public static void SimulateOneStep(MLPDll controller, IModelSimulator model, CarModelState state, out CarModelInput outInput, out CarModelState outState)
{
double[] inputs = new double[4];
inputs[0] = ComMath.Normal(state.Position.X, CarModelState.MIN_POS_X, CarModelState.MAX_POS_X, POSITION_SCALE * MIN_NEURON_VALUE, POSITION_SCALE * MAX_NEURON_VALUE);
inputs[1] = ComMath.Normal(state.Position.Y, CarModelState.MIN_POS_Y, CarModelState.MAX_POS_Y, POSITION_SCALE * MIN_NEURON_VALUE, POSITION_SCALE * MAX_NEURON_VALUE);
inputs[2] = ComMath.Normal(state.Orientation.X, CarModelState.MIN_OR_XY, CarModelState.MAX_OR_XY, MIN_NEURON_VALUE, MAX_NEURON_VALUE);
inputs[3] = ComMath.Normal(state.Orientation.Y, CarModelState.MIN_OR_XY, CarModelState.MAX_OR_XY, MIN_NEURON_VALUE, MAX_NEURON_VALUE);
double[] controllerOutputs = controller.Output(inputs);
if (INPUT_TYPE == inputType.wheelAngle)
{
outInput = new CarModelInput();
outInput.Angle = ComMath.Normal(controllerOutputs[0], MIN_NEURON_VALUE, MAX_NEURON_VALUE, CarModelInput.MIN_ANGLE, CarModelInput.MAX_ANGLE);
}
else if (INPUT_TYPE == inputType.wheelSpeed)
{
outInput = new CarModelInput(ComMath.Normal(controllerOutputs[0], MIN_NEURON_VALUE, MAX_NEURON_VALUE, CarModelInput.MIN_SPEED, CarModelInput.MAX_SPEED),
ComMath.Normal(controllerOutputs[1], MIN_NEURON_VALUE, MAX_NEURON_VALUE, CarModelInput.MIN_SPEED, CarModelInput.MAX_SPEED));
//********
//hatrafele tilos mennie
if (outInput.LeftSpeed < 0)
{
outInput.LeftSpeed = 0;
}
if (outInput.RightSpeed < 0)
{
outInput.RightSpeed = 0;
}
//********
}
model.SimulateModel(state, outInput, out outState);
}
//public NeuralModelSimulator(String filename)
//{
// mlp = new MLPDll(filename);
//}
public void Train(IModelSimulator sourceSimulator, double treshold)
{
Random r = new Random();
double mu = 0.0001;
long count = 0;
double errors = 0, errors2 = double.MaxValue;
double[] error = new double[4];
do
{
for (int i2 = 0; i2 < EPOCH_COUNT; ++i2)
{
double angle = r.NextDouble() * 2 * Math.PI;//veletlen szog
CarModelState carstate = new CarModelState(new PointD(ComMath.Normal(r.NextDouble(), 0, 1, CarModelState.MIN_POS_X, CarModelState.MAX_POS_X),
ComMath.Normal(r.NextDouble(), 0, 1, CarModelState.MIN_POS_Y, CarModelState.MAX_POS_Y)),
new PointD(ComMath.Normal(Math.Cos(angle), -1, 1, CarModelState.MIN_OR_XY, CarModelState.MAX_OR_XY),
ComMath.Normal(Math.Sin(angle), -1, 1, CarModelState.MIN_OR_XY, CarModelState.MAX_OR_XY)));
CarModelInput carinput = new CarModelInput();
//= new CarModelInput(ComMath.Normal(r.NextDouble(), 0, 1, CarModelInput.MIN_SPEED, CarModelInput.MAX_SPEED),
// ComMath.Normal(r.NextDouble(), 0, 1, CarModelInput.MIN_SPEED, CarModelInput.MAX_SPEED));
carinput.Angle = ComMath.Normal(r.NextDouble(), 0, 1, CarModelInput.MIN_ANGLE, CarModelInput.MAX_ANGLE);
CarModelState state, state2;
double[] output;
sourceSimulator.SimulateModel(carstate, carinput, out state);
this.SimulateModel(carstate, carinput, out state2, out output);
error = new double[4];
error[0] = -output[0] + ComMath.Normal(state.Position.X, CarModelState.MIN_POS_X, CarModelState.MAX_POS_X, MIN_NEURON_VALUE, MAX_NEURON_VALUE);
error[1] = -output[1] + ComMath.Normal(state.Position.Y, CarModelState.MIN_POS_Y, CarModelState.MAX_POS_Y, MIN_NEURON_VALUE, MAX_NEURON_VALUE);
error[2] = -output[2] + ComMath.Normal(state.Orientation.X, CarModelState.MIN_OR_XY, CarModelState.MAX_OR_XY, MIN_NEURON_VALUE, MAX_NEURON_VALUE);
error[3] = -output[3] + ComMath.Normal(state.Orientation.Y, CarModelState.MIN_OR_XY, CarModelState.MAX_OR_XY, MIN_NEURON_VALUE, MAX_NEURON_VALUE);
count++;
mlp.Train(mu, error);
errors += error[0] * error[0] + error[1] * error[1] + error[2] * error[2] + error[3] * error[3];
}
errors /= EPOCH_COUNT;
//if (errors2 < errors) mu *= 0.75;
errors2 = errors;
System.Console.WriteLine(errors.ToString());
} while (errors > treshold);
// mlp.SaveNN("neuralmodel.mlp");
}
//public NeuralModelSimulator(String filename)
//{
// mlp = new MLPDll(filename);
//}
public void Train(IModelSimulator sourceSimulator, double treshold)
{
Random r = new Random();
double mu = 0.0001;
long count = 0;
double errors = 0, errors2 = double.MaxValue;
double[] error = new double[4];
do
