/* public void CalcErrorSensibility(double[] errors, out double[] sensitibility)
* {
*
* CarModelState output1, output2, state1, state2, origiState = this.state;
* CarModelInput input1, input2, origiInput = this.input;
* double DIFF_C = 0.001;
* sensitibility = new double[5];
*
* //******
* //POS X
* //******
* state1 = origiState;
* state1.Position = new PointD(ComMath.Normal(ComMath.Normal(state1.Position.X, CarModelState.MIN_POS_X, CarModelState.MAX_POS_X,
* NeuralController.MIN_NEURON_VALUE, NeuralController.MAX_NEURON_VALUE) - DIFF_C / 2,
* NeuralController.MIN_NEURON_VALUE, NeuralController.MAX_NEURON_VALUE,
* CarModelState.MIN_POS_X, CarModelState.MAX_POS_X),
* state1.Position.Y);
* this.SimulateModel(state1, origiInput, out output1);
* state2 = origiState;
* state2.Position = new PointD(ComMath.Normal(ComMath.Normal(state2.Position.X, CarModelState.MIN_POS_X, CarModelState.MAX_POS_X,
* NeuralController.MIN_NEURON_VALUE, NeuralController.MAX_NEURON_VALUE) + DIFF_C / 2,
* NeuralController.MIN_NEURON_VALUE, NeuralController.MAX_NEURON_VALUE,
* CarModelState.MIN_POS_X, CarModelState.MAX_POS_X),
* state2.Position.Y);
* this.SimulateModel(state2, origiInput, out output2);
* sensitibility[0] = (ComMath.Normal(output2.Position.X, CarModelState.MIN_POS_X, CarModelState.MAX_POS_X, NeuralController.MIN_NEURON_VALUE, NeuralController.MAX_NEURON_VALUE) -
* ComMath.Normal(output1.Position.X, CarModelState.MIN_POS_X, CarModelState.MAX_POS_X, NeuralController.MIN_NEURON_VALUE, NeuralController.MAX_NEURON_VALUE)) / DIFF_C * errors[0] +
* (ComMath.Normal(output2.Position.Y, CarModelState.MIN_POS_Y, CarModelState.MAX_POS_Y, NeuralController.MIN_NEURON_VALUE, NeuralController.MAX_NEURON_VALUE) -
* ComMath.Normal(output1.Position.Y, CarModelState.MIN_POS_Y, CarModelState.MAX_POS_Y, NeuralController.MIN_NEURON_VALUE, NeuralController.MAX_NEURON_VALUE)) / DIFF_C * errors[1] +
* (ComMath.Normal(ComMath.AngleDiff(output2.Angle,output1.Angle), -Math.PI, Math.PI, NeuralController.MIN_NEURON_VALUE, NeuralController.MAX_NEURON_VALUE)) / DIFF_C * errors[2];
*
* //******
* //POS Y
* //******
*
* state1 = origiState;
* state1.Position = new PointD(state1.Position.X,
* ComMath.Normal(ComMath.Normal(state1.Position.Y, CarModelState.MIN_POS_Y, CarModelState.MAX_POS_Y,
* NeuralController.MIN_NEURON_VALUE, NeuralController.MAX_NEURON_VALUE) - DIFF_C / 2,
* NeuralController.MIN_NEURON_VALUE, NeuralController.MAX_NEURON_VALUE,
* CarModelState.MIN_POS_Y, CarModelState.MAX_POS_Y));
* this.SimulateModel(state1, origiInput, out output1);
* state2 = origiState;
* state2.Position = new PointD(state2.Position.X,
* ComMath.Normal(ComMath.Normal(state2.Position.Y, CarModelState.MIN_POS_Y, CarModelState.MAX_POS_Y,
* NeuralController.MIN_NEURON_VALUE, NeuralController.MAX_NEURON_VALUE) + DIFF_C / 2,
* NeuralController.MIN_NEURON_VALUE, NeuralController.MAX_NEURON_VALUE,
* CarModelState.MIN_POS_Y, CarModelState.MAX_POS_Y));
* this.SimulateModel(state2, origiInput, out output2);
