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<div id="projectname">MyLibs<span id="projectnumber"> 1.0</span>
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<div id="projectbrief">Расширенные библиотеки для STM32</div>
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<div class="headertitle"><div class="title">evolve_optimizer.h</div></div>
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<a href="evolve__optimizer_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno"> 1</span><span class="comment">/**</span></div>
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<div class="line"><a id="l00002" name="l00002"></a><span class="lineno"> 2</span><span class="comment">******************************************************************************</span></div>
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<div class="line"><a id="l00003" name="l00003"></a><span class="lineno"> 3</span><span class="comment">* @file evolve_optimizer.h</span></div>
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<div class="line"><a id="l00004" name="l00004"></a><span class="lineno"> 4</span><span class="comment">* @brief Заголовочный файл для адаптивного подбора параметров</span></div>
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<div class="line"><a id="l00005" name="l00005"></a><span class="lineno"> 5</span><span class="comment">******************************************************************************</span></div>
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<div class="line"><a id="l00006" name="l00006"></a><span class="lineno"> 6</span><span class="comment">* @addtogroup EVOLVE_OPTIMIZER Evolve optimizer</span></div>
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<div class="line"><a id="l00007" name="l00007"></a><span class="lineno"> 7</span><span class="comment">* @ingroup MYLIBS_DEFINES</span></div>
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<div class="line"><a id="l00008" name="l00008"></a><span class="lineno"> 8</span><span class="comment">* @brief Библиотека для эволюционного подбора параметров</span></div>
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<div class="line"><a id="l00009" name="l00009"></a><span class="lineno"> 9</span><span class="comment">* @details</span></div>
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<div class="line"><a id="l00010" name="l00010"></a><span class="lineno"> 10</span><span class="comment">Поддерживает:</span></div>
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<div class="line"><a id="l00011" name="l00011"></a><span class="lineno"> 11</span><span class="comment">- Любое количество параметров</span></div>
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<div class="line"><a id="l00012" name="l00012"></a><span class="lineno"> 12</span><span class="comment">- Генерацию новых параметров на основе лучших кандидатов</span></div>
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<div class="line"><a id="l00013" name="l00013"></a><span class="lineno"> 13</span><span class="comment">- Мутацию для поиска оптимальных параметров</span></div>
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<div class="line"><a id="l00014" name="l00014"></a><span class="lineno"> 14</span><span class="comment">- Несколько независимых оптимизаторов в одной программе</span></div>
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<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"> 15</span><span class="comment"></span> </div>
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<div class="line"><a id="l00016" name="l00016"></a><span class="lineno"> 16</span><span class="comment"></span> </div>
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<div class="line"><a id="l00017" name="l00017"></a><span class="lineno"> 17</span><span class="comment">Параметры для конфигурации:</span></div>
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<div class="line"><a id="l00018" name="l00018"></a><span class="lineno"> 18</span><span class="comment">- @ref ENABLE_EVOLVE_OPTIMIZATION - Включить оптимизацию параметров</span></div>
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<div class="line"><a id="l00019" name="l00019"></a><span class="lineno"> 19</span><span class="comment"> Если библиотека отключена @ref ENABLE_EVOLVE_OPTIMIZATION, то вставляются </span></div>
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<div class="line"><a id="l00020" name="l00020"></a><span class="lineno"> 20</span><span class="comment"> заглушки, никак не влияющие на параметры и остальную программу</span></div>
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<div class="line"><a id="l00021" name="l00021"></a><span class="lineno"> 21</span><span class="comment">- @ref EVOLVE_MAX_PARAMS - Максимальное количество параметров</span></div>
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<div class="line"><a id="l00022" name="l00022"></a><span class="lineno"> 22</span><span class="comment">- @ref EVOLVE_MAX_CANDIDATES - Максимальное количество кандидатов для обучения</span></div>
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<div class="line"><a id="l00023" name="l00023"></a><span class="lineno"> 23</span><span class="comment"></span> </div>
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<div class="line"><a id="l00024" name="l00024"></a><span class="lineno"> 24</span><span class="comment"></span> </div>
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<div class="line"><a id="l00025" name="l00025"></a><span class="lineno"> 25</span><span class="comment">@par Пример использования:</span></div>
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<div class="line"><a id="l00026" name="l00026"></a><span class="lineno"> 26</span><span class="comment">@code</span></div>
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<div class="line"><a id="l00027" name="l00027"></a><span class="lineno"> 27</span><span class="comment">#include "evolve_optimizer.h"</span></div>
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<div class="line"><a id="l00028" name="l00028"></a><span class="lineno"> 28</span><span class="comment">#define N_PARAMS 4</span></div>
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<div class="line"><a id="l00029" name="l00029"></a><span class="lineno"> 29</span><span class="comment">#define N_CANDIDATES 100</span></div>
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<div class="line"><a id="l00030" name="l00030"></a><span class="lineno"> 30</span><span class="comment">#define N_BEST 10</span></div>
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<div class="line"><a id="l00031" name="l00031"></a><span class="lineno"> 31</span><span class="comment">#define IQ_MUTATION (PARAM_SCALE_Q16(0.1, 0, 1))</span></div>
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<div class="line"><a id="l00032" name="l00032"></a><span class="lineno"> 32</span><span class="comment">int32_t params[N_PARAMS];</span></div>
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<div class="line"><a id="l00033" name="l00033"></a><span class="lineno"> 33</span><span class="comment">EvolveOptimizer_t optimizer;</span></div>
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<div class="line"><a id="l00034" name="l00034"></a><span class="lineno"> 34</span><span class="comment"></span> </div>
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<div class="line"><a id="l00035" name="l00035"></a><span class="lineno"> 35</span><span class="comment">// Формирование параметров</span></div>
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<div class="line"><a id="l00036" name="l00036"></a><span class="lineno"> 36</span><span class="comment">uint16_t param_u16 = 800;</span></div>
