#include <CscKnowledgeItemMultiPodWalk.h>

Inheritance diagram for conscience_core::knowledge::CscKnowledgeItemMultiPodWalk:

Public Member Functions
	CscKnowledgeItemMultiPodWalk (int knoItemIdIn, string knoItemNameIn, int stepCountTarget, int nbLegs, const vector< const TargetMemberValues * > inputsTargetValuesIn, const vector< const TargetMemberPonderation > inputsTargetPercentsIn, map< string, float > outputsCanMoveValues, CscUnitType unitTypeIn, string targetOriginMember, bool symemtrySearch, int nbStateMax, const map< int, float > &maxDeltaPivotByPivotId, bool optionCutLastestIfTheSameAndWorst, bool optionCutBeginingIfTheSame, bool optionDeltaPerStateMaxDegressive, float percentAvg, float percentMax, float percentExtrapolation, int stateDuration, int stateDelay, float solvedAt, float processedAt, CscArtificialIntelligenceTypes aiTypes, CscKnowledgeItemTargetMemberToState *memberToState)

void	sequencePostTraitment (CscSequence *sequenceIn) override

int	getSequenceCountAutorized (float initStateValue) override

float	getExtrapolationResult (CscSequence *sequenceIn) override

bool	isStatesSupportOf (CscState state1, CscState state2) override

bool	isObjectiveSupportOf (CscKnowledgeItem *knowledgeItem) override

float	evaluateState (CscState stateIn, const CscWorldEntity entity, CscState *initialState) override

float	evaluateSequence (CscSequence sequence, const CscWorldEntity entity, CscState *initialStateInit) override

CscPerson *	generatePerson (CscEnvironmentSimulator environment, const CscWorldEntity entity, CscState initialState, int personId, int generationId, CscGeneration currentGeneration, CscGeneration *previousGeneration) override

virtual	~CscKnowledgeItemMultiPodWalk ()

Public Member Functions inherited from conscience_core::knowledge::CscKnowledgeItemTarget
	CscKnowledgeItemTarget (int knoItemId, string knoItemName, CscArtificialIntelligenceTypes aiTypes, CscUnitType unitTypeIn=CscUnitType::Centimeter, string unitOriginIn="")

float	evaluateState (CscState stateIn, const CscWorldEntity entity, CscState *initialState) override

virtual	~CscKnowledgeItemTarget ()

int	getNbResearchIteration ()

Public Member Functions inherited from conscience_core::knowledge::CscKnowledgeItem
	CscKnowledgeItem (int knoItemId, string knoItemName, CscArtificialIntelligenceTypes aiTypes=CscArtificialIntelligenceType::NONE, bool outputTypes[]=NULL)

void	applyWheels (CscSequence result, vector< string > names)

void	applyWheels (CscState result, vector< string > names)

void	applyJoints (CscState result, vector< string > names)

void	applyJoints (CscSequence result, vector< string > names)

const map< string, float >	getOutputsCanMoveValues () const

vector< const LimitsPivot * >	getPivotsCanMoveValues () const

vector< const LimitsPropeller * >	getPropellersCanMoveValues () const

vector< const LimitsWheel * >	getWheelsCanMoveValues () const

vector< const LimitsTranslation * >	getTranslationsCanMoveValues () const

void	setPivotsCanMoveValues (const LimitsPivot *limitsPivot)

void	setPropellersCanMoveValues (const LimitsPropeller *limitsPropeller)

void	setWheelsCanMoveValues (const LimitsWheel *limitsWheel)

void	setTranslationsCanMoveValues (const LimitsTranslation *limitsTranslation)

virtual int	getActionDeltaAutorized (float initStateValue)

virtual	~CscKnowledgeItem ()

int	getDistance (int angle1, int angle2)

string	toString ()

virtual CscState *	generateRandomStateFromState (const CscEntityModel robotModel, CscState currentState, bool symmetry, bool sameProgressionRightLeft=false)

void	setInitStateObjectiveValue (float value)

