public void SimualteGrid(IGridModelSimulator sim, GridCarModelInput input, double timestep)
{
GridCarModelState gcms;
sim.SimulateModel(GridCarModelState.FromCarModelState(model.state), input, timestep, out gcms);
model.state = GridCarModelState.ToCarModelState(gcms);
}
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);
}
public void SimualteGrid(IGridModelSimulator sim, GridCarModelInput input, double timestep)
{
GridCarModelState gcms;
sim.SimulateModel(GridCarModelState.FromCarModelState(model.state), input, timestep, out gcms);
model.state = GridCarModelState.ToCarModelState(gcms);
}
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);
}