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||
<div class="line"><a id="l00037" name="l00037"></a><span class="lineno"> 37</span><span class="comment">float param_f = 0.01f;</span></div>
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<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"> 38</span><span class="comment">uint8_t param_u8 = 40;</span></div>
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<div class="line"><a id="l00039" name="l00039"></a><span class="lineno"> 39</span><span class="comment">int16_t param_i16 = 1600;</span></div>
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<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"> 40</span><span class="comment">params[0] = PARAM_SCALE_Q16(param_u16, 0, 1000);</span></div>
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||
<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"> 41</span><span class="comment">params[1] = PARAM_SCALE_Q16(param_f, 0.001f, 0.1f);</span></div>
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||
<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"> 42</span><span class="comment">params[2] = PARAM_SCALE_Q16(param_u8, 10, 100);</span></div>
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||
<div class="line"><a id="l00043" name="l00043"></a><span class="lineno"> 43</span><span class="comment">params[3] = PARAM_SCALE_Q16(param_i16, 500, 5000);</span></div>
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||
<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"> 44</span><span class="comment"></span> </div>
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<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"> 45</span><span class="comment">// Инициалиазция</span></div>
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<div class="line"><a id="l00046" name="l00046"></a><span class="lineno"> 46</span><span class="comment">EvolveOptimizer_Init(&optimizer, N_PARAMS, N_CANDIDATES, N_BEST, IQ_MUTATION, params);</span></div>
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||
<div class="line"><a id="l00047" name="l00047"></a><span class="lineno"> 47</span><span class="comment"></span> </div>
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||
<div class="line"><a id="l00048" name="l00048"></a><span class="lineno"> 48</span><span class="comment">// Шаг эволюции</span></div>
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<div class="line"><a id="l00049" name="l00049"></a><span class="lineno"> 49</span><span class="comment">int32_t loss = calc_iq_loss(); // расчет эффективности параметров</span></div>
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<div class="line"><a id="l00050" name="l00050"></a><span class="lineno"> 50</span><span class="comment">EvolveOptimizer_Step(&optimizer, params, loss);</span></div>
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<div class="line"><a id="l00051" name="l00051"></a><span class="lineno"> 51</span><span class="comment"></span> </div>
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<div class="line"><a id="l00052" name="l00052"></a><span class="lineno"> 52</span><span class="comment">// Взятие следующих для эволюции параметров</span></div>
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<div class="line"><a id="l00053" name="l00053"></a><span class="lineno"> 53</span><span class="comment">param_u16 = PARAM_UNSCALE_Q16(params[0], 0, 1000);</span></div>
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<div class="line"><a id="l00054" name="l00054"></a><span class="lineno"> 54</span><span class="comment">param_f = PARAM_UNSCALE_Q16(params[1], 0.001f, 0.1f);</span></div>
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||
<div class="line"><a id="l00055" name="l00055"></a><span class="lineno"> 55</span><span class="comment">param_u8 = PARAM_UNSCALE_Q16(params[2], 10, 100);</span></div>
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||
<div class="line"><a id="l00056" name="l00056"></a><span class="lineno"> 56</span><span class="comment">param_i16 = PARAM_UNSCALE_Q16(params[3], 500, 5000);</span></div>
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<div class="line"><a id="l00057" name="l00057"></a><span class="lineno"> 57</span><span class="comment">@endcode</span></div>
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||
<div class="line"><a id="l00058" name="l00058"></a><span class="lineno"> 58</span><span class="comment">* @{ </span></div>
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<div class="line"><a id="l00059" name="l00059"></a><span class="lineno"> 59</span><span class="comment">*****************************************************************************/</span></div>
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<div class="line"><a id="l00060" name="l00060"></a><span class="lineno"> 60</span><span class="preprocessor">#ifndef __EVOLVE_OPTIMIZER_H_</span></div>
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<div class="line"><a id="l00061" name="l00061"></a><span class="lineno"> 61</span><span class="preprocessor">#define __EVOLVE_OPTIMIZER_H_</span></div>
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<div class="line"><a id="l00062" name="l00062"></a><span class="lineno"> 62</span> </div>
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<div class="line"><a id="l00063" name="l00063"></a><span class="lineno"> 63</span><span class="preprocessor">#include "<a class="code" href="mylibs__defs_8h.html">mylibs_defs.h</a>"</span></div>
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<div class="line"><a id="l00064" name="l00064"></a><span class="lineno"> 64</span><span class="preprocessor">#include <stdint.h></span></div>
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<div class="line"><a id="l00065" name="l00065"></a><span class="lineno"> 65</span><span class="preprocessor">#include <stdlib.h></span></div>
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<div class="line"><a id="l00066" name="l00066"></a><span class="lineno"> 66</span> </div>
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<div class="line"><a id="l00067" name="l00067"></a><span class="lineno"> 67</span><span class="preprocessor">#ifdef ENABLE_EVOLVE_OPTIMIZATION</span><span class="comment"></span></div>
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<div class="line"><a id="l00068" name="l00068"></a><span class="lineno"> 68</span><span class="comment">/**</span></div>
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<div class="line"><a id="l00069" name="l00069"></a><span class="lineno"> 69</span><span class="comment"> * @brief Линейное масштабирование x из диапазона [min_val, max_val] в Q16.16 [0, 65536)</span></div>
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<div class="line"><a id="l00070" name="l00070"></a><span class="lineno"> 70</span><span class="comment"> */</span><span class="preprocessor"></span></div>
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<div class="foldopen" id="foldopen00071" data-start="" data-end="">
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||
<div class="line"><a id="l00071" name="l00071"></a><span class="lineno"><a class="line" href="group___e_v_o_l_v_e___o_p_t_i_m_i_z_e_r.html#gaff223481fcffea77394a331afde29fdc"> 71</a></span><span class="preprocessor">#define PARAM_SCALE_Q16(x, min_val, max_val) \</span></div>
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||
<div class="line"><a id="l00072" name="l00072"></a><span class="lineno"> 72</span><span class="preprocessor">((int32_t)((((float)(x) - (float)(min_val)) / ((float)(max_val) - (float)(min_val))) * 65536.0f))</span></div>
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</div>
