예제 #1
0
        public CentralPatternGenerator(double hipTauU, double hipTauV, double hipBeta, double kneeTauU, double kneeTauV, double kneeBeta, double[,] weights)
        {
            Neuron  = new CPGNeuron[9];
            Weights = weights;

            Neuron[1]   = new CPGNeuron(hipTauU, hipTauV, hipBeta);
            Neuron[1].U = 0.1;
            Neuron[2]   = new CPGNeuron(hipTauU, hipTauV, hipBeta);
            Neuron[5]   = new CPGNeuron(kneeTauU, kneeTauV, kneeBeta);
            Neuron[6]   = new CPGNeuron(kneeTauU, kneeTauV, kneeBeta);

            Neuron[3] = new CPGNeuron(hipTauU, hipTauV, hipBeta);
            Neuron[4] = new CPGNeuron(hipTauU, hipTauV, hipBeta);
            Neuron[7] = new CPGNeuron(kneeTauU, kneeTauV, kneeBeta);
            Neuron[8] = new CPGNeuron(kneeTauU, kneeTauV, kneeBeta);

            DrawingCoordinates    = new PointF[9];
            DrawingCoordinates[1] = new PointF(175, 30);
            DrawingCoordinates[2] = new PointF(200, 70);
            DrawingCoordinates[5] = new PointF(175, 160);
            DrawingCoordinates[6] = new PointF(200, 200);
            DrawingCoordinates[3] = new PointF(50, 30);
            DrawingCoordinates[4] = new PointF(25, 70);
            DrawingCoordinates[7] = new PointF(50, 160);
            DrawingCoordinates[8] = new PointF(25, 200);
            F1 = new Font("Arial", 8);
        }
예제 #2
0
        public CentralPatternGenerator(double hipTauU, double hipTauV, double hipBeta, double kneeTauU, double kneeTauV, double kneeBeta, double wFlexorExtensor, double wHipKnee, double wLeftRight)
        {
            Neuron  = new CPGNeuron[9];
            Weights = new double[9, 9];

            Weights[1, 2] = wFlexorExtensor;
            Weights[2, 1] = wFlexorExtensor;
            Weights[3, 4] = wFlexorExtensor;
            Weights[4, 3] = wFlexorExtensor;
            Weights[5, 6] = wFlexorExtensor;
            Weights[6, 5] = wFlexorExtensor;
            Weights[7, 8] = wFlexorExtensor;
            Weights[8, 7] = wFlexorExtensor;

            Weights[1, 3] = wLeftRight;
            Weights[3, 1] = wLeftRight;
            Weights[2, 4] = wLeftRight;
            Weights[4, 2] = wLeftRight;

            Weights[5, 2] = wHipKnee;
            Weights[6, 1] = wHipKnee;
            Weights[7, 4] = wHipKnee;
            Weights[8, 3] = wHipKnee;

            Neuron[1]   = new CPGNeuron(hipTauU, hipTauV, hipBeta);
            Neuron[1].U = 0.1;
            Neuron[2]   = new CPGNeuron(hipTauU, hipTauV, hipBeta);
            Neuron[5]   = new CPGNeuron(kneeTauU, kneeTauV, kneeBeta);
            Neuron[6]   = new CPGNeuron(kneeTauU, kneeTauV, kneeBeta);

            Neuron[3] = new CPGNeuron(hipTauU, hipTauV, hipBeta);
            Neuron[4] = new CPGNeuron(hipTauU, hipTauV, hipBeta);
            Neuron[7] = new CPGNeuron(kneeTauU, kneeTauV, kneeBeta);
            Neuron[8] = new CPGNeuron(kneeTauU, kneeTauV, kneeBeta);

            DrawingCoordinates    = new PointF[9];
            DrawingCoordinates[1] = new PointF(175, 30);
            DrawingCoordinates[2] = new PointF(200, 70);
            DrawingCoordinates[5] = new PointF(175, 160);
            DrawingCoordinates[6] = new PointF(200, 200);
            DrawingCoordinates[3] = new PointF(50, 30);
            DrawingCoordinates[4] = new PointF(25, 70);
            DrawingCoordinates[7] = new PointF(50, 160);
            DrawingCoordinates[8] = new PointF(25, 200);
            F1 = new Font("Arial", 8);
        }
예제 #3
0
        public CentralPatternGenerator(double hipTauU, double hipTauV, double hipBeta, double kneeTauU, double kneeTauV, double kneeBeta, double[,] weights)
        {
            Neuron = new CPGNeuron[9];
            Weights = weights;

