public StdVecb(StdVecb other) : this(eogmaneoPINVOKE.new_StdVecb__SWIG_1(StdVecb.getCPtr(other)), true)
{
if (eogmaneoPINVOKE.SWIGPendingException.Pending)
{
throw eogmaneoPINVOKE.SWIGPendingException.Retrieve();
}
}
public StdVecbEnumerator(StdVecb collection)
{
collectionRef = collection;
currentIndex = -1;
currentObject = null;
currentSize = collectionRef.Count;
}
public void SetRange(int index, StdVecb values)
{
eogmaneoPINVOKE.StdVecb_SetRange(swigCPtr, index, StdVecb.getCPtr(values));
if (eogmaneoPINVOKE.SWIGPendingException.Pending)
{
throw eogmaneoPINVOKE.SWIGPendingException.Retrieve();
}
}
public void AddRange(StdVecb values)
{
eogmaneoPINVOKE.StdVecb_AddRange(swigCPtr, StdVecb.getCPtr(values));
if (eogmaneoPINVOKE.SWIGPendingException.Pending)
{
throw eogmaneoPINVOKE.SWIGPendingException.Retrieve();
}
}
public void create(StdVecPairi inputSizes, StdVeci inputChunkSizes, StdVecb predictInputs, StdVecLayerDesc layerDescs, uint seed)
{
eogmaneoPINVOKE.Hierarchy_create(swigCPtr, StdVecPairi.getCPtr(inputSizes), StdVeci.getCPtr(inputChunkSizes), StdVecb.getCPtr(predictInputs), StdVecLayerDesc.getCPtr(layerDescs), seed);
if (eogmaneoPINVOKE.SWIGPendingException.Pending)
{
throw eogmaneoPINVOKE.SWIGPendingException.Retrieve();
}
}
public static StdVecb Repeat(bool value, int count)
{
global::System.IntPtr cPtr = eogmaneoPINVOKE.StdVecb_Repeat(value, count);
StdVecb ret = (cPtr == global::System.IntPtr.Zero) ? null : new StdVecb(cPtr, true);
if (eogmaneoPINVOKE.SWIGPendingException.Pending)
{
throw eogmaneoPINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
public StdVecb GetRange(int index, int count)
{
global::System.IntPtr cPtr = eogmaneoPINVOKE.StdVecb_GetRange(swigCPtr, index, count);
StdVecb ret = (cPtr == global::System.IntPtr.Zero) ? null : new StdVecb(cPtr, true);
if (eogmaneoPINVOKE.SWIGPendingException.Pending)
{
throw eogmaneoPINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
internal static global::System.Runtime.InteropServices.HandleRef getCPtr(StdVecb obj)
{
return((obj == null) ? new global::System.Runtime.InteropServices.HandleRef(null, global::System.IntPtr.Zero) : obj.swigCPtr);
}
// Use this for initialization
void Start()
{
_time = 0.0f;
LapCount = 0;
if (carController == null)
{
return;
}
print("Initializing EOgmaNeo");
_system = new eogmaneo.ComputeSystem(4, 1111);
_inputWidth = cameraTexture.width;
_inputHeight = cameraTexture.height;
print("Capture image size: " + _inputWidth + "x" + _inputHeight);
_hiddenWidth = _inputWidth;
_hiddenHeight = _inputHeight / 2;
// Y' input field
_inputField = new eogmaneo.StdVecf(_hiddenWidth * _hiddenHeight);
for (int i = 0; i < _hiddenWidth * _hiddenHeight; i++)
{
_inputField.Add(0.0f);
}
// Scalar values input field
_inputValues = new eogmaneo.StdVeci(1);
_inputValues.Add(0);
print("Constructing hierarchy");
// Hierarchy layer descriptions
const int layerSize = 36;
const int numLayers = 3;
StdVecLayerDesc lds = new StdVecLayerDesc(numLayers);
for (int l = 0; l < numLayers; l++)
{
lds.Add(new LayerDesc());
lds[l]._width = layerSize;
lds[l]._height = layerSize;
lds[l]._chunkSize = 6;
lds[l]._forwardRadius = 9;
lds[l]._backwardRadius = 9;
lds[l]._ticksPerUpdate = 2;
lds[l]._temporalHorizon = 2;
lds[l]._alpha = 0.065f;
lds[l]._beta = 0.1f;
// Disable reinforcement learning
lds[l]._delta = 0.0f;
}
// Encoder output sizes, as input sizes to hierarchy
StdVecPairi inputSizes = new eogmaneo.StdVecPairi();
inputSizes.Add(new StdPairi(_hiddenWidth, _hiddenHeight));
inputSizes.Add(new StdPairi(6, 6));
StdVeci inputChunkSizes = new StdVeci();
inputChunkSizes.Add(6);
inputChunkSizes.Add(6);
// Whether to predict an input
StdVecb predictInputs = new StdVecb();
predictInputs.Add(true);
predictInputs.Add(true);
print("Generating hierarchy");
// Generate the hierarchy
_hierarchy = new eogmaneo.Hierarchy();
_hierarchy.create(inputSizes, inputChunkSizes, predictInputs, lds, 41);
if (reloadHierarchy && hierarchyFileName.Length > 0)
{
_hierarchy.load(hierarchyFileName);
print("Reloaded OgmaNeo hierarchy from " + hierarchyFileName);
}
if (connectToNeoVis)
{
_neoVis = new eogmaneo.VisAdapter();
_neoVis.create(_hierarchy, neoVisPort);
}
_openCV = new eogmaneo.OpenCVInterop();
int numSDRbits = (_hiddenWidth / inputChunkSizes[0]) * (_hiddenHeight / inputChunkSizes[1]);
_rotationSDR = new StdVeci(numSDRbits);
_predictedSDR = new StdVeci(numSDRbits);
for (int i = 0; i < numSDRbits; i++)
{
_rotationSDR.Add(0);
_predictedSDR.Add(0);
}
// For calculating the normalized cross-corrolation
_ccStates = new List <int>();
_onStates = new List <int>();
NCC = 0.0f;
_trainingCount = 0;
_predictingCount = 0;
TrainingPercent = 1.0f;
PredictionPercent = 0.0f;
Training = false;
ForcePredictionMode = false;
if (splineList != null && splineList[SplineIndex] != null)
{
Vector3 position = splineList[SplineIndex].GetPoint(0.0f);
Vector3 splineDirection = splineList[SplineIndex].GetDirection(0.0f);
carController.gameObject.transform.localPosition = position;
carController.gameObject.transform.LookAt(position - splineDirection);
Training = true;
}
if (enableDebugLines)
{
debugLine = gameObject.AddComponent <LineRenderer>();
debugLine.startWidth = 0.1f;
debugLine.endWidth = 0.1f;
debugLinePositions = new Vector3[4];
debugLine.numPositions = debugLinePositions.Length;
}
PredictedSteer = 0.0f;
PredictedAccel = 0.0f;
PredictedBrake = -1.0f;
HandBrake = 1.0f;
carSteer = PredictedSteer;
carAccel = PredictedAccel;
carBrake = PredictedBrake;
}
