def calculateMostLikely(self):
""" Calculates the indices of the most likely trajectory.
The result alternates between point indices and path indices
and correspond to the candidate points and candidate paths.
"""
# a LearningTrajectory is the basic data structure that stores the
# features (scores candidate states candidate paths), and transitions
# (indices to look up those states or paths).
traj = LearningTrajectory(self.features, self.transitions)
# The viterbi is a specific algorithm that calculates the most likely
# states and most likley paths. The key output are the indices noted
# below, which can be used to look up the specific candidate states
# and candidate paths (although those must be stored externally.
# There is one index for each feature.
viterbi = TrajectoryViterbi1(traj, self.THETA)
try:
viterbi.computeAssignments()
except (ValueError):
for f in self.features:
print(f)
for t in self.transitions:
print(t)
print(self.THETA)
raise
# The indexes of the most likely elements of the trajectory
# Point indexes and path indexes are interleaved.
self.most_likely_indices = viterbi.assignments
def simple_traj2():
""" Simple trajectory, tests correct indices.
"""
features = [
[[0.0, 2.0]],
[[2.0, 0.0], [-1.0, 0.0]],
]
connections = [[(0, 0), (0, 1)]]
traj = LearningTrajectory(features, connections)
return traj
def simple_traj1():
""" Simple trajectory.
"""
features = [
[[1.0, 0.0], [-2.0, 0.0]],
[[0.0, 1.0]],
]
connections = [[(1, 0), (0, 0)]]
traj = LearningTrajectory(features, connections)
return traj
def simple_traj3():
""" Simple trajectory with large features,
breaks non log-based implementations.
"""
features = [
[[0, 200]],
[[200, 0], [-100, 0]],
]
connections = [[(0, 0), (0, 1)]]
traj = LearningTrajectory(features, connections)
return traj
def simple_traj10():
""" Simple trajectory, with a single feature and feature values
that are very big. Should cause some underflow problems.
"""
features = [
[[1000.0, 0.0], [2000.0, 0.0]],
[[500.0, 0.0], [3000.0, 0.0]],
]
connections = [[(0, 0), (0, 1), (1, 1)]]
traj = LearningTrajectory(features, connections)
return traj
def simple_traj7():
""" Simple trajectory, with a disconnected point.
This case should be properly handled.
"""
features = [
[[1.0], [-2.0]],
[[-1.0], [-2.0]],
]
connections = [[(0, 0)]]
traj = LearningTrajectory(features, connections)
return traj
def simple_traj9():
""" Simple trajectory, with a single feature and feature values
that are all zeros.
Feature values are small enough to be safe against underflows.
"""
features = [
[[1.0], [2.0]],
[[1.0], [2.0]],
]
connections = [[(0, 0), (0, 1), (1, 1)]]
traj = LearningTrajectory(features, connections)
return traj
def calculateProbabilities(self):
""" Calculates the probabilities for all possible options.
The result alternates between point indices and path indices
and correspond to the candidate points and candidate paths.
Returns the probabilities.
"""
# The smoother is a different algorithm that gives probabilities instead
# of the most likley.
traj = LearningTrajectory(self.features, self.transitions)
smoother = TrajectorySmoother1(traj, self.THETA)
smoother.computeProbabilities()
return smoother.probabilities
def simple_traj6():
""" Simple trajectory with more than 3 elements.
"""
features = [
[[1.0, 0.0], [-2.0, 0.0]],
[[0.0, 1.0]],
[[0.0, -1.0], [0.0, 2.0], [0.5, 0.5]],
[[0.0, -1.0], [0.0, 2.0], [0.5, 0.5]],
]
connections = [
[(1, 0), (0, 0)],
[(0, 0), (0, 1), (0, 2)],
[(1, 0), (2, 1), (0, 2)],
]
traj = LearningTrajectory(features, connections)
return traj
# NOTES (gde): fill up the data structures used by the algoritms
transitions.append(trans1)
paths_features = []
for path_ in ps:
paths_features.append(path_feature_vector(path_, tt_))
features.append(paths_features)
transitions.append(trans2)
features.append(point_feature_vector(sc2))
""" We can build a trajectory.
"""
# NOTES (gde):
#
# a LearningTrajectory is the basic data structure that stores the
# features (scores candidate states candidate paths), and transitions
# (indices to look up those states or paths).
traj = LearningTrajectory(features, transitions)
""" *** Running filters ***
"""
""" Weight vector of the model.
Note: these weights have not be tuned in any way and are here for
demonstration only.
"""
# NOTES (gde):
#
# theta determines the relative weights of the pathscores versus
# the pointscores. What are recommended values?
# Also beware of units!
theta = np.array([1, 1])
""" Viterbi filter (most likely elements) """
# NOTES (gde):
