 2018-02-20: Inputs: Added support for mouse cursors (ImGui::GetMouseCursor() value and WM_SETCURSOR message handling).
-// 2018-02-20: Inputs: Renamed GLFW callbacks exposed in .h to not include GL3 in their name.
-// 2018-02-16: Misc: Obsoleted the io.RenderDrawListsFn callback and exposed ImGui_ImplGlfwGL3_RenderDrawData() in the .h file so you can call it yourself.
-// 2018-02-06: Misc: Removed call to ImGui::Shutdown() which is not available from 1.60 WIP, user needs to call CreateContext/DestroyContext themselves.
-// 2018-02-06: Inputs: Added mapping for ImGuiKey_Space.
-// 2018-01-25: Inputs: Added gamepad support if ImGuiConfigFlags_NavEnableGamepad is set.
-// 2018-01-25: Inputs: Honoring the io.WantSetMousePos flag by repositioning the mouse (ImGuiConfigFlags_NavEnableSetMousePos is set).
-// 2018-01-20: Inputs: Added Horizontal Mouse Wheel support.
-// 2018-01-18: Inputs: Added mapping for ImGuiKey_Insert.
-// 2018-01-07: OpenGL: Changed GLSL shader version from 330 to 150. (Also changed GL context from 3.3 to 3.2 in example's main.cpp)
-// 2017-09-01: OpenGL: Save and restore current bound sampler. Save and restore current polygon mode.
-// 2017-08-25: Inputs: MousePos set to -FLT_MAX,-FLT_MAX when mouse is unavailable/missing (instead of -1,-1).
-// 2017-05-01: OpenGL: Fixed save and restore of current blend function state.
-// 2016-10-15: Misc: Added a void* user_data parameter to Clipboard function handlers.
-// 2016-09-05: OpenGL: Fixed save and restore of current scissor rectangle.
-// 2016-04-30: OpenGL: Fixed save and restore of current GL_ACTIVE_TEXTURE.
-
-#if defined(_MSC_VER) && !defined(_CRT_SECURE_NO_WARNINGS)
-#define _CRT_SECURE_NO_WARNINGS
-#endif
-
-#include "imgui.h"
-#include "imgui_impl_glfw_gl3.h"
-
-// GL3W/GLFW
-#include <GL/glew.h>
-#include <GLFW/glfw3.h>
-#ifdef _WIN32
-#undef APIENTRY
-#define GLFW_EXPOSE_NATIVE_WIN32
-#define GLFW_EXPOSE_NATIVE_WGL
-#include <GLFW/glfw3native.h>
-#endif
-
-// GLFW data
-static GLFWwindow* g_Window = NULL;
-static double g_Time = 0.0f;
-static bool g_MouseJustPressed[3] = { false, false, false };
-static GLFWcursor* g_MouseCursors[ImGuiMouseCursor_COUNT] = { 0 };
-
-// OpenGL3 data
-static char g_GlslVersion[32] = "#version 150";
-static GLuint g_FontTexture = 0;
-static int g_ShaderHandle = 0, g_VertHandle = 0, g_FragHandle = 0;
-static int g_AttribLocationTex = 0, g_AttribLocationProjMtx = 0;
-static int g_AttribLocationPosition = 0, g_AttribLocationUV = 0, g_AttribLocationColor = 0;
-static unsigned int g_VboHandle = 0, g_ElementsHandle = 0;
-
-// OpenGL3 Render function.
-// (this used to be set in io.RenderDrawListsFn and called by ImGui::Render(), but you can now call this directly from your main loop)
-// Note that this implementation is little overcomplicated because we are saving/setting up/restoring every OpenGL state explicitly, in order to be able to run within any OpenGL engine that doesn't do so.