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<div class="line"><a id="l00073" name="l00073"></a><span class="lineno"> 73</span><span class="comment"></span> </div>
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<div class="line"><a id="l00074" name="l00074"></a><span class="lineno"> 74</span><span class="comment">/**</span></div>
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<div class="line"><a id="l00075" name="l00075"></a><span class="lineno"> 75</span><span class="comment"> * @brief Обратное линейное масштабирование Q16.16 значения в диапазон [min_val, max_val]</span></div>
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<div class="line"><a id="l00076" name="l00076"></a><span class="lineno"> 76</span><span class="comment"> */</span></div>
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<div class="foldopen" id="foldopen00077" data-start="" data-end="">
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<div class="line"><a id="l00077" name="l00077"></a><span class="lineno"><a class="line" href="group___e_v_o_l_v_e___o_p_t_i_m_i_z_e_r.html#ga71a0c240c667e976d9caef391ab767ba"> 77</a></span><span class="preprocessor">#define PARAM_UNSCALE_Q16(q16_val, min_val, max_val) \</span></div>
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<div class="line"><a id="l00078" name="l00078"></a><span class="lineno"> 78</span><span class="preprocessor">(((float)(q16_val) / 65536.0f) * ((float)(max_val) - (float)(min_val)) + (float)(min_val))</span></div>
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</div>
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<div class="line"><a id="l00079" name="l00079"></a><span class="lineno"> 79</span> </div>
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<div class="line"><a id="l00080" name="l00080"></a><span class="lineno"> 80</span><span class="preprocessor">#ifndef local_time</span></div>
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<div class="line"><a id="l00081" name="l00081"></a><span class="lineno"><a class="line" href="group___e_v_o_l_v_e___o_p_t_i_m_i_z_e_r.html#ga9c853b02c22f26023c34d1d404b6d653"> 81</a></span><span class="preprocessor">#define local_time() HAL_GetTick() </span><span class="comment">///< Локальное время</span></div>
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<div class="line"><a id="l00082" name="l00082"></a><span class="lineno"> 82</span><span class="preprocessor">#endif</span></div>
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<div class="line"><a id="l00083" name="l00083"></a><span class="lineno"> 83</span><span class="comment"></span> </div>
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<div class="line"><a id="l00084" name="l00084"></a><span class="lineno"> 84</span><span class="comment">/**</span></div>
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<div class="line"><a id="l00085" name="l00085"></a><span class="lineno"> 85</span><span class="comment"> * @brief Структура эволюционного оптимизатора</span></div>
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<div class="line"><a id="l00086" name="l00086"></a><span class="lineno"> 86</span><span class="comment"> */</span></div>
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<div class="foldopen" id="foldopen00087" data-start="{" data-end="};">
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<div class="line"><a id="l00087" name="l00087"></a><span class="lineno"><a class="line" href="struct_evolve_optimizer__t.html"> 87</a></span><span class="keyword">typedef</span> <span class="keyword">struct </span>{</div>
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<div class="line"><a id="l00088" name="l00088"></a><span class="lineno"><a class="line" href="struct_evolve_optimizer__t.html#a1c270fce82e0c97e6c88fd0971c1eed8"> 88</a></span> uint16_t <a class="code hl_variable" href="struct_evolve_optimizer__t.html#a1c270fce82e0c97e6c88fd0971c1eed8">n_params</a>; <span class="comment">///< Количество параметров</span></div>
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<div class="line"><a id="l00089" name="l00089"></a><span class="lineno"><a class="line" href="struct_evolve_optimizer__t.html#ac35c7ca8cede4ab9c53a2845a91cd1b1"> 89</a></span> uint16_t <a class="code hl_variable" href="struct_evolve_optimizer__t.html#ac35c7ca8cede4ab9c53a2845a91cd1b1">n_cand</a>; <span class="comment">///< Количество кандидатов</span></div>
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<div class="line"><a id="l00090" name="l00090"></a><span class="lineno"><a class="line" href="struct_evolve_optimizer__t.html#a950cd70cb6bff33b78ad35ee58c729a6"> 90</a></span> uint16_t <a class="code hl_variable" href="struct_evolve_optimizer__t.html#a950cd70cb6bff33b78ad35ee58c729a6">n_best</a>; <span class="comment">///< Количество лучших, усредняемых</span></div>
|
||
<div class="line"><a id="l00091" name="l00091"></a><span class="lineno"><a class="line" href="struct_evolve_optimizer__t.html#a5391277564b54e2271856a2466033df5"> 91</a></span> uint16_t <a class="code hl_variable" href="struct_evolve_optimizer__t.html#a5391277564b54e2271856a2466033df5">iq_mutation</a>; <span class="comment">///< Амплитуда мутации в Q16.16</span></div>
|
||
<div class="line"><a id="l00092" name="l00092"></a><span class="lineno"><a class="line" href="struct_evolve_optimizer__t.html#a0ae0e63ba351335d4445d927991c64ae"> 92</a></span> uint16_t <a class="code hl_variable" href="struct_evolve_optimizer__t.html#a0ae0e63ba351335d4445d927991c64ae">cand_index</a>; <span class="comment">///< Индекс кандидата для обработки</span></div>
|
||
<div class="line"><a id="l00093" name="l00093"></a><span class="lineno"><a class="line" href="struct_evolve_optimizer__t.html#ac723b265a3d43b754489f14310314f0d"> 93</a></span> int32_t <a class="code hl_variable" href="struct_evolve_optimizer__t.html#ac723b265a3d43b754489f14310314f0d">loss</a>[<a class="code hl_define" href="group___e_v_o_l_v_e___c_o_n_f_i_g.html#ga7c1396e5c95c766afccdb45cbfcf5971">EVOLVE_MAX_CANDIDATES</a>]; <span class="comment">///< Loss для каждого кандидата</span></div>
|
||
<div class="line"><a id="l00094" name="l00094"></a><span class="lineno"><a class="line" href="struct_evolve_optimizer__t.html#a61bd0c8ae322a79936ba1f2ae22e0e0d"> 94</a></span> int32_t <a class="code hl_variable" href="struct_evolve_optimizer__t.html#a61bd0c8ae322a79936ba1f2ae22e0e0d">candidates</a>[<a class="code hl_define" href="group___e_v_o_l_v_e___c_o_n_f_i_g.html#ga7c1396e5c95c766afccdb45cbfcf5971">EVOLVE_MAX_CANDIDATES</a>][<a class="code hl_define" href="group___e_v_o_l_v_e___c_o_n_f_i_g.html#ga80d6162495fc3776d8902610657d4fee">EVOLVE_MAX_PARAMS</a>]; <span class="comment">///< Параметры кандидатов</span></div>
|
||
<div class="line"><a id="l00095" name="l00095"></a><span class="lineno"><a class="line" href="struct_evolve_optimizer__t.html#a74b81df1c298c99162310f3f7d91735a"> 95</a></span> uint16_t <a class="code hl_variable" href="struct_evolve_optimizer__t.html#a74b81df1c298c99162310f3f7d91735a">sorted_idx</a>[<a class="code hl_define" href="group___e_v_o_l_v_e___c_o_n_f_i_g.html#ga7c1396e5c95c766afccdb45cbfcf5971">EVOLVE_MAX_CANDIDATES</a>]; <span class="comment">///< Индексы отсортированных кандидатов</span></div>
|
||
<div class="line"><a id="l00096" name="l00096"></a><span class="lineno"> 96</span>} <a class="code hl_struct" href="struct_evolve_optimizer__t.html">EvolveOptimizer_t</a>;</div>
|
||
</div>
|
||
<div class="line"><a id="l00097" name="l00097"></a><span class="lineno"> 97</span> </div>
|
||
<div class="line"><a id="l00098" name="l00098"></a><span class="lineno"> 98</span> </div>
|
||
<div class="line"><a id="l00099" name="l00099"></a><span class="lineno"> 99</span><span class="comment"></span> </div>
|
||
