Refactor from cubeai to cuberl

.gitignore

@@ -1,2 +1,2 @@
-include/cubeai/base/cubeai_version.h
-include/cubeai/base/cubeai_config.h
+include/cuberl/base/cubeai_version.h
+include/cuberl/base/cubeai_config.h

CMakeLists.txt

@@ -38,18 +38,6 @@ ENDIF(COMMAND cmake_policy)
 
 OPTION(ENABLE_WEBOTS_FLAG OFF)
 
-# configure the project accordingly
-# Set the build type options supported
-# Debug and Release are the types supported
-SET(CMAKE_BUILD_TYPE "Debug")
-#SET(CMAKE_CXX_COMPILER g++-11)
-SET(CMAKE_CXX_STANDARD 20)
-#SET(CMAKE_CXX_STANDARD_REQUIRED True)
-#SET(CMAKE_C_COMPILER gcc-11)
-#SET(CMAKE_C_STANDARD 20)
-#SET(CMAKE_C_STANDARD_REQUIRED True)
-SET(CMAKE_LINKER_FLAGS "-pthread")
-
 SET(USE_OPENMP ON)
 SET(USE_LOG ON)
 SET(USE_PYTORCH ON)
@@ -62,7 +50,21 @@ SET(USE_RL ON)
 SET(DATA_SET_FOLDER ${PROJECT_SOURCE_DIR}/data)
 SET(ENABLE_EXAMPLES_FLAG ON)
 SET(ENABLE_TESTS_FLAG OFF) # Testing
-SET(ENABLE_DOC_FLAG OFF) # Documentation
+
+
+# configure the project accordingly
+# Set the build type options supported
+# Debug and Release are the types supported
+SET(CMAKE_BUILD_TYPE "Release")
+#SET(CMAKE_CXX_COMPILER g++-11)
+SET(CMAKE_CXX_STANDARD 20)
+#SET(CMAKE_CXX_STANDARD_REQUIRED True)
+#SET(CMAKE_C_COMPILER gcc-11)
+#SET(CMAKE_C_STANDARD 20)
+#SET(CMAKE_C_STANDARD_REQUIRED True)
+SET(CMAKE_LINKER_FLAGS "-pthread")
+
+
 
 # if we enable Webots then specify the paths
 # Note that if rlenvscpp is compiled with
@@ -174,8 +176,8 @@ MESSAGE(STATUS "C Compiler: ${CMAKE_C_COMPILER}")
 MESSAGE(STATUS "Project SRC directory: ${PROJECT_SOURCE_DIR}")
 
 # write configuration and version files
-configure_file(config.h.in ${PROJECT_SOURCE_DIR}/include/cubeai/base/cubeai_config.h @ONLY)
-configure_file(version.h.in ${PROJECT_SOURCE_DIR}/include/cubeai/base/cubeai_version.h @ONLY)
+configure_file(config.h.in ${PROJECT_SOURCE_DIR}/include/cuberl/base/cubeai_config.h @ONLY)
+configure_file(version.h.in ${PROJECT_SOURCE_DIR}/include/cuberl/base/cubeai_version.h @ONLY)
 
 # include directories
 INCLUDE_DIRECTORIES(${BOOST_INCLUDEDIR})
@@ -189,23 +191,23 @@ ENDIF()
 INCLUDE_DIRECTORIES(include/)
 
