Commit 92e4bcee authored by Konstantinos Chatzilygeroudis's avatar Konstantinos Chatzilygeroudis
Browse files

Fixes for advanced example doc [ci skip]

parent 6804a9cb
......@@ -37,9 +37,7 @@ The basic layout of your ``main.cpp`` file should look like this:
.. code-block:: c++
#include <iostream>
#include <limbo/bayes_opt/boptimizer.hpp>
// Here we have to include other needed limbo headers
#include <limbo/limbo.hpp>
using namespace limbo;
......@@ -93,14 +91,14 @@ To compute the forward kinematics of our simple planar arm we use the following
.. literalinclude:: ../../src/tutorials/advanced_example.cpp
:language: c++
:linenos:
:lines: 85-113
:lines: 85-112
To make this forward kinematic model useful to our GP, we need to create a mean function:
.. literalinclude:: ../../src/tutorials/advanced_example.cpp
:language: c++
:linenos:
:lines: 115-125
:lines: 114-124
Using State-based bayesian optimization
-----------------------------------------
......@@ -111,7 +109,7 @@ Creating an Aggregator:
.. literalinclude:: ../../src/tutorials/advanced_example.cpp
:language: c++
:linenos:
:lines: 138-150
:lines: 137-149
Here, we are using a very simple aggregator that simply computes the distance between the end-effector and the target position.
......@@ -125,7 +123,7 @@ When our bayesian optimizer finds a solution that the end-effector of the arm is
.. literalinclude:: ../../src/tutorials/advanced_example.cpp
:language: c++
:linenos:
:lines: 127-136
:lines: 126-135
Creating the evaluation function
-----------------------------------------
......@@ -133,7 +131,7 @@ Creating the evaluation function
.. literalinclude:: ../../src/tutorials/advanced_example.cpp
:language: c++
:linenos:
:lines: 152-167
:lines: 151-166
Creating the experiment
-------------------------------------------------
......@@ -242,3 +240,10 @@ Then, an executable named ``arm_example`` should be produced under the folder ``
Using state-based bayesian optimization, we can transfer what we learned during one task to achieve faster new tasks.
Full ``main.cpp``:
.. literalinclude:: ../../src/tutorials/advanced_example.cpp
:language: c++
:linenos:
:lines: 47-
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