* sensitibility[1] = (ComMath.Normal(output2.Position.X, CarModelState.MIN_POS_X, CarModelState.MAX_POS_X, NeuralController.MIN_NEURON_VALUE, NeuralController.MAX_NEURON_VALUE) -
* ComMath.Normal(output1.Position.X, CarModelState.MIN_POS_X, CarModelState.MAX_POS_X, NeuralController.MIN_NEURON_VALUE, NeuralController.MAX_NEURON_VALUE)) / DIFF_C * errors[0] +
* (ComMath.Normal(output2.Position.Y, CarModelState.MIN_POS_Y, CarModelState.MAX_POS_Y, NeuralController.MIN_NEURON_VALUE, NeuralController.MAX_NEURON_VALUE) -
* ComMath.Normal(output1.Position.Y, CarModelState.MIN_POS_Y, CarModelState.MAX_POS_Y, NeuralController.MIN_NEURON_VALUE, NeuralController.MAX_NEURON_VALUE)) / DIFF_C * errors[1] +
* (ComMath.Normal(ComMath.AngleDiff(output2.Angle, output1.Angle), -Math.PI, Math.PI, NeuralController.MIN_NEURON_VALUE, NeuralController.MAX_NEURON_VALUE)) / DIFF_C * errors[2];
* //******
* //ANGLE
* //******
* state1 = origiState;
* state1.Angle = ComMath.Normal(ComMath.Normal(state1.Angle, -Math.PI, Math.PI,
* NeuralController.MIN_NEURON_VALUE, NeuralController.MAX_NEURON_VALUE) - DIFF_C / 2,
* NeuralController.MIN_NEURON_VALUE, NeuralController.MAX_NEURON_VALUE,
* -Math.PI, Math.PI);
* this.SimulateModel(state1, origiInput, out output1);
* state2 = origiState;
* state2.Angle = ComMath.Normal(ComMath.Normal(state2.Angle, -Math.PI, Math.PI,
* NeuralController.MIN_NEURON_VALUE, NeuralController.MAX_NEURON_VALUE) + DIFF_C / 2,
* NeuralController.MIN_NEURON_VALUE, NeuralController.MAX_NEURON_VALUE,
* -Math.PI, Math.PI);
* this.SimulateModel(state2, origiInput, out output2);
* sensitibility[2] = (ComMath.Normal(output2.Position.X, CarModelState.MIN_POS_X, CarModelState.MAX_POS_X, NeuralController.MIN_NEURON_VALUE, NeuralController.MAX_NEURON_VALUE) -
* ComMath.Normal(output1.Position.X, CarModelState.MIN_POS_X, CarModelState.MAX_POS_X, NeuralController.MIN_NEURON_VALUE, NeuralController.MAX_NEURON_VALUE)) / DIFF_C * errors[0] +
* (ComMath.Normal(output2.Position.Y, CarModelState.MIN_POS_Y, CarModelState.MAX_POS_Y, NeuralController.MIN_NEURON_VALUE, NeuralController.MAX_NEURON_VALUE) -
* ComMath.Normal(output1.Position.Y, CarModelState.MIN_POS_Y, CarModelState.MAX_POS_Y, NeuralController.MIN_NEURON_VALUE, NeuralController.MAX_NEURON_VALUE)) / DIFF_C * errors[1] +
* (ComMath.Normal(ComMath.AngleDiff(output2.Angle, output1.Angle), -Math.PI, Math.PI, NeuralController.MIN_NEURON_VALUE, NeuralController.MAX_NEURON_VALUE)) / DIFF_C * errors[2];
*
* //******
* //LEFT SPEED
* //******
* input1 = origiInput;
* input1.LeftSpeed = ComMath.Normal(ComMath.Normal(input1.LeftSpeed, CarModelInput.MIN_SPEED, CarModelInput.MAX_SPEED,
* NeuralController.MIN_NEURON_VALUE, NeuralController.MAX_NEURON_VALUE) - DIFF_C / 2,
* NeuralController.MIN_NEURON_VALUE, NeuralController.MAX_NEURON_VALUE,
* CarModelInput.MIN_SPEED, CarModelInput.MAX_SPEED);
* this.SimulateModel(origiState, input1, out output1);
* input2 = origiInput;
* input2.LeftSpeed = ComMath.Normal(ComMath.Normal(input2.LeftSpeed, CarModelInput.MIN_SPEED, CarModelInput.MAX_SPEED,
