Refactor/new arch armem

source/RobotAPI/libraries/DSControllers/Gaussians.h

-/*
- * Gaussians.h
- *
- *  Created on: Nov 19, 2011
- *      Author: Seungsu KIM
- */
-
-#ifndef __GAUSSIANSM_H__
-#define __GAUSSIANSM_H__
-
-#include "MathLib.h"
-
-#define GAUSSIAN_MAXIMUM_NUMBER 50
-
-struct GMMState
-{
-    ::MathLib::Vector Mu;
-    ::MathLib::Matrix Sigma;
-    double Prio;
-};
-
-struct GMMStateP
-{
-    MathLib::Vector MuI;
-    MathLib::Matrix SigmaII;
-    MathLib::Matrix SigmaIIInv;
-    double detSigmaII;
-
-    // for GMR
-    MathLib::Vector muO;
-    MathLib::Matrix SigmaIO;
-    MathLib::Matrix SigmaIOInv;
-};
-
-struct GMMs
-{
-    unsigned int nbStates;
-    unsigned int nbDim;
-
-    GMMState  States[GAUSSIAN_MAXIMUM_NUMBER];
-};
-
-class Gaussians
-{
-private:
-    GMMStateP gmmpinv[GAUSSIAN_MAXIMUM_NUMBER];
-
-public:
-    GMMs model;
-
-    Gaussians(const char* f_mu, const char* f_sigma, const char* f_prio);
-    Gaussians(int nbStates, int nbDim, const char* f_mu, const char* f_sigma, const char* f_prio);
-    Gaussians(const int nbStates, const int nbDim, const vector<double> pri_vec, const vector<double> mu_vec, const vector<double> sig_vec);
-    Gaussians(GMMs* model);
-
-    void setGMMs(GMMs* model);
-
-    // For fast computation of GaussianPDF
-    MathLib::Vector gfDiff, gfDiffp;
-    MathLib::Vector gDer;
-    MathLib::Vector gPdf;
-    int nbDimI;
-
-
-    void InitFastGaussians(int first_inindex, int last_inindex);
-    double GaussianPDFFast(int state, MathLib::Vector x);
-    double GaussianProbFast(MathLib::Vector x);
-    MathLib::Vector GaussianDerProbFast(MathLib::Vector x);
-
-    void InitFastGMR(int first_inindex, int last_inindex, int first_outindex, int last_outindex);
-    void Regression(const MathLib::Vector& indata, MathLib::Vector& outdata, MathLib::Matrix& derGMR);
-    void Regression(const MathLib::Vector& indata, MathLib::Vector& outdata);
-    MathLib::Vector Regression(const MathLib::Vector& indata);
-
-};
-/*
-void GaussianMux(GMMs *modelK, GMMs *modelL, GMMs *modelOut);
-void GaussianRotate(GMMs *model, Vector P, Matrix R, GMMs *modelOut);
-*/
-
-#endif //__GAUSSIANS_H__