# HG changeset patch
# User Robert McIntyre <rlm@mit.edu>
# Date 1395283633 14400
# Node ID f689967c254593d24201c8a578226105910c6db9
# Parent  9e52b6730fd07b3db1608f16dc9b657608395608
modified phi-space lookup to return indices.

diff -r 9e52b6730fd0 -r f689967c2545 org/worm_learn.clj
--- a/org/worm_learn.clj	Wed Mar 19 22:02:06 2014 -0400
+++ b/org/worm_learn.clj	Wed Mar 19 22:47:13 2014 -0400
@@ -299,9 +299,6 @@
               experiences {:touch touch-data
                            :proprioception proprioception-data
                            :muscle muscle-data})
-             (if-let [res (phi-scan proprioception-data)]
-               (println-repl "lookup successful --" (count res))
-               (println-repl "lookup failed"))
              (cond
               (grand-circle? @experiences) (println "Grand Circle")
               (curled? @experiences)       (println "Curled")
@@ -350,15 +347,28 @@
 (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))
+        (map (fn [bin-key]
+               (group-by
+                (comp bin-key :proprioception phi-space)
+                (range (count phi-space)))) bin-keys)
         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 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 9e52b6730fd0 -r f689967c2545 thesis/org/roadmap.org
--- a/thesis/org/roadmap.org	Wed Mar 19 22:02:06 2014 -0400
+++ b/thesis/org/roadmap.org	Wed Mar 19 22:47:13 2014 -0400
@@ -205,10 +205,13 @@
 *** DONE build an automatic "do all the things" sequence.
     CLOSED: [2014-03-19 Wed 16:55] SCHEDULED: <2014-03-19 Wed>
     CLOCK: [2014-03-19 Wed 16:53]--[2014-03-19 Wed 16:55] =>  0:02
-*** TODO implement proprioception based movement lookup in phi-space
+*** 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>
-    CLOCK: [2014-03-19 Wed 16:55]
-    CLOCK: [2014-03-19 Wed 16:53]--[2014-03-19 Wed 16:53] =>  0:00
+    CLOCK: [2014-03-19 Wed 22:07]
+
 
 
 *** TODO create test videos, also record positions of worm segments