@Override
protected Pair<Vector<Float64>, Vector<Float64>> transformOriginalToInternState(
List<Vector<Float64>> hist, Vector<Float64> target) {
Vector<Float64> v = transformOriginalToInternState(hist);
DataEntry lastState = new DataEntry(hist.get(hist.size() - 1));
Vector<Float64> trans = lastState.getPos();
Matrix<Float64> rot = lastState.getRotation();
DataEntry t = new DataEntry(target);
Vector<Float64> pos = rot.times(t.getPos().minus(trans));
Vector<Float64> vel = rot.times(t.getVel());
Vector<Float64> intern = Float64Vector.valueOf(pos.get(0), pos.get(1), vel.get(0), vel.get(1));
return new Pair<Vector<Float64>, Vector<Float64>>(v, intern);
}
@Override
protected Vector<Float64> transformOriginalToInternState(List<Vector<Float64>> data) {
DataEntry lastState = new DataEntry(data.get(data.size() - 1));
data.remove(data.size() - 1);
Vector<Float64> trans = lastState.getPos();
Matrix<Float64> rot = lastState.getRotation();
List<Float64> concated = new ArrayList<Float64>(getHistorySize() * 4);
concated.add(Float64.valueOf(lastState.getV()));
for (Vector<Float64> v : data) {
DataEntry d = new DataEntry(v);
Vector<Float64> pos = rot.times(d.getPos().minus(trans));
Vector<Float64> vel = rot.times(d.getVel());
concated.addAll(
Lists.newArrayList(
pos.get(0), pos.get(1), vel.get(0), vel.get(1), Float64.valueOf(d.getV())));
}
return Float64Vector.valueOf(concated);
}
