gripper.h

遗传算法和神经网络结合

/*
  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 GRIPPER_H
#define GRIPPER_H
#include "sobst.h"

class Gripper{
 public:
  Gripper();
  ~Gripper();
  /* Gripper cordinates and values, shame on me... they are all PUBLIC !!! */
  float   flx,fly;            /* arm coordinate                               */
  float   frx,fry;            /*      "                                       */
  float   blx,bly;            /*      "                                       */
  float   brx,bry;            /*      "                                       */
  float   obx,oby;            /* object position when taken                   */
  float   p_arm;              /* arm position                                 */
  float   p_gripper;          /* gripper position                             */
  int     ob_taken;           /* the object is gripped                        */
  float   ob_sensed;          /* the object is between the gripper            */
  double  ldist,rdist,fdist;  /* dist of the object in the hand               */
  float   ob_fitness;         /* fitness gathered by the object               */
 private:
};

#endif /* GRIPPER_H */