{
for (int i2 = 0; i2 < EPOCH_COUNT; ++i2)
{
double angle = r.NextDouble() * 2 * Math.PI;//veletlen szog
CarModelState carstate = new CarModelState(new PointD(ComMath.Normal(r.NextDouble(), 0, 1, CarModelState.MIN_POS_X, CarModelState.MAX_POS_X),
ComMath.Normal(r.NextDouble(), 0, 1, CarModelState.MIN_POS_Y, CarModelState.MAX_POS_Y)),
new PointD(ComMath.Normal(Math.Cos(angle), -1, 1, CarModelState.MIN_OR_XY, CarModelState.MAX_OR_XY),
ComMath.Normal(Math.Sin(angle), -1, 1, CarModelState.MIN_OR_XY, CarModelState.MAX_OR_XY)));
CarModelInput carinput = new CarModelInput();
//= new CarModelInput(ComMath.Normal(r.NextDouble(), 0, 1, CarModelInput.MIN_SPEED, CarModelInput.MAX_SPEED),
// ComMath.Normal(r.NextDouble(), 0, 1, CarModelInput.MIN_SPEED, CarModelInput.MAX_SPEED));
carinput.Angle = ComMath.Normal(r.NextDouble(), 0, 1, CarModelInput.MIN_ANGLE, CarModelInput.MAX_ANGLE);
CarModelState state, state2;
double[] output;
sourceSimulator.SimulateModel(carstate, carinput, out state);
this.SimulateModel(carstate, carinput, out state2, out output);
error = new double[4];
error[0] = -output[0] + ComMath.Normal(state.Position.X, CarModelState.MIN_POS_X, CarModelState.MAX_POS_X, MIN_NEURON_VALUE, MAX_NEURON_VALUE);
error[1] = -output[1] + ComMath.Normal(state.Position.Y, CarModelState.MIN_POS_Y, CarModelState.MAX_POS_Y, MIN_NEURON_VALUE, MAX_NEURON_VALUE);
error[2] = -output[2] + ComMath.Normal(state.Orientation.X, CarModelState.MIN_OR_XY, CarModelState.MAX_OR_XY, MIN_NEURON_VALUE, MAX_NEURON_VALUE);
error[3] = -output[3] + ComMath.Normal(state.Orientation.Y, CarModelState.MIN_OR_XY, CarModelState.MAX_OR_XY, MIN_NEURON_VALUE, MAX_NEURON_VALUE);
count++;
mlp.Train(mu, error);
errors += error[0] * error[0] + error[1] * error[1] + error[2] * error[2] + error[3] * error[3];
}
errors /= EPOCH_COUNT;
//if (errors2 < errors) mu *= 0.75;
errors2 = errors;
System.Console.WriteLine(errors.ToString());
} while (errors > treshold);
// mlp.SaveNN("neuralmodel.mlp");
}
public static void SimulateOneStep(MLPDll controller, IModelSimulator model, CarModelState state, out CarModelInput outInput, out CarModelState outState)
{
double[] inputs = new double[4];
inputs[0] = ComMath.Normal(state.Position.X, CarModelState.MIN_POS_X, CarModelState.MAX_POS_X, POSITION_SCALE * MIN_NEURON_VALUE, POSITION_SCALE * MAX_NEURON_VALUE);
inputs[1] = ComMath.Normal(state.Position.Y, CarModelState.MIN_POS_Y, CarModelState.MAX_POS_Y, POSITION_SCALE * MIN_NEURON_VALUE, POSITION_SCALE * MAX_NEURON_VALUE);
inputs[2] = ComMath.Normal(state.Orientation.X, CarModelState.MIN_OR_XY, CarModelState.MAX_OR_XY, MIN_NEURON_VALUE, MAX_NEURON_VALUE);
inputs[3] = ComMath.Normal(state.Orientation.Y, CarModelState.MIN_OR_XY, CarModelState.MAX_OR_XY, MIN_NEURON_VALUE, MAX_NEURON_VALUE);
double[] controllerOutputs = controller.Output(inputs);
if (INPUT_TYPE == inputType.wheelAngle)
{
outInput = new CarModelInput();
outInput.Angle = ComMath.Normal(controllerOutputs[0], MIN_NEURON_VALUE, MAX_NEURON_VALUE, CarModelInput.MIN_ANGLE, CarModelInput.MAX_ANGLE);
}
else if (INPUT_TYPE == inputType.wheelSpeed)
{
outInput = new CarModelInput(ComMath.Normal(controllerOutputs[0], MIN_NEURON_VALUE, MAX_NEURON_VALUE, CarModelInput.MIN_SPEED, CarModelInput.MAX_SPEED),
ComMath.Normal(controllerOutputs[1], MIN_NEURON_VALUE, MAX_NEURON_VALUE, CarModelInput.MIN_SPEED, CarModelInput.MAX_SPEED));
//********
//hatrafele tilos mennie
if (outInput.LeftSpeed < 0) outInput.LeftSpeed = 0;
if (outInput.RightSpeed < 0) outInput.RightSpeed = 0;
//********
}
model.SimulateModel(state, outInput, out outState);
}
public void SimulateModel(CarModelInput input, IModelSimulator simulator, double timeStep)
{
simulator.SimulateModel(this.state, input, timeStep, out this.state);
}
public void SimulateModel(CarModelInput input, IModelSimulator simulator)
{
simulator.SimulateModel(this.state, input, out this.state);
}
public void SimulateModel(CarModelInput input, IModelSimulator simulator, double timeStep)
{
simulator.SimulateModel(this.state, input, timeStep, out this.state);
}
public void SimulateModel(CarModelInput input, IModelSimulator simulator)
{
simulator.SimulateModel(this.state, input, out this.state);
}
