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comparison org/joint.org @ 348:5405f369f4a0

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added summary of each sense for the joint.
author Robert McIntyre <rlm@mit.edu>
date Mon, 23 Jul 2012 03:51:13 -0500
parents ef958c44563d
children d2806d5c5f74
comparison
equal deleted inserted replaced
347:ef958c44563d 348:5405f369f4a0
1 1
2 2
3 * A self learning joint 3 * A joint
4
5 The point of this joint is that it uses exploratory motor movements to
6 learn how to move to any particular position.
7
8 visual-information -- list of functions which must each be called with the
9 world the argument, each of which returns [topology data]. Each element
10 of data is a number between 0 and 255 representing the intensity of
11 the light recieved at that sensor.
12
13 proprioception -- list of nullary functions, one for each joint, which
14 return [heding pitch roll].
15
16 touch -- list of functions which must each be called with a Node
17 (normally the root node of the simulation) the argument, each of which
18 returns [topology data]. Each element of data is a posive float
19 between 0.0 and the max length of the "hairs" of which the touch sense
20 is composed.
21
22 movement -- list of functions, one for each muscle, which must be
23 called with an integer between 0 and the total number of muscle fibers
24 in the muscle. Each function returns a float which is (current-force/
25 total-possible-force).
26
4 27
5 #+name: load-creature 28 #+name: load-creature
6 #+begin_src clojure 29 #+begin_src clojure
7 (in-ns 'cortex.joint) 30 (in-ns 'cortex.joint)
8 31
10 33
11 (defn load-creature [] 34 (defn load-creature []
12 (load-blender-model joint)) 35 (load-blender-model joint))
13 36
14 37
38
39
40
15 (defn test-creature [] 41 (defn test-creature []
16
17 (let [me (sphere 0.5 :color ColorRGBA/Blue :physical? false) 42 (let [me (sphere 0.5 :color ColorRGBA/Blue :physical? false)
18 creature (doto (load-creature) (body!)) 43 creature (doto (load-creature) (body!))
19 44
20 ;;;;;;;;;;;; Sensors/Effectors ;;;;;;;;;;;;;;;;;;;;;;;;;;;; 45 ;;;;;;;;;;;; Sensors/Effectors ;;;;;;;;;;;;;;;;;;;;;;;;;;;;
21 touch (touch! creature) 46 touch (touch! creature)
22 touch-display (view-touch) 47 touch-display (view-touch)
23 48
24 ;;vision (vision! creature) 49 vision (vision! creature)
25 ;;vision-display (view-vision) 50 vision-display (view-vision)
26 51
27 ;;hearing (hearing! creature) 52 ;;hearing (hearing! creature)
28 ;;hearing-display (view-hearing) 53 ;;hearing-display (view-hearing)
29 54
30 prop (proprioception! creature) 55 prop (proprioception! creature)
35 ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; 60 ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
36 61
37 fix-display (gen-fix-display) 62 fix-display (gen-fix-display)
38 63
39 floor (box 10 2 10 :position (Vector3f. 0 -9 0) 64 floor (box 10 2 10 :position (Vector3f. 0 -9 0)
40 :color ColorRGBA/Gray :mass 0) 65 :color ColorRGBA/Gray :mass 0)]
41
42 timer (RatchetTimer. 60)
43 ]
44
45
46 (world 66 (world
47 (nodify [floor me creature]) 67 (nodify [floor me creature])
48 standard-debug-controls 68 standard-debug-controls
49 (fn [world] 69 (fn [world]
50 (.setTimer world timer) 70 (let [timer (RatchetTimer. 60)]
51 ) 71 (.setTimer world timer)
72 (display-dilated-time world timer)))
52 (fn [world tpf] 73 (fn [world tpf]
74 (.setLocalTranslation me (.getLocation (.getCamera world)))
53 (fix-display world))))) 75 (fix-display world)))))
54 76
55 77
56 78
57 79