param.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 PARAM_H
#define PARAM_H
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
/* Defines */
/** Resolution of the rod camera in pixels */
#define ROD_RESOLUTION 10
/** Camera mmphfl.. *cough* */
#define ROD_ANGLE 36
/** Range of rod camera */
#define ROD_MAX_DISTANCE 170

/** position of energy sensor in input array */
#define EnergySensor 9
/** position of gripper sensor in input array */
#define GripperSensor 10 
/** position of ground sensor in input array */
#define GroundSensor 11
/** position of compass sensor in input array */
#define CompassSensor 12
/** start position of light bulb sensors in input array */
#define LightBulbSensor 13
/** start position of rod camera in input array */
#define RodSensor (LightBulbSensor + 8)
/** the size of the input array */
#define NETWORK_INPUTS (RodSensor + ROD_RESOLUTION)

/* Serial thingis */
extern int     useSerialLine;
extern char    **serialDevice;
extern int     *baudRate;

/*  parameters  */
extern int     updateDelay;
extern int     gfxUpdate;
extern int     userUpdate;
extern int     useCompass;
extern int     useEnergy;
extern int     useGround;
extern int     useRodSensor;
extern int     useRodNoise;
extern int     useLightbulbSensors;
extern int     nrOfFrontInfrared;
extern int     nrOfBackInfrared;
extern int     gripperSensor;
extern float   xScale;
extern int     notTrajactoryRobot;
extern int     selectionMethod;
extern int     bitMutateProbability;
extern int     seed;               
extern int     amoebaEpochs;       
extern int     nrOfGenerations;    
extern int     nrOfIndivids;
extern int     nrOfKids;           
extern int     nrOfFathers;       
extern int     startGeneration;  
extern int     verboseLevel;     
extern int     sensorNoise;      
extern int     paramNrOfRobots;
extern float   amountOfNoise;
extern int     testSameStartPosition;
extern int     ffitness;
extern int     useGripper;           
extern int     moveObstacles;
extern int     gripperNoise;
extern int     nrOfSteps;    
extern int     saveGeneration;
extern int     nrOfIndividsToLog;
extern char    robotPicFile[100];
extern char    worldPicFile[100];
extern char    logPath[100];
extern char    worldPath[100];
extern char    cameraPath[100];
extern char    worldFile[100];
extern char    smallCamera[100];
extern char    bigCamera[100];
extern char    wallCamera[100];
extern char    lightCamera[100];
extern char    motorCamera[100];
extern char    weightsFile[100];
extern char    fitnessFile[100];
extern char    robotCamera[100];
extern int     **mapping;
extern double  **input;
extern double  **simoutput;


/** Number of lines that the param parser can handle */
#define CONFIG_FILE_LINES 1000

void loadParams(char *paramFile);


#endif /* PARAM_H */