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comparison org/proprioception.org @ 273:c39b8b29a79e

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fixed ambigous in-text function references
author Robert McIntyre <rlm@mit.edu>
date Wed, 15 Feb 2012 06:56:47 -0700
parents 7cac5ef852e3
children 23aadf376e9d
comparison
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271:5833b4ce877a 273:c39b8b29a79e
35 simulates the muscle-spindles and joint capsules. I will deal with 35 simulates the muscle-spindles and joint capsules. I will deal with
36 Golgi tendon organs, which calculate muscle strain, in the [[./movement.org][next post]]. 36 Golgi tendon organs, which calculate muscle strain, in the [[./movement.org][next post]].
37 37
38 * Helper Functions 38 * Helper Functions
39 39
40 =(absolute-angle)= calculates the angle between two vectors, relative to a 40 =absolute-angle= calculates the angle between two vectors, relative to a
41 third axis vector. This angle is the number of radians you have to 41 third axis vector. This angle is the number of radians you have to
42 move counterclockwise around the axis vector to get from the first to 42 move counterclockwise around the axis vector to get from the first to
43 the second vector. It is not commutative like a normal dot-product 43 the second vector. It is not commutative like a normal dot-product
44 angle is. 44 angle is.
45 45
80 #+results: 80 #+results:
81 : 4.7123889366733 81 : 4.7123889366733
82 82
83 * Proprioception Kernel 83 * Proprioception Kernel
84 84
85 Given a joint, =(proprioception-kernel)= produces a function that 85 Given a joint, =proprioception-kernel= produces a function that
86 calculates the euler angles between the the objects the joint 86 calculates the euler angles between the the objects the joint
87 connects. 87 connects.
88 88
89 #+name: proprioception 89 #+name: proprioception
90 #+begin_src clojure 90 #+begin_src clojure
132 (fn [] 132 (fn []
133 (map #(%) senses)))) 133 (map #(%) senses))))
134 #+end_src 134 #+end_src
135 135
136 136
137 =(proprioception!)= maps =(proprioception-kernel)= across all the 137 =proprioception!= maps =proprioception-kernel= across all the
138 joints of the creature. It uses the same list of joints that 138 joints of the creature. It uses the same list of joints that
139 =(cortex.body/joints)= uses. 139 =cortex.body/joints= uses.
140 140
141 * Visualizing Proprioception 141 * Visualizing Proprioception
142 142
143 Proprioception has the lowest bandwidth of all the senses so far, and 143 Proprioception has the lowest bandwidth of all the senses so far, and
144 it doesn't lend itself as readily to visual representation like 144 it doesn't lend itself as readily to visual representation like