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java.lang.Objectclarion.ms.MS
Field Summary | |
protected GoalChunk |
acsGoal
the goals for ACS and MCS by performing the corresponding action. |
protected int |
acsGoalAction
goal actions for ACS. |
protected int |
DR_NET_NUM
number of drive networks: low-level primary drives, high-level primary dirves and secondary drives. |
protected BPNet[] |
driveNets
the drive BP networks. |
protected double[][] |
driveOutput
the drive outputs from the drive networks. |
protected Global |
global
global settings. |
protected GoalStructure |
gs
goal structure, the one in ACS. |
protected GoalChunk |
mcsGoal
the goals for ACS and MCS by performing the corresponding action. |
protected int |
mcsGoalAction
goal actions for MCS. |
protected double[] |
sensoryInput
the sensory input to the drive networks. |
Constructor Summary | |
MS(Global global,
GoalStructure gs)
constructor. |
Method Summary | |
GoalChunk |
getAcsGoal()
Returns the ACS goal in terms of goal chunk |
double[] |
getDriveStrength(int netIdx)
Returns the drive strengths from the specific network. |
GoalChunk |
getMcsGoal()
Returns the MCS goal in terms of goal chunk |
void |
offTrainDriveNet(int netIdx)
Offline training a specific drive network. |
void |
setAcsGoalAction(int action)
Sets ACS goal action. |
void |
setMcsGoalAction(int action)
Sets MCS goal action. |
void |
setSensoryInput(double[] input)
Sets sensory input. |
Methods inherited from class java.lang.Object |
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait |
Field Detail |
protected final int DR_NET_NUM
protected Global global
protected GoalStructure gs
protected int acsGoalAction
protected int mcsGoalAction
protected GoalChunk acsGoal
protected GoalChunk mcsGoal
protected double[] sensoryInput
protected double[][] driveOutput
protected BPNet[] driveNets
Constructor Detail |
public MS(Global global, GoalStructure gs)
global
- the assoiciated global settings.gs
- the used goal structure.Method Detail |
public void setAcsGoalAction(int action)
action
- the action to set.public void setMcsGoalAction(int action)
action
- the action to set.public void setSensoryInput(double[] input)
input
- the senosry input to set.public GoalChunk getAcsGoal()
public GoalChunk getMcsGoal()
public double[] getDriveStrength(int netIdx)
netIdx
- the network index: low-level, high-level and secondary.public void offTrainDriveNet(int netIdx)
netIdx
- the network index: low-level, high-level and secondary.
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