 # collect the source files for the library
-FILE(GLOB SRCS src/cubeai/base/*.cpp
-               src/cubeai/rl/*.cpp
-               src/cubeai/rl/*/*.cpp
-			   src/cubeai/rl/algorithms/*.cpp
-			   src/cubeai/rl/algorithms/*/*.cpp
-               src/cubeai/utils/*.cpp
-               src/cubeai/maths/*.cpp
-               src/cubeai/maths/statistics/*.cpp
-               src/cubeai/maths/statistics/distributions/*.cpp
-               src/cubeai/maths/optimization/*.cpp
-		       src/cubeai/control/*.cpp
+FILE(GLOB SRCS src/cuberl/base/*.cpp
+		src/cuberl/rl/*.cpp
+		src/cuberl/rl/*/*.cpp
+		src/cuberl/rl/algorithms/*.cpp
+		src/cuberl/rl/algorithms/*/*.cpp
+		src/cuberl/utils/*.cpp
+		src/cuberl/maths/*.cpp
+		src/cuberl/maths/statistics/*.cpp
+		src/cuberl/maths/statistics/distributions/*.cpp
+		src/cuberl/maths/optimization/*.cpp
+		src/cuberl/control/*.cpp
                #src/cubeai/planning/*.cpp
 	)
 
-ADD_LIBRARY(cubeailib SHARED ${SRCS})
-SET_TARGET_PROPERTIES(cubeailib PROPERTIES LINKER_LANGUAGE CXX)
-INSTALL(TARGETS cubeailib DESTINATION ${CMAKE_INSTALL_PREFIX})
+ADD_LIBRARY(cuberllib SHARED ${SRCS})
+SET_TARGET_PROPERTIES(cuberllib PROPERTIES LINKER_LANGUAGE CXX)
+INSTALL(TARGETS cuberllib DESTINATION ${CMAKE_INSTALL_PREFIX})
 
 IF(ENABLE_EXAMPLES_FLAG)
 	# Add the examples
@@ -221,12 +223,7 @@ ELSE()
 	MESSAGE(WARNING "Tests have not been enabled")
 ENDIF()
 
-IF(ENABLE_DOC_FLAG)
-	# Add the documentation
-	ADD_SUBDIRECTORY(doc)
-ELSE()
-	MESSAGE(WARNING "Documentation will not be generated")
-ENDIF()
+
 
 MESSAGE(STATUS "Installation destination at: ${CMAKE_INSTALL_PREFIX}")
 MESSAGE(STATUS "Type make install to build cubeAI")

examples/filtering/filtering_example_1/CMakeLists.txt

@@ -5,7 +5,7 @@ SET(SOURCE ${EXECUTABLE}.cpp)
 
 ADD_EXECUTABLE(${EXECUTABLE} ${SOURCE})
 
-TARGET_LINK_LIBRARIES(${EXECUTABLE} PRIVATE cubeailib bitrllib pthread openblas tbb boost_log)
+TARGET_LINK_LIBRARIES(${EXECUTABLE} PRIVATE cuberllib bitrllib pthread openblas tbb boost_log)
 
 
 

examples/filtering/filtering_example_1/filtering_example_1.cpp

@@ -4,9 +4,9 @@
   * Greg Welch and Gary Bishop
   * */
 
-#include "cubeai/base/cubeai_types.h"
-#include "cubeai/estimation/kalman_filter.h"
-#include "cubeai/estimation/kf_model_base.h"
+#include "cuberl/base/cubeai_types.h"
+#include "cuberl/estimation/kalman_filter.h"
+#include "cuberl/estimation/kf_model_base.h"
 #include "bitrl/utils/iteration_counter.h"
 #include "bitrl/utils/io/csv_file_writer.h"
 

examples/filtering/filtering_example_2/CMakeLists.txt

@@ -5,7 +5,7 @@ SET(SOURCE ${EXECUTABLE}.cpp)
 
 ADD_EXECUTABLE(${EXECUTABLE} ${SOURCE})
 
-TARGET_LINK_LIBRARIES(${EXECUTABLE} PRIVATE cubeailib bitrllib pthread openblas tbb boost_log)
+TARGET_LINK_LIBRARIES(${EXECUTABLE} PRIVATE cuberllib bitrllib pthread openblas tbb boost_log)
 
