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CTRNNinRobotAgent Class Reference

Public Member Functions

 CTRNNinRobotAgent (CRobotAgent *ptr_robotAgent, CArguments *m_ctrnnArguments)
 
virtual double GetHN (unsigned hnindex)
 
virtual void SetHN (unsigned hnindex, double f_hn)
 
virtual double GetON (unsigned hnindex)
 
virtual double GetInputsToON (unsigned hnindex)
 
virtual double GetAPC (unsigned apctype)
 
virtual double GetFVtoApcScaling ()
 
virtual bool GetConvergenceFlag (NNLAYER layer)
 
virtual double GetConvergenceError (NNLAYER layer)
 
virtual double GetConvergenceError_Perc (NNLAYER layer)
 
virtual void PrintCTRNNDetails (unsigned id)
 
virtual void SimulationStepUpdatePosition ()
 
virtual double GetSigmoidSaturation ()
 

Static Public Member Functions

static unsigned int GetNumberOfSetBits (unsigned int x)
 
static double Sigmoid (double f_currActv, double f_Saturation)
 

Protected Member Functions

double GetAf (unsigned int v1, unsigned int v2)
 
virtual void Derivative (double *hn, double *deltaHN, NNLAYER layer)
 
virtual void NumericalIntegration (double totalintegration_t, double *neurons, double *neurons_prev, double *convg_error, double *percconvg_error, bool *convg_flag, NNLAYER layer)
 
virtual void UpdateState ()
 
virtual void Sense ()
 
virtual double GetWeight ()
 

Static Protected Member Functions

static double NormalizedAffinity (unsigned int v1, unsigned int v2)
 
static double NegExpDistAffinity (unsigned int v1, unsigned int v2, double k)
 

Protected Attributes

CRobotAgentrobotAgent
 
double step_h
 
double m_fTryExchangeProbability
 
double m_fCOMPETITION_FACTOR
 
double m_fACTIVATION_FACTOR
 
double m_fOUTPUTGAIN_FACTOR
 
double m_fINHIBTIONSCALINGFACTOR
 
double m_fBIASWEIGHT
 
double m_fEXTERNALBIASWEIGHT
 
double m_fSIGMOIDSATURATION
 
double m_fOUTPUTNEURONBIAS
 
double * m_pfOutputNeurons
 
double * m_pfOutputNeurons_prev
 
double * m_pfInputToOutputNeurons
 
double * m_pfHiddenNeurons
 
double * m_pfHiddenNeurons_prev
 
double m_pfNeuronTimeConstant
 
double * m_pfNeurons_Eu
 
double * m_pfNeurons_Hu
 
double * m_pfDeltaNeurons_k0
 
double * m_pfDeltaNeurons_k1
 
double * m_pfAPCs
 
unsigned int m_unNumberOfReceptors
 
double m_fcross_affinity
 
double m_fWeight
 
double m_fFVtoApcscaling
 
bool m_bhlconvergence_flag
 
double m_fhlconvergence_error
 
double m_fhlpercconvergence_error
 
bool m_bolconvergence_flag
 
double m_folconvergence_error
 
double m_folpercconvergence_error
 

Member Function Documentation

void CTRNNinRobotAgent::Sense ( )
protectedvirtual

(M_PI * robotAgent->GetFVSenseRange() * robotAgent->GetFVSenseRange());


The documentation for this class was generated from the following files: