pasula_learner_alg.cpp

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#include "pasula_learner_alg.h"

PasulaLearnerAlgorithm::PasulaLearnerAlgorithm(void)
{
}

PasulaLearnerAlgorithm::~PasulaLearnerAlgorithm(void)
{
}

void PasulaLearnerAlgorithm::config_update(Config& new_cfg, uint32_t level)
{
  this->lock();

  this->rules_file = new_cfg.rules_file;
  this->transitions_file = new_cfg.transitions_file;
  this->symbols_file = new_cfg.symbols_file;
  
  // Regularizer
  this->alpha_pen = new_cfg.alpha_pen;
  // Lower bounds for probabilities of states in case of noise outcome
  this->noise_lower_bound = new_cfg.noise_lower_bound;
  // ... same, only for noisy default rule
  this->noise_lower_bound_default_rule = new_cfg.noise_lower_bound_default_rule;
  
  // save the current configuration
  this->config_=new_cfg;
  
  this->unlock();
}

// PasulaLearnerAlgorithm Public API
bool PasulaLearnerAlgorithm::learn_rules()
{
        // Rule learning algorithm is heuristic and makes some random choices.
        srand (time(NULL));
        rnd.seed(rand());
        
        // -------------------------------------
        //  PARAMETERS
        // -------------------------------------
        
        // Log-file
        MT::String logfile("learn.log");
                
        // Symbols
        relational::SymL symbols;
        relational::ArgumentTypeL types;
        relational::readSymbolsAndTypes(symbols, types, MT::String(this->symbols_file.c_str() ));
                
        // Data
        relational::StateTransitionL transitions = relational::StateTransition::read_SAS_SAS(MT::String(this->transitions_file.c_str() ));
        PRINT(transitions.N);
        //   write(transitions);
                
        
        // -------------------------------------
        //  LEARN
        // -------------------------------------
                
        relational::learn::set_penalty(alpha_pen);
        relational::learn::set_p_min(noise_lower_bound, noise_lower_bound_default_rule);
        relational::RuleSetContainer rulesC;
        ROS_INFO("Starting learning");
        relational::learn::learn_rules(rulesC, transitions); 
        
        relational::write(rulesC.rules, MT::String(this->rules_file.c_str() ));
        ROS_INFO_STREAM("Rules learned");
        
        return true;
}