* NeuralController.MIN_NEURON_VALUE, NeuralController.MAX_NEURON_VALUE) + DIFF_C / 2,
* NeuralController.MIN_NEURON_VALUE, NeuralController.MAX_NEURON_VALUE,
* CarModelInput.MIN_SPEED, CarModelInput.MAX_SPEED);
* this.SimulateModel(origiState, input2, out output2);
* sensitibility[3] = (ComMath.Normal(output2.Position.X, CarModelState.MIN_POS_X, CarModelState.MAX_POS_X, NeuralController.MIN_NEURON_VALUE, NeuralController.MAX_NEURON_VALUE) -
* ComMath.Normal(output1.Position.X, CarModelState.MIN_POS_X, CarModelState.MAX_POS_X, NeuralController.MIN_NEURON_VALUE, NeuralController.MAX_NEURON_VALUE)) / DIFF_C * errors[0] +
* (ComMath.Normal(output2.Position.Y, CarModelState.MIN_POS_Y, CarModelState.MAX_POS_Y, NeuralController.MIN_NEURON_VALUE, NeuralController.MAX_NEURON_VALUE) -
* ComMath.Normal(output1.Position.Y, CarModelState.MIN_POS_Y, CarModelState.MAX_POS_Y, NeuralController.MIN_NEURON_VALUE, NeuralController.MAX_NEURON_VALUE)) / DIFF_C * errors[1] +
* (ComMath.Normal(ComMath.AngleDiff(output2.Angle, output1.Angle), -Math.PI, Math.PI, NeuralController.MIN_NEURON_VALUE, NeuralController.MAX_NEURON_VALUE)) / DIFF_C * errors[2];
* //******
* //RIGHT SPEED
* //******
* input1 = origiInput;
* input1.RightSpeed = ComMath.Normal(ComMath.Normal(input1.RightSpeed, CarModelInput.MIN_SPEED, CarModelInput.MAX_SPEED,
* NeuralController.MIN_NEURON_VALUE, NeuralController.MAX_NEURON_VALUE) - DIFF_C / 2,
* NeuralController.MIN_NEURON_VALUE, NeuralController.MAX_NEURON_VALUE,
* CarModelInput.MIN_SPEED, CarModelInput.MAX_SPEED);
* this.SimulateModel(origiState, input1, out output1);
* input2 = origiInput;
* input2.RightSpeed = ComMath.Normal(ComMath.Normal(input2.RightSpeed, CarModelInput.MIN_SPEED, CarModelInput.MAX_SPEED,
* NeuralController.MIN_NEURON_VALUE, NeuralController.MAX_NEURON_VALUE) + DIFF_C / 2,
* NeuralController.MIN_NEURON_VALUE, NeuralController.MAX_NEURON_VALUE,
* CarModelInput.MIN_SPEED, CarModelInput.MAX_SPEED);
* this.SimulateModel(origiState, input2, out output2);
* sensitibility[4] = (ComMath.Normal(output2.Position.X, CarModelState.MIN_POS_X, CarModelState.MAX_POS_X, NeuralController.MIN_NEURON_VALUE, NeuralController.MAX_NEURON_VALUE) -
* ComMath.Normal(output1.Position.X, CarModelState.MIN_POS_X, CarModelState.MAX_POS_X, NeuralController.MIN_NEURON_VALUE, NeuralController.MAX_NEURON_VALUE)) / DIFF_C * errors[0] +
* (ComMath.Normal(output2.Position.Y, CarModelState.MIN_POS_Y, CarModelState.MAX_POS_Y, NeuralController.MIN_NEURON_VALUE, NeuralController.MAX_NEURON_VALUE) -
* ComMath.Normal(output1.Position.Y, CarModelState.MIN_POS_Y, CarModelState.MAX_POS_Y, NeuralController.MIN_NEURON_VALUE, NeuralController.MAX_NEURON_VALUE)) / DIFF_C * errors[1] +
* (ComMath.Normal(ComMath.AngleDiff(output2.Angle, output1.Angle), -Math.PI, Math.PI, NeuralController.MIN_NEURON_VALUE, NeuralController.MAX_NEURON_VALUE)) / DIFF_C * errors[2];
*
* this.state = origiState;
* this.input = origiInput;
* }
*/
public IModelSimulator Clone()