float	getInitStateObjectiveValue () const

Static Public Member Functions
static CscKnowledgeItemMultiPodWalk *	create (int targetId, string targetName, int stepCountTarget, int nbLegs, vector< string > targetMemberNames, vector< string > relativeToMemberNames, vector< float > posX, vector< float > posY, vector< float > posZ, vector< float > posPondX, vector< float > posPondY, vector< float > posPondZ, vector< float > pitch, vector< float > yaw, vector< float > roll, vector< float > pitchPond, vector< float > yawPond, vector< float > rollPond, vector< float > accX, vector< float > accY, vector< float > accZ, vector< float > accPondX, vector< float > accPondY, vector< float > accPondZ, vector< string > outputsCanMoveNames, vector< float > outputsCanMovePonderations, CscUnitType unitType, string targetOriginMember, bool symemtrySearch, int nbStateMax, const map< int, float > &maxDeltaPivotByPivotId, bool optionCutLastestIfTheSameAndWorst, bool optionCutBeginingIfTheSame, bool optionDeltaPerStateMaxDegressive, float percentAvg, float percentMax, float percentExtrapolation, int stateDuration, int stateDelay, float solvedAt, float processedAt, bool outputTypes[], CscArtificialIntelligenceTypes aiTypes, map< int, CscPoint3d * > centerOfMassOfAllMemberByMemberId)

Static Public Member Functions inherited from conscience_core::knowledge::CscKnowledgeItem
static unsigned long long	nextId ()

Protected Member Functions
void	addExtrapolationStates (CscSequence sequenceIn, const CscWorldEntity entity) override

Protected Member Functions inherited from conscience_core::knowledge::CscKnowledgeItemTarget
map< int, float >	inverseRightLeftPivot (const CscEntityModel *robotModel, const map< int, float > &pivotValuesToInverse)

Protected Member Functions inherited from conscience_core::knowledge::CscKnowledgeItem
void	cutBeginingIfTheSame (CscSequence *sequenceIn, float maxIn)

void	cutBeginingIfSupport (CscSequence *sequenceIn)

void	cutLastestIfTheSameAndWorst (CscSequence *sequenceIn, float maxIn)

void	cutInternalSubSequencesIfCommonState (CscSequence *sequenceIn)

bool	usePivots () const

bool	usePropellers () const

bool	useWheels () const

bool	useTranslations () const

Additional Inherited Members
Public Attributes inherited from conscience_core::knowledge::CscKnowledgeItemTarget
CscUnitType	unitType

string	targetOriginMember

int	stateDelay = 200

int	stateDuration = 200

Public Attributes inherited from conscience_core::knowledge::CscKnowledgeItem
int	knowledgeItemId

string	knowledgeItemName

CscKnowledgeItemType	knowledgeType

int	maxSequenceSize = 100

float	maxJointDelta = 100.0

float	maxWheelsDelta = 100.0f

float	maxPropellersDelta = 100.0f

float	maxTranslationsDelta = 100.0f

map< int, float >	maxPivotDeltaByPivotId

bool	symetricMovments = true

const map< string, float > *	outputsCanMoveValues = new map<string, float>

const vector< const TargetMemberValues * > *	inputsTargetValues = new vector<const TargetMemberValues *>()

const vector< const TargetMemberPonderation * > *	inputsTargetPercents = new vector<const TargetMemberPonderation *>()

float	sequencePercentMax = 1.0

float	sequencePercentAvg = 0.0

float	sequencePercentCountStates = 0.0

float	sequencePercentExtrapolation = 0.0

float	sequencePercentAccEnd = 0.0

bool	optionCutLastestIfTheSameAndWorst = false

bool	optionCutBeginingIfTheSame = false

bool	optionDeltaPerStateMaxDegressive = false

bool	strictPonderations = false

float	solvedAt = 1.0

float	processAt = 1.0

float	isSupportActionDiff = 5.0

float	isSupportHeightDiff = 10

float	isSupportAccDiff = 0.3

float	isSupportGyroDiff = 10.0

bool	deploymentWhenAnotherIsSolved = false

bool	deploymentInitialGlobal = false

bool	selfDeploymentAnticipation = false

bool	antiKinematic = false

bool	outputTypes [4]

const CscArtificialIntelligenceTypes	aiTypes

Protected Attributes inherited from conscience_core::knowledge::CscKnowledgeItemTarget
int	nbResearchIteration = 0

Protected Attributes inherited from conscience_core::knowledge::CscKnowledgeItem
map< int, CscPivotMovementType >	pivotMovementTypeByPivotId

