//
// int GetNumberOfWeights()const{return m_ItsBrain.GetNumberOfWeights();}
public int GetNumberOfWeights() {
return m_ItsBrain.GetNumberOfWeights();
}
//
// //updates the ANN with information from the sweepers enviroment
// bool Update(vector<SVector2D> &mines);
public boolean Update(Vector<sVector2D> mines) {
// //this will store all the inputs for the NN
// vector<double> inputs;
Vector<Double> inputs = new Vector<Double>();
//
// //get vector to closest mine
// SVector2D vClosestMine = GetClosestMine(mines);
sVector2D vClosestMine = GetClosestMine(mines);
//
// //normalise it
// Vec2DNormalize(vClosestMine);
sVector2D.Vec2DNormalize(vClosestMine);
//
// //add in vector to closest mine
// inputs.push_back(vClosestMine.x);
inputs.add(vClosestMine.x);
// inputs.push_back(vClosestMine.y);
inputs.add(vClosestMine.y);
//
// //add in sweepers look at vector
// inputs.push_back(m_vLookAt.x);
inputs.add(m_vLookAt.x);
// inputs.push_back(m_vLookAt.y);
inputs.add(m_vLookAt.y);
//
//
// //update the brain and get feedback
// vector<double> output = m_ItsBrain.Update(inputs);
Vector<Double> output = m_ItsBrain.Update(inputs);
//
// //make sure there were no errors in calculating the
// //output
// if (output.size() < CParams::iNumOutputs)
if (output.size() < jParams.iNumOutputs) {
// {
// return false;
return false;
// }
}
//
// //assign the outputs to the sweepers left & right tracks
// m_lTrack = output[0];
m_lTrack = output.get(0);
// m_rTrack = output[1];
m_rTrack = output.get(1);
//
// //calculate steering forces
// double RotForce = m_lTrack - m_rTrack;
double RotForce = m_lTrack - m_rTrack;
//
// //clamp rotation
// Clamp(RotForce, -CParams::dMaxTurnRate, CParams::dMaxTurnRate);
utils.Clamp(RotForce, jParams.dMaxTurnRate, jParams.dMaxTurnRate);
//
// m_dRotation += RotForce;
m_dRotation += RotForce;
//
// m_dSpeed = (m_lTrack + m_rTrack);
m_dSpeed = (m_lTrack + m_lTrack);
//
// //update Look At
// m_vLookAt.x = -sin(m_dRotation);
m_vLookAt.x = -Math.sin(m_dRotation);
// m_vLookAt.y = cos(m_dRotation);
m_vLookAt.y = Math.cos(m_dRotation);
//
// //update position
// m_vPosition += (m_vLookAt * m_dSpeed);
m_vPosition.plusEquals(sVector2D.times(m_vLookAt, m_dSpeed));
//
// //wrap around window limits
// if (m_vPosition.x > CParams::WindowWidth) m_vPosition.x = 0;
// if (m_vPosition.x < 0) m_vPosition.x = CParams::WindowWidth;
// if (m_vPosition.y > CParams::WindowHeight) m_vPosition.y = 0;
// if (m_vPosition.y < 0) m_vPosition.y = CParams::WindowHeight;
//
// return true;
return true;
}
//
// void PutWeights(vector<double> &w){m_ItsBrain.PutWeights(w);}
public void PutWeights(Vector<Double> w) {
m_ItsBrain.PutWeights(w);
}
