Mercurial > cortex

     1 

     2 

     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

     9 the world the argument, each of which returns [topology data]. Each

    10 element of data is a number between 0 and 255 representing the

    11 intensity of 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 movement -- list of functions, one for each muscle, which must be

    17 called with an integer between 0 and the total number of muscle fibers

    18 in the muscle. Each function returns a float which is (current-force/

    19 total-possible-force).

    20 

    21 touch -- list of functions which must each be called with a Node

    22 (normally the root node of the simulation) the argument, each of which

    23 returns [topology data]. Each element of data is a posive float

    24 between 0.0 and the max length of the "hairs" of which the touch sense

    25 is composed.

    26 

    27 #+name: load-creature

    28 #+begin_src clojure

    29 (in-ns 'cortex.joint)

    30 

    31 (def joint "Models/joint/joint.blend")

    32 

    33 (defn load-creature []

    34   (load-blender-model joint))

    35 

    36 (defn test-creature []

    37   (let [me (sphere 0.5 :color ColorRGBA/Blue :physical? false)

    38         creature (doto (load-creature) (body!))

    39 

    40       ;;;;;;;;;;;;  Sensors/Effectors  ;;;;;;;;;;;;;;;;;;;;;;;;;;;;

    41         touch (touch! creature)

    42         touch-display (view-touch)

    43 

    44         vision (vision! creature)

    45         vision-display (view-vision)

    46 

    47         ;;hearing (hearing! creature)

    48         ;;hearing-display (view-hearing)

    49 

    50         prop (proprioception! creature)

    51         prop-display (view-proprioception)

    52 

    53         muscles (movement! creature)

    54         muscle-display (view-movement)

    55       ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;

    56 

    57         fix-display (gen-fix-display)

    58 

    59         floor (box 10 2 10 :position (Vector3f. 0 -9 0)

    60                    :color ColorRGBA/Gray :mass 0)]

    61     (world

    62      (nodify [floor me creature])

    63      standard-debug-controls

    64      (fn [world]

    65        (let [timer (RatchetTimer. 60)]

    66          (.setTimer world timer)

    67          (display-dilated-time world timer)))

    68      (fn [world tpf]

    69        (.setLocalTranslation me (.getLocation (.getCamera world)))

    70        (fix-display world)))))

    71 #+end_src

    72 

    73 * Headers

    74 #+name: joint-header

    75 #+begin_src clojure

    76 (ns cortex.joint

    77   (:require cortex.import)

    78   (:use (cortex world util import body sense

    79                 hearing touch vision proprioception movement))

    80   (:import java.io.File)

    81   (:import (com.aurellem.capture RatchetTimer IsoTimer)))

    82 

    83 (cortex.import/mega-import-jme3)

    84 (rlm.rlm-commands/help)

    85 #+end_src

    86 

    87 

    88 * COMMENT Generate Source

    89 

    90 #+begin_src clojure :tangle ../src/cortex/joint.clj

    91 <<joint-header>>

    92 <<load-creature>>

    93 #+end_src

    94
author	Robert McIntyre <rlm@mit.edu>
date	Mon, 23 Jul 2012 07:41:12 -0500
parents	5405f369f4a0
children	0596613e5a41