C# (CSharp) IGridModelSimulator.SimulateModel示例

示例#1

文件： SimulationModeItemManager.cs 项目： hunsteve/RobotNavigation

        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);
        }

示例#2

        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);
        }

示例#3

文件： SimulationModeItemManager.cs 项目： hunsteve/RobotNavigation

 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);
 }

示例#4

文件： GridNeuralController.cs 项目： hunsteve/RobotNavigation

        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);
        }