66 lines
2.0 KiB
C
66 lines
2.0 KiB
C
|
//
|
||
|
|
// Created by sph on 2024/1/4.
|
||
|
|
//
|
||
|
|
|
||
|
|
#ifndef ADAMFITTING_ADAMFITTER_H
|
||
|
|
#define ADAMFITTING_ADAMFITTER_H
|
||
|
|
|
||
|
|
#include<Eigen/Dense>
|
||
|
|
#include <vector>
|
||
|
|
|
||
|
|
namespace fitter {
|
||
|
|
|
||
|
|
class AdamFitter {
|
||
|
|
private:
|
||
|
|
double a_;
|
||
|
|
double omega_;
|
||
|
|
double phi_;
|
||
|
|
double b_;
|
||
|
|
int num_iterations_;
|
||
|
|
|
||
|
|
double beta1_ = 0.9;
|
||
|
|
double beta2_ = 0.999;
|
||
|
|
double learning_rate_ = 0.1;
|
||
|
|
double epsilon_ = 1e-8;
|
||
|
|
double convergence_threshold_ = 1e-6;
|
||
|
|
|
||
|
|
//一阶矩和二阶矩
|
||
|
|
double m_a_;
|
||
|
|
double v_a_;
|
||
|
|
double m_omega_;
|
||
|
|
double v_omega_;
|
||
|
|
double m_phi_;
|
||
|
|
double v_phi_;
|
||
|
|
double m_b_;
|
||
|
|
double v_b_;
|
||
|
|
|
||
|
|
static double loss(const Eigen::ArrayXd &angular_velocity, const Eigen::ArrayXd &angular_velocity_pred);
|
||
|
|
|
||
|
|
public:
|
||
|
|
explicit AdamFitter(double a = 0.9125,
|
||
|
|
double omega = 1.9420,
|
||
|
|
double phi = 1.0707,
|
||
|
|
double b = 1.1775,
|
||
|
|
int num_iterations = 1000,
|
||
|
|
double beta1 = 0.9,
|
||
|
|
double beta2 = 0.999,
|
||
|
|
double learning_rate = 0.1,
|
||
|
|
double epsilon = 1e-6,
|
||
|
|
double convergence_threshold = 1e-5,
|
||
|
|
double m_a = 0.0,
|
||
|
|
double v_a = 0.0,
|
||
|
|
double m_omega = 0.0,
|
||
|
|
double v_omega = 0.0,
|
||
|
|
double m_phi = 0.0,
|
||
|
|
double v_phi = 0.0,
|
||
|
|
double m_b = 0.0,
|
||
|
|
double v_b = 0.0);
|
||
|
|
|
||
|
|
bool Fitting(const Eigen::ArrayXd &t, const Eigen::ArrayXd &angular_velocity, std::vector<double> *result);
|
||
|
|
static Eigen::ArrayXd sine_function(const Eigen::ArrayXd &t, double a, double omega, double phi, double b);
|
||
|
|
|
||
|
|
};
|
||
|
|
} // fitter
|
||
|
|
|
||
|
|
#endif //ADAMFITTING_ADAMFITTER_H
|