Constructor & Destructor Documentation

◆ CscKnowledgeItemMultiPodWalk()

conscience_core::knowledge::CscKnowledgeItemMultiPodWalk::CscKnowledgeItemMultiPodWalk	(	int	knoItemIdIn,
		string	knoItemNameIn,
		int	stepCountTarget,
		int	nbLegs,
		const vector< const TargetMemberValues * > *	inputsTargetValuesIn,
		const vector< const TargetMemberPonderation * > *	inputsTargetPercentsIn,
		map< string, float > *	outputsCanMoveValues,
		CscUnitType	unitTypeIn,
		string	targetOriginMember,
		bool	symemtrySearch,
		int	nbStateMax,
		const map< int, float > &	maxDeltaPivotByPivotId,
		bool	optionCutLastestIfTheSameAndWorst,
		bool	optionCutBeginingIfTheSame,
		bool	optionDeltaPerStateMaxDegressive,
		float	percentAvg,
		float	percentMax,
		float	percentExtrapolation,
		int	stateDuration,
		int	stateDelay,
		float	solvedAt,
		float	processedAt,
		CscArtificialIntelligenceTypes	aiTypes,
		CscKnowledgeItemTargetMemberToState *	memberToState
	)

◆ ~CscKnowledgeItemMultiPodWalk()

conscience_core::knowledge::CscKnowledgeItemMultiPodWalk::~CscKnowledgeItemMultiPodWalk ( )

virtual

Member Function Documentation

◆ addExtrapolationStates()

void conscience_core::knowledge::CscKnowledgeItemMultiPodWalk::addExtrapolationStates	(	CscSequence *	sequenceIn,
		const CscWorldEntity *	entity
	)

overrideprotectedvirtual

Reimplemented from conscience_core::knowledge::CscKnowledgeItem.

◆ create()

static CscKnowledgeItemMultiPodWalk* conscience_core::knowledge::CscKnowledgeItemMultiPodWalk::create	(	int	targetId,
		string	targetName,
		int	stepCountTarget,
		int	nbLegs,
		vector< string >	targetMemberNames,
		vector< string >	relativeToMemberNames,
		vector< float >	posX,
		vector< float >	posY,
		vector< float >	posZ,
		vector< float >	posPondX,
		vector< float >	posPondY,
		vector< float >	posPondZ,
		vector< float >	pitch,
		vector< float >	yaw,
		vector< float >	roll,
		vector< float >	pitchPond,
		vector< float >	yawPond,
		vector< float >	rollPond,
		vector< float >	accX,
		vector< float >	accY,
		vector< float >	accZ,
		vector< float >	accPondX,
		vector< float >	accPondY,
		vector< float >	accPondZ,
		vector< string >	outputsCanMoveNames,
		vector< float >	outputsCanMovePonderations,
		CscUnitType	unitType,
		string	targetOriginMember,
		bool	symemtrySearch,
		int	nbStateMax,
		const map< int, float > &	maxDeltaPivotByPivotId,
		bool	optionCutLastestIfTheSameAndWorst,
		bool	optionCutBeginingIfTheSame,
		bool	optionDeltaPerStateMaxDegressive,
		float	percentAvg,
		float	percentMax,
		float	percentExtrapolation,
		int	stateDuration,
		int	stateDelay,
		float	solvedAt,
		float	processedAt,
		bool	outputTypes[],
		CscArtificialIntelligenceTypes	aiTypes,
		map< int, CscPoint3d * >	centerOfMassOfAllMemberByMemberId
	)

inlinestatic

◆ evaluateSequence()

float conscience_core::knowledge::CscKnowledgeItemMultiPodWalk::evaluateSequence	(	CscSequence *	sequence,
		const CscWorldEntity *	entity,
		CscState *	initialStateInit
	)

overridevirtual

Reimplemented from conscience_core::knowledge::CscKnowledgeItem.

◆ evaluateState()

float conscience_core::knowledge::CscKnowledgeItemMultiPodWalk::evaluateState	(	CscState *	stateIn,
		const CscWorldEntity *	entity,
		CscState *	initialState
	)

overridevirtual

Reimplemented from conscience_core::knowledge::CscKnowledgeItem.

◆ generatePerson()

CscPerson * conscience_core::knowledge::CscKnowledgeItemMultiPodWalk::generatePerson	(	CscEnvironmentSimulator *	environment,
		const CscWorldEntity *	entity,
		CscState *	initialState,
		int	personId,
		int	generationId,
		CscGeneration *	currentGeneration,
		CscGeneration *	previousGeneration
	)