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 static void SimulateOneStep(MLPDll controller, IGridModelSimulator model, GridCarModelState state, out GridCarModelInput outInput, out GridCarModelState outState)
{
double[] inputs = new double[5];
inputs[0] = ComMath.Normal(state.TargetDist, GridCarModelState.MIN_DIST, GridCarModelState.MAX_DIST, 0, MAX_NEURON_VALUE);
inputs[1] = ComMath.Normal(state.TargetOrientation.X, GridCarModelState.MIN_OR_XY, GridCarModelState.MAX_OR_XY, MIN_NEURON_VALUE, MAX_NEURON_VALUE);
inputs[2] = ComMath.Normal(state.TargetOrientation.Y, GridCarModelState.MIN_OR_XY, GridCarModelState.MAX_OR_XY, MIN_NEURON_VALUE, MAX_NEURON_VALUE);
inputs[3] = ComMath.Normal(state.TargetFinishOrientation.X, GridCarModelState.MIN_OR_XY, GridCarModelState.MAX_OR_XY, MIN_NEURON_VALUE, MAX_NEURON_VALUE);
inputs[4] = ComMath.Normal(state.TargetFinishOrientation.Y, GridCarModelState.MIN_OR_XY, GridCarModelState.MAX_OR_XY, MIN_NEURON_VALUE, MAX_NEURON_VALUE);
double[] controllerOutputs = controller.Output(inputs);
outInput = new GridCarModelInput();
outInput.Angle = ComMath.Normal(controllerOutputs[0], MIN_NEURON_VALUE, MAX_NEURON_VALUE, GridCarModelInput.MIN_ANGLE, GridCarModelInput.MAX_ANGLE);
model.SimulateModel(state, outInput, out outState);
}