{
MathModelSimulator ret = new MathModelSimulator();
ret.input = input;
ret.state = state;
return(ret);
}
/* public void CalcErrorSensibility(double[] errors, out double[] sensitibility)
{
CarModelState output1, output2, state1, state2, origiState = this.state;
CarModelInput input1, input2, origiInput = this.input;
double DIFF_C = 0.001;
sensitibility = new double[5];
//******
//POS X
//******
state1 = origiState;
state1.Position = new PointD(ComMath.Normal(ComMath.Normal(state1.Position.X, CarModelState.MIN_POS_X, CarModelState.MAX_POS_X,
NeuralController.MIN_NEURON_VALUE, NeuralController.MAX_NEURON_VALUE) - DIFF_C / 2,
NeuralController.MIN_NEURON_VALUE, NeuralController.MAX_NEURON_VALUE,
CarModelState.MIN_POS_X, CarModelState.MAX_POS_X),
state1.Position.Y);
this.SimulateModel(state1, origiInput, out output1);
state2 = origiState;
state2.Position = new PointD(ComMath.Normal(ComMath.Normal(state2.Position.X, CarModelState.MIN_POS_X, CarModelState.MAX_POS_X,
NeuralController.MIN_NEURON_VALUE, NeuralController.MAX_NEURON_VALUE) + DIFF_C / 2,
NeuralController.MIN_NEURON_VALUE, NeuralController.MAX_NEURON_VALUE,
CarModelState.MIN_POS_X, CarModelState.MAX_POS_X),
state2.Position.Y);
this.SimulateModel(state2, origiInput, out output2);
sensitibility[0] = (ComMath.Normal(output2.Position.X, CarModelState.MIN_POS_X, CarModelState.MAX_POS_X, NeuralController.MIN_NEURON_VALUE, NeuralController.MAX_NEURON_VALUE) -
ComMath.Normal(output1.Position.X, CarModelState.MIN_POS_X, CarModelState.MAX_POS_X, NeuralController.MIN_NEURON_VALUE, NeuralController.MAX_NEURON_VALUE)) / DIFF_C * errors[0] +
(ComMath.Normal(output2.Position.Y, CarModelState.MIN_POS_Y, CarModelState.MAX_POS_Y, NeuralController.MIN_NEURON_VALUE, NeuralController.MAX_NEURON_VALUE) -
ComMath.Normal(output1.Position.Y, CarModelState.MIN_POS_Y, CarModelState.MAX_POS_Y, NeuralController.MIN_NEURON_VALUE, NeuralController.MAX_NEURON_VALUE)) / DIFF_C * errors[1] +
(ComMath.Normal(ComMath.AngleDiff(output2.Angle,output1.Angle), -Math.PI, Math.PI, NeuralController.MIN_NEURON_VALUE, NeuralController.MAX_NEURON_VALUE)) / DIFF_C * errors[2];
//******
//POS Y
//******
state1 = origiState;
state1.Position = new PointD(state1.Position.X,
ComMath.Normal(ComMath.Normal(state1.Position.Y, CarModelState.MIN_POS_Y, CarModelState.MAX_POS_Y,
NeuralController.MIN_NEURON_VALUE, NeuralController.MAX_NEURON_VALUE) - DIFF_C / 2,
NeuralController.MIN_NEURON_VALUE, NeuralController.MAX_NEURON_VALUE,
CarModelState.MIN_POS_Y, CarModelState.MAX_POS_Y));
this.SimulateModel(state1, origiInput, out output1);
state2 = origiState;
state2.Position = new PointD(state2.Position.X,
ComMath.Normal(ComMath.Normal(state2.Position.Y, CarModelState.MIN_POS_Y, CarModelState.MAX_POS_Y,
NeuralController.MIN_NEURON_VALUE, NeuralController.MAX_NEURON_VALUE) + DIFF_C / 2,
NeuralController.MIN_NEURON_VALUE, NeuralController.MAX_NEURON_VALUE,
CarModelState.MIN_POS_Y, CarModelState.MAX_POS_Y));
this.SimulateModel(state2, origiInput, out output2);
