def __init__(self):
self.dt = 0.1
self.all_us = []
self.all_target_x = []
self.all_target_y = []
self.all_distance = []
self.us=0
self.punishment = False
self.expl = Explorer(dist_mu = 0.3,dist_sigma=0.2,x=0.0,y=0.0)
self.cer = cerebellumInstance(CS_size=20, Range=0.03,k_NOI=0.35, nBasis=250,LR=75,delay=0.40,SR=1/self.dt,update=35,cfile='basis_visual_sim2.cfg')
self.connect_cerebellum=True
self.crb_anticip=False
self.new_target = True
self.x_pos=[]
self.y_pos=[]
self.circle = [cos(array(range(360))*pi/180),sin(array(range(360))*pi/180)]
self.controller_response=0.
class cerebellarPainter():
def __init__(self):
self.dt = 0.1
self.all_us = []
self.all_target_x = []
self.all_target_y = []
self.all_distance = []
self.us=0
self.punishment = False
self.expl = Explorer(dist_mu = 0.3,dist_sigma=0.2,x=0.0,y=0.0)
self.cer = cerebellumInstance(CS_size=20, Range=0.03,k_NOI=0.35, nBasis=250,LR=75,delay=0.40,SR=1/self.dt,update=35,cfile='basis_visual_sim2.cfg')
self.connect_cerebellum=True
self.crb_anticip=False
self.new_target = True
self.x_pos=[]
self.y_pos=[]
self.circle = [cos(array(range(360))*pi/180),sin(array(range(360))*pi/180)]
self.controller_response=0.
def configure(self,plot_data=True):
self.newTarget()
if plot_data:
ion()
self.i=0
return True
def newTarget(self):
self.expl.sample(self.controller_response)
X = self.expl.current_pos[0]
Y = self.expl.current_pos[1]
print "target x: " + str(X) + " , target y: " + str(Y)
self.all_target_x.append(X)
self.all_target_y.append(Y)
#separate the data in a constant speed fashion
n_dt = int(norm(array([X,Y]) - self.expl.previous_pos) / self.dt)
'''if n_dt==0:
self.expl.sample(False,0)
X = self.expl.current_pos[0]
Y = self.expl.current_pos[1]
self.all_target_x.append(X)
self.all_target_y.append(Y)
#separate the data in a constant speed fashion
n_dt = int(norm(array([X,Y]) - self.expl.previous_pos) / self.dt)
print n_dt,X,Y
print norm(array([X,Y]) - self.expl.previous_pos)'''
n_dt = max(1,n_dt)
self.x_pos = linspace(self.expl.previous_pos[0], X, n_dt)
self.y_pos = linspace(self.expl.previous_pos[1], Y, n_dt)
return True
def update(self, CS, US, plot_data=True):
# the cerebellum can take over whenever it wants
self.all_distance.append(CS)
self.all_us.append(US)
self.cer.update(CS,US)
if self.connect_cerebellum:
if len(self.cer.CRB_V_CR)!=0:
if self.cer.CRB_V_CR[-1]>0.01:
self.new_target = True
if self.x_pos.size == 0:
self.new_target = True
reactive_response = US
cerebellum_response = self.cer.CRB_V_CR[-1]
self.controller_response = reactive_response + cerebellum_response
print "real CR: " + str(self.controller_response)
#Check if a new target has to be defined, and how
if self.new_target:
self.newTarget()
self.new_target = False
# Plot if desired
if plot_data:
if self.i%10==0:
self.updatePlot()
self.i +=1
return self.cer.CRB_V_CR
def updatePlot(self):
clf()
plot(self.cer.CRB_V_CR[-500:])
plot(self.all_us[-500:])
#plot(self.cer.all_CS[-500:])
draw()
'''
