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annotate toolboxes/FullBNT-1.0.7/bnt/examples/dynamic/HHMM/Square/Old/sample_square_hhmm.m @ 0:e9a9cd732c1e tip

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first hg version after svn
author wolffd
date Tue, 10 Feb 2015 15:05:51 +0000
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wolffd@0 1
wolffd@0 2 seed = 0;
wolffd@0 3 rand('state', seed);
wolffd@0 4 randn('state', seed);
wolffd@0 5
wolffd@0 6 discrete_obs = 1;
wolffd@0 7 topright = 0;
wolffd@0 8
wolffd@0 9 Qsizes = [2 4 2];
wolffd@0 10 D = 3;
wolffd@0 11 Qnodes = 1:D;
wolffd@0 12 startprob = cell(1,D);
wolffd@0 13 transprob = cell(1,D);
wolffd@0 14 termprob = cell(1,D);
wolffd@0 15
wolffd@0 16 % LEVEL 1
wolffd@0 17
wolffd@0 18 startprob{1} = 'ergodic';
wolffd@0 19 transprob{1} = 'ergodic';
wolffd@0 20
wolffd@0 21 % LEVEL 2
wolffd@0 22
wolffd@0 23 startprob{2} = zeros(2, 4);
wolffd@0 24 startprob{2}(1, :) = [1 0 0 0];
wolffd@0 25 if topright
wolffd@0 26 startprob{2}(2, :) = [0 0 1 0];
wolffd@0 27 else
wolffd@0 28 startprob{2}(2, :) = [0 1 0 0];
wolffd@0 29 end
wolffd@0 30
wolffd@0 31 transprob{2} = zeros(4, 2, 4);
wolffd@0 32
wolffd@0 33 transprob{2}(:,1,:) = [0 1 0 0
wolffd@0 34 0 0 1 0
wolffd@0 35 0 0 0 1
wolffd@0 36 0 0 0 1]; % 4->e
wolffd@0 37 if topright
wolffd@0 38 transprob{2}(:,2,:) = [0 0 0 1
wolffd@0 39 1 0 0 0
wolffd@0 40 0 1 0 0
wolffd@0 41 0 0 0 1]; % 4->e
wolffd@0 42 else
wolffd@0 43 transprob{2}(:,2,:) = [0 0 0 1
wolffd@0 44 1 0 0 0
wolffd@0 45 0 0 1 0 % 3->e
wolffd@0 46 0 0 1 0];
wolffd@0 47 end
wolffd@0 48
wolffd@0 49 %termprob{2} = 'rightstop';
wolffd@0 50 termprob{2} = zeros(2,4,2);
wolffd@0 51 pfin = 0.8;
wolffd@0 52 termprob{2}(1,:,2) = [0 0 0 pfin]; % finish in state 4 (DU)
wolffd@0 53 termprob{2}(1,:,1) = 1 - [0 0 0 pfin];
wolffd@0 54 if topright
wolffd@0 55 termprob{2}(2,:,2) = [0 0 0 pfin];
wolffd@0 56 termprob{2}(2,:,1) = 1 - [0 0 0 pfin];
wolffd@0 57 else
wolffd@0 58 termprob{2}(2,:,2) = [0 0 pfin 0]; % finish in state 3 (RL)
wolffd@0 59 termprob{2}(2,:,1) = 1 - [0 0 pfin 0];
wolffd@0 60 end
wolffd@0 61
wolffd@0 62 % LEVEL 3
wolffd@0 63
wolffd@0 64 startprob{3} = 'leftstart';
wolffd@0 65 transprob{3} = 'leftright';
wolffd@0 66 termprob{3} = 'rightstop';
wolffd@0 67
wolffd@0 68
wolffd@0 69 % OBS LEVEl
wolffd@0 70
wolffd@0 71 if discrete_obs
wolffd@0 72 chars = ['L', 'l', 'U', 'u', 'R', 'r', 'D', 'd'];
wolffd@0 73 L=find(chars=='L'); l=find(chars=='l');
wolffd@0 74 U=find(chars=='U'); u=find(chars=='u');
wolffd@0 75 R=find(chars=='R'); r=find(chars=='r');
wolffd@0 76 D=find(chars=='D'); d=find(chars=='d');
wolffd@0 77 Osize = length(chars);
wolffd@0 78
wolffd@0 79 obsprob = zeros([4 2 Osize]);
wolffd@0 80 % Q2 Q3 O