sensitibility[1] = (ComMath.Normal(output2.Position.X, CarModelState.MIN_POS_X, CarModelState.MAX_POS_X, NeuralController.MIN_NEURON_VALUE, NeuralController.MAX_NEURON_VALUE) -
ComMath.Normal(output1.Position.X, CarModelState.MIN_POS_X, CarModelState.MAX_POS_X, NeuralController.MIN_NEURON_VALUE, NeuralController.MAX_NEURON_VALUE)) / DIFF_C * errors[0] +
(ComMath.Normal(output2.Position.Y, CarModelState.MIN_POS_Y, CarModelState.MAX_POS_Y, NeuralController.MIN_NEURON_VALUE, NeuralController.MAX_NEURON_VALUE) -
ComMath.Normal(output1.Position.Y, CarModelState.MIN_POS_Y, CarModelState.MAX_POS_Y, NeuralController.MIN_NEURON_VALUE, NeuralController.MAX_NEURON_VALUE)) / DIFF_C * errors[1] +
(ComMath.Normal(ComMath.AngleDiff(output2.Angle, output1.Angle), -Math.PI, Math.PI, NeuralController.MIN_NEURON_VALUE, NeuralController.MAX_NEURON_VALUE)) / DIFF_C * errors[2];
//******
//ANGLE
//******
state1 = origiState;
state1.Angle = ComMath.Normal(ComMath.Normal(state1.Angle, -Math.PI, Math.PI,
NeuralController.MIN_NEURON_VALUE, NeuralController.MAX_NEURON_VALUE) - DIFF_C / 2,
NeuralController.MIN_NEURON_VALUE, NeuralController.MAX_NEURON_VALUE,
-Math.PI, Math.PI);
this.SimulateModel(state1, origiInput, out output1);
state2 = origiState;
state2.Angle = ComMath.Normal(ComMath.Normal(state2.Angle, -Math.PI, Math.PI,
NeuralController.MIN_NEURON_VALUE, NeuralController.MAX_NEURON_VALUE) + DIFF_C / 2,
NeuralController.MIN_NEURON_VALUE, NeuralController.MAX_NEURON_VALUE,
-Math.PI, Math.PI);
this.SimulateModel(state2, origiInput, out output2);
sensitibility[2] = (ComMath.Normal(output2.Position.X, CarModelState.MIN_POS_X, CarModelState.MAX_POS_X, NeuralController.MIN_NEURON_VALUE, NeuralController.MAX_NEURON_VALUE) -
ComMath.Normal(output1.Position.X, CarModelState.MIN_POS_X, CarModelState.MAX_POS_X, NeuralController.MIN_NEURON_VALUE, NeuralController.MAX_NEURON_VALUE)) / DIFF_C * errors[0] +
(ComMath.Normal(output2.Position.Y, CarModelState.MIN_POS_Y, CarModelState.MAX_POS_Y, NeuralController.MIN_NEURON_VALUE, NeuralController.MAX_NEURON_VALUE) -
ComMath.Normal(output1.Position.Y, CarModelState.MIN_POS_Y, CarModelState.MAX_POS_Y, NeuralController.MIN_NEURON_VALUE, NeuralController.MAX_NEURON_VALUE)) / DIFF_C * errors[1] +
(ComMath.Normal(ComMath.AngleDiff(output2.Angle, output1.Angle), -Math.PI, Math.PI, NeuralController.MIN_NEURON_VALUE, NeuralController.MAX_NEURON_VALUE)) / DIFF_C * errors[2];
//******
//LEFT SPEED
//******
input1 = origiInput;
input1.LeftSpeed = ComMath.Normal(ComMath.Normal(input1.LeftSpeed, CarModelInput.MIN_SPEED, CarModelInput.MAX_SPEED,
NeuralController.MIN_NEURON_VALUE, NeuralController.MAX_NEURON_VALUE) - DIFF_C / 2,
NeuralController.MIN_NEURON_VALUE, NeuralController.MAX_NEURON_VALUE,
CarModelInput.MIN_SPEED, CarModelInput.MAX_SPEED);
this.SimulateModel(origiState, input1, out output1);
input2 = origiInput;
input2.LeftSpeed = ComMath.Normal(ComMath.Normal(input2.LeftSpeed, CarModelInput.MIN_SPEED, CarModelInput.MAX_SPEED,
