Merge pull request #3 from Kiguli/test

New Feature: load customCDF via function rather than via file

Author: Kiguli

examples/ex_customPDF/customPDF.cpp

@@ -45,6 +45,36 @@ auto dynamics = [](const vec& x, const vec& u) -> vec {
     return xx;
 };
 
+/// Custom PDF function, change this to the PDF function desired that will be integrated over with Monte Carlo integration
+double customPDF(double *x, size_t dim, void *params){
+     //custom PDF parameters that are passed in (not all need to be used)
+     customParams *p = reinterpret_cast<customParams*>(params);
+     vec mean = p-> mean;
+     vec state_start = p->state_start;
+     function<vec(const vec&,const vec&)> dynamics2 = p-> dynamics2;
+     vec input = p-> input;
+     vec lb = p-> lb;
+     vec ub = p-> ub;
+     vec eta = p-> eta;
+     /* Other parameters of struct unused in the ex_custom_distribution example:*/
+     //function<vec(const vec&)> dynamics1 = p->dynamics1;
+     //function<vec(const vec&,const vec&)> dynamics3 = p-> dynamics3;
+     //vec disturb = p-> disturb;
+
+     //multivariate normal PDF example:
+     double cov_det = 0.5625;
+     mat inv_cov = {{1.3333, 0},{0, 1.3333}};
+     double norm = 1.0 / (pow(2 * M_PI, dim / 2.0) * sqrt(cov_det));
+
+     double exponent = 0.0;
+     for (size_t i = 0; i < dim; ++i) {
+         for (size_t j = 0; j < dim; ++j) {
+             exponent -= 0.5 * (x[i] - mean[i]) * (x[j] - mean[j]) * inv_cov(i,j);
+         }
+     }
+     return norm * exp(exponent);
+ };
+
 /*
  ################################# MAIN FUNCTION ##############################################
  */
@@ -69,7 +99,7 @@ int main() {
     /*###### set dynamics and noise ######*/
     mdp.setDynamics(dynamics);
     mdp.setNoise(NoiseType::CUSTOM);
-    mdp.setCustomDistribution(1000);
+    mdp.setCustomDistribution(customPDF,1000); //note this is updated from the original IMPaCT release
 
     /* ###### calculate abstraction for target vectors ######*/
     mdp.targetTransitionVectorBounds();

src/GPU_synthesis.cpp

@@ -6,10 +6,10 @@
 #include <string>
 #include <nlopt.hpp>
 #include <iomanip>
-#include <sycl/sycl.hpp>
+#include <AdaptiveCpp/sycl/sycl.hpp>
 #include <chrono>
 #include <armadillo>
-#include <hdf5.h>
+#include <hdf5/serial/hdf5.h>
 
 using namespace std;
 using namespace arma;