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Revision 15, 1.7 KB
(checked in by jgaeddert, 16 years ago)
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reformatting goals, etc.; still needs work
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| [14] | 1 | // |
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| 2 | // Utility |
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| 3 | // |
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| 4 | |
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| 5 | #include <math.h> |
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| 6 | #include <stdlib.h> |
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| [15] | 7 | #include <stdbool.h> |
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| 8 | |
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| [14] | 9 | #include "utility.h" |
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| 10 | |
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| 11 | typedef float(*utility_function_prototype)(float _x, float _eta, float _sig); |
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| [15] | 12 | float util_func_tanh(float _x, float _eta, float _sig); |
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| [14] | 13 | float util_func_gauss(float _x, float _eta, float _sig); |
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| 14 | |
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| 15 | struct utility_s { |
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| 16 | float target; |
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| [15] | 17 | int goal; |
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| [14] | 18 | int scale; |
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| [15] | 19 | bool flip; |
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| [14] | 20 | utility_function_prototype f; |
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| 21 | float eta; |
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| 22 | float sig; |
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| 23 | }; |
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| 24 | |
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| [15] | 25 | utility utility_create(float _target, int _goal, int _scale) |
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| [14] | 26 | { |
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| 27 | utility u = (utility) malloc(sizeof(struct utility_s)); |
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| 28 | u->target = _target; |
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| [15] | 29 | u->goal = _goal; |
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| [14] | 30 | u->scale = _scale; |
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| 31 | |
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| [15] | 32 | switch (u->goal) { |
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| 33 | case UTIL_GOAL_MIN: |
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| 34 | u->f = &util_func_tanh; |
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| 35 | u->eta = u->target; |
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| 36 | u->sig = 1.0f; |
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| 37 | u->flip = true; |
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| 38 | break; |
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| 39 | case UTIL_GOAL_MAX: |
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| 40 | u->f = &util_func_tanh; |
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| 41 | u->eta = u->target; |
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| 42 | u->sig = 1.0f; |
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| 43 | u->flip = false; |
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| 44 | break; |
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| 45 | case UTIL_GOAL_MEET: |
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| [14] | 46 | u->f = &util_func_gauss; |
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| 47 | u->eta = u->target; |
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| 48 | u->sig = 1.0f; |
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| [15] | 49 | u->flip = false; |
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| [14] | 50 | break; |
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| [15] | 51 | case UTIL_GOAL_AVOID: |
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| 52 | u->f = &util_func_gauss; |
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| 53 | u->eta = u->target; |
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| [14] | 54 | u->sig = 1.0f; |
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| [15] | 55 | u->flip = true; |
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| [14] | 56 | break; |
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| 57 | default:; |
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| 58 | } |
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| 59 | |
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| 60 | return u; |
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| 61 | } |
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| 62 | |
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| 63 | void utility_free(utility _u) |
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| 64 | { |
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| 65 | free(_u); |
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| 66 | } |
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| 67 | |
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| 68 | float utility_evaluate(utility _u, float _x) |
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| 69 | { |
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| [15] | 70 | float y = _x; |
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| 71 | if (_u->scale==UTIL_SCALE_LOG) |
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| [14] | 72 | y = logf(y); |
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| [15] | 73 | float v = _u->f( y, _u->eta, _u->sig); |
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| 74 | return (_u->flip) ? 1-v : v; |
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| [14] | 75 | |
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| 76 | } |
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| 77 | |
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| [15] | 78 | float util_func_tanh(float _x, float _eta, float _sig) { |
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| [14] | 79 | return tanhf((_x-_eta)/_sig); |
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| 80 | } |
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| 81 | |
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| 82 | float util_func_gauss(float _x, float _eta, float _sig) { |
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| 83 | return expf( -powf((_x-_eta),2)/(2*_sig*_sig) ); |
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| 84 | } |
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| 85 | |
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