/// <summary>
/// Handles the procedures performed when analysing results.
/// </summary>
public override void HandleResultAnalysis()
{
// Do some analysis
//Debug.Log("J = " + J);
string iterationResults = iterationNumber + "," + targetOrder[iterationNumber - 1] + "," + poseListManager.GetPoseName(targetOrder[iterationNumber - 1]) + "," + doneTime.ToString();
// Log results
performanceDataLogger.AppendData(iterationResults);
performanceDataLogger.SaveLog();
}
/// <summary>
/// Handles the procedures performed when analysing results.
/// </summary>
public override void HandleResultAnalysis()
{
if (!debug)
{
// Performance evaluation
if (evaluatorType == EvaluatorType.Compensation)
{
evaluator.AddData <Vector3>(shDataBuffer, UpperBodyCompensationMotionPM.SHOULDER);
evaluator.AddData <Vector3>(c7DataBuffer, UpperBodyCompensationMotionPM.TRUNK);
}
else if (evaluatorType == EvaluatorType.KinematicEnergy)
{
throw new System.NotImplementedException("KE method not yet implemented.");
}
float J = evaluator.Update();
//Debug.Log("J = " + J);
string iterationResults = iterationNumber + "," +
J;
// If it's able-bodied, no need to do anything
// If it's KE-Adaptive-Synergy then perform synergy update
if (experimentType == ExperimentType.TypeTwo && adaptiveSynergy)
{
// Perform update
theta = personaliser.UpdateParameter(J, iterationNumber);
elbowManager.SetSynergy(theta);
// Add algorithm states data to log
foreach (float value in personaliser.GetStates())
{
iterationResults += "," + value;
}
iterationResults += "," + theta;
}
Vector3 ballPos = gridManager.GetSelectedBallPosition();
iterationResults += "," + targetOrder[iterationNumber - 1] + "," + ballPos.x + "," + ballPos.y + "," + ballPos.z;
//Debug.Log("Theta: " + theta);
// Log results
performanceDataLogger.AppendData(iterationResults);
performanceDataLogger.SaveLog();
}
}
private void FixedUpdate()
{
//
// Tasks performed determinalistically throughout the experiment
// E.g. data gathering.
//
switch (experimentState)
{
case ExperimentState.PerformingTask:
//
// Gather data while experiment is in progress
//
string logData = guideManager.CurrentAngle.ToString();
logData += "," + taskTime.ToString();
// Read from all user sensors
foreach (ISensor sensor in AvatarSystem.GetActiveSensors())
{
float[] sensorData = sensor.GetAllRawData();
foreach (float element in sensorData)
{
logData += "," + element.ToString();
}
}
// Read from all experiment sensors
foreach (ISensor sensor in ExperimentSystem.GetActiveSensors())
{
float[] sensorData = sensor.GetAllProcessedData();
foreach (float element in sensorData)
{
logData += "," + element.ToString();
}
}
//
// Update data and append
//
taskTime += Time.fixedDeltaTime;
//
// Log current data
//
motionLogger.AppendData(logData);
//
// Save log and reset flags when successfully compeleted task
//
if (IsTaskDone())
{
//
// Perform data management, such as appending data to lists for analysis
//
//
// Save logger for current experiment and change to data analysis
//
//ExperimentSystem.GetActiveLogger(1).CloseLog();
//
// Clear data management buffers
//
experimentState = ExperimentState.AnalizingResults;
break;
}
break;
default:
break;
}
}