1.1 --- a/org/joint.org	Mon Jul 23 03:51:42 2012 -0500
     1.2 +++ b/org/joint.org	Mon Jul 23 07:41:12 2012 -0500
     1.3 @@ -5,26 +5,25 @@
     1.4  The point of this joint is that it uses exploratory motor movements to
     1.5  learn how to move to any particular position.
     1.6  
     1.7 -visual-information -- list of functions which must each be called with the
     1.8 -world the argument, each of which returns [topology data]. Each element
     1.9 -of data is a number between 0 and 255 representing the intensity of
    1.10 -the light recieved at that sensor.
    1.11 +visual-information -- list of functions which must each be called with
    1.12 +the world the argument, each of which returns [topology data]. Each
    1.13 +element of data is a number between 0 and 255 representing the
    1.14 +intensity of the light recieved at that sensor.
    1.15  
    1.16  proprioception -- list of nullary functions, one for each joint, which
    1.17  return [heding pitch roll].
    1.18  
    1.19 +movement -- list of functions, one for each muscle, which must be
    1.20 +called with an integer between 0 and the total number of muscle fibers
    1.21 +in the muscle. Each function returns a float which is (current-force/
    1.22 +total-possible-force).
    1.23 +
    1.24  touch -- list of functions which must each be called with a Node
    1.25  (normally the root node of the simulation) the argument, each of which
    1.26  returns [topology data]. Each element of data is a posive float
    1.27  between 0.0 and the max length of the "hairs" of which the touch sense
    1.28  is composed.
    1.29  
    1.30 -movement -- list of functions, one for each muscle, which must be
    1.31 -called with an integer between 0 and the total number of muscle fibers
    1.32 -in the muscle. Each function returns a float which is (current-force/
    1.33 -total-possible-force).
    1.34 -
    1.35 -
    1.36  #+name: load-creature
    1.37  #+begin_src clojure
    1.38  (in-ns 'cortex.joint)
    1.39 @@ -34,10 +33,6 @@
    1.40  (defn load-creature []
    1.41    (load-blender-model joint))
    1.42  
    1.43 -
    1.44 -
    1.45 -
    1.46 -
    1.47  (defn test-creature []
    1.48    (let [me (sphere 0.5 :color ColorRGBA/Blue :physical? false)
    1.49          creature (doto (load-creature) (body!))
    1.50 @@ -73,17 +68,8 @@
    1.51       (fn [world tpf]
    1.52         (.setLocalTranslation me (.getLocation (.getCamera world)))
    1.53         (fix-display world)))))
    1.54 -
    1.55 -    
    1.56 -
    1.57 -
    1.58  #+end_src
    1.59  
    1.60 -
    1.61 -
    1.62 -
    1.63 -
    1.64 -
    1.65  * Headers
    1.66  #+name: joint-header
    1.67  #+begin_src clojure
    1.68 @@ -94,7 +80,6 @@
    1.69    (:import java.io.File)
    1.70    (:import (com.aurellem.capture RatchetTimer IsoTimer)))
    1.71  
    1.72 -
    1.73  (cortex.import/mega-import-jme3)
    1.74  (rlm.rlm-commands/help)
    1.75  #+end_src