<div class="line"><a id="l00100" name="l00100"></a><span class="lineno"> 100</span><span class="comment">/** </span></div>
|
||
<div class="line"><a id="l00101" name="l00101"></a><span class="lineno"> 101</span><span class="comment"> * @cond EVOLVE_INTERNAL</span></div>
|
||
<div class="line"><a id="l00102" name="l00102"></a><span class="lineno"> 102</span><span class="comment"> */</span></div>
|
||
<div class="line"><a id="l00103" name="l00103"></a><span class="lineno"> 103</span><span class="preprocessor">#define Q16_MUL(a,b) ((int32_t)(((int64_t)(a) * (int64_t)(b)) >> 16))</span></div>
|
||
<div class="line"><a id="l00104" name="l00104"></a><span class="lineno"> 104</span> </div>
|
||
<div class="line"><a id="l00105" name="l00105"></a><span class="lineno"> 105</span><span class="comment">// Вспомогательный указатель для сортировки</span></div>
|
||
<div class="line"><a id="l00106" name="l00106"></a><span class="lineno"> 106</span><span class="keyword">static</span> <a class="code hl_struct" href="struct_evolve_optimizer__t.html">EvolveOptimizer_t</a> *g_sort_opt; <span class="comment">// глобальный указатель на текущий оптимизатор</span></div>
|
||
<div class="line"><a id="l00107" name="l00107"></a><span class="lineno"> 107</span> </div>
|
||
<div class="line"><a id="l00108" name="l00108"></a><span class="lineno"> 108</span><span class="keyword">static</span> <span class="keywordtype">int</span> cmp_idx(<span class="keyword">const</span> <span class="keywordtype">void</span> *a, <span class="keyword">const</span> <span class="keywordtype">void</span> *b) {</div>
|
||
<div class="line"><a id="l00109" name="l00109"></a><span class="lineno"> 109</span> <span class="keywordflow">if</span> (g_sort_opt-><a class="code hl_variable" href="struct_evolve_optimizer__t.html#ac723b265a3d43b754489f14310314f0d">loss</a>[*(<span class="keyword">const</span> uint16_t*)a] < g_sort_opt-><a class="code hl_variable" href="struct_evolve_optimizer__t.html#ac723b265a3d43b754489f14310314f0d">loss</a>[*(<span class="keyword">const</span> uint16_t*)b]) </div>
|
||
<div class="line"><a id="l00110" name="l00110"></a><span class="lineno"> 110</span> <span class="keywordflow">return</span> -1;</div>
|
||
<div class="line"><a id="l00111" name="l00111"></a><span class="lineno"> 111</span> <span class="keywordflow">if</span> (g_sort_opt-><a class="code hl_variable" href="struct_evolve_optimizer__t.html#ac723b265a3d43b754489f14310314f0d">loss</a>[*(<span class="keyword">const</span> uint16_t*)a] > g_sort_opt-><a class="code hl_variable" href="struct_evolve_optimizer__t.html#ac723b265a3d43b754489f14310314f0d">loss</a>[*(<span class="keyword">const</span> uint16_t*)b]) </div>
|
||
<div class="line"><a id="l00112" name="l00112"></a><span class="lineno"> 112</span> <span class="keywordflow">return</span> 1;</div>
|
||
<div class="line"><a id="l00113" name="l00113"></a><span class="lineno"> 113</span> <span class="keywordflow">return</span> 0;</div>
|
||
<div class="line"><a id="l00114" name="l00114"></a><span class="lineno"> 114</span>}<span class="comment"></span></div>
|
||
<div class="line"><a id="l00115" name="l00115"></a><span class="lineno"> 115</span><span class="comment">/** @endcond */</span></div>
|
||
<div class="line"><a id="l00116" name="l00116"></a><span class="lineno"> 116</span> </div>
|
||
<div class="line"><a id="l00117" name="l00117"></a><span class="lineno"> 117</span> </div>
|
||
<div class="line"><a id="l00118" name="l00118"></a><span class="lineno"> 118</span> </div>
|
||
<div class="line"><a id="l00119" name="l00119"></a><span class="lineno"> 119</span> </div>
|
||
<div class="line"><a id="l00120" name="l00120"></a><span class="lineno"> 120</span><span class="comment"></span> </div>
|
||
<div class="line"><a id="l00121" name="l00121"></a><span class="lineno"> 121</span><span class="comment">/**</span></div>
|
||
<div class="line"><a id="l00122" name="l00122"></a><span class="lineno"> 122</span><span class="comment"> * @brief Инициализация эволюционного оптимизатора.</span></div>
|
||
<div class="line"><a id="l00123" name="l00123"></a><span class="lineno"> 123</span><span class="comment"> * @param opt Указатель на структуру оптимизатора</span></div>
|
||
<div class="line"><a id="l00124" name="l00124"></a><span class="lineno"> 124</span><span class="comment"> * @param n_params Количество параметров в одном кандидате</span></div>
|
||
<div class="line"><a id="l00125" name="l00125"></a><span class="lineno"> 125</span><span class="comment"> * @param n_cand Количество кандидатов</span></div>
|
||
<div class="line"><a id="l00126" name="l00126"></a><span class="lineno"> 126</span><span class="comment"> * @param n_best Количество лучших, усредняемых</span></div>
|
||
<div class="line"><a id="l00127" name="l00127"></a><span class="lineno"> 127</span><span class="comment"> * @param iq_mutation Амплитуда мутации в Q16.16</span></div>
|
||
<div class="line"><a id="l00128" name="l00128"></a><span class="lineno"> 128</span><span class="comment"> * @param start_params Начальные параметры (Q16.16)</span></div>
|
||
<div class="line"><a id="l00129" name="l00129"></a><span class="lineno"> 129</span><span class="comment"> * @return 0 — если окей, </span></div>
|
||
<div class="line"><a id="l00130" name="l00130"></a><span class="lineno"> 130</span><span class="comment"> * -1 — если ошибка</span></div>
|
||
<div class="line"><a id="l00131" name="l00131"></a><span class="lineno"> 131</span><span class="comment"> */</span></div>
|
||
<div class="foldopen" id="foldopen00132" data-start="{" data-end="}">
|
||
<div class="line"><a id="l00132" name="l00132"></a><span class="lineno"><a class="line" href="group___e_v_o_l_v_e___o_p_t_i_m_i_z_e_r.html#gadaf3a90724197e1737d5c70c7bcc75e1"> 132</a></span>__STATIC_INLINE <span class="keywordtype">int</span> <a class="code hl_function" href="group___e_v_o_l_v_e___o_p_t_i_m_i_z_e_r.html#gadaf3a90724197e1737d5c70c7bcc75e1">EvolveOptimizer_Init</a>(<a class="code hl_struct" href="struct_evolve_optimizer__t.html">EvolveOptimizer_t</a>* opt,</div>
|
||
<div class="line"><a id="l00133" name="l00133"></a><span class="lineno"> 133</span> uint16_t n_params,</div>
|
||
<div class="line"><a id="l00134" name="l00134"></a><span class="lineno"> 134</span> uint16_t n_cand,</div>
|
||
<div class="line"><a id="l00135" name="l00135"></a><span class="lineno"> 135</span> uint16_t n_best,</div>
|
||
<div class="line"><a id="l00136" name="l00136"></a><span class="lineno"> 136</span> uint16_t iq_mutation,</div>
|
||
<div class="line"><a id="l00137" name="l00137"></a><span class="lineno"> 137</span> int32_t* start_params)</div>
|
||
<div class="line"><a id="l00138" name="l00138"></a><span class="lineno"> 138</span>{</div>
|
||
<div class="line"><a id="l00139" name="l00139"></a><span class="lineno"> 139</span> <span class="keywordflow">if</span>((opt = NULL) || (start_params == NULL))</div>
|
||
<div class="line"><a id="l00140" name="l00140"></a><span class="lineno"> 140</span> <span class="keywordflow">return</span> -1;</div>
|
||
<div class="line"><a id="l00141" name="l00141"></a><span class="lineno"> 141</span> </div>
|
||
<div class="line"><a id="l00142" name="l00142"></a><span class="lineno"> 142</span> <span class="keywordflow">if</span>(n_params > <a class="code hl_define" href="group___e_v_o_l_v_e___c_o_n_f_i_g.html#ga80d6162495fc3776d8902610657d4fee">EVOLVE_MAX_PARAMS</a>)</div>
|
||
<div class="line"><a id="l00143" name="l00143"></a><span class="lineno"> 143</span> <span class="keywordflow">return</span> -1; </div>
|
||
<div class="line"><a id="l00144" name="l00144"></a><span class="lineno"> 144</span> opt-><a class="code hl_variable" href="struct_evolve_optimizer__t.html#a1c270fce82e0c97e6c88fd0971c1eed8">n_params</a> = n_params;</div>
|
||