-void ImGui_ImplGlfwGL3_RenderDrawData(ImDrawData* draw_data)
-{
- // Avoid rendering when minimized, scale coordinates for retina displays (screen coordinates != framebuffer coordinates)
- ImGuiIO& io = ImGui::GetIO();
- int fb_width = (int)(io.DisplaySize.x * io.DisplayFramebufferScale.x);
- int fb_height = (int)(io.DisplaySize.y * io.DisplayFramebufferScale.y);
- if (fb_width == 0 || fb_height == 0)
- return;
- draw_data->ScaleClipRects(io.DisplayFramebufferScale);
-
- // Backup GL state
- GLenum last_active_texture; glGetIntegerv(GL_ACTIVE_TEXTURE, (GLint*)&last_active_texture);
- glActiveTexture(GL_TEXTURE0);
- GLint last_program; glGetIntegerv(GL_CURRENT_PROGRAM, &last_program);
- GLint last_texture; glGetIntegerv(GL_TEXTURE_BINDING_2D, &last_texture);
- GLint last_sampler; glGetIntegerv(GL_SAMPLER_BINDING, &last_sampler);
- GLint last_array_buffer; glGetIntegerv(GL_ARRAY_BUFFER_BINDING, &last_array_buffer);
- GLint last_element_array_buffer; glGetIntegerv(GL_ELEMENT_ARRAY_BUFFER_BINDING, &last_element_array_buffer);
- GLint last_vertex_array; glGetIntegerv(GL_VERTEX_ARRAY_BINDING, &last_vertex_array);
- GLint last_polygon_mode[2]; glGetIntegerv(GL_POLYGON_MODE, last_polygon_mode);
- GLint last_viewport[4]; glGetIntegerv(GL_VIEWPORT, last_viewport);
- GLint last_scissor_box[4]; glGetIntegerv(GL_SCISSOR_BOX, last_scissor_box);
- GLenum last_blend_src_rgb; glGetIntegerv(GL_BLEND_SRC_RGB, (GLint*)&last_blend_src_rgb);
- GLenum last_blend_dst_rgb; glGetIntegerv(GL_BLEND_DST_RGB, (GLint*)&last_blend_dst_rgb);
- GLenum last_blend_src_alpha; glGetIntegerv(GL_BLEND_SRC_ALPHA, (GLint*)&last_blend_src_alpha);
- GLenum last_blend_dst_alpha; glGetIntegerv(GL_BLEND_DST_ALPHA, (GLint*)&last_blend_dst_alpha);
- GLenum last_blend_equation_rgb; glGetIntegerv(GL_BLEND_EQUATION_RGB, (GLint*)&last_blend_equation_rgb);
- GLenum last_blend_equation_alpha; glGetIntegerv(GL_BLEND_EQUATION_ALPHA, (GLint*)&last_blend_equation_alpha);
- GLboolean last_enable_blend = glIsEnabled(GL_BLEND);
- GLboolean last_enable_cull_face = glIsEnabled(GL_CULL_FACE);
- GLboolean last_enable_depth_test = glIsEnabled(GL_DEPTH_TEST);
- GLboolean last_enable_scissor_test = glIsEnabled(GL_SCISSOR_TEST);
-
- // Setup render state: alpha-blending enabled, no face culling, no depth testing, scissor enabled, polygon fill
- glEnable(GL_BLEND);
- glBlendEquation(GL_FUNC_ADD);
- glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
- glDisable(GL_CULL_FACE);
- glDisable(GL_DEPTH_TEST);
- glEnable(GL_SCISSOR_TEST);
- glPolygonMode(GL_FRONT_AND_BACK, GL_FILL);
-
- // Setup viewport, orthographic projection matrix
- glViewport(0, 0, (GLsizei)fb_width, (GLsizei)fb_height);
- const float ortho_projection[4][4] =
- {
- { 2.0f/io.DisplaySize.x, 0.0f, 0.0f, 0.0f },
- { 0.0f, 2.0f/-io.DisplaySize.y, 0.0f, 0.0f },
- { 0.0f, 0.0f, -1.0f, 0.0f },
- {-1.0f, 1.0f, 0.0f, 1.0f },
- };
- glUseProgram(g_ShaderHandle);
- glUniform1i(g_AttribLocationTex, 0);
- glUniformMatrix4fv(g_AttribLocationProjMtx, 1, GL_FALSE, &ortho_projection[0][0]);
- glBindSampler(0, 0); // Rely on combined texture/sampler state.
-
- // Recreate the VAO every time
- // (This is to easily allow multiple GL contexts. VAO are not shared among GL contexts, and we don't track creation/deletion of windows so we don't have an obvious key to use to cache them.)
