New demo_DPMeans_Online01.m example

README.md

@@ -83,6 +83,7 @@ All the examples are located in the main folder, and the functions are located i
 | demo_DMP_GMR04 | Same as demo_DMP_GMR03 by using the task-parameterized model formalism | 
 | demo_DMP_GMR_LQR01 | Same as demo_DMP_GMR04 but with LQR used to refine the parameters of the spring-damper system | 
 | demo_DMP_GMR_LQR02 | Same as demo_DMP_GMR_LQR01 with perturbations added to show the benefit of full covariance to coordinate disturbance rejection | 
+| demo_DPMeans_Online01 | Online clustering with DP-Means algorithm |
 | demo_DSGMR01 | Gaussian mixture model (GMM), with Gaussian mixture regression(GMR) and dynamical systems used for reproduction, with decay variable used as input (as in DMP) |
 | demo_DTW01 | Trajectory realignment through dynamic time warping (DTW) |
 | demo_GMM01 | Gaussian mixture model (GMM) parameters estimation |

demo_DPMeans_Online01.m

+function demo_DPMeans_Online01
+%Online clustering with DP-Means algorithm
+%Danilo Bruno, 2015
+
+addpath('./m_fcts/');
+
+
+%% Parameters
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+minSigma = 1E-5;
+exitFlag = 0;
+runningFlag = 0;
+N = 0;
+lambda = 0.04;
+
+%% Online GMM parameters estimation
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+fig = figure('position',[10 10 700 700]); hold on; box on; axis off;
+setappdata(fig,'exitFlag',exitFlag);
+setappdata(fig,'runningFlag',runningFlag);
+set(fig,'WindowButtonDownFcn',{@wbd});
+disp('-Left mouse button to draw several trajectories');
+disp('-Right mouse button when done');
+axis([-0.1 0.1 -0.1 0.1]);
+
+h = [];
+model = [];
+while exitFlag==0
+	drawnow;
+	if runningFlag==1
+		cur_point = get(gca,'Currentpoint');
+		P = cur_point(1,1:2)';
+		[model,N] = OnlineEMDP(N,P,minSigma,model,lambda);
+		plot(P(1),P(2),'k.','markerSize',5);
+		delete(h);
+		h = plotGMM(model.Mu,model.Sigma,[1 0 0],0.6);
+	end
+	runningFlag = getappdata(fig,'runningFlag');
+	exitFlag = getappdata(fig,'exitFlag');
+end
+
+close all;
+end
+
+% -----------------------------------------------------------------------
+function wbd(h,evd) % executes when the mouse button is pressed
+	%disp('button down');
+	muoseside = get(gcf,'SelectionType');
+	if strcmp(muoseside,'alt')==1
+		setappdata(gcf,'exitFlag',1);
+		return;
+	end
+	%get the values and store them in the figure's appdata
+	props.WindowButtonMotionFcn = get(h,'WindowButtonMotionFcn');
+	props.WindowButtonUpFcn = get(h,'WindowButtonUpFcn');
+	setappdata(h,'TestGuiCallbacks',props);
+	set(h,'WindowButtonMotionFcn',{@wbm});
+	set(h,'WindowButtonUpFcn',{@wbu});
+	setappdata(gcf,'runningFlag',1);
+end
+% -----------------------------------------------------------------------
+function wbm(h,evd) % executes while the mouse moves
+	%disp('mouse moves');
+end
+% -----------------------------------------------------------------------
+function wbu(h,evd) % executes when the mouse button is released
+	%disp('button released');
+	setappdata(gcf,'runningFlag',0);
+	%get the properties and restore them
+	props = getappdata(h,'TestGuiCallbacks');
+	set(h,props);
+end