<div class="line"><a id="l00145" name="l00145"></a><span class="lineno"> 145</span> </div>
|
||
<div class="line"><a id="l00146" name="l00146"></a><span class="lineno"> 146</span> <span class="keywordflow">if</span>(n_cand > <a class="code hl_define" href="group___e_v_o_l_v_e___c_o_n_f_i_g.html#ga7c1396e5c95c766afccdb45cbfcf5971">EVOLVE_MAX_CANDIDATES</a>)</div>
|
||
<div class="line"><a id="l00147" name="l00147"></a><span class="lineno"> 147</span> <span class="keywordflow">return</span> -1; </div>
|
||
<div class="line"><a id="l00148" name="l00148"></a><span class="lineno"> 148</span> opt-><a class="code hl_variable" href="struct_evolve_optimizer__t.html#ac35c7ca8cede4ab9c53a2845a91cd1b1">n_cand</a> = n_cand;</div>
|
||
<div class="line"><a id="l00149" name="l00149"></a><span class="lineno"> 149</span> </div>
|
||
<div class="line"><a id="l00150" name="l00150"></a><span class="lineno"> 150</span> <span class="keywordflow">if</span>(n_best > <a class="code hl_define" href="group___e_v_o_l_v_e___c_o_n_f_i_g.html#ga7c1396e5c95c766afccdb45cbfcf5971">EVOLVE_MAX_CANDIDATES</a>/2)</div>
|
||
<div class="line"><a id="l00151" name="l00151"></a><span class="lineno"> 151</span> <span class="keywordflow">return</span> -1; </div>
|
||
<div class="line"><a id="l00152" name="l00152"></a><span class="lineno"> 152</span> opt-><a class="code hl_variable" href="struct_evolve_optimizer__t.html#a950cd70cb6bff33b78ad35ee58c729a6">n_best</a> = n_best;</div>
|
||
<div class="line"><a id="l00153" name="l00153"></a><span class="lineno"> 153</span> </div>
|
||
<div class="line"><a id="l00154" name="l00154"></a><span class="lineno"> 154</span> <span class="keywordflow">if</span>(iq_mutation > 32768)</div>
|
||
<div class="line"><a id="l00155" name="l00155"></a><span class="lineno"> 155</span> <span class="keywordflow">return</span> -1; </div>
|
||
<div class="line"><a id="l00156" name="l00156"></a><span class="lineno"> 156</span> opt-><a class="code hl_variable" href="struct_evolve_optimizer__t.html#a5391277564b54e2271856a2466033df5">iq_mutation</a> = iq_mutation;</div>
|
||
<div class="line"><a id="l00157" name="l00157"></a><span class="lineno"> 157</span> </div>
|
||
<div class="line"><a id="l00158" name="l00158"></a><span class="lineno"> 158</span> <span class="keywordflow">for</span> (uint16_t i = 0; i < n_cand; i++) {</div>
|
||
<div class="line"><a id="l00159" name="l00159"></a><span class="lineno"> 159</span> <span class="keywordflow">for</span> (uint16_t j = 0; j < n_params; j++) {</div>
|
||
<div class="line"><a id="l00160" name="l00160"></a><span class="lineno"> 160</span> opt-><a class="code hl_variable" href="struct_evolve_optimizer__t.html#a61bd0c8ae322a79936ba1f2ae22e0e0d">candidates</a>[i][j] = start_params[j];</div>
|
||
<div class="line"><a id="l00161" name="l00161"></a><span class="lineno"> 161</span> }</div>
|
||
<div class="line"><a id="l00162" name="l00162"></a><span class="lineno"> 162</span> opt-><a class="code hl_variable" href="struct_evolve_optimizer__t.html#ac723b265a3d43b754489f14310314f0d">loss</a>[i] = 0;</div>
|
||
<div class="line"><a id="l00163" name="l00163"></a><span class="lineno"> 163</span> }</div>
|
||
<div class="line"><a id="l00164" name="l00164"></a><span class="lineno"> 164</span> uint32_t seed = <a class="code hl_define" href="group___e_v_o_l_v_e___o_p_t_i_m_i_z_e_r.html#ga9c853b02c22f26023c34d1d404b6d653">local_time</a>() + (ADC1->DR & 0xFF);</div>
|
||
<div class="line"><a id="l00165" name="l00165"></a><span class="lineno"> 165</span> srand(seed);</div>
|
||
<div class="line"><a id="l00166" name="l00166"></a><span class="lineno"> 166</span> </div>
|
||
<div class="line"><a id="l00167" name="l00167"></a><span class="lineno"> 167</span> <span class="keywordflow">return</span> 0;</div>
|
||
<div class="line"><a id="l00168" name="l00168"></a><span class="lineno"> 168</span>}</div>
|
||
</div>
|
||
<div class="line"><a id="l00169" name="l00169"></a><span class="lineno"> 169</span> </div>
|
||
<div class="line"><a id="l00170" name="l00170"></a><span class="lineno"> 170</span><span class="comment"></span> </div>
|
||
<div class="line"><a id="l00171" name="l00171"></a><span class="lineno"> 171</span><span class="comment">/**</span></div>
|
||
<div class="line"><a id="l00172" name="l00172"></a><span class="lineno"> 172</span><span class="comment"> * @brief Один шаг эволюционного оптимизатора.</span></div>
|
||
<div class="line"><a id="l00173" name="l00173"></a><span class="lineno"> 173</span><span class="comment"> * @param opt Указатель на структуру оптимизатора</span></div>
|
||
<div class="line"><a id="l00174" name="l00174"></a><span class="lineno"> 174</span><span class="comment"> * @param params Массив параметров, которые будут обновлены (на выходе — новые параметры)</span></div>
|
||
<div class="line"><a id="l00175" name="l00175"></a><span class="lineno"> 175</span><span class="comment"> * @param loss Loss текущего кандидата (Q16.16)</span></div>
|
||
<div class="line"><a id="l00176" name="l00176"></a><span class="lineno"> 176</span><span class="comment"> * @return 0 — если окей, </span></div>
|
||
<div class="line"><a id="l00177" name="l00177"></a><span class="lineno"> 177</span><span class="comment"> * -1 — если ошибка</span></div>
|
||
<div class="line"><a id="l00178" name="l00178"></a><span class="lineno"> 178</span><span class="comment"> * @details</span></div>
|
||
<div class="line"><a id="l00179" name="l00179"></a><span class="lineno"> 179</span><span class="comment"> * Сохраняет loss текущего кандидата и формирует параметры следующего кандидата.</span></div>
|
||
<div class="line"><a id="l00180" name="l00180"></a><span class="lineno"> 180</span><span class="comment"> * Если накоплено n_cand кандидатов, генерируется новое поколение.</span></div>
|
||
<div class="line"><a id="l00181" name="l00181"></a><span class="lineno"> 181</span><span class="comment"> * Новое поколение формируется случайным выбором из n_best лучших с добавлением мутации.</span></div>
|
||
<div class="line"><a id="l00182" name="l00182"></a><span class="lineno"> 182</span><span class="comment"> *</span></div>
|
||
<div class="line"><a id="l00183" name="l00183"></a><span class="lineno"> 183</span><span class="comment"> * На выходе params содержит параметры следующего кандидата для измерений.</span></div>
|
||
<div class="line"><a id="l00184" name="l00184"></a><span class="lineno"> 184</span><span class="comment"> * @note Функция использует глобальную внутреннюю переменную для сортировки.</span></div>
|
||
<div class="line"><a id="l00185" name="l00185"></a><span class="lineno"> 185</span><span class="comment"> * Надо убедится что только один экземпляр функции запущен в момент времени</span></div>
|
||
<div class="line"><a id="l00186" name="l00186"></a><span class="lineno"> 186</span><span class="comment"> */</span></div>
|
||
<div class="foldopen" id="foldopen00187" data-start="{" data-end="}">
|
||
<div class="line"><a id="l00187" name="l00187"></a><span class="lineno"><a class="line" href="group___e_v_o_l_v_e___o_p_t_i_m_i_z_e_r.html#ga75acd71c85d4e60dc0eb31bc5780086a"> 187</a></span>__STATIC_INLINE <span class="keywordtype">int</span> <a class="code hl_function" href="group___e_v_o_l_v_e___o_p_t_i_m_i_z_e_r.html#ga75acd71c85d4e60dc0eb31bc5780086a">EvolveOptimizer_Step</a>(<a class="code hl_struct" href="struct_evolve_optimizer__t.html">EvolveOptimizer_t</a>* opt,</div>
|
||
<div class="line"><a id="l00188" name="l00188"></a><span class="lineno"> 188</span> int32_t* params,</div>
|
||
<div class="line"><a id="l00189" name="l00189"></a><span class="lineno"> 189</span> int32_t loss)</div>
|
||
<div class="line"><a id="l00190" name="l00190"></a><span class="lineno"> 190</span>{</div>
|
||