- GLuint vao_handle = 0;
- glGenVertexArrays(1, &vao_handle);
- glBindVertexArray(vao_handle);
- glBindBuffer(GL_ARRAY_BUFFER, g_VboHandle);
- glEnableVertexAttribArray(g_AttribLocationPosition);
- glEnableVertexAttribArray(g_AttribLocationUV);
- glEnableVertexAttribArray(g_AttribLocationColor);
- glVertexAttribPointer(g_AttribLocationPosition, 2, GL_FLOAT, GL_FALSE, sizeof(ImDrawVert), (GLvoid*)IM_OFFSETOF(ImDrawVert, pos));
- glVertexAttribPointer(g_AttribLocationUV, 2, GL_FLOAT, GL_FALSE, sizeof(ImDrawVert), (GLvoid*)IM_OFFSETOF(ImDrawVert, uv));
- glVertexAttribPointer(g_AttribLocationColor, 4, GL_UNSIGNED_BYTE, GL_TRUE, sizeof(ImDrawVert), (GLvoid*)IM_OFFSETOF(ImDrawVert, col));
-
- // Draw
- for (int n = 0; n < draw_data->CmdListsCount; n++)
- {
- const ImDrawList* cmd_list = draw_data->CmdLists[n];
- const ImDrawIdx* idx_buffer_offset = 0;
-
- glBindBuffer(GL_ARRAY_BUFFER, g_VboHandle);
- glBufferData(GL_ARRAY_BUFFER, (GLsizeiptr)cmd_list->VtxBuffer.Size * sizeof(ImDrawVert), (const GLvoid*)cmd_list->VtxBuffer.Data, GL_STREAM_DRAW);
-
- glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, g_ElementsHandle);
- glBufferData(GL_ELEMENT_ARRAY_BUFFER, (GLsizeiptr)cmd_list->IdxBuffer.Size * sizeof(ImDrawIdx), (const GLvoid*)cmd_list->IdxBuffer.Data, GL_STREAM_DRAW);
-
- for (int cmd_i = 0; cmd_i < cmd_list->CmdBuffer.Size; cmd_i++)
- {
- const ImDrawCmd* pcmd = &cmd_list->CmdBuffer[cmd_i];
- if (pcmd->UserCallback)
- {
- pcmd->UserCallback(cmd_list, pcmd);
- }
- else
- {
- glBindTexture(GL_TEXTURE_2D, (GLuint)(intptr_t)pcmd->TextureId);
- glScissor((int)pcmd->ClipRect.x, (int)(fb_height - pcmd->ClipRect.w), (int)(pcmd->ClipRect.z - pcmd->ClipRect.x), (int)(pcmd->ClipRect.w - pcmd->ClipRect.y));
- glDrawElements(GL_TRIANGLES, (GLsizei)pcmd->ElemCount, sizeof(ImDrawIdx) == 2 ? GL_UNSIGNED_SHORT : GL_UNSIGNED_INT, idx_buffer_offset);
- }
- idx_buffer_offset += pcmd->ElemCount;
- }
- }
- glDeleteVertexArrays(1, &vao_handle);
-
- // Restore modified GL state
- glUseProgram(last_program);
- glBindTexture(GL_TEXTURE_2D, last_texture);
- glBindSampler(0, last_sampler);
- glActiveTexture(last_active_texture);
- glBindVertexArray(last_vertex_array);
- glBindBuffer(GL_ARRAY_BUFFER, last_array_buffer);
- glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, last_element_array_buffer);
- glBlendEquationSeparate(last_blend_equation_rgb, last_blend_equation_alpha);
- glBlendFuncSeparate(last_blend_src_rgb, last_blend_dst_rgb, last_blend_src_alpha, last_blend_dst_alpha);
- if (last_enable_blend) glEnable(GL_BLEND); else glDisable(GL_BLEND);
