arbitrator.h

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/*
 * Copyright (C) 2006-2020 Istituto Italiano di Tecnologia (IIT)
 * All rights reserved.
 *
 * This software may be modified and distributed under the terms of the
 * BSD-3-Clause license. See the accompanying LICENSE file for details.
 */
 
#ifndef YARP_MANAGER_ARBITRATOR
#define YARP_MANAGER_ARBITRATOR
 
#include <map>
#include <vector>
 
#include <yarp/manager/ymm-types.h>
#include <yarp/manager/node.h>
#include <yarp/manager/utility.h>
 
 
namespace yarp {
namespace manager {
 
 
class Arbitrator {
public:
    Arbitrator() = default;
    Arbitrator(const char* szPort) : strPort(szPort) {}
    ~Arbitrator() = default;
 
    void setPort(const char* szPort) { if(szPort) { strPort = szPort; } }
 
    const char* getPort() { return strPort.c_str(); }
 
    const char* getRule(const char* con)
    {
        if(con && (rules.find(con) != rules.end())) {
            return rules[con].c_str();
        }
        return nullptr;
    }
 
    std::map<std::string, std::string>& getRuleMap() { return rules; }
    int ruleCount() { return rules.size(); }
 
    GraphicModel* getModel() { return model;}
    void setModel(GraphicModel* mdl) { model = mdl; };
 
    // modelBased is used to keep the graphic and geometric
    // information which is directly loaded from application
    // description file.
    GraphicModel& getModelBase() { return modelBase;}
    void setModelBase(GraphicModel& mdl) { modelBase = mdl; };
 
    void setOwner(Node* owner){ appOwner = owner; }
    Node* owner() { return appOwner; }
 
    bool operator==(const Arbitrator& alt) const {
        return (strPort == alt.strPort);
    }
 
    std::map<std::string, double>& getAlphas( const char* con) {
        return alphas[con];
    }
 
    double getBias(const char* con) {
        return biases[con];
    }
 
    void addRule(const char* con, const char* rule);
    void removeRule(const char* con);
    bool trainWeights(const char* opnd);
    bool trainWeights();
    bool validate();
 
protected:
 
private:
    std::string strPort;
    std::map<std::string, std::string> rules;
    GraphicModel* model {nullptr};
    GraphicModel modelBase;
    Node* appOwner {nullptr};
 
    std::map<std::string, std::map<std::string, double> > alphas;
    std::map<std::string, double> biases;
 
};
 
 
typedef std::vector<Arbitrator> ArbContainer;
typedef std::vector<Arbitrator>::iterator ArbIterator;
 
} // namespace yarp
} // namespace manager
 
 
#endif // __YARP_MANAGER_ARBITRATOR__