 
 

examples/filtering/filtering_example_2/filtering_example_2.cpp

@@ -1,5 +1,5 @@
-#include "cubeai/base/cubeai_types.h"
-#include "cubeai/estimation/extended_kalman_filter.h"
+#include "cuberl/base/cubeai_types.h"
+#include "cuberl/estimation/extended_kalman_filter.h"
 #include "bitrl/utils/iteration_counter.h"
 #include "bitrl/utils/io/csv_file_writer.h"
 #include "bitrl/dynamics/diff_drive_dynamics.h"

examples/intro/intro_example_1/CMakeLists.txt

@@ -5,7 +5,7 @@ SET(SOURCE ${EXECUTABLE}.cpp)
 
 ADD_EXECUTABLE(${EXECUTABLE} ${SOURCE})
 
-TARGET_LINK_LIBRARIES(${EXECUTABLE} PRIVATE cubeailib bitrllib pthread openblas tbb boost_log)
+TARGET_LINK_LIBRARIES(${EXECUTABLE} PRIVATE cuberllib bitrllib pthread openblas tbb boost_log)
 
 
 

examples/intro/intro_example_1/intro_example_1.cpp

@@ -4,8 +4,8 @@
   *
   * */
 
-#include "cubeai/base/cubeai_config.h"
-#include "cubeai/base/cubeai_types.h"
+#include "cuberl/base/cubeai_config.h"
+#include "cuberl/base/cubeai_types.h"
 #include "bitrl/utils/io/json_file_reader.h"
 #include "bitrl/utils/iteration_counter.h"
 #include "bitrl/utils/geometry/shapes/circle.h"

examples/intro/intro_example_2/CMakeLists.txt

@@ -5,7 +5,7 @@ SET(SOURCE ${EXECUTABLE}.cpp)
 
 ADD_EXECUTABLE(${EXECUTABLE} ${SOURCE})
 
-TARGET_LINK_LIBRARIES(${EXECUTABLE} PRIVATE cubeailib bitrllib pthread openblas tbb boost_log)
+TARGET_LINK_LIBRARIES(${EXECUTABLE} PRIVATE cuberllib bitrllib pthread openblas tbb boost_log)
 
 
 

examples/intro/intro_example_2/intro_example_2.cpp

@@ -1,8 +1,8 @@
-#include "cubeai/base/cubeai_config.h"
+#include "cuberl/base/cubeai_config.h"
 
 #ifdef USE_PYTORCH
 
-#include "cubeai/base/cubeai_types.h"
+#include "cuberl/base/cubeai_types.h"
 
 #include <torch/torch.h>
 #include <boost/log/trivial.hpp>

examples/intro/intro_example_3/CMakeLists.txt

@@ -5,7 +5,7 @@ SET(SOURCE ${EXECUTABLE}.cpp)
 
 ADD_EXECUTABLE(${EXECUTABLE} ${SOURCE})
 
-TARGET_LINK_LIBRARIES(${EXECUTABLE} PRIVATE cubeailib bitrllib pthread openblas tbb boost_log)
+TARGET_LINK_LIBRARIES(${EXECUTABLE} PRIVATE cuberllib bitrllib pthread openblas tbb boost_log)
 
 
 

examples/intro/intro_example_3/intro_example_3.cpp

@@ -1,8 +1,8 @@
-#include "cubeai/base/cubeai_config.h"
+#include "cuberl/base/cubeai_config.h"
 
 #ifdef USE_PYTORCH
 
-#include "cubeai/base/cubeai_types.h"
+#include "cuberl/base/cubeai_types.h"
 #include "bitrl/utils/iteration_counter.h"
 #include "bitrl/utils/io/json_file_reader.h"
 
@@ -13,7 +13,7 @@
 #include <filesystem>
 #include <string>
 
-namespace intro_example_2
+namespace example
 {
 
 using cuberl::real_t;
@@ -24,13 +24,10 @@ using bitrl::utils::IterationCounter;
 namespace fs = std::filesystem;
 const std::string CONFIG = "config.json";
 
-}
-
-int main() {
 
-    using namespace intro_example_2;
-
-    try{
+std::string train_model()
+{
+  try{
 