- if (last_enable_cull_face) glEnable(GL_CULL_FACE); else glDisable(GL_CULL_FACE);
- if (last_enable_depth_test) glEnable(GL_DEPTH_TEST); else glDisable(GL_DEPTH_TEST);
- if (last_enable_scissor_test) glEnable(GL_SCISSOR_TEST); else glDisable(GL_SCISSOR_TEST);
- glPolygonMode(GL_FRONT_AND_BACK, (GLenum)last_polygon_mode[0]);
- glViewport(last_viewport[0], last_viewport[1], (GLsizei)last_viewport[2], (GLsizei)last_viewport[3]);
- glScissor(last_scissor_box[0], last_scissor_box[1], (GLsizei)last_scissor_box[2], (GLsizei)last_scissor_box[3]);
-}
-
-static const char* ImGui_ImplGlfwGL3_GetClipboardText(void* user_data)
-{
- return glfwGetClipboardString((GLFWwindow*)user_data);
-}
-
-static void ImGui_ImplGlfwGL3_SetClipboardText(void* user_data, const char* text)
-{
- glfwSetClipboardString((GLFWwindow*)user_data, text);
-}
-
-void ImGui_ImplGlfw_MouseButtonCallback(GLFWwindow*, int button, int action, int /*mods*/)
-{
- if (action == GLFW_PRESS && button >= 0 && button < 3)
- g_MouseJustPressed[button] = true;
-}
-
-void ImGui_ImplGlfw_ScrollCallback(GLFWwindow*, double xoffset, double yoffset)
-{
- ImGuiIO& io = ImGui::GetIO();
- io.MouseWheelH += (float)xoffset;
- io.MouseWheel += (float)yoffset;
-}
-
-void ImGui_ImplGlfw_KeyCallback(GLFWwindow*, int key, int, int action, int mods)
-{
- ImGuiIO& io = ImGui::GetIO();
- if (action == GLFW_PRESS)
- io.KeysDown[key] = true;
- if (action == GLFW_RELEASE)
- io.KeysDown[key] = false;
-
- (void)mods; // Modifiers are not reliable across systems
- io.KeyCtrl = io.KeysDown[GLFW_KEY_LEFT_CONTROL] || io.KeysDown[GLFW_KEY_RIGHT_CONTROL];
- io.KeyShift = io.KeysDown[GLFW_KEY_LEFT_SHIFT] || io.KeysDown[GLFW_KEY_RIGHT_SHIFT];
- io.KeyAlt = io.KeysDown[GLFW_KEY_LEFT_ALT] || io.KeysDown[GLFW_KEY_RIGHT_ALT];
- io.KeySuper = io.KeysDown[GLFW_KEY_LEFT_SUPER] || io.KeysDown[GLFW_KEY_RIGHT_SUPER];
-}
-
-void ImGui_ImplGlfw_CharCallback(GLFWwindow*, unsigned int c)
-{
- ImGuiIO& io = ImGui::GetIO();
- if (c > 0 && c < 0x10000)
- io.AddInputCharacter((unsigned short)c);
-}
-
-bool ImGui_ImplGlfwGL3_CreateFontsTexture()
-{
- // Build texture atlas
- ImGuiIO& io = ImGui::GetIO();
- unsigned char* pixels;
- int width, height;
- io.Fonts->GetTexDataAsRGBA32(&pixels, &width, &height); // Load as RGBA 32-bits (75% of the memory is wasted, but default font is so small) because it is more likely to be compatible with user's existing shaders. If your ImTextureId represent a higher-level concept than just a GL texture id, consider calling GetTexDataAsAlpha8() instead to save on GPU memory.
-
- // Upload texture to graphics system
- GLint last_texture;
- glGetIntegerv(GL_TEXTURE_BINDING_2D, &last_texture);
- glGenTextures(1, &g_FontTexture);
- glBindTexture(GL_TEXTURE_2D, g_FontTexture);
- glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
- glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
- glPixelStorei(GL_UNPACK_ROW_LENGTH, 0);
- glTexImage2D(GL_TEXTURE_2D, 0, GL_RGBA, width, height, 0, GL_RGBA, GL_UNSIGNED_BYTE, pixels);
-
- // Store our identifier
- io.Fonts->TexID = (void *)(intptr_t)g_FontTexture;
-
- // Restore state
- glBindTexture(GL_TEXTURE_2D, last_texture);
-
- return true;
-}
-
-bool ImGui_ImplGlfwGL3_CreateDeviceObjects()
-{
- // Backup GL state
- GLint last_texture, last_array_buffer, last_vertex_array;
- glGetIntegerv(GL_TEXTURE_BINDING_2D, &last_texture);
- glGetIntegerv(GL_ARRAY_BUFFER_BINDING, &last_array_buffer);
- glGetIntegerv(GL_VERTEX_ARRAY_BINDING, &last_vertex_array);
-
- const GLchar* vertex_shader =
- "uniform mat4 ProjMtx;\n"
- "in vec2 Position;\n"
- "in vec2 UV;\n"
- "in vec4 Color;\n"
- "out vec2 Frag_UV;\n"
- "out vec4 Frag_Color;\n"
- "void main()\n"
- "{\n"
- " Frag_UV = UV;\n"
- " Frag_Color = Color;\n"
- " gl_Position = ProjMtx * vec4(Position.xy,0,1);\n"
- "}\n";
-
- const GLchar* fragment_shader =
- "uniform sampler2D Texture;\n"
- "in vec2 Frag_UV;\n"
- "in vec4 Frag_Color;\n"
- "out vec4 Out_Color;\n"
- "void main()\n"
- "{\n"
- " Out_Color = Frag_Color * texture( Texture, Frag_UV.st);\n"
- "}\n";
-
- const GLchar* vertex_shader_with_version[2] = { g_GlslVersion, vertex_shader };
- const GLchar* fragment_shader_with_version[2] = { g_GlslVersion, fragment_shader };
-
- g_ShaderHandle = glCreateProgram();
- g_VertHandle = glCreateShader(GL_VERTEX_SHADER);
- g_FragHandle = glCreateShader(GL_FRAGMENT_SHADER);
- glShaderSource(g_VertHandle, 2, vertex_shader_with_version, NULL);
- glShaderSource(g_FragHandle, 2, fragment_shader_with_version, NULL);
- glCompileShader(g_VertHandle);
- glCompileShader(g_FragHandle);
- glAttachShader(g_ShaderHandle, g_VertHandle);
- glAttachShader(g_ShaderHandle, g_FragHandle);
- glLinkProgram(g_ShaderHandle);
-
- g_AttribLocationTex = glGetUniformLocation(g_ShaderHandle, "Texture");
- g_AttribLocationProjMtx = glGetUniformLocation(g_ShaderHandle, "ProjMtx");
- g_AttribLocationPosition = glGetAttribLocation(g_ShaderHandle, "Position");
- g_AttribLocationUV = glGetAttribLocation(g_ShaderHandle, "UV");
- g_AttribLocationColor = glGetAttribLocation(g_ShaderHandle, "Color");
-
- glGenBuffers(1, &g_VboHandle);
- glGenBuffers(1, &g_ElementsHandle);
-
- ImGui_ImplGlfwGL3_CreateFontsTexture();
-
- // Restore modified GL state
- glBindTexture(GL_TEXTURE_2D, last_texture);
- glBindBuffer(GL_ARRAY_BUFFER, last_array_buffer);
- glBindVertexArray(last_vertex_array);
-
- return true;
-}
-
-void ImGui_ImplGlfwGL3_InvalidateDeviceObjects()
-{
- if (g_VboHandle) glDeleteBuffers(1, &g_VboHandle);
- if (g_ElementsHandle) glDeleteBuffers(1, &g_ElementsHandle);
- g_VboHandle = g_ElementsHandle = 0;
-
- if (g_ShaderHandle && g_VertHandle) glDetachShader(g_ShaderHandle, g_VertHandle);
- if (g_VertHandle) glDeleteShader(g_VertHandle);
- g_VertHandle = 0;
-
- if (g_ShaderHandle && g_FragHandle) glDetachShader(g_ShaderHandle, g_FragHandle);
- if (g_FragHandle) glDeleteShader(g_FragHandle);
- g_FragHandle = 0;
-
- if (g_ShaderHandle) glDeleteProgram(g_ShaderHandle);
- g_ShaderHandle = 0;
-
- if (g_FontTexture)
- {
- glDeleteTextures(1, &g_FontTexture);
- ImGui::GetIO().Fonts->TexID = 0;
- g_FontTexture = 0;
- }
-}
-
-static void ImGui_ImplGlfw_InstallCallbacks(GLFWwindow* window)
-{
- glfwSetMouseButtonCallback(window, ImGui_ImplGlfw_MouseButtonCallback);
- glfwSetScrollCallback(window, ImGui_ImplGlfw_ScrollCallback);
- glfwSetKeyCallback(window, ImGui_ImplGlfw_KeyCallback);
- glfwSetCharCallback(window, ImGui_ImplGlfw_CharCallback);
-}
-
-bool ImGui_ImplGlfwGL3_Init(GLFWwindow* window, bool install_callbacks, const char* glsl_version)
-{
- g_Window = window;
-
- // Store GL version string so we can refer to it later in case we recreate shaders.
- if (glsl_version == NULL)
- glsl_version = "#version 150";
- IM_ASSERT((int)strlen(glsl_version) + 2 < IM_ARRAYSIZE(g_GlslVersion));
- strcpy(g_GlslVersion, glsl_version);
- strcat(g_GlslVersion, "\n");
-
- // Setup back-end capabilities flags
- ImGuiIO& io = ImGui::GetIO();
- io.BackendFlags |= ImGuiBackendFlags_HasMouseCursors; // We can honor GetMouseCursor() values (optional)
- io.BackendFlags |= ImGuiBackendFlags_HasSetMousePos; // We can honor io.WantSetMousePos requests (optional, rarely used)
-
- // Keyboard mapping. ImGui will use those indices to peek into the io.KeyDown[] array.
- io.KeyMap[ImGuiKey_Tab] = GLFW_KEY_TAB;
- io.KeyMap[ImGuiKey_LeftArrow] = GLFW_KEY_LEFT;
- io.KeyMap[ImGuiKey_RightArrow] = GLFW_KEY_RIGHT;
- io.KeyMap[ImGuiKey_UpArrow] = GLFW_KEY_UP;
- io.KeyMap[ImGuiKey_DownArrow] = GLFW_KEY_DOWN;
- io.KeyMap[ImGuiKey_PageUp] = GLFW_KEY_PAGE_UP;
- io.KeyMap[ImGuiKey_PageDown] = GLFW_KEY_PAGE_DOWN;
- io.KeyMap[ImGuiKey_Home] = GLFW_KEY_HOME;
- io.KeyMap[ImGuiKey_End] = GLFW_KEY_END;
- io.KeyMap[ImGuiKey_Insert] = GLFW_KEY_INSERT;
- io.KeyMap[ImGuiKey_Delete] = GLFW_KEY_DELETE;
- io.KeyMap[ImGuiKey_Backspace] = GLFW_KEY_BACKSPACE;
- io.KeyMap[ImGuiKey_Space] = GLFW_KEY_SPACE;
- io.KeyMap[ImGuiKey_Enter] = GLFW_KEY_ENTER;
- io.KeyMap[ImGuiKey_Escape] = GLFW_KEY_ESCAPE;
- io.KeyMap[ImGuiKey_A] = GLFW_KEY_A;
- io.KeyMap[ImGuiKey_C] = GLFW_KEY_C;
- io.KeyMap[ImGuiKey_V] = GLFW_KEY_V;
- io.KeyMap[ImGuiKey_X] = GLFW_KEY_X;
- io.KeyMap[ImGuiKey_Y] = GLFW_KEY_Y;
- io.KeyMap[ImGuiKey_Z] = GLFW_KEY_Z;
-
- io.SetClipboardTextFn = ImGui_ImplGlfwGL3_SetClipboardText;
- io.GetClipboardTextFn = ImGui_ImplGlfwGL3_GetClipboardText;
- io.ClipboardUserData = g_Window;
-#ifdef _WIN32
- io.ImeWindowHandle = glfwGetWin32Window(g_Window);
-#endif
-
- // Load cursors
- // FIXME: GLFW doesn't expose suitable cursors for ResizeAll, ResizeNESW, ResizeNWSE. We revert to arrow cursor for those.
- g_MouseCursors[ImGuiMouseCursor_Arrow] = glfwCreateStandardCursor(GLFW_ARROW_CURSOR);
- g_MouseCursors[ImGuiMouseCursor_TextInput] = glfwCreateStandardCursor(GLFW_IBEAM_CURSOR);
- g_MouseCursors[ImGuiMouseCursor_ResizeAll] = glfwCreateStandardCursor(GLFW_ARROW_CURSOR);
- g_MouseCursors[ImGuiMouseCursor_ResizeNS] = glfwCreateStandardCursor(GLFW_VRESIZE_CURSOR);
- g_MouseCursors[ImGuiMouseCursor_ResizeEW] = glfwCreateStandardCursor(GLFW_HRESIZE_CURSOR);
- g_MouseCursors[ImGuiMouseCursor_ResizeNESW] = glfwCreateStandardCursor(GLFW_ARROW_CURSOR);
- g_MouseCursors[ImGuiMouseCursor_ResizeNWSE] = glfwCreateStandardCursor(GLFW_ARROW_CURSOR);
-
- if (install_callbacks)
- ImGui_ImplGlfw_InstallCallbacks(window);
-
- return true;
-}
-
-void ImGui_ImplGlfwGL3_Shutdown()
-{
- // Destroy GLFW mouse cursors
- for (ImGuiMouseCursor cursor_n = 0; cursor_n < ImGuiMouseCursor_COUNT; cursor_n++)
- glfwDestroyCursor(g_MouseCursors[cursor_n]);
- memset(g_MouseCursors, 0, sizeof(g_MouseCursors));
-
- // Destroy OpenGL objects
- ImGui_ImplGlfwGL3_InvalidateDeviceObjects();
-}
-
-void ImGui_ImplGlfwGL3_NewFrame()
-{
- if (!g_FontTexture)
- ImGui_ImplGlfwGL3_CreateDeviceObjects();
-
- ImGuiIO& io = ImGui::GetIO();
-
- // Setup display size (every frame to accommodate for window resizing)
- int w, h;
- int display_w, display_h;
- glfwGetWindowSize(g_Window, &w, &h);
- glfwGetFramebufferSize(g_Window, &display_w, &display_h);
- io.DisplaySize = ImVec2((float)w, (float)h);
- io.DisplayFramebufferScale = ImVec2(w > 0 ? ((float)display_w / w) : 0, h > 0 ? ((float)display_h / h) : 0);
-
- // Setup time step
- double current_time = glfwGetTime();
- io.DeltaTime = g_Time > 0.0 ? (float)(current_time - g_Time) : (float)(1.0f/60.0f);
- g_Time = current_time;
-
- // Setup inputs
- // (we already got mouse wheel, keyboard keys & characters from glfw callbacks polled in glfwPollEvents())
- if (glfwGetWindowAttrib(g_Window, GLFW_FOCUSED))
- {
- // Set OS mouse position if requested (only used when ImGuiConfigFlags_NavEnableSetMousePos is enabled by user)
- if (io.WantSetMousePos)
- {
- glfwSetCursorPos(g_Window, (double)io.MousePos.x, (double)io.MousePos.y);
- }
- else
- {
- double mouse_x, mouse_y;
- glfwGetCursorPos(g_Window, &mouse_x, &mouse_y);
- io.MousePos = ImVec2((float)mouse_x, (float)mouse_y);
- }
- }
- else
- {
- io.MousePos = ImVec2(-FLT_MAX,-FLT_MAX);
- }
-
- for (int i = 0; i < 3; i++)
- {
- // If a mouse press event came, always pass it as "mouse held this frame", so we don't miss click-release events that are shorter than 1 frame.
