Aibicom: aibicom.c File Reference

void SS_ApplyDecay	(	double *	V,
		double	K
	)

Definition at line 206 of file aibicom.c.

References SS_RES.

Referenced by SS_Execute(), and SS_IfExecute().

void SS_Clear ( void )

Clear memory used by aibicom.

Definition at line 321 of file aibicom.c.

References ESTIMATE, SS_DOMAIN, SS_ESTIMATE, and SS_MASK.

uint SS_Execute ( void )

Executes the binary interface logic and obtains the index of the updated device behavior.

This function executes the binary interface logic modifying the intention estimate accordingly. You must call this procedure only once per binary activation regardless of the number of dimensions in the control domain. The returned value should be used as a parameter in SS_GetD1() and/or SS_GetD2() to obtain the updated behavior from the control domain.

Returns:: the index of the updated behavior.

Definition at line 238 of file aibicom.c.

References SS_ApplyDecay(), SS_ESTIMATE, SS_FindMin(), SS_K, SS_MASK, SS_OUTI, SS_RES, and SS_UpdateMask().

int SS_FindMin ( double * V )

Definition at line 123 of file aibicom.c.

References SS_RES.

Referenced by SS_Execute(), and SS_IfExecute().

double SS_GetD1 ( int i )

Obtain the i-th member of the 1st dimension of the control domain (SS_DOMAIN).

Parameters:

[in] i required member index.

Returns:: the component in the 1st dimension of the i-th member of SS_DOMAIN

Definition at line 47 of file aibicom.c.

References SS_DOMAIN.

Referenced by SS_Init(), and SS_UpdateMask().

double SS_GetD2 ( int i )

Obtain the i-th member of the 2nd dimension of the control domain (SS_DOMAIN).

Parameters:

[in] i required member index.

Returns:: the component in the 2nd dimension of the i-th member of SS_DOMAIN

Definition at line 52 of file aibicom.c.

References SS_C, SS_DOMAIN, SS_MAXD1, SS_MIND1, SS_MIND2, SS_RD1, and SS_RD2.

Referenced by SS_Init(), and SS_UpdateMask().

uint SS_IfExecute ( void )

Obtains the index of a real-time estimate of the next behavior.

This function executes the binary interface logic without actually modifying the estimate, thus, it can be used to obtain the index of an estimate of the next behavior, in advance. To recover the actual behavior (not just the index) use SS_GetD1(SS_IfExecute()) and/or SS_GetD2(SS_IfExecute()) for 2D domains.

Returns:: the index of an estimate of the next behavior.

Definition at line 219 of file aibicom.c.

References ESTIMATE, SS_ApplyDecay(), SS_ESTIMATE, SS_FindMin(), SS_K, SS_MASK, and SS_RES.

void SS_Init ( void )

Initializes the interpreter.

The following parameters must be set before a call to this function:

SS_2D: Clear (0) when the domain is 1D. Set (1) when the domain is 2D.
SS_C: Number of times the domain is wrapped around the 2nd dimension of the control domain. In order to simplify processing, 2D domains are mapped with a single vector (instead of a matrix). Thus, if SS_2D is set, it is recommended to define SS_C first, and then make SS_RES = SS_C * SS_C to obtain evenly distributed elements on both dimensions.
SS_RES: Resolution / number of elements in the control domain.
SS_K: Recursive decay constant. Must be lower than 1.0 and higher than 0.0
SS_MAXD1: Maximum value (last element) in the 1st dimension of the control domain.
SS_MIND1: Minimum value (first element) in the 1st dimension of the control domain.
SS_MAXD2: Maximum value (last element) in the 2nd dimension of the control domain.
SS_MIND2: Minimum value (first element) in the 2nd dimension of the control domain.
SS_MTYPE: The intention kernel/mask to be used. Custom intention masks can be added to the function SS_UpdateMask() in aibicom.c
SS_WIDTH: Width of intention kernel / mask. 1.0 is equivalent to the full range on all dimensions.

Definition at line 180 of file aibicom.c.

References ESTIMATE, SS_DOMAIN, SS_ESTIMATE, SS_GetD1(), SS_GetD2(), SS_LinSpace(), SS_MASK, SS_MAXD1, SS_MAXD2, SS_MIND1, SS_MIND2, SS_MTYPE, SS_RD1, SS_RD2, and SS_RES.

void SS_LinSpace ( void )

Definition at line 39 of file aibicom.c.

References SS_DOMAIN, SS_MIND1, SS_RD1, and SS_RES.

Referenced by SS_Init().

void SS_UpdateMask ( void )

Definition at line 66 of file aibicom.c.

References SS_2D, SS_GetD1(), SS_GetD2(), SS_MASK, SS_MTYPE, SS_MWIDTH, SS_OUTI, SS_RD1, SS_RD2, and SS_RES.

Referenced by SS_Execute().

double* ESTIMATE

Definition at line 33 of file aibicom.c.

Referenced by SS_Clear(), SS_IfExecute(), and SS_Init().

double* SS_DOMAIN

Pointer to unidimensional control domain

Definition at line 30 of file aibicom.c.

Referenced by SS_Clear(), SS_GetD1(), SS_GetD2(), SS_Init(), and SS_LinSpace().

double* SS_ESTIMATE

Pointer to intention estