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);
}
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);
}
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);
}
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);
}