- io.MouseDown[i] = g_MouseJustPressed[i] || glfwGetMouseButton(g_Window, i) != 0;
- g_MouseJustPressed[i] = false;
- }
-
- // Update OS/hardware mouse cursor if imgui isn't drawing a software cursor
- if ((io.ConfigFlags & ImGuiConfigFlags_NoMouseCursorChange) == 0 && glfwGetInputMode(g_Window, GLFW_CURSOR) != GLFW_CURSOR_DISABLED)
- {
- ImGuiMouseCursor cursor = ImGui::GetMouseCursor();
- if (io.MouseDrawCursor || cursor == ImGuiMouseCursor_None)
- {
- glfwSetInputMode(g_Window, GLFW_CURSOR, GLFW_CURSOR_HIDDEN);
- }
- else
- {
- glfwSetCursor(g_Window, g_MouseCursors[cursor] ? g_MouseCursors[cursor] : g_MouseCursors[ImGuiMouseCursor_Arrow]);
- glfwSetInputMode(g_Window, GLFW_CURSOR, GLFW_CURSOR_NORMAL);
- }
- }
-
- // Gamepad navigation mapping [BETA]
- memset(io.NavInputs, 0, sizeof(io.NavInputs));
- if (io.ConfigFlags & ImGuiConfigFlags_NavEnableGamepad)
- {
- // Update gamepad inputs
- #define MAP_BUTTON(NAV_NO, BUTTON_NO) { if (buttons_count > BUTTON_NO && buttons[BUTTON_NO] == GLFW_PRESS) io.NavInputs[NAV_NO] = 1.0f; }
- #define MAP_ANALOG(NAV_NO, AXIS_NO, V0, V1) { float v = (axes_count > AXIS_NO) ? axes[AXIS_NO] : V0; v = (v - V0) / (V1 - V0); if (v > 1.0f) v = 1.0f; if (io.NavInputs[NAV_NO] < v) io.NavInputs[NAV_NO] = v; }
- int axes_count = 0, buttons_count = 0;
- const float* axes = glfwGetJoystickAxes(GLFW_JOYSTICK_1, &axes_count);
- const unsigned char* buttons = glfwGetJoystickButtons(GLFW_JOYSTICK_1, &buttons_count);
- MAP_BUTTON(ImGuiNavInput_Activate, 0); // Cross / A
- MAP_BUTTON(ImGuiNavInput_Cancel, 1); // Circle / B
- MAP_BUTTON(ImGuiNavInput_Menu, 2); // Square / X
- MAP_BUTTON(ImGuiNavInput_Input, 3); // Triangle / Y
- MAP_BUTTON(ImGuiNavInput_DpadLeft, 13); // D-Pad Left
- MAP_BUTTON(ImGuiNavInput_DpadRight, 11); // D-Pad Right
- MAP_BUTTON(ImGuiNavInput_DpadUp, 10); // D-Pad Up
- MAP_BUTTON(ImGuiNavInput_DpadDown, 12); // D-Pad Down
- MAP_BUTTON(ImGuiNavInput_FocusPrev, 4); // L1 / LB
- MAP_BUTTON(ImGuiNavInput_FocusNext, 5); // R1 / RB
- MAP_BUTTON(ImGuiNavInput_TweakSlow, 4); // L1 / LB
- MAP_BUTTON(ImGuiNavInput_TweakFast, 5); // R1 / RB
- MAP_ANALOG(ImGuiNavInput_LStickLeft, 0, -0.3f, -0.9f);
- MAP_ANALOG(ImGuiNavInput_LStickRight,0, +0.3f, +0.9f);
- MAP_ANALOG(ImGuiNavInput_LStickUp, 1, +0.3f, +0.9f);
- MAP_ANALOG(ImGuiNavInput_LStickDown, 1, -0.3f, -0.9f);
- #undef MAP_BUTTON
- #undef MAP_ANALOG
- if (axes_count > 0 && buttons_count > 0)
- io.BackendFlags |= ImGuiBackendFlags_HasGamepad;
- else
- io.BackendFlags &= ~ImGuiBackendFlags_HasGamepad;
- }
-
- // Start the frame. This call will update the io.WantCaptureMouse, io.WantCaptureKeyboard flag that you can use to dispatch inputs (or not) to your application.
- ImGui::NewFrame();
-}
diff --git a/src/utils/mpc_utils.cpp b/src/utils/mpc_utils.cpp
index 95ef293..3e9d2bd 100644
--- a/src/utils/mpc_utils.cpp
+++ b/src/utils/mpc_utils.cpp
@@ -129,7 +129,6 @@ void randomCovariances(arma::cube* Sigma, const arma::mat& Mu, const arma::vec&
vec s = (minRnd+(randu(2)*(1.-minRnd))) % covscale;
if(!semiTied)
theta = -PI + arma::randu()*2.*PI;
- mat sigm = makeSigma(theta, s);
Sigma->slice(i) = makeSigma(theta, s);
}
}
--
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