GaussianProcessGuider
#include <gaussian_process_guider.h>
Classes | |
struct | guide_parameters |
Public Member Functions | |
GaussianProcessGuider (guide_parameters parameters) | |
void | add_one_point () |
double | deduceResult (double time_step, double prediction_point=-1.0) |
void | DirectMoveApplied (double amt, double rate) |
data_point & | get_last_point () const |
size_t | get_number_of_measurements () const |
data_point & | get_second_last_point () const |
bool | GetBoolComputePeriod () const |
double | GetControlGain () const |
std::vector< double > | GetGPHyperparameters () const |
double | GetMinMove () const |
int | GetNumPointsForApproximation () const |
double | GetPeriodLengthsInference () const |
double | GetPeriodLengthsPeriodEstimation () const |
double | getPredictionContribution () |
double | GetPredictionGain () const |
void | GuidingDithered (double amt, double rate) |
void | GuidingDitherSettleDone (bool success) |
void | inject_data_point (double timestamp, double input, double SNR, double control) |
Eigen::MatrixXd | regularize_dataset (const Eigen::VectorXd ×tamps, const Eigen::VectorXd &gear_error, const Eigen::VectorXd &variances) |
void | reset () |
double | result (double input, double SNR, double time_step, double prediction_point=-1.0) |
void | save_gp_data () const |
bool | SetBoolComputePeriod (bool active) |
bool | SetControlGain (double control_gain) |
bool | SetGPHyperparameters (const std::vector< double > &hyperparameters) |
void | SetLearningRate (double learning_rate) |
bool | SetMinMove (double min_move) |
bool | SetNumPointsForApproximation (int num_points) |
bool | SetPeriodLengthsInference (double num_periods) |
bool | SetPeriodLengthsPeriodEstimation (double num_periods) |
bool | SetPredictionGain (double) |
void | UpdateGP (double prediction_point=std::numeric_limits< double >::quiet_NaN()) |
void | UpdatePeriodLength (double period_length) |
Detailed Description
This class provides a guiding algorithm for the right ascension axis that learns and predicts the periodic gear error with a Gaussian process.
This prediction helps reducing periodic error components in the residual tracking error. Further it is able to perform tracking without measurement to increase robustness of the overall guiding system.
Definition at line 47 of file gaussian_process_guider.h.
Constructor & Destructor Documentation
◆ GaussianProcessGuider()
GaussianProcessGuider::GaussianProcessGuider | ( | guide_parameters | parameters | ) |
Definition at line 43 of file gaussian_process_guider.cpp.
◆ ~GaussianProcessGuider()
GaussianProcessGuider::~GaussianProcessGuider | ( | ) |
Definition at line 92 of file gaussian_process_guider.cpp.
Member Function Documentation
◆ add_one_point()
|
inline |
Definition at line 347 of file gaussian_process_guider.h.
◆ deduceResult()
double GaussianProcessGuider::deduceResult | ( | double | time_step, |
double | prediction_point = -1.0 ) |
This method provides predictive control if no measurement could be made.
A zero measurement is stored with high uncertainty, and then the GP prediction is used for control.
Definition at line 387 of file gaussian_process_guider.cpp.
◆ DirectMoveApplied()
void GaussianProcessGuider::DirectMoveApplied | ( | double | amt, |
double | rate ) |
This method tells the guider that a direct move was issued.
This has the opposite effect of a dither on the dither offset.
Definition at line 466 of file gaussian_process_guider.cpp.
◆ get_last_point()
|
inline |
Definition at line 332 of file gaussian_process_guider.h.
◆ get_number_of_measurements()
|
inline |
Definition at line 342 of file gaussian_process_guider.h.
◆ get_second_last_point()
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inline |
Definition at line 337 of file gaussian_process_guider.h.
◆ GetBoolComputePeriod()
bool GaussianProcessGuider::GetBoolComputePeriod | ( | ) | const |
Definition at line 486 of file gaussian_process_guider.cpp.
◆ GetControlGain()
double GaussianProcessGuider::GetControlGain | ( | void | ) | const |
Definition at line 475 of file gaussian_process_guider.cpp.
◆ GetGPHyperparameters()
std::vector< double > GaussianProcessGuider::GetGPHyperparameters | ( | ) | const |
Definition at line 497 of file gaussian_process_guider.cpp.
◆ GetMinMove()
double GaussianProcessGuider::GetMinMove | ( | ) | const |
Definition at line 537 of file gaussian_process_guider.cpp.
◆ GetNumPointsForApproximation()
int GaussianProcessGuider::GetNumPointsForApproximation | ( | ) | const |
Definition at line 548 of file gaussian_process_guider.cpp.
◆ GetPeriodLengthsInference()
double GaussianProcessGuider::GetPeriodLengthsInference | ( | ) | const |
Definition at line 559 of file gaussian_process_guider.cpp.
◆ GetPeriodLengthsPeriodEstimation()
double GaussianProcessGuider::GetPeriodLengthsPeriodEstimation | ( | ) | const |
Definition at line 570 of file gaussian_process_guider.cpp.
