clarion.ms
Class MS

java.lang.Object
  extended byclarion.ms.MS

public class MS
extends java.lang.Object


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

DR_NET_NUM

protected final int DR_NET_NUM
number of drive networks: low-level primary drives, high-level primary dirves and secondary drives.

See Also:
Constant Field Values

global

protected Global global
global settings.


gs

protected GoalStructure gs
goal structure, the one in ACS.


acsGoalAction

protected int acsGoalAction
goal actions for ACS.


mcsGoalAction

protected int mcsGoalAction
goal actions for MCS.


acsGoal

protected GoalChunk acsGoal
the goals for ACS and MCS by performing the corresponding action.


mcsGoal

protected GoalChunk mcsGoal
the goals for ACS and MCS by performing the corresponding action.


sensoryInput

protected double[] sensoryInput
the sensory input to the drive networks.


driveOutput

protected double[][] driveOutput
the drive outputs from the drive networks.


driveNets

protected BPNet[] driveNets
the drive BP networks.

Constructor Detail

MS

public MS(Global global,
          GoalStructure gs)
constructor.

Parameters:
global - the assoiciated global settings.
gs - the used goal structure.
Method Detail

setAcsGoalAction

public void setAcsGoalAction(int action)
Sets ACS goal action.

Parameters:
action - the action to set.

setMcsGoalAction

public void setMcsGoalAction(int action)
Sets MCS goal action.

Parameters:
action - the action to set.

setSensoryInput

public void setSensoryInput(double[] input)
Sets sensory input.

Parameters:
input - the senosry input to set.

getAcsGoal

public GoalChunk getAcsGoal()
Returns the ACS goal in terms of goal chunk

Returns:
the ACS goal in terms of goal chunk.

getMcsGoal

public GoalChunk getMcsGoal()
Returns the MCS goal in terms of goal chunk

Returns:
the MCS goal in terms of goal chunk.

getDriveStrength

public double[] getDriveStrength(int netIdx)
Returns the drive strengths from the specific network.

Parameters:
netIdx - the network index: low-level, high-level and secondary.

offTrainDriveNet

public void offTrainDriveNet(int netIdx)
Offline training a specific drive network.

Parameters:
netIdx - the network index: low-level, high-level and secondary.