Robot Simulator of the Robotics Group for Self-Organization of Control: layer.h Source File

# layer.h

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    00001 /***************************************************************************
    00002  *   Copyright (C) 2005-2011 LpzRobots development team                    *
    00003  *    Georg Martius  <georg dot martius at web dot de>                     *
    00004  *    Frank Guettler <guettler at informatik dot uni-leipzig dot de        *
    00005  *    Frank Hesse    <frank at nld dot ds dot mpg dot de>                  *
    00006  *    Ralf Der       <ralfder at mis dot mpg dot de>                       *
    00007  *                                                                         *
    00008  *   This program is free software; you can redistribute it and/or modify  *
    00009  *   it under the terms of the GNU General Public License as published by  *
    00010  *   the Free Software Foundation; either version 2 of the License, or     *
    00011  *   (at your option) any later version.                                   *
    00012  *                                                                         *
    00013  *   This program is distributed in the hope that it will be useful,       *
    00014  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
    00015  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
    00016  *   GNU General Public License for more details.                          *
    00017  *                                                                         *
    00018  *   You should have received a copy of the GNU General Public License     *
    00019  *   along with this program; if not, write to the                         *
    00020  *   Free Software Foundation, Inc.,                                       *
    00021  *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
    00022  *                                                                         *
    00023  ***************************************************************************/
    00024 #ifndef __NETWORKLAYER_H
    00025 #define __NETWORKLAYER_H
    00026
    00027 #include <vector>
    00028
    00029 #include "feedforwardnn.h"
    00030
    00031 class Layer : public Storeable {
    00032 public:
    00033   /** constructor for Layer.
    00034       The derivative and inverse of activation function is derived automatically.
    00035       @param size number neurons
    00036       @param factor_bias size of bias neuron , if 0 no bias is used
    00037       @param actfun activation function. see also FeedForwardNN
    00038   */
    00039   Layer(int size, double factor_bias=0.1,
    00040         ActivationFunction actfun = FeedForwardNN::linear);
    00041
    00042   /** obsolete, use the other constructor for Layer.
    00043       @param size number neurons
    00044       @param factor_bias size of bias neuron , if 0 no bias is used
    00045       @param actfun activation function. see also FeedForwardNN
    00046       @param dactfun derivative of activation function (should be consistent with actfun)
    00047   */
    00048   Layer(int size, double factor_bias,
    00049         ActivationFunction actfun,
    00050         ActivationFunction dactfun) {
    00051     fprintf(stderr, "%s %s\n", "Layer::Layer(): this contructor is obsolete! ",
    00052             "Please use the one without dactfun now!\n");
    00053     exit(1);
    00054   }
    00055
    00056   /***STOREABLE ******/
    00057   /// stores the layer binary into file stream
    00058   bool store(FILE* f) const;
    00059   /// restores the layer binary from file stream
    00060   bool restore(FILE* f);
    00061
    00062   /// sets the activation function of the layer
    00063   void setActFun(ActivationFunction actfun);
    00064
    00065   int size;
    00066   double factor_bias;
    00067   ActivationFunction actfun;  ///< callback activation function
    00068   ActivationFunction dactfun; ///< first derivative of the activation function
    00069   InvActivationFunction invactfun; ///< inversion of activation function
    00070
    00071   // prints the Layer data-structure
    00072   friend std::ostream& operator<<(std::ostream& , const Layer&);
    00073 };
    00074
    00075 #endif