<div class="line"><a id="l00191" name="l00191"></a><span class="lineno"> 191</span> <span class="keywordflow">if</span>((opt = NULL) || (params == NULL))</div>
|
||
<div class="line"><a id="l00192" name="l00192"></a><span class="lineno"> 192</span> <span class="keywordflow">return</span> -1;</div>
|
||
<div class="line"><a id="l00193" name="l00193"></a><span class="lineno"> 193</span> </div>
|
||
<div class="line"><a id="l00194" name="l00194"></a><span class="lineno"> 194</span> uint16_t n_params = opt-><a class="code hl_variable" href="struct_evolve_optimizer__t.html#a1c270fce82e0c97e6c88fd0971c1eed8">n_params</a>; </div>
|
||
<div class="line"><a id="l00195" name="l00195"></a><span class="lineno"> 195</span> <span class="keywordflow">if</span>(n_params > <a class="code hl_define" href="group___e_v_o_l_v_e___c_o_n_f_i_g.html#ga80d6162495fc3776d8902610657d4fee">EVOLVE_MAX_PARAMS</a>)</div>
|
||
<div class="line"><a id="l00196" name="l00196"></a><span class="lineno"> 196</span> <span class="keywordflow">return</span> -1; </div>
|
||
<div class="line"><a id="l00197" name="l00197"></a><span class="lineno"> 197</span> </div>
|
||
<div class="line"><a id="l00198" name="l00198"></a><span class="lineno"> 198</span> uint16_t n_cand = opt-><a class="code hl_variable" href="struct_evolve_optimizer__t.html#ac35c7ca8cede4ab9c53a2845a91cd1b1">n_cand</a>; </div>
|
||
<div class="line"><a id="l00199" name="l00199"></a><span class="lineno"> 199</span> <span class="keywordflow">if</span>(n_cand > <a class="code hl_define" href="group___e_v_o_l_v_e___c_o_n_f_i_g.html#ga7c1396e5c95c766afccdb45cbfcf5971">EVOLVE_MAX_CANDIDATES</a>)</div>
|
||
<div class="line"><a id="l00200" name="l00200"></a><span class="lineno"> 200</span> <span class="keywordflow">return</span> -1; </div>
|
||
<div class="line"><a id="l00201" name="l00201"></a><span class="lineno"> 201</span> </div>
|
||
<div class="line"><a id="l00202" name="l00202"></a><span class="lineno"> 202</span> uint16_t n_best = opt-><a class="code hl_variable" href="struct_evolve_optimizer__t.html#a950cd70cb6bff33b78ad35ee58c729a6">n_best</a>; </div>
|
||
<div class="line"><a id="l00203" name="l00203"></a><span class="lineno"> 203</span> <span class="keywordflow">if</span>(n_best > <a class="code hl_define" href="group___e_v_o_l_v_e___c_o_n_f_i_g.html#ga7c1396e5c95c766afccdb45cbfcf5971">EVOLVE_MAX_CANDIDATES</a>/2)</div>
|
||
<div class="line"><a id="l00204" name="l00204"></a><span class="lineno"> 204</span> <span class="keywordflow">return</span> -1; </div>
|
||
<div class="line"><a id="l00205" name="l00205"></a><span class="lineno"> 205</span> </div>
|
||
<div class="line"><a id="l00206" name="l00206"></a><span class="lineno"> 206</span> uint16_t mut = opt-><a class="code hl_variable" href="struct_evolve_optimizer__t.html#a5391277564b54e2271856a2466033df5">iq_mutation</a>;</div>
|
||
<div class="line"><a id="l00207" name="l00207"></a><span class="lineno"> 207</span> <span class="keywordflow">if</span>(mut > 32768)</div>
|
||
<div class="line"><a id="l00208" name="l00208"></a><span class="lineno"> 208</span> <span class="keywordflow">return</span> -1; </div>
|
||
<div class="line"><a id="l00209" name="l00209"></a><span class="lineno"> 209</span> </div>
|
||
<div class="line"><a id="l00210" name="l00210"></a><span class="lineno"> 210</span> <span class="comment">// 1. Сохраняем loss текущего кандидата</span></div>
|
||
<div class="line"><a id="l00211" name="l00211"></a><span class="lineno"> 211</span> opt-><a class="code hl_variable" href="struct_evolve_optimizer__t.html#ac723b265a3d43b754489f14310314f0d">loss</a>[opt-><a class="code hl_variable" href="struct_evolve_optimizer__t.html#a0ae0e63ba351335d4445d927991c64ae">cand_index</a>] = loss;</div>
|
||
<div class="line"><a id="l00212" name="l00212"></a><span class="lineno"> 212</span> opt-><a class="code hl_variable" href="struct_evolve_optimizer__t.html#a0ae0e63ba351335d4445d927991c64ae">cand_index</a>++;</div>
|
||
<div class="line"><a id="l00213" name="l00213"></a><span class="lineno"> 213</span> </div>
|
||
<div class="line"><a id="l00214" name="l00214"></a><span class="lineno"> 214</span> <span class="keywordflow">if</span> (opt-><a class="code hl_variable" href="struct_evolve_optimizer__t.html#a0ae0e63ba351335d4445d927991c64ae">cand_index</a> >= n_cand) {</div>
|
||
<div class="line"><a id="l00215" name="l00215"></a><span class="lineno"> 215</span> <span class="comment">// 2. Сортируем текущее поколение по loss</span></div>
|
||
<div class="line"><a id="l00216" name="l00216"></a><span class="lineno"> 216</span> <span class="keywordflow">for</span>(uint16_t i = 0; i < opt-><a class="code hl_variable" href="struct_evolve_optimizer__t.html#ac35c7ca8cede4ab9c53a2845a91cd1b1">n_cand</a>; i++)</div>
|
||
<div class="line"><a id="l00217" name="l00217"></a><span class="lineno"> 217</span> opt-><a class="code hl_variable" href="struct_evolve_optimizer__t.html#a74b81df1c298c99162310f3f7d91735a">sorted_idx</a>[i] = i;</div>
|
||
<div class="line"><a id="l00218" name="l00218"></a><span class="lineno"> 218</span> </div>
|
||
<div class="line"><a id="l00219" name="l00219"></a><span class="lineno"> 219</span> g_sort_opt = opt;</div>
|
||
<div class="line"><a id="l00220" name="l00220"></a><span class="lineno"> 220</span> qsort(opt-><a class="code hl_variable" href="struct_evolve_optimizer__t.html#a74b81df1c298c99162310f3f7d91735a">sorted_idx</a>, opt-><a class="code hl_variable" href="struct_evolve_optimizer__t.html#ac35c7ca8cede4ab9c53a2845a91cd1b1">n_cand</a>, <span class="keyword">sizeof</span>(uint16_t), cmp_idx);</div>
|
||
<div class="line"><a id="l00221" name="l00221"></a><span class="lineno"> 221</span> g_sort_opt = NULL;</div>
|
||
<div class="line"><a id="l00222" name="l00222"></a><span class="lineno"> 222</span><span class="comment">// for (uint16_t i = 0; i < n_cand - 1; i++) {</span></div>
|
||
<div class="line"><a id="l00223" name="l00223"></a><span class="lineno"> 223</span><span class="comment">// for (uint16_t j = i + 1; j < n_cand; j++) {</span></div>
|
||
<div class="line"><a id="l00224" name="l00224"></a><span class="lineno"> 224</span><span class="comment">// if (opt->loss[j] < opt->loss[i]) {</span></div>
|
||
<div class="line"><a id="l00225" name="l00225"></a><span class="lineno"> 225</span><span class="comment">// int32_t tmp_loss = opt->loss[i];</span></div>
|
||
<div class="line"><a id="l00226" name="l00226"></a><span class="lineno"> 226</span><span class="comment">// opt->loss[i] = opt->loss[j];</span></div>
|
||
<div class="line"><a id="l00227" name="l00227"></a><span class="lineno"> 227</span><span class="comment">// opt->loss[j] = tmp_loss;</span></div>
|
||
<div class="line"><a id="l00228" name="l00228"></a><span class="lineno"> 228</span> </div>
|
||
<div class="line"><a id="l00229" name="l00229"></a><span class="lineno"> 229</span><span class="comment">// for (uint16_t k = 0; k < n_params; k++) {</span></div>
|
||
<div class="line"><a id="l00230" name="l00230"></a><span class="lineno"> 230</span><span class="comment">// int32_t tmp = opt->candidates[i][k];</span></div>
|
||
<div class="line"><a id="l00231" name="l00231"></a><span class="lineno"> 231</span><span class="comment">// opt->candidates[i][k] = opt->candidates[j][k];</span></div>
|
||
<div class="line"><a id="l00232" name="l00232"></a><span class="lineno"> 232</span><span class="comment">// opt->candidates[j][k] = tmp;</span></div>
|
||
<div class="line"><a id="l00233" name="l00233"></a><span class="lineno"> 233</span><span class="comment">// }</span></div>
|
||
<div class="line"><a id="l00234" name="l00234"></a><span class="lineno"> 234</span><span class="comment">// }</span></div>
|
||
<div class="line"><a id="l00235" name="l00235"></a><span class="lineno"> 235</span><span class="comment">// }</span></div>