            Neuron[1] = new CPGNeuron(hipTauU, hipTauV, hipBeta);
            Neuron[1].U = 0.1;
            Neuron[2] = new CPGNeuron(hipTauU, hipTauV, hipBeta);
            Neuron[5] = new CPGNeuron(kneeTauU, kneeTauV, kneeBeta);
            Neuron[6] = new CPGNeuron(kneeTauU, kneeTauV, kneeBeta);

            Neuron[3] = new CPGNeuron(hipTauU, hipTauV, hipBeta);
            Neuron[4] = new CPGNeuron(hipTauU, hipTauV, hipBeta);
            Neuron[7] = new CPGNeuron(kneeTauU, kneeTauV, kneeBeta);
            Neuron[8] = new CPGNeuron(kneeTauU, kneeTauV, kneeBeta);

            DrawingCoordinates = new PointF[9];
            DrawingCoordinates[1] = new PointF(175, 30);
            DrawingCoordinates[2] = new PointF(200, 70);
            DrawingCoordinates[5] = new PointF(175, 160);
            DrawingCoordinates[6] = new PointF(200, 200);
            DrawingCoordinates[3] = new PointF(50, 30);
            DrawingCoordinates[4] = new PointF(25, 70);
            DrawingCoordinates[7] = new PointF(50, 160);
            DrawingCoordinates[8] = new PointF(25, 200);
            F1 = new Font("Arial", 8);
        }
예제 #4
0
        public CentralPatternGenerator(double hipTauU, double hipTauV, double hipBeta, double kneeTauU, double kneeTauV, double kneeBeta, double wFlexorExtensor, double wHipKnee, double wLeftRight)
        {
            Neuron = new CPGNeuron[9];
            Weights = new double[9, 9];

            Weights[1, 2] = wFlexorExtensor;
            Weights[2, 1] = wFlexorExtensor;
            Weights[3, 4] = wFlexorExtensor;
            Weights[4, 3] = wFlexorExtensor;
            Weights[5, 6] = wFlexorExtensor;
            Weights[6, 5] = wFlexorExtensor;
            Weights[7, 8] = wFlexorExtensor;
            Weights[8, 7] = wFlexorExtensor;

            Weights[1, 3] = wLeftRight;
            Weights[3, 1] = wLeftRight;
            Weights[2, 4] = wLeftRight;
            Weights[4, 2] = wLeftRight;

            Weights[5, 2] = wHipKnee;
            Weights[6, 1] = wHipKnee;
            Weights[7, 4] = wHipKnee;
            Weights[8, 3] = wHipKnee;

            Neuron[1] = new CPGNeuron(hipTauU, hipTauV, hipBeta);
            Neuron[1].U = 0.1;
            Neuron[2] = new CPGNeuron(hipTauU, hipTauV, hipBeta);
            Neuron[5] = new CPGNeuron(kneeTauU, kneeTauV, kneeBeta);
            Neuron[6] = new CPGNeuron(kneeTauU, kneeTauV, kneeBeta);

            Neuron[3] = new CPGNeuron(hipTauU, hipTauV, hipBeta);
            Neuron[4] = new CPGNeuron(hipTauU, hipTauV, hipBeta);
            Neuron[7] = new CPGNeuron(kneeTauU, kneeTauV, kneeBeta);
            Neuron[8] = new CPGNeuron(kneeTauU, kneeTauV, kneeBeta);

            DrawingCoordinates = new PointF[9];
            DrawingCoordinates[1] = new PointF(175, 30);
            DrawingCoordinates[2] = new PointF(200, 70);
            DrawingCoordinates[5] = new PointF(175, 160);
            DrawingCoordinates[6] = new PointF(200, 200);
            DrawingCoordinates[3] = new PointF(50, 30);
            DrawingCoordinates[4] = new PointF(25, 70);
            DrawingCoordinates[7] = new PointF(50, 160);
            DrawingCoordinates[8] = new PointF(25, 200);
            F1 = new Font("Arial", 8);
        }