conscience_core::knowledge::CscKnowledgeItemTargetMemberToState Class Reference

#include <CscKnowledgeItemTargetMemberToState.h>

Inheritance diagram for conscience_core::knowledge::CscKnowledgeItemTargetMemberToState:

Classes
struct	InverseKinematicParams

Public Member Functions
	CscKnowledgeItemTargetMemberToState (int knoItemIdIn, string knoItemNameIn, 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, bool outputTypes[], CscArtificialIntelligenceTypes aiTypes, map< int, CscPoint3d * > centerOfMassOfAllMemberByMemberId)
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
virtual	~CscKnowledgeItemTargetMemberToState ()
CscPerson *	generatePerson (CscEnvironmentSimulator *environment, const CscWorldEntity *entity, CscState *initialState, int personId, int generationId, CscGeneration *currentGeneration, CscGeneration *previousGeneration) override
int	getActionmaxJointDelta (float initStateValue)
int	findBestStateIndex (CscSequence *parentSequence)
	Finds the index of the state with the highest objective value in the given parent sequence. More...
tuple< CscSequence *, vector< CscPerson * > * >	createPersonWithChosenStrategy (CscStrategyType strategy, const CscWorldEntity *entity, CscState *initialState, CscGeneration *previousGeneration, CscEnvironmentSimulator *environment, optional< vector< vector< CscJacobianInverseKinematic::TargetIKParams * >>> targetsInverseKinematic)
Public Member Functions inherited from conscience_core::knowledge::CscKnowledgeItemTarget
	CscKnowledgeItemTarget (int knoItemId, string knoItemName, CscArtificialIntelligenceTypes aiTypes, CscUnitType unitTypeIn=CscUnitType::Centimeter, string unitOriginIn="")
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)
virtual float	evaluateSequence (CscSequence *sequence, const CscWorldEntity *entity, CscState *initialStateInit)
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
virtual bool	shouldAlwaysPlayInRealTime () const
virtual map< int, CscPivotMovementType >	createPivotMovementTypeByPivotId (const CscEntityModel *robotModel)
	Creates a map that associates each pivot ID with a constant movement type. More...
virtual map< int, CscPivotMovementType >	getPivotMovementTypeByPivotId (const CscEntityModel *robotModel)
	Returns a map that associates each pivot ID with a movement type. More...

Static Public Member Functions
static CscKnowledgeItemTargetMemberToState *	create (int targetId, string targetName, 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 ()

Public Attributes
map< CscStrategyType, float >	strategyElitism
map< CscStrategyType, float >	strategyProbability
vector< InverseKinematicParams >	allParams
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

Additional Inherited Members
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
virtual void	addExtrapolationStates (CscSequence *sequenceIn, const CscWorldEntity *entity)
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

CscKnowledgeItemTargetMemberToState()

conscience_core::knowledge::CscKnowledgeItemTargetMemberToState::CscKnowledgeItemTargetMemberToState	(	int	knoItemIdIn,
		string	knoItemNameIn,
		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,
		bool	outputTypes[],
		CscArtificialIntelligenceTypes	aiTypes,
		map< int, CscPoint3d * >	centerOfMassOfAllMemberByMemberId
	)

~CscKnowledgeItemTargetMemberToState()

conscience_core::knowledge::CscKnowledgeItemTargetMemberToState::~CscKnowledgeItemTargetMemberToState ( )

virtual

Member Function Documentation

create()

static CscKnowledgeItemTargetMemberToState* conscience_core::knowledge::CscKnowledgeItemTargetMemberToState::create ( int  targetId, string  targetName, 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

createPersonWithChosenStrategy()

tuple< CscSequence *, vector< CscPerson * > * > conscience_core::knowledge::CscKnowledgeItemTargetMemberToState::createPersonWithChosenStrategy	(	CscStrategyType	strategy,
		const CscWorldEntity *	entity,
		CscState *	initialState,
		CscGeneration *	previousGeneration,
		CscEnvironmentSimulator *	environment,
		optional< vector< vector< CscJacobianInverseKinematic::TargetIKParams * >>>	targetsInverseKinematic
	)

Generates a tuple with the person newly created by the strategy indicated in parameter and its parents who were used to create it

Parameters

strategy	strategy used to create new person
entity	The entity.
initialState	The initial state of the person.
previousGeneration	The previous generation.

Returns

A tuple with the person newly created and its parents who were used to create it.

evaluateState()

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

overridevirtual

Reimplemented from conscience_core::knowledge::CscKnowledgeItemTarget.

findBestStateIndex()

int conscience_core::knowledge::CscKnowledgeItemTargetMemberToState::findBestStateIndex

(

CscSequence *

parentSequence

)

Finds the index of the state with the highest objective value in the given parent sequence.

Parameters

parentSequence

Pointer to the parent sequence to search.

Returns

The index of the state with the highest objective value, or -1 if the parent sequence is empty.

generatePerson()

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

overridevirtual

Generates a new person created with a specific strategy.

Parameters

environment	The environment simulator.
entity	The entity.
initialState	The initial state of the person.
personId	The unique identifier of the person.
generationId	The unique identifier of the generation.
currentGeneration	The current generation.
previousGeneration	The previous generation.

Returns

A pointer to the generated person.

Implements conscience_core::knowledge::CscKnowledgeItemTarget.

getActionmaxJointDelta()

int conscience_core::knowledge::CscKnowledgeItemTargetMemberToState::getActionmaxJointDelta

(

float

initStateValue

)

getExtrapolationResult()

float conscience_core::knowledge::CscKnowledgeItemTargetMemberToState::getExtrapolationResult ( CscSequence *  sequenceIn )

overridevirtual

Reimplemented from conscience_core::knowledge::CscKnowledgeItem.

getSequenceCountAutorized()

int conscience_core::knowledge::CscKnowledgeItemTargetMemberToState::getSequenceCountAutorized ( float  initStateValue )

overridevirtual

Reimplemented from conscience_core::knowledge::CscKnowledgeItem.

isObjectiveSupportOf()

bool conscience_core::knowledge::CscKnowledgeItemTargetMemberToState::isObjectiveSupportOf ( CscKnowledgeItem *  knowledgeItem )

overridevirtual

Reimplemented from conscience_core::knowledge::CscKnowledgeItem.

isStatesSupportOf()

bool conscience_core::knowledge::CscKnowledgeItemTargetMemberToState::isStatesSupportOf ( CscState *  state1, CscState *  state2  )

overridevirtual

Reimplemented from conscience_core::knowledge::CscKnowledgeItem.

sequencePostTraitment()

void conscience_core::knowledge::CscKnowledgeItemTargetMemberToState::sequencePostTraitment ( CscSequence *  sequenceIn )

overridevirtual

Reimplemented from conscience_core::knowledge::CscKnowledgeItem.

Member Data Documentation

allParams

vector<InverseKinematicParams> conscience_core::knowledge::CscKnowledgeItemTargetMemberToState::allParams

strategyElitism

map<CscStrategyType, float> conscience_core::knowledge::CscKnowledgeItemTargetMemberToState::strategyElitism

strategyProbability

map<CscStrategyType, float> conscience_core::knowledge::CscKnowledgeItemTargetMemberToState::strategyProbability

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The documentation for this class was generated from the following files:

• Knowledge/CscKnowledgeItemTargetMemberToState.h
• Knowledge/CscKnowledgeItemTargetMemberToState.cpp