private void DenormalizeAngles(ref Angles a)
{
a.alpha = ((a.alpha - 0.1) / 0.8 * 180);
a.beta = ((a.beta - 0.1) / 0.8 * 180);
if (file > 0)
{
a.beta = -180 + a.beta;
}
}
public Arm GiveAnswer(ref Point p)
{
NormalizePoint(ref p);
Example t = new Example(p);
GoForward(t);
Angles angles = GetAngles();
DenormalizeAngles(ref angles);
Debug.WriteLine("alfa: {0}, beta: {1}", angles.alpha, angles.beta);
return(GetArmByAngles(ref angles));
}
private double E(int n)
{
double result = 0;
Angles t = examples[n].angles;
int lastLayerIndex = perceptrons.Length - 1;
GoForward(examples[n]);
result += (Math.Pow(perceptrons[lastLayerIndex][0].sigmaX - t.alpha, 2));
result += (Math.Pow(perceptrons[lastLayerIndex][1].sigmaX - t.beta, 2));
return(result);
}
private Arm GetArmByAngles(ref Angles a)
{
Arm arm = new Arm();
Point initialElbow = new Point(0, Globals.MountPoint.Y - Globals.ArmLength);
arm.elbow = RotatePoint(initialElbow, Globals.MountPoint, a.alpha);
Point initialHand = new Point(0, Globals.MountPoint.Y - 2 * Globals.ArmLength);
var rotatedHand = RotatePoint(initialHand, Globals.MountPoint, a.alpha);
arm.hand = RotatePoint(rotatedHand, arm.elbow, a.beta);
return(arm);
}
public Example(Point p)
{
point = p;
angles = new Angles(0, 0);
}
public Example(double x, double y, double a, double b)
{
point = new Point(x, y);
angles = new Angles(a, b);
}
public Example(double x, double y)
{
point = new Point(x, y);
angles = new Angles(Globals.Random.NextDouble() * 180, Globals.Random.NextDouble() * 180);
}
private void NormalizeAngles(ref Angles a)
{
a.alpha = ((a.alpha / 180.0) * 0.8 + 0.1);
a.beta = ((a.beta / 180.0) * 0.8 + 0.1);
}
