Mercurial > cortex

comparison org/proprioception.org @ 258:f4b67005b702

Find changesets by keywords (author, files, the commit message), revision number or hash, or revset expression.
reorganized proprioception
author Robert McIntyre <rlm@mit.edu>
date Tue, 14 Feb 2012 00:39:16 -0700
parents 5d7961d7fded
children 7cac5ef852e3
comparison
equal deleted inserted replaced
257:5d7961d7fded 258:f4b67005b702
34 joint from the rest position defined in the blender file. This 34 joint from the rest position defined in the blender file. This
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
40 39
41 #+name: helpers 40 #+name: helpers
42 #+begin_src clojure 41 #+begin_src clojure
43 (in-ns 'cortex.proprioception) 42 (in-ns 'cortex.proprioception)
44 43
56 [vec1 vec2 axis] 55 [vec1 vec2 axis]
57 (let [angle (.angleBetween vec1 vec2)] 56 (let [angle (.angleBetween vec1 vec2)]
58 (if (right-handed? vec1 vec2 axis) 57 (if (right-handed? vec1 vec2 axis)
59 angle (- (* 2 Math/PI) angle)))) 58 angle (- (* 2 Math/PI) angle))))
60 #+end_src 59 #+end_src
60
61 * Proprioception Kernel
61 62
62 #+name: proprioception 63 #+name: proprioception
63 #+begin_src clojure 64 #+begin_src clojure
64 (defn proprioception-kernel 65 (defn proprioception-kernel
65 "Returns a function which returns proprioceptive sensory data when 66 "Returns a function which returns proprioceptive sensory data when
109 (let [senses (map (partial proprioception-kernel creature) 110 (let [senses (map (partial proprioception-kernel creature)
110 (joints creature))] 111 (joints creature))]
111 (fn [] 112 (fn []
112 (map #(%) senses)))) 113 (map #(%) senses))))
113 #+end_src 114 #+end_src
115
116 * Visualizing Proprioception
114 117
115 #+name: visualize 118 #+name: visualize
116 #+begin_src clojure 119 #+begin_src clojure
117 (in-ns 'cortex.proprioception) 120 (in-ns 'cortex.proprioception)
118 121
172 display each element of the list to the screen as an image." 175 display each element of the list to the screen as an image."
173 [] 176 []
174 (view-sense proprioception-display-kernel)) 177 (view-sense proprioception-display-kernel))
175 #+end_src 178 #+end_src
176 179
177 #+name: proprioception-header 180 * Demonstration of Proprioception
178 #+begin_src clojure
179 (ns cortex.proprioception
180 "Simulate the sense of proprioception (ability to detect the
181 relative positions of body parts with repsect to other body parts)
182 in jMonkeyEngine3. Reads specially prepared blender files to
183 automatically generate proprioceptive senses."
184 (:use (cortex world util sense body))
185 (:use clojure.contrib.def)
186 (:import com.jme3.scene.Node)
187 (:import java.awt.image.BufferedImage)
188 (:import (com.jme3.math Vector3f Quaternion)))
189 #+end_src
190 181
191 #+name: test-body 182 #+name: test-body
192 #+begin_src clojure 183 #+begin_src clojure
193 (defn test-proprioception 184 (defn test-proprioception
194 "Testing proprioception: 185 "Testing proprioception:
276 (fn [world] 267 (fn [world]
277 (.setTimer world (com.aurellem.capture.RatchetTimer. 60)) 268 (.setTimer world (com.aurellem.capture.RatchetTimer. 60))
278 (set-gravity world (Vector3f. 0 0 0)) 269 (set-gravity world (Vector3f. 0 0 0))
279 (light-up-everything world)) 270 (light-up-everything world))
280 (fn [_ _] (prop-view (list (prop))))])))))) 271 (fn [_ _] (prop-view (list (prop))))]))))))
281 272 #+end_src
273
274 * Headers
275 #+name: proprioception-header
276 #+begin_src clojure
277 (ns cortex.proprioception
278 "Simulate the sense of proprioception (ability to detect the
279 relative positions of body parts with repsect to other body parts)
280 in jMonkeyEngine3. Reads specially prepared blender files to
281 automatically generate proprioceptive senses."
282 (:use (cortex world util sense body))
283 (:use clojure.contrib.def)
284 (:import com.jme3.scene.Node)
285 (:import java.awt.image.BufferedImage)
286 (:import (com.jme3.math Vector3f Quaternion)))
282 #+end_src 287 #+end_src
283 288
284 289
285 * COMMENT generate source 290 * COMMENT generate source
286 #+begin_src clojure :tangle ../src/cortex/proprioception.clj 291 #+begin_src clojure :tangle ../src/cortex/proprioception.clj