num_features = self.data.shape[1] self.theta = np.zeros((num_features, 2)）“num_features”代表什么

"num_features"代表数据集中每个样本的特征数量。在上述代码中，self.data是一个二维数组，其中每行代表一个样本，每列代表该样本的一个特征。因此，self.data.shape[1]表示数据集中每个样本的特征数量。这个值被用来初始化self.theta数组，它是一个二维数组，其中每行代表一个特征，每列代表分类器的两个类别的权重。因此，self.theta的大小为(num_features, 2)。

相关问题

in_features = train_features.shape[1] def train(model, train_features, train_labels, test_features, test_labels, num_epochs, learning_rate, weight_decay, batch_size): train_ls, test_ls = [], [] theta = np.zeros((in_features, 1)) best_theta = np.zeros((in_features, 1)) best_loss = np.inf for epoch in range(num_epochs): train_iter = data_iter(batch_size, train_features, train_labels) for X, y in train_iter: theta=gradientDescent(X, y, theta, learning_rate, weight_decay) train_ls.append(log_rmse(model, train_features, train_labels, theta, len(train_labels)))帮我加个注释

# in_features表示输入特征的数量
in_features = train_features.shape[1]

# 定义训练函数，接受模型、训练数据、测试数据、超参数等作为输入
def train(model, train_features, train_labels, test_features, test_labels,
num_epochs, learning_rate, weight_decay, batch_size):

# 初始化训练误差和测试误差列表
train_ls, test_ls = [], []

# 初始化模型参数theta（权重）
theta = np.zeros((in_features, 1))

# 初始化最佳模型参数和最小测试误差
best_theta = np.zeros((in_features, 1))
best_loss = np.inf

# 循环迭代训练num_epochs次
for epoch in range(num_epochs):

# 随机生成batch_size大小的数据批次，用于训练
train_iter = data_iter(batch_size, train_features, train_labels)

# 遍历数据批次，计算梯度并更新模型参数theta
for X, y in train_iter:
theta=gradientDescent(X, y, theta, learning_rate, weight_decay)

# 计算每轮迭代后的训练误差和测试误差，并存入对应的列表中
train_ls.append(log_rmse(model, train_features, train_labels, theta, len(train_labels)))
test_ls.append(log_rmse(model, test_features, test_labels, theta, len(test_labels)))

# 如果当前模型参数对应的测试误差比历史最小值更小，则更新最佳模型参数和最小测试误差
if test_ls[-1] < best_loss:
best_theta = theta
best_loss = test_ls[-1]

# 返回最佳模型参数和训练误差、测试误差列表
return best_theta, train_ls, test_ls

给下列程序添加注释： void DWAPlannerROS::reconfigureCB(DWAPlannerConfig &config, uint32_t level) { if (setup_ && config.restore_defaults) { config = default_config_; config.restore_defaults = false; } if ( ! setup_) { default_config_ = config; setup_ = true; } // update generic local planner params base_local_planner::LocalPlannerLimits limits; limits.max_vel_trans = config.max_vel_trans; limits.min_vel_trans = config.min_vel_trans; limits.max_vel_x = config.max_vel_x; limits.min_vel_x = config.min_vel_x; limits.max_vel_y = config.max_vel_y; limits.min_vel_y = config.min_vel_y; limits.max_vel_theta = config.max_vel_theta; limits.min_vel_theta = config.min_vel_theta; limits.acc_lim_x = config.acc_lim_x; limits.acc_lim_y = config.acc_lim_y; limits.acc_lim_theta = config.acc_lim_theta; limits.acc_lim_trans = config.acc_lim_trans; limits.xy_goal_tolerance = config.xy_goal_tolerance; limits.yaw_goal_tolerance = config.yaw_goal_tolerance; limits.prune_plan = config.prune_plan; limits.trans_stopped_vel = config.trans_stopped_vel; limits.theta_stopped_vel = config.theta_stopped_vel; planner_util_.reconfigureCB(limits, config.restore_defaults); // update dwa specific configuration dp_->reconfigure(config); }

/**
* @brief Callback function for dynamic reconfiguration of DWA planner parameters
*
* @param config Reference to the configuration object that stores the updated parameters
* @param level The level of reconfiguration, unused in this function
*/
void DWAPlannerROS::reconfigureCB(DWAPlannerConfig &config, uint32_t level) {

// If the setup has been completed and restore_defaults flag is set, restore default configuration
if (setup_ && config.restore_defaults) {
config = default_config_;
config.restore_defaults = false;
}

// If setup has not been completed, store default configuration and set the setup flag to true
if ( ! setup_) {
default_config_ = config;
setup_ = true;
}

// Update generic local planner parameters
base_local_planner::LocalPlannerLimits limits;
limits.max_vel_trans = config.max_vel_trans;
limits.min_vel_trans = config.min_vel_trans;
limits.max_vel_x = config.max_vel_x;
limits.min_vel_x = config.min_vel_x;
limits.max_vel_y = config.max_vel_y;
limits.min_vel_y = config.min_vel_y;
limits.max_vel_theta = config.max_vel_theta;
limits.min_vel_theta = config.min_vel_theta;
limits.acc_lim_x = config.acc_lim_x;
limits.acc_lim_y = config.acc_lim_y;
limits.acc_lim_theta = config.acc_lim_theta;
limits.acc_lim_trans = config.acc_lim_trans;
limits.xy_goal_tolerance = config.xy_goal_tolerance;
limits.yaw_goal_tolerance = config.yaw_goal_tolerance;
limits.prune_plan = config.prune_plan;
limits.trans_stopped_vel = config.trans_stopped_vel;
limits.theta_stopped_vel = config.theta_stopped_vel;

// Call reconfigureCB function of the planner_util_ object with updated limits and restore_defaults flag
planner_util_.reconfigureCB(limits, config.restore_defaults);

// Call reconfigure function of the dp_ object with updated configuration
dp_->reconfigure(config);
}