def __init__(self, CPG_node_num, position_vector):
kf = position_vector[0]
self.CPG_node_num = CPG_node_num # 不包括placemarker
if len(position_vector) != self.CPG_node_num * 4 + 1:
assert "Position vector out of range!"
GAIN, BIAS, PHASE, WEIGHT = [], [], [], []
for i in range(self.CPG_node_num):
GAIN.append(position_vector[i + 1])
BIAS.append(position_vector[self.CPG_node_num + i + 1])
PHASE.append(position_vector[2 * self.CPG_node_num + i + 1])
WEIGHT.append(position_vector[3 * self.CPG_node_num + i + 1])
parm_list = {
0: [0.0, 0.0, 0.0, 1.0, 0.0, 0],
}
for i in range(self.CPG_node_num):
parm = {i + 1: [0.0, 0.0, 0.0, GAIN[i], BIAS[i], PHASE[i]]}
parm_list.update(parm)
# print(parm_list)
self.kf = position_vector[0]
self.num_CPG = len(parm_list)
self.CPG_list = []
self.w_ms_list = [
None, WEIGHT[0], WEIGHT[1], WEIGHT[2], WEIGHT[3], WEIGHT[4],
WEIGHT[5], WEIGHT[6]
]
self.master_list = [
None,
0,
1,
1,
2,
2,
3,
3,
]
for i in range(self.num_CPG):
if i == 0:
self.CPG_list.append(
CPG_Sinneutron(0,
master_nuron=None,
param=parm_list[0],
kf=self.kf,
w_ms=0))
else:
self.CPG_list.append(
CPG_Sinneutron(
i,
master_nuron=self.CPG_list[self.master_list[i]],
param=parm_list[i],
kf=self.kf,
w_ms=self.w_ms_list[i]))
def __init__(self, CPG_node_num, position_vector):
kf = position_vector[0]
N = 2.0
self.CPG_node_num = CPG_node_num # 不包括placemarker
if len(position_vector) != self.CPG_node_num * 2 + 1:
assert "Position vector out of range!"
GAIN, BIAS, PHASE = [], [], []
for i in range(self.CPG_node_num):
GAIN.append(position_vector[i + 1])
BIAS.append(0)
PHASE.append(position_vector[self.CPG_node_num + i + 1])
parm_list = {
0: [0.0, 0.0, 0.0, 1.0, 0.0, 0],
}
for i in range(self.CPG_node_num):
parm = {i + 1: [0.0, 0.0, 0.0, GAIN[i], BIAS[i], PHASE[i]]}
parm_list.update(parm)
# print(parm_list)
self.kf = position_vector[0]
self.num_CPG = len(parm_list)
self.CPG_list = []
self.w_ms_list = [None, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1]
self.master_list = [
None, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15
]
for i in range(self.num_CPG):
if i == 0:
self.CPG_list.append(
CPG_Sinneutron(0,
master_nuron=None,
param=parm_list[0],
kf=self.kf,
w_ms=0))
else:
self.CPG_list.append(
CPG_Sinneutron(
i,
master_nuron=self.CPG_list[self.master_list[i]],
param=parm_list[i],
kf=self.kf,
w_ms=self.w_ms_list[i]))
def __init__(self, position_vector):
kf = position_vector[0]
GAIN0 = position_vector[1]
GAIN1 = position_vector[2]
GAIN2 = position_vector[3]
GAIN3 = position_vector[4]
GAIN4 = position_vector[5]
GAIN5 = position_vector[6]
GAIN6 = position_vector[7]
GAIN7 = position_vector[8]
GAIN8 = position_vector[9]
GAIN9 = position_vector[10]
GAIN10 = position_vector[11]
GAIN11 = position_vector[12]
GAIN12 = position_vector[13]
BIAS0 = position_vector[14]
BIAS1 = position_vector[15]
BIAS2 = position_vector[16]
BIAS3 = position_vector[17]
BIAS4 = position_vector[18]
BIAS5 = position_vector[19]
BIAS6 = position_vector[20]
BIAS7 = position_vector[21]
BIAS8 = position_vector[22]
BIAS9 = position_vector[23]
BIAS10 = position_vector[24]
BIAS11 = position_vector[25]
BIAS12 = position_vector[26]
PHASE0 = position_vector[27]
PHASE1 = position_vector[28]
PHASE2 = position_vector[29]
PHASE3 = position_vector[30]
PHASE4 = position_vector[31]
PHASE5 = position_vector[32]
PHASE6 = position_vector[33]
PHASE7 = position_vector[34]
PHASE8 = position_vector[35]
PHASE9 = position_vector[36]
PHASE10 = position_vector[37]
PHASE11 = position_vector[38]
PHASE12 = position_vector[39]
self.parm_list = {
0: [0.0, 0.0, 0.0, 1.0, 0.0, 0],
1: [0.0, 0.0, 0.0, GAIN0, BIAS0, PHASE0],
2: [0.0, 0.0, 0.0, GAIN1, BIAS1, PHASE1],
3: [0.0, 0.0, 0.0, GAIN2, BIAS2, PHASE2],
4: [0.0, 0.0, 0.0, GAIN3, BIAS3, PHASE3],
5: [0.0, 0.0, 0.0, GAIN4, BIAS4, PHASE4],
6: [0.0, 0.0, 0.0, GAIN5, BIAS5, PHASE5],
7: [0.0, 0.0, 0.0, GAIN6, BIAS6, PHASE6],
8: [0.0, 0.0, 0.0, GAIN7, BIAS7, PHASE7],
9: [0.0, 0.0, 0.0, GAIN8, BIAS8, PHASE8],
10: [0.0, 0.0, 0.0, GAIN9, BIAS9, PHASE9],
11: [0.0, 0.0, 0.0, GAIN10, BIAS10, PHASE10],
12: [0.0, 0.0, 0.0, GAIN11, BIAS11, PHASE11],
13: [0.0, 0.0, 0.0, GAIN12, BIAS12, PHASE12],
}
self.kf = position_vector[0]
self.num_CPG = len(self.parm_list)
self.CPG_list = []
self.w_ms_list = [None, 1, 1, -1, -1, 1, 1, 1, 1, 1, 1, 1, 1,
1] #yuanlai hao de
#self.w_ms_list =[None, 1, -1, -1, -1, -1, 1, 1, -1, -1, -1, 1, 1, 1]
self.master_list = [None, 0, 1, 1, 1, 1, 2, 2, 3, 3, 4, 4, 5, 5]
self.kesi = 5.0
for i in range(self.num_CPG):
if i == 0:
self.CPG_list.append(
CPG_Sinneutron(0,
master_nuron=None,
param=self.parm_list[0],
kf=self.kf,
w_ms=0))
else:
self.CPG_list.append(
CPG_Sinneutron(
i,
master_nuron=self.CPG_list[self.master_list[i]],
param=self.parm_list[i],
kf=self.kf,
w_ms=self.w_ms_list[i]))