wolffd@0 81 obsprob(1, 1, L) = 1.0;
wolffd@0 82 obsprob(1, 2, l) = 1.0;
wolffd@0 83 obsprob(2, 1, U) = 1.0;
wolffd@0 84 obsprob(2, 2, u) = 1.0;
wolffd@0 85 obsprob(3, 1, R) = 1.0;
wolffd@0 86 obsprob(3, 2, r) = 1.0;
wolffd@0 87 obsprob(4, 1, D) = 1.0;
wolffd@0 88 obsprob(4, 2, d) = 1.0;
wolffd@0 89
wolffd@0 90 Oargs = {'CPT', obsprob};
wolffd@0 91 else
wolffd@0 92 Osize = 2;
wolffd@0 93 mu = zeros(2, 4, 2);
wolffd@0 94 noise = 0;
wolffd@0 95 scale = 10;
wolffd@0 96 for q3=1:2
wolffd@0 97 mu(:, 1, q3) = scale*[1;0] + noise*rand(2,1);
wolffd@0 98 end
wolffd@0 99 for q3=1:2
wolffd@0 100 mu(:, 2, q3) = scale*[0;-1] + noise*rand(2,1);
wolffd@0 101 end
wolffd@0 102 for q3=1:2
wolffd@0 103 mu(:, 3, q3) = scale*[-1;0] + noise*rand(2,1);
wolffd@0 104 end
wolffd@0 105 for q3=1:2
wolffd@0 106 mu(:, 4, q3) = scale*[0;1] + noise*rand(2,1);
wolffd@0 107 end
wolffd@0 108 Sigma = repmat(reshape(0.01*eye(2), [2 2 1 1 ]), [1 1 4 2]);
wolffd@0 109 Oargs = {'mean', mu, 'cov', Sigma};
wolffd@0 110 end
wolffd@0 111
wolffd@0 112 bnet = mk_hhmm('Qsizes', Qsizes, 'Osize', Osize', 'discrete_obs', discrete_obs, ...
wolffd@0 113 'Oargs', Oargs, 'Ops', Qnodes(2:3), ...
wolffd@0 114 'startprob', startprob, 'transprob', transprob, 'termprob', termprob);
wolffd@0 115
wolffd@0 116 if discrete_obs
wolffd@0 117 Tmax = 30;
wolffd@0 118 else
wolffd@0 119 Tmax = 200;
wolffd@0 120 end
wolffd@0 121 usecell = ~discrete_obs;
wolffd@0 122 Q1 = 1; Q2 = 2; Q3 = 3; F3 = 4; F2 = 5; Onode = 6;
wolffd@0 123 Qnodes = [Q1 Q2 Q3]; Fnodes = [F2 F3];
wolffd@0 124
wolffd@0 125 for seqi=1:3
wolffd@0 126 evidence = sample_dbn(bnet, Tmax, usecell, 'stop_sampling_F2');
wolffd@0 127 T = size(evidence, 2)
wolffd@0 128 if discrete_obs
wolffd@0 129 pretty_print_hhmm_parse(evidence, Qnodes, Fnodes, Onode, chars);
wolffd@0 130 else
wolffd@0 131 pos = zeros(2,T+1);
wolffd@0 132 delta = cell2num(evidence(Onode,:));
wolffd@0 133 clf
wolffd@0 134 hold on
wolffd@0 135 cols = {'r', 'g', 'k', 'b'};
wolffd@0 136 boundary = cell2num(evidence(F3,:))-1;
wolffd@0 137 coli = 1;
wolffd@0 138 for t=2:T+1
wolffd@0 139 pos(:,t) = pos(:,t-1) + delta(:,t-1);
wolffd@0 140 plot(pos(1,t), pos(2,t), sprintf('%c.', cols{coli}));
wolffd@0 141 if boundary(t-1)
wolffd@0 142 coli = coli + 1;
wolffd@0 143 coli = mod(coli-1, length(cols)) + 1;
wolffd@0 144 end
wolffd@0 145 end
wolffd@0 146 %plot(pos(1,:), pos(2,:), '.')
wolffd@0 147 %pretty_print_hhmm_parse(evidence, Qnodes, Fnodes, Onode, []);
wolffd@0 148 pause
wolffd@0 149 end
wolffd@0 150 end
wolffd@0 151
wolffd@0 152 eclass = bnet.equiv_class;
wolffd@0 153 S=struct(bnet.CPD{eclass(Q2,2)});
wolffd@0 154
wolffd@0 155
wolffd@0 156
wolffd@0 157
wolffd@0 158
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wolffd@0 160