       // load the json configuration
       JSONFileReader json_reader(CONFIG);
@@ -59,7 +56,6 @@ int main() {
       BOOST_LOG_TRIVIAL(info)<<"Max epochs: "<<num_epochs;
       BOOST_LOG_TRIVIAL(info)<<"Learning rate: "<<learning_rate;
 
-
       // figure out the device we are using
       auto cuda_available = torch::cuda::is_available();
       torch::Device device(cuda_available ? torch::kCUDA : torch::kCPU);
@@ -70,8 +66,6 @@ int main() {
         BOOST_LOG_TRIVIAL(info)<<"CUDA is not available. Training on CPU "<<std::endl;
       }
 
-      torch::manual_seed(42);
-
       // Sample dataset
       auto x_train = torch::randint(0, 10, {15, 1},
                                     torch::TensorOptions(torch::kFloat).device(device));
@@ -87,14 +81,12 @@ int main() {
       torch::optim::SGD optimizer(model->parameters(),
                                   torch::optim::SGDOptions(learning_rate));
 
-      // Set floating point output precision
       BOOST_LOG_TRIVIAL(info)<<"Start training...";
 
-
       IterationCounter iteration_ctrl(num_epochs);
       while(iteration_ctrl.continue_iterations()){
 
-        // Forward pass
+          // Forward pass
           auto output = model->forward(x_train);
           auto loss = torch::nn::functional::mse_loss(output, y_train);
 
@@ -109,20 +101,72 @@ int main() {
           }
       }
 
-      BOOST_LOG_TRIVIAL(info)<<"Training is finished... ";
+      BOOST_LOG_TRIVIAL(info)<<"Training finished... ";
 
-      // let's also save the model
       auto model_filename = std::string(EXPERIMENT_DIR_PATH) + std::string("/linear_regression_model.pth");
-      torch::save(model, model_filename);
+      BOOST_LOG_TRIVIAL(info)<<"Saving model at: "<<model_filename<<std::endl;
 
+      torch::save(model, model_filename);
+      return model_filename;
     }
     catch(std::exception& e){
         std::cout<<e.what()<<std::endl;
     }
     catch(...){
-
-        std::cout<<"Unknown exception occured"<<std::endl;
+        std::cout<<"Unknown exception occurred"<<std::endl;
     }
+}
+
+void test_model(std::string& model_filename)
+{
+  BOOST_LOG_TRIVIAL(info)<<"Start testing...";
+  // load the json configuration
+  JSONFileReader json_reader(CONFIG);
+  json_reader.open();
+
+  const auto input_size = json_reader.template get_value<uint_t>("input_size");
+  const auto output_size = json_reader.template get_value<uint_t>("output_size");
+
+  // figure out the device we are using
+  auto cuda_available = torch::cuda::is_available();
+  torch::Device device(cuda_available ? torch::kCUDA : torch::kCPU);
+  if(cuda_available){
+    BOOST_LOG_TRIVIAL(info)<<"CUDA available. Testing on GPU ";
+  }
+  else{
+    BOOST_LOG_TRIVIAL(info)<<"CUDA is not available. Testing on CPU ";
+  }
+
+  torch::nn::Linear model(input_size, output_size);
+  torch::load(model, model_filename);
+  model->to(device);
+
+  // we will evaluate the model
+  model -> eval();
+
+  // Sample dataset
+  auto x_test = torch::randint(0, 10, {15, 1},
+                                torch::TensorOptions(torch::kFloat).device(device));
+  // get the test predictions
+  auto output = model->forward(x_test);
+
+  // do some comparisons
+  // ...
+
+  BOOST_LOG_TRIVIAL(info)<<"Testing finished... ";
+}
+
+}
+
+int main() {
+
+    using namespace example;
+
+    // set seed for torch
+    torch::manual_seed(42);
+    auto model_filename = train_model();
+
+    test_model(model_filename);
 
    return 0;
 }