|
||
<div class="line"><a id="l00236" name="l00236"></a><span class="lineno"> 236</span><span class="comment">// }</span></div>
|
||
<div class="line"><a id="l00237" name="l00237"></a><span class="lineno"> 237</span> </div>
|
||
<div class="line"><a id="l00238" name="l00238"></a><span class="lineno"> 238</span> <span class="comment">// 3. Генерируем новое поколение: каждый кандидат берется случайно из лучших с мутацией</span></div>
|
||
<div class="line"><a id="l00239" name="l00239"></a><span class="lineno"> 239</span> uint16_t n_elite = 2; <span class="comment">// количество элитных кандидатов, которые сохраняем без изменений</span></div>
|
||
<div class="line"><a id="l00240" name="l00240"></a><span class="lineno"> 240</span> <span class="keywordflow">for</span> (uint16_t c = 0; c < n_cand; c++) {</div>
|
||
<div class="line"><a id="l00241" name="l00241"></a><span class="lineno"> 241</span> <span class="keywordflow">if</span> (c < n_elite) {</div>
|
||
<div class="line"><a id="l00242" name="l00242"></a><span class="lineno"> 242</span> <span class="comment">// Копируем лучших кандидатов напрямую без мутации</span></div>
|
||
<div class="line"><a id="l00243" name="l00243"></a><span class="lineno"> 243</span> <span class="keywordflow">for</span> (uint16_t i = 0; i < n_params; i++) {</div>
|
||
<div class="line"><a id="l00244" name="l00244"></a><span class="lineno"> 244</span> opt-><a class="code hl_variable" href="struct_evolve_optimizer__t.html#a61bd0c8ae322a79936ba1f2ae22e0e0d">candidates</a>[c][i] = opt-><a class="code hl_variable" href="struct_evolve_optimizer__t.html#a61bd0c8ae322a79936ba1f2ae22e0e0d">candidates</a>[opt-><a class="code hl_variable" href="struct_evolve_optimizer__t.html#a74b81df1c298c99162310f3f7d91735a">sorted_idx</a>[c]][i]; <span class="comment">// просто сохраняем параметры</span></div>
|
||
<div class="line"><a id="l00245" name="l00245"></a><span class="lineno"> 245</span> }</div>
|
||
<div class="line"><a id="l00246" name="l00246"></a><span class="lineno"> 246</span> opt-><a class="code hl_variable" href="struct_evolve_optimizer__t.html#ac723b265a3d43b754489f14310314f0d">loss</a>[c] = 0; </div>
|
||
<div class="line"><a id="l00247" name="l00247"></a><span class="lineno"> 247</span> } <span class="keywordflow">else</span> {</div>
|
||
<div class="line"><a id="l00248" name="l00248"></a><span class="lineno"> 248</span> <span class="comment">// Остальные кандидаты формируются с кроссовером и мутацией</span></div>
|
||
<div class="line"><a id="l00249" name="l00249"></a><span class="lineno"> 249</span> <span class="keywordflow">for</span> (uint16_t i = 0; i < n_params; i++) {</div>
|
||
<div class="line"><a id="l00250" name="l00250"></a><span class="lineno"> 250</span> int32_t noise = (rand() % (2 * mut)) - mut;</div>
|
||
<div class="line"><a id="l00251" name="l00251"></a><span class="lineno"> 251</span> uint16_t parent = opt-><a class="code hl_variable" href="struct_evolve_optimizer__t.html#a74b81df1c298c99162310f3f7d91735a">sorted_idx</a>[rand() % opt-><a class="code hl_variable" href="struct_evolve_optimizer__t.html#a950cd70cb6bff33b78ad35ee58c729a6">n_best</a>]; <span class="comment">// каждый параметр из случайного лучшего</span></div>
|
||
<div class="line"><a id="l00252" name="l00252"></a><span class="lineno"> 252</span> opt-><a class="code hl_variable" href="struct_evolve_optimizer__t.html#a61bd0c8ae322a79936ba1f2ae22e0e0d">candidates</a>[c][i] = opt-><a class="code hl_variable" href="struct_evolve_optimizer__t.html#a61bd0c8ae322a79936ba1f2ae22e0e0d">candidates</a>[parent][i] + noise;</div>
|
||
<div class="line"><a id="l00253" name="l00253"></a><span class="lineno"> 253</span> }</div>
|
||
<div class="line"><a id="l00254" name="l00254"></a><span class="lineno"> 254</span> opt-><a class="code hl_variable" href="struct_evolve_optimizer__t.html#ac723b265a3d43b754489f14310314f0d">loss</a>[c] = 0;</div>
|
||
<div class="line"><a id="l00255" name="l00255"></a><span class="lineno"> 255</span> }</div>
|
||
<div class="line"><a id="l00256" name="l00256"></a><span class="lineno"> 256</span> }</div>
|
||
<div class="line"><a id="l00257" name="l00257"></a><span class="lineno"> 257</span> opt-><a class="code hl_variable" href="struct_evolve_optimizer__t.html#a0ae0e63ba351335d4445d927991c64ae">cand_index</a> = 0;</div>
|
||
<div class="line"><a id="l00258" name="l00258"></a><span class="lineno"> 258</span> }</div>
|
||
<div class="line"><a id="l00259" name="l00259"></a><span class="lineno"> 259</span> </div>
|
||
<div class="line"><a id="l00260" name="l00260"></a><span class="lineno"> 260</span> <span class="comment">// 4. Возвращаем параметры следующего кандидата</span></div>
|
||
<div class="line"><a id="l00261" name="l00261"></a><span class="lineno"> 261</span> <span class="keywordflow">for</span> (uint16_t i = 0; i < opt-><a class="code hl_variable" href="struct_evolve_optimizer__t.html#a1c270fce82e0c97e6c88fd0971c1eed8">n_params</a>; i++)</div>
|
||
<div class="line"><a id="l00262" name="l00262"></a><span class="lineno"> 262</span> params[i] = opt-><a class="code hl_variable" href="struct_evolve_optimizer__t.html#a61bd0c8ae322a79936ba1f2ae22e0e0d">candidates</a>[opt-><a class="code hl_variable" href="struct_evolve_optimizer__t.html#a0ae0e63ba351335d4445d927991c64ae">cand_index</a>][i];</div>
|
||
<div class="line"><a id="l00263" name="l00263"></a><span class="lineno"> 263</span> </div>
|
||
<div class="line"><a id="l00264" name="l00264"></a><span class="lineno"> 264</span> <span class="keywordflow">return</span> 0;</div>
|
||
<div class="line"><a id="l00265" name="l00265"></a><span class="lineno"> 265</span>}</div>
|
||
</div>
|
||
<div class="line"><a id="l00266" name="l00266"></a><span class="lineno"> 266</span><span class="preprocessor">#else </span><span class="comment">// ENABLE_EVOLVE_OPTIMIZATION</span></div>
|
||
<div class="line"><a id="l00267" name="l00267"></a><span class="lineno"> 267</span><span class="comment">//заглушки</span></div>
|
||
<div class="line"><a id="l00268" name="l00268"></a><span class="lineno"> 268</span><span class="keyword">typedef</span> <span class="keyword">struct </span>{</div>
|
||
<div class="line"><a id="l00269" name="l00269"></a><span class="lineno"> 269</span> uint16_t n_params; </div>
|
||
<div class="line"><a id="l00270" name="l00270"></a><span class="lineno"> 270</span> uint16_t n_cand; </div>
|
||
<div class="line"><a id="l00271" name="l00271"></a><span class="lineno"> 271</span> uint16_t n_best; </div>
|
||
<div class="line"><a id="l00272" name="l00272"></a><span class="lineno"> 272</span> uint16_t iq_mutation; </div>
|
||
<div class="line"><a id="l00273" name="l00273"></a><span class="lineno"> 273</span> int32_t loss[0]; </div>
|
||
<div class="line"><a id="l00274" name="l00274"></a><span class="lineno"> 274</span> int32_t candidates[0][0]; </div>
|
||
<div class="line"><a id="l00275" name="l00275"></a><span class="lineno"> 275</span>} <a class="code hl_struct" href="struct_evolve_optimizer__t.html">EvolveOptimizer_t</a>;</div>
|
||
<div class="line"><a id="l00276" name="l00276"></a><span class="lineno"> 276</span><span class="preprocessor">#define EvolveOptimizer_Init(opt, n_params, n_cand, n_best, iq_mutation, start_params)</span></div>
|
||
<div class="line"><a id="l00277" name="l00277"></a><span class="lineno"> 277</span><span class="preprocessor">#define EvolveOptimizer_Step(opt, params, LossFunc)</span></div>
|
||
<div class="line"><a id="l00278" name="l00278"></a><span class="lineno"> 278</span><span class="preprocessor">#define PARAM_SCALE_Q16(x, min_val, max_val) (x)</span></div>
|
||
<div class="line"><a id="l00279" name="l00279"></a><span class="lineno"> 279</span><span class="preprocessor">#define PARAM_UNSCALE_Q16(q16_val, min_val, max_val) (q16_val)</span></div>
