def processCollisionLayer(bumps : list):
# COLLISIONS_INPUT, PROXIMITY -> COLLISION -------------------------- LAYER 1
i = {i:bumps[i] for i in nns.active_ts}
layer = 1
w = nns.connectivities[layer]
# Proximity Layer Output
o = nns.outputs[layer - 1]
hf = nns.compositionFunction[layer]
g = nns.activationFunction[layer]
f = nns.outputFunction[layer]
h_collision = annutils.sparseLayerInputComposition(i, o, w, hf)
a_collision = annutils.layerActivationLevel(h_collision, g)
nns.outputs[layer] = annutils.sparseArray(
list(nns.outputs[layer].keys()),
annutils.layerOutput(a_collision, f)
)
logger.info(f"Collision Layer Composed Input: {h_collision}")
logger.info(f"Weights Proximity to Collision:")
for n, conn in w.items(): logger.info(f"{n}->{conn}")
logger.info(f"Collision Layer Output: {nns.outputs[layer]}")
def processMotorLayer():
# COLLISION -> MOTORS ----------------------------- LAYER 3
i = []
layer = 3
w = nns.connectivities[layer]
o = nns.outputs[layer - 2] # Collision Layer Output
hf = nns.compositionFunction[layer]
g = nns.activationFunction[layer]
f = nns.outputFunction[layer]
h_motor = annutils.sparseLayerInputComposition(i, o, w, hf)
a_motor = annutils.layerActivationLevel(h_motor, g)
nns.outputs[layer] = annutils.sparseArray(list(nns.outputs[layer].keys()),
annutils.layerOutput(a_motor, f))
logger.info(f"Motor Layer Composed Input: {h_motor}")
logger.info(f"Motor Layer Output: {nns.outputs[layer]}")
def processReverseLayer():
# COLLISION -> REVERSE ----------------------------- LAYER 2
i = []
layer = 2
w = nns.connectivities[layer]
# Collision Layer Output
o = nns.outputs[layer - 1]
hf = nns.compositionFunction[layer]
g = nns.activationFunction[layer]
f = nns.outputFunction[layer]
h_reverse = annutils.sparseLayerInputComposition(i, o, w, hf)
a_reverse = annutils.layerActivationLevel(h_reverse, g)
nns.outputs[layer] = annutils.sparseArray(
list(nns.outputs[layer].keys()), annutils.layerOutput(a_reverse, f))
logger.info(f"Reverse Layer Composed Input: {h_reverse}")
logger.info(f"Reverse Layer Output: {nns.outputs[layer]}")