fnn_model.proto

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syntax = "proto2";
 
package apollo.sim_control;
 
message Vector {
    repeated double columns = 1;
}
 
message Matrix {
    repeated Vector rows = 1;
}
 
message Layer {
    enum ActivationFunc {
        RELU = 0;
        TANH = 1;
        SIGMOID = 2;
    }
    optional int32 layer_input_dim = 1;
    optional int32 layer_output_dim = 2;
    optional Matrix layer_input_weight = 3;  // weight matrix of |input_dim| x |output_dim|
    optional Vector layer_bias = 4;  // vector of bias, size of |output_dim|
    optional ActivationFunc layer_activation_func = 5;
}
 
message FnnModel {
    optional int32 dim_input = 1;
    optional Vector input_feature_mean = 2;
    optional Vector input_feature_std = 3;
    optional Vector output_feature_mean = 4;
    optional Vector output_feature_std = 5;
    optional int32 num_layer = 6;
    repeated Layer layer = 7;  // num_layer must equal to first layer layer_input_dim
    optional int32 dim_output = 8;  // dim_ouput must equal to last layer layer_output_dim
}