# HG changeset patch
# User Robert McIntyre <rlm@mit.edu>
# Date 1395198288 14400
# Node ID a331d5ff73e0c101bf96977687d9b613c24a3bc0
# Parent  e6a7e80f885a5bd94d297b6f7a963368e7721fa4
saving progress for the night. completed self-organizing touch, still working on stream predicates.

diff -r e6a7e80f885a -r a331d5ff73e0 org/self_organizing_touch.clj
--- a/org/self_organizing_touch.clj	Tue Mar 18 22:29:03 2014 -0400
+++ b/org/self_organizing_touch.clj	Tue Mar 18 23:04:48 2014 -0400
@@ -80,8 +80,7 @@
   [coll]
   (loop [result () coll (sort-by (comp - count) coll)]
     (if (empty? coll) result
-        (let  [x  (first coll)
-               xs (rest coll)
+        (let  [[x & xs] coll
                c (count x)]
           (if (some
                (fn [other-set]
@@ -91,12 +90,6 @@
             (recur result xs)
             (recur (cons x result) xs))))))
 
-(defn rect-region [[x0 y0] [x1 y1]]
-  (vec
-   (for [x (range x0 (inc x1))
-         y (range y0 (inc y1))]
-     [x y])))
-
 (def all-touch-coordinates
   (concat
    (rect-region [0  15] [7  22])
@@ -112,8 +105,7 @@
         data
         [[(vec (keys touched-region)) (vec (vals touched-region))]]
         touch-display (view-touch)]
-    (touch-display data)
-    (touch-display data)))
+    (repeatedly 5 #(touch-display data)) data))
 
 (defn learn-touch-regions []
   (let [experiences (atom [])
diff -r e6a7e80f885a -r a331d5ff73e0 org/worm_learn.clj
--- a/org/worm_learn.clj	Tue Mar 18 22:29:03 2014 -0400
+++ b/org/worm_learn.clj	Tue Mar 18 23:04:48 2014 -0400
@@ -144,28 +144,27 @@
 (defn touch-average [[coords touch]]
   (/ (average (map first touch)) (average (map second touch))))
 
-(def worm-segment-touch-bottom
-  [[8 15] [8 16] [8 17] [8 18] [8 19] [8 20] [8 21] [8 22] [9 15]
-   [9 16] [9 17] [9 18] [9 19] [9 20] [9 21] [9 22] [10 15] [10 16]
-   [10 17] [10 18] [10 19] [10 20] [10 21] [10 22] [11 15] [11 16]
-   [11 17] [11 18] [11 19] [11 20] [11 21] [11 22] [12 15] [12 16]
-   [12 17] [12 18] [12 19] [12 20] [12 21] [12 22] [13 15] [13 16]
-   [13 17] [13 18] [13 19] [13 20] [13 21] [13 22] [14 15] [14 16]
-   [14 17] [14 18] [14 19] [14 20] [14 21] [14 22]])
+(defn rect-region [[x0 y0] [x1 y1]]
+  (vec
+   (for [x (range x0 (inc x1))
+         y (range y0 (inc y1))]
+     [x y])))
 
+(def worm-segment-touch-bottom (rect-region [8 15] [14 22]))
 
-
-(defn floor-contact [[coords contact :as touch]]
-  (let [raw-average
-        (average
-         (map
-          first
-          (vals
-           (select-keys
-            (zipmap coords contact)
-            ))))]
-    (Math/abs (- 1. (* 10 raw-average)))))
-
+(defn contact
+  "Determine how much contact a particular worm segment has with
+   other objects. Returns a value between 0 and 1, where 1 is full
+   contact and 0 is no contact."
+  [[coords contact :as touch]]
+  (-> (zipmap coords contact)
+      (select-keys worm-segment-touch-bottom)
+      (vals)
+      (#(map first %))
+      (average)
+      (* 10)
+      (- 1)
+      (Math/abs)))
 
 (defn wiggling?
   "Is the worm wiggling?"
@@ -251,7 +250,7 @@
              ;;(if (straight? @experiences)    (println "Straight"))
              ;; (println-repl
              ;;  (apply format "%.2f %.2f %.2f %.2f %.2f\n"
-             ;;         (map floor-contact touch-data)))
+             ;;         (map contact touch-data)))
              
              )
            (muscle-display