backprop.h

基于神经网络的乒乓球机器人乒乓球轨迹预测代码

//////////////////////////////////////////////
//	Fully connected multilayered feed		//
//	forward	artificial neural network using	//
//	Backpropogation	algorithm for training.	//
//////////////////////////////////////////////


#ifndef backprop_h
#define backprop_h


#include<iostream.h>
#include<math.h>
#include<assert.h>
#include<stdio.h>
#include <string>
#include <sstream>
#include <fstream>
using namespace std;
#define filesize 500


class exfile
{
public:
	char *path;
	double nfx,nfy,nfz;
	double interval;
	double *t;
	int gotit;
	int incount;
	int prepoints;
	double *x, *y,*z;
	double losex,losey,losez,height,compx,compy;
	double *datax,*predatax,*traindatax;
	double *datay,*predatay,*traindatay;
	double *dataz,*predataz,*traindataz;
	double *wantedx,*wantedy,*wantedz;
	ifstream infile;
	ofstream outfile;
	stringstream stream;

public:
	exfile(double iv,double nx,double ny,double nz,
		double lx,double ly,double lz,double ht,
		double cpx,double cpy);

	int opendata(char *path);

	void readdata(char *pr);

	void writedata(char *pw);

	void maketd_pd(int inc);

	void collide(int tp);

	void update(double nextdatax,double nextdatay,double nextdataz,
		int tp);

	~exfile();
};


class CBackProp{
public:

//	output of each neuron
	double **out;

//	delta error value for each neuron
	double **delta;

//	vector of weights for each neuron
	double ***weight;

//	no of layers in net
//	including input layer
	int numl;

//	vector of numl elements for size 
//	of each layer
	int *lsize;

//	learning rate
	double beta;

//	momentum parameter
	double alpha;

//	storage for weight-change made
//	in previous epoch
	double ***prevDwt;

//	squashing function
	double sigmoid(double in);

public:

	~CBackProp();

//	initializes and allocates memory
	CBackProp(int nl,int *sz,double b,double a);

//	backpropogates error for one set of input
	void bpgt(double *in,double *tgt);

//	feed forwards activations for one set of inputs
	void ffwd(double *in);

//	returns mean square error of the net
	double mse(double *tgt) const;	
	
//	returns i'th output of the net
	double Out(int i) const;
};

#endif