# HG changeset patch
# User Robert McIntyre <rlm@mit.edu>
# Date 1395289486 14400
# Node ID 027707c75f396cdca38c4a9286caef68617463f6
# Parent  f689967c254593d24201c8a578226105910c6db9
saving progress for the night.

diff -r f689967c2545 -r 027707c75f39 org/worm_learn.clj
--- a/org/worm_learn.clj	Wed Mar 19 22:47:13 2014 -0400
+++ b/org/worm_learn.clj	Thu Mar 20 00:24:46 2014 -0400
@@ -222,6 +222,43 @@
          (and (< 0.55 (contact worm-segment-bottom-tip tail-touch))
               (< 0.55 (contact worm-segment-top-tip    head-touch))))))
 
+
+(declare phi-space phi-scan)
+
+(defn next-phi-states
+  "Given proprioception data, determine the most likely next sensory
+   pattern from previous experience."
+  [proprio phi-space phi-scan]
+  (if-let [results (phi-scan proprio)]
+    (mapv phi-space
+          (filter (partial > (count phi-space))
+                  (map inc results)))))
+
+(defn debug-experience
+  [experiences]
+  (cond
+   (grand-circle? experiences) (println "Grand Circle")
+   (curled? experiences)       (println "Curled")
+   (wiggling? experiences)     (println "Wiggling")
+   (resting? experiences)      (println "Resting")))
+
+
+(defn debug-experience
+  [experiences]
+  ;; (println-repl
+  ;;  (count (next-phi-states (:proprioception (peek experiences))
+  ;;                          phi-space phi-scan)))
+  (cond
+   (grand-circle? experiences) (println "Grand Circle")
+   (curled? experiences)       (println "Curled")
+   (wiggling? experiences)     (println "Wiggling")
+   (resting? experiences)      (println "Resting"))
+  )
+
+
+
+
+
 (def standard-world-view
   [(Vector3f. 4.207176, -3.7366982, 3.0816958)
    (Quaternion. 0.11118768, 0.87678415, 0.24434438, -0.3989771)])
@@ -240,7 +277,8 @@
      :motor-control (:motor-control direct-control)
      :keybindings (:keybindings direct-control)
      :record nil
-     :experiences nil
+     :experiences (atom [])
+     :experience-watch debug-experience
      :worm-model worm-model
      :end-frame nil}))
 
@@ -252,15 +290,11 @@
 (defn record-experience! [experiences data]
   (swap! experiences #(conj % data)))
 
-
-
-(declare phi-space phi-scan)
-
 (defn worm-world
   [& {:keys [record motor-control keybindings view experiences
-             worm-model end-frame] :as settings}]
+             worm-model end-frame experience-watch] :as settings}]
   (let [{:keys [record motor-control keybindings view experiences
-                worm-model end-frame]}
+                worm-model end-frame experience-watch]}
         (merge (worm-world-defaults) settings)
         worm (doto (worm-model) (body!))
         touch   (touch! worm)
@@ -298,13 +332,9 @@
              (record-experience!
               experiences {:touch touch-data
                            :proprioception proprioception-data
-                           :muscle muscle-data})
-             (cond
-              (grand-circle? @experiences) (println "Grand Circle")
-              (curled? @experiences)       (println "Curled")
-              (wiggling? @experiences)     (println "Wiggling")
-              (resting? @experiences)      (println "Resting"))
-             )
+                           :muscle muscle-data}))
+           (when experience-watch
+             (experience-watch @experiences))
            (muscle-display
             muscle-data
             (if record (dir! (File. record "muscle"))))
@@ -333,7 +363,6 @@
         (motor-control-program worm-muscle-labels do-all-the-things)
         :experiences experiences})))
     @experiences))
-  
 
 (defn bin [digits]
   (fn [angles]
@@ -343,7 +372,9 @@
          (flatten)
          (mapv #(Math/round (* % (Math/pow 10 (dec digits))))))))
 
-;; k-nearest neighbors with spatial binning.
+;; k-nearest neighbors with spatial binning. Only returns a result if
+;; the propriceptive data is within 10% of a previously recorded
+;; result in all dimensions.
 (defn gen-phi-scan [phi-space]
   (let [bin-keys (map bin [3 2 1])
         bin-maps
@@ -357,19 +388,8 @@
     (fn lookup [proprio-data]
       (some #(% proprio-data) lookups))))
 
-;; (defn gen-phi-scan [phi-space]
-;;   (let [bin-keys (map bin [3 2 1])
-;;         bin-maps
-;;         (map (fn [bin-key phi-space]
-;;                (group-by (comp bin-key :proprioception) phi-space))
-;;              bin-keys (repeat phi-space))
-;;         lookups (map (fn [bin-key bin-map]
-;;                        (fn [proprio] (bin-map (bin-key proprio))))
-;;                      bin-keys bin-maps)]
-;;     (fn lookup [proprio-data]
-;;       (some #(% proprio-data) lookups))))
-
 (defn init []
   (def phi-space (generate-phi-space))
   (def phi-scan (gen-phi-scan phi-space))
   )
+
diff -r f689967c2545 -r 027707c75f39 thesis/org/roadmap.org
--- a/thesis/org/roadmap.org	Wed Mar 19 22:47:13 2014 -0400
+++ b/thesis/org/roadmap.org	Thu Mar 20 00:24:46 2014 -0400
@@ -208,8 +208,8 @@
 *** DONE implement proprioception based movement lookup in phi-space
     CLOSED: [2014-03-19 Wed 22:04] SCHEDULED: <2014-03-19 Wed>
     CLOCK: [2014-03-19 Wed 19:32]--[2014-03-19 Wed 22:04] =>  2:32
-*** TODO make proprioception reference phi-space indexes
-    SCHEDULED: <2014-03-19 Wed>
+*** DONE make proprioception reference phi-space indexes
+    CLOSED: [2014-03-19 Wed 22:47] SCHEDULED: <2014-03-19 Wed>
     CLOCK: [2014-03-19 Wed 22:07]