robot.h

神经网络和遗传算法组合应用

/*
  YAKS, 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 ROBOT_H
#define ROBOT_H
#include "geom.h"
#include "motor.h"
#include "param.h"

/**
 * @class Robot robot.h
 * @brief Implements the basics of a khepera robot.
 *
 * Robot movements are prerecorded as all other stuff in this simulator =)
 */
class Robot{
 public:
  Robot();
  virtual  ~Robot();
  float getRadius();
  double  direction;             /* khepera direction                       */
  double  olddirection;
  void run(float o1, float o2);
  void saveState();
  virtual void resetRobot();
  void init(char *filename);
  virtual int isaGripperRobot();
  /* N */
  int nRod;
  float getRodX(int index) const;
  float getRodY(int index) const;
  void addRod(float x, float y);
  /* N */
  float getX();
  float getY();
  float getOX();
  float getOY();
  double getLastAngR();
  double getLastDist();
  void setX(float val);
  void setY(float val);
  virtual void recallState();
  float *sensorVal(float kx, float ky, float kangle,float robRadius); 
  float   energy;                /* energy level                           */
  float   mot1,mot2;             /* motori                                 */
  int carry;
 protected:
  Motor *rmotor;
  float   robotRadius;
  float   x,y,oldx,oldy;         /* kepera position (center of the body)   */
  int     lastpos[4];            /* kepera last position (center and head) */
  float   oldmot1,oldmot2;       /* last motors                            */
   
 private:
  double lastAngR;
  double lastDist;
  /*N*/
  float *fRodX;
  float *fRodY;
  /*N*/
  int relangle(float,float,float); 
  static float robot[20][180][8];
  static float Step;
  static float MinObstacleDistans;
  static float MaxObstacleDistans;
};
#endif /* ROBOT_H */