NeuralController.MIN_NEURON_VALUE, NeuralController.MAX_NEURON_VALUE) + DIFF_C / 2,
NeuralController.MIN_NEURON_VALUE, NeuralController.MAX_NEURON_VALUE,
CarModelInput.MIN_SPEED, CarModelInput.MAX_SPEED);
this.SimulateModel(origiState, input2, out output2);
sensitibility[3] = (ComMath.Normal(output2.Position.X, CarModelState.MIN_POS_X, CarModelState.MAX_POS_X, NeuralController.MIN_NEURON_VALUE, NeuralController.MAX_NEURON_VALUE) -
ComMath.Normal(output1.Position.X, CarModelState.MIN_POS_X, CarModelState.MAX_POS_X, NeuralController.MIN_NEURON_VALUE, NeuralController.MAX_NEURON_VALUE)) / DIFF_C * errors[0] +
(ComMath.Normal(output2.Position.Y, CarModelState.MIN_POS_Y, CarModelState.MAX_POS_Y, NeuralController.MIN_NEURON_VALUE, NeuralController.MAX_NEURON_VALUE) -
ComMath.Normal(output1.Position.Y, CarModelState.MIN_POS_Y, CarModelState.MAX_POS_Y, NeuralController.MIN_NEURON_VALUE, NeuralController.MAX_NEURON_VALUE)) / DIFF_C * errors[1] +
(ComMath.Normal(ComMath.AngleDiff(output2.Angle, output1.Angle), -Math.PI, Math.PI, NeuralController.MIN_NEURON_VALUE, NeuralController.MAX_NEURON_VALUE)) / DIFF_C * errors[2];
//******
//RIGHT SPEED
//******
input1 = origiInput;
input1.RightSpeed = ComMath.Normal(ComMath.Normal(input1.RightSpeed, CarModelInput.MIN_SPEED, CarModelInput.MAX_SPEED,
NeuralController.MIN_NEURON_VALUE, NeuralController.MAX_NEURON_VALUE) - DIFF_C / 2,
NeuralController.MIN_NEURON_VALUE, NeuralController.MAX_NEURON_VALUE,
CarModelInput.MIN_SPEED, CarModelInput.MAX_SPEED);
this.SimulateModel(origiState, input1, out output1);
input2 = origiInput;
input2.RightSpeed = ComMath.Normal(ComMath.Normal(input2.RightSpeed, CarModelInput.MIN_SPEED, CarModelInput.MAX_SPEED,
NeuralController.MIN_NEURON_VALUE, NeuralController.MAX_NEURON_VALUE) + DIFF_C / 2,
NeuralController.MIN_NEURON_VALUE, NeuralController.MAX_NEURON_VALUE,
CarModelInput.MIN_SPEED, CarModelInput.MAX_SPEED);
this.SimulateModel(origiState, input2, out output2);
sensitibility[4] = (ComMath.Normal(output2.Position.X, CarModelState.MIN_POS_X, CarModelState.MAX_POS_X, NeuralController.MIN_NEURON_VALUE, NeuralController.MAX_NEURON_VALUE) -
ComMath.Normal(output1.Position.X, CarModelState.MIN_POS_X, CarModelState.MAX_POS_X, NeuralController.MIN_NEURON_VALUE, NeuralController.MAX_NEURON_VALUE)) / DIFF_C * errors[0] +
(ComMath.Normal(output2.Position.Y, CarModelState.MIN_POS_Y, CarModelState.MAX_POS_Y, NeuralController.MIN_NEURON_VALUE, NeuralController.MAX_NEURON_VALUE) -
ComMath.Normal(output1.Position.Y, CarModelState.MIN_POS_Y, CarModelState.MAX_POS_Y, NeuralController.MIN_NEURON_VALUE, NeuralController.MAX_NEURON_VALUE)) / DIFF_C * errors[1] +
(ComMath.Normal(ComMath.AngleDiff(output2.Angle, output1.Angle), -Math.PI, Math.PI, NeuralController.MIN_NEURON_VALUE, NeuralController.MAX_NEURON_VALUE)) / DIFF_C * errors[2];
this.state = origiState;
this.input = origiInput;
}
*/
public IModelSimulator Clone()
{
MathModelSimulator ret = new MathModelSimulator();
ret.input = input;
ret.state = state;
return ret;
}
