/// <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();
}
}