◆ getPredictionContribution()
|
inline |
Returns the weight of the prediction on the output control value.
Definition at line 253 of file gaussian_process_guider.h.
◆ GetPredictionGain()
double GaussianProcessGuider::GetPredictionGain | ( | ) | const |
Definition at line 581 of file gaussian_process_guider.cpp.
◆ GuidingDithered()
void GaussianProcessGuider::GuidingDithered | ( | double | amt, |
double | rate ) |
This method tells the guider that a dither command was issued.
The guider will stop collecting measurements and uses predictions instead, to keep the FFT and the GP working.
Definition at line 443 of file gaussian_process_guider.cpp.
◆ GuidingDitherSettleDone()
void GaussianProcessGuider::GuidingDitherSettleDone | ( | bool | success | ) |
This method tells the guider that dithering is finished.
The guider will resume normal operation.
Definition at line 455 of file gaussian_process_guider.cpp.
◆ inject_data_point()
void GaussianProcessGuider::inject_data_point | ( | double | timestamp, |
double | input, | ||
double | SNR, | ||
double | control ) |
This method is needed for automated testing.
It can inject data points.
Definition at line 592 of file gaussian_process_guider.cpp.
◆ regularize_dataset()
Eigen::MatrixXd GaussianProcessGuider::regularize_dataset | ( | const Eigen::VectorXd & | timestamps, |
const Eigen::VectorXd & | gear_error, | ||
const Eigen::VectorXd & | variances ) |
Takes timestamps, measurements and SNRs and returns them regularized in a matrix.
Definition at line 709 of file gaussian_process_guider.cpp.
◆ reset()
void GaussianProcessGuider::reset | ( | ) |
Clears the data from the circular buffer and clears the GP data.
Definition at line 423 of file gaussian_process_guider.cpp.
◆ result()
double GaussianProcessGuider::result | ( | double | input, |
double | SNR, | ||
double | time_step, | ||
double | prediction_point = -1.0 ) |
Calculates the control value based on the current input.
- The input is stored, 2. the GP is updated with the new data point, 3. the prediction is calculated to compensate the gear error and 4. the controller is calculated, consisting of feedback and prediction parts.
Definition at line 269 of file gaussian_process_guider.cpp.
◆ save_gp_data()
void GaussianProcessGuider::save_gp_data | ( | ) | const |
Saves the GP data to a csv file for external analysis.
Expensive!
Definition at line 776 of file gaussian_process_guider.cpp.
◆ SetBoolComputePeriod()
bool GaussianProcessGuider::SetBoolComputePeriod | ( | bool | active | ) |
Definition at line 491 of file gaussian_process_guider.cpp.
◆ SetControlGain()
bool GaussianProcessGuider::SetControlGain | ( | double | control_gain | ) |
Definition at line 480 of file gaussian_process_guider.cpp.
◆ SetGPHyperparameters()
bool GaussianProcessGuider::SetGPHyperparameters | ( | const std::vector< double > & | hyperparameters | ) |
Definition at line 512 of file gaussian_process_guider.cpp.
◆ SetLearningRate()
void GaussianProcessGuider::SetLearningRate | ( | double | learning_rate | ) |
Sets the learning rate.
Useful for disabling it for testing.
Definition at line 851 of file gaussian_process_guider.cpp.
◆ SetMinMove()
bool GaussianProcessGuider::SetMinMove | ( | double | min_move | ) |
Definition at line 542 of file gaussian_process_guider.cpp.
◆ SetNumPointsForApproximation()
bool GaussianProcessGuider::SetNumPointsForApproximation | ( | int | num_points | ) |
Definition at line 553 of file gaussian_process_guider.cpp.
◆ SetPeriodLengthsInference()
bool GaussianProcessGuider::SetPeriodLengthsInference | ( | double | num_periods | ) |
Definition at line 564 of file gaussian_process_guider.cpp.
◆ SetPeriodLengthsPeriodEstimation()
bool GaussianProcessGuider::SetPeriodLengthsPeriodEstimation | ( | double | num_periods | ) |
Definition at line 575 of file gaussian_process_guider.cpp.
◆ SetPredictionGain()
bool GaussianProcessGuider::SetPredictionGain | ( | double | prediction_gain | ) |
Definition at line 586 of file gaussian_process_guider.cpp.
◆ UpdateGP()
void GaussianProcessGuider::UpdateGP | ( | double | prediction_point = std::numeric_limits<double>::quiet_NaN() | ) |
Runs the inference machinery on the GP.
Gets the measurement data from the circular buffer and stores it in Eigen::Vectors. Detrends the data with linear regression. Calculates the main frequency with an FFT. Updates the GP accordingly with new data and parameter.
Definition at line 140 of file gaussian_process_guider.cpp.
◆ UpdatePeriodLength()
void GaussianProcessGuider::UpdatePeriodLength | ( | double | period_length | ) |
Does filtering and sets the period length of the GPGuider.
Definition at line 690 of file gaussian_process_guider.cpp.
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