|
||
<div class="line"><a id="l00280" name="l00280"></a><span class="lineno"> 280</span><span class="preprocessor">#endif </span><span class="comment">// ENABLE_EVOLVE_OPTIMIZATION</span></div>
|
||
<div class="line"><a id="l00281" name="l00281"></a><span class="lineno"> 281</span> </div>
|
||
<div class="line"><a id="l00282" name="l00282"></a><span class="lineno"> 282</span><span class="preprocessor">#endif </span><span class="comment">// __EVOLVE_OPTIMIZER_H_</span></div>
|
||
<div class="line"><a id="l00283" name="l00283"></a><span class="lineno"> 283</span><span class="comment"></span> </div>
|
||
<div class="line"><a id="l00284" name="l00284"></a><span class="lineno"> 284</span><span class="comment">/** EVOLVE_OPTIMIZER</span></div>
|
||
<div class="line"><a id="l00285" name="l00285"></a><span class="lineno"> 285</span><span class="comment"> * @}</span></div>
|
||
<div class="line"><a id="l00286" name="l00286"></a><span class="lineno"> 286</span><span class="comment"> */</span></div>
|
||
<div class="ttc" id="agroup___e_v_o_l_v_e___c_o_n_f_i_g_html_ga7c1396e5c95c766afccdb45cbfcf5971"><div class="ttname"><a href="group___e_v_o_l_v_e___c_o_n_f_i_g.html#ga7c1396e5c95c766afccdb45cbfcf5971">EVOLVE_MAX_CANDIDATES</a></div><div class="ttdeci">#define EVOLVE_MAX_CANDIDATES</div><div class="ttdoc">Максимальное количество кандидатов для обучения</div><div class="ttdef"><b>Definition</b> <a href="mylibs__config_8h_source.html#l00066">mylibs_config.h:66</a></div></div>
|
||
<div class="ttc" id="agroup___e_v_o_l_v_e___c_o_n_f_i_g_html_ga80d6162495fc3776d8902610657d4fee"><div class="ttname"><a href="group___e_v_o_l_v_e___c_o_n_f_i_g.html#ga80d6162495fc3776d8902610657d4fee">EVOLVE_MAX_PARAMS</a></div><div class="ttdeci">#define EVOLVE_MAX_PARAMS</div><div class="ttdoc">Максимальное количество параметров</div><div class="ttdef"><b>Definition</b> <a href="mylibs__config_8h_source.html#l00065">mylibs_config.h:65</a></div></div>
|
||
<div class="ttc" id="agroup___e_v_o_l_v_e___o_p_t_i_m_i_z_e_r_html_ga75acd71c85d4e60dc0eb31bc5780086a"><div class="ttname"><a href="group___e_v_o_l_v_e___o_p_t_i_m_i_z_e_r.html#ga75acd71c85d4e60dc0eb31bc5780086a">EvolveOptimizer_Step</a></div><div class="ttdeci">__STATIC_INLINE int EvolveOptimizer_Step(EvolveOptimizer_t *opt, int32_t *params, int32_t loss)</div><div class="ttdoc">Один шаг эволюционного оптимизатора.</div><div class="ttdef"><b>Definition</b> <a href="#l00187">evolve_optimizer.h:187</a></div></div>
|
||
<div class="ttc" id="agroup___e_v_o_l_v_e___o_p_t_i_m_i_z_e_r_html_ga9c853b02c22f26023c34d1d404b6d653"><div class="ttname"><a href="group___e_v_o_l_v_e___o_p_t_i_m_i_z_e_r.html#ga9c853b02c22f26023c34d1d404b6d653">local_time</a></div><div class="ttdeci">#define local_time()</div><div class="ttdoc">Локальное время</div><div class="ttdef"><b>Definition</b> <a href="#l00081">evolve_optimizer.h:81</a></div></div>
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<div class="ttc" id="agroup___e_v_o_l_v_e___o_p_t_i_m_i_z_e_r_html_gadaf3a90724197e1737d5c70c7bcc75e1"><div class="ttname"><a href="group___e_v_o_l_v_e___o_p_t_i_m_i_z_e_r.html#gadaf3a90724197e1737d5c70c7bcc75e1">EvolveOptimizer_Init</a></div><div class="ttdeci">__STATIC_INLINE int EvolveOptimizer_Init(EvolveOptimizer_t *opt, uint16_t n_params, uint16_t n_cand, uint16_t n_best, uint16_t iq_mutation, int32_t *start_params)</div><div class="ttdoc">Инициализация эволюционного оптимизатора.</div><div class="ttdef"><b>Definition</b> <a href="#l00132">evolve_optimizer.h:132</a></div></div>
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<div class="ttc" id="astruct_evolve_optimizer__t_html"><div class="ttname"><a href="struct_evolve_optimizer__t.html">EvolveOptimizer_t</a></div><div class="ttdoc">Структура эволюционного оптимизатора</div><div class="ttdef"><b>Definition</b> <a href="#l00087">evolve_optimizer.h:87</a></div></div>
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<div class="ttc" id="astruct_evolve_optimizer__t_html_a0ae0e63ba351335d4445d927991c64ae"><div class="ttname"><a href="struct_evolve_optimizer__t.html#a0ae0e63ba351335d4445d927991c64ae">EvolveOptimizer_t::cand_index</a></div><div class="ttdeci">uint16_t cand_index</div><div class="ttdoc">Индекс кандидата для обработки</div><div class="ttdef"><b>Definition</b> <a href="#l00092">evolve_optimizer.h:92</a></div></div>
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<div class="ttc" id="astruct_evolve_optimizer__t_html_a1c270fce82e0c97e6c88fd0971c1eed8"><div class="ttname"><a href="struct_evolve_optimizer__t.html#a1c270fce82e0c97e6c88fd0971c1eed8">EvolveOptimizer_t::n_params</a></div><div class="ttdeci">uint16_t n_params</div><div class="ttdoc">Количество параметров</div><div class="ttdef"><b>Definition</b> <a href="#l00088">evolve_optimizer.h:88</a></div></div>
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<div class="ttc" id="astruct_evolve_optimizer__t_html_a5391277564b54e2271856a2466033df5"><div class="ttname"><a href="struct_evolve_optimizer__t.html#a5391277564b54e2271856a2466033df5">EvolveOptimizer_t::iq_mutation</a></div><div class="ttdeci">uint16_t iq_mutation</div><div class="ttdoc">Амплитуда мутации в Q16.16.</div><div class="ttdef"><b>Definition</b> <a href="#l00091">evolve_optimizer.h:91</a></div></div>
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<div class="ttc" id="astruct_evolve_optimizer__t_html_a61bd0c8ae322a79936ba1f2ae22e0e0d"><div class="ttname"><a href="struct_evolve_optimizer__t.html#a61bd0c8ae322a79936ba1f2ae22e0e0d">EvolveOptimizer_t::candidates</a></div><div class="ttdeci">int32_t candidates[100][20]</div><div class="ttdoc">Параметры кандидатов</div><div class="ttdef"><b>Definition</b> <a href="#l00094">evolve_optimizer.h:94</a></div></div>
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<div class="ttc" id="astruct_evolve_optimizer__t_html_a74b81df1c298c99162310f3f7d91735a"><div class="ttname"><a href="struct_evolve_optimizer__t.html#a74b81df1c298c99162310f3f7d91735a">EvolveOptimizer_t::sorted_idx</a></div><div class="ttdeci">uint16_t sorted_idx[100]</div><div class="ttdoc">Индексы отсортированных кандидатов</div><div class="ttdef"><b>Definition</b> <a href="#l00095">evolve_optimizer.h:95</a></div></div>
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<div class="ttc" id="astruct_evolve_optimizer__t_html_a950cd70cb6bff33b78ad35ee58c729a6"><div class="ttname"><a href="struct_evolve_optimizer__t.html#a950cd70cb6bff33b78ad35ee58c729a6">EvolveOptimizer_t::n_best</a></div><div class="ttdeci">uint16_t n_best</div><div class="ttdoc">Количество лучших, усредняемых</div><div class="ttdef"><b>Definition</b> <a href="#l00090">evolve_optimizer.h:90</a></div></div>
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<div class="ttc" id="astruct_evolve_optimizer__t_html_ac35c7ca8cede4ab9c53a2845a91cd1b1"><div class="ttname"><a href="struct_evolve_optimizer__t.html#ac35c7ca8cede4ab9c53a2845a91cd1b1">EvolveOptimizer_t::n_cand</a></div><div class="ttdeci">uint16_t n_cand</div><div class="ttdoc">Количество кандидатов</div><div class="ttdef"><b>Definition</b> <a href="#l00089">evolve_optimizer.h:89</a></div></div>
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<div class="ttc" id="astruct_evolve_optimizer__t_html_ac723b265a3d43b754489f14310314f0d"><div class="ttname"><a href="struct_evolve_optimizer__t.html#ac723b265a3d43b754489f14310314f0d">EvolveOptimizer_t::loss</a></div><div class="ttdeci">int32_t loss[100]</div><div class="ttdoc">Loss для каждого кандидата</div><div class="ttdef"><b>Definition</b> <a href="#l00093">evolve_optimizer.h:93</a></div></div>
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