environ.h

神经网络和遗传算法组合应用

/*
  Optann, a Khepera simulator including a separate GA and ANN 
  (Genetic Algoritm, Artificial Neural Net).
  Copyright (C) 2000  Johan Carlsson ([e-mail])
  
  This program is free software; you can redistribute it and/or
  modify it under the terms of the GNU General Public License
  as published by the Free Software Foundation; either version 2
  of the License, or any later version.
  
  This program is distributed in the hope that it will be useful,
  but WITHOUT ANY WARRANTY; without even the implied warranty of
  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  GNU General Public License for more details.
  
  You should have received a copy of the GNU General Public License
  along with this program; if not, write to the Free Software
  Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.

 */

#ifndef ENVIRON_H
#define ENVIRON_H
#include <stdlib.h>
#include <stdio.h>
#include <iostream.h>

/* GUI related */
#ifdef GUI
#include <world.h>
#include <callbacks.h>
#include <semaphore.h>
#include <unistd.h>
#endif /* GUI */

/* Simlib related */
#include "param.h"
#include "geom.h"
#include "wall.h"
#include "obst.h"
#include "sobst.h"
#include "light.h"
#include "robot.h"
#include "zone.h"
#include "gripperrobot.h"

/** 
 * @enum crash_t environ.h
 * @brief Different types of chrashes
 */
enum crash_t {
  /** No crash. */
  NO_CRASH=0,
  /** Collision with a wall. */
  WALL_CRASH=1,
  /** Collision with  another robot. */
  ROBOT_CRASH=2,
  /** Collision with a round obstacle. */
  OBST_CRASH=3,
  /** Collision with a small round obstacle. */
  SOBST_CRASH=4,
  /** Collision caused by the gripper */
  GRIPPER_CRASH=5
};


/** 
 * @class Environ environ.h
 * @brief Container for world elements and robots.
 *
 * Implements most of the functions for a simulation, such as
 * check for crashes, sensor generation and such alike.
 */
class Environ{
 public:
  Environ();
  ~Environ();
  void initWorld();
  void resetEnvironment();
  void resetRobot(int whichRobot);
  int  checkCrash(float p1, float p2) const;
  crash_t checkCrash(int whichRobot, int *which) const;
  int  notPlacedOk(int obstNr, float x, float y, float radius) const;
  void placeSObstStack(float cx, float cy, float rd);
  void resetObstacle(int whichObstacle);
  void moveSObst(int relativeRobot);
  int  checkCrash(int whichRobot) const;
  void setInput(int robotNr);
  void loadWorld(const char *fileName);
  void saveWorld(const char *fileName);
  void printInput(int robotNr, const char* str) const;
  int  zonesVisited(int robotNr) const;
  void resetZones();
  void runGripper(float o1, float o2, int robotNr);
  int inZoneI(int robotNr, int index) const;
  float getZoneX(int index) const;
  float getZoneY(int index) const;
  void setTaken(int index);
#ifdef GUI
  void redrawWorld();
  void drawBots();
  void drawSensor(int xs, int ys, double value,int w);
#endif /* GUI */
  void printWorld() const; 
  void runStep(float o1, float o2, int robotNr);
  int getNrOfZones() const;
  int getNrOfSObst() const;
  int getNrOfWalls() const;
  int getNrOfLights() const;
  int getNrOfObst() const;
  /** Array containing the robots. */
  Robot **robot;
  /** The number of robots in the world. */
  int nrOfRobots;
  /** World charthesian extension */
  int  dx,dy;           
 private:
  int inZone(int robotNr) const;
  void addToInputArray(int robotNr, float *sens);
  /** Light sources */
  Light **light;
  /** Walls */
  Wall **wall;
  /** Round obstacles */
  Obst **obst;
  /** Small round obstacles */
  Sobst **sobst;
  /** World zones */
  Zone **zone;
  /** Start positions for robots. */
  float **start;
  /** Nr of walls in the world. */
  int nrOfWalls;
  /** Nr of round obstacles in the world (does not include small round obstacles). */
  int nrOfObst;
  /** Nr of small round obstacles. */
  int nrOfSObst;
  /** Nr of light sources in the world. */
  int nrOfLights;
  /** Nr of start positions. */
  int nrOfStartPositions;
  /** Nr of zones in the world. */
  int nrOfZones;
};
#endif /* ENVIRON_H */