@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> transformInternToOriginalState(
List<Vector<Float64>> history, Vector<Float64> state) {
DataEntry lastState = new DataEntry(history.get(history.size() - 1));
Vector<Float64> trans = lastState.getPos(); // NOPMD
Matrix<Float64> rot = lastState.getRotation();
DenseVector<Float64> pos = Float64Vector.valueOf(state.get(0), state.get(1));
Float64Vector vel =
Float64Vector.valueOf(state.get(2).doubleValue(), state.get(3).doubleValue());
Vector<Float64> newPos = rot.inverse().times(pos).plus(trans);
Float64 v = vel.norm();
return Float64Vector.valueOf(
newPos.get(0), newPos.get(1), vel.get(0).divide(v), vel.get(1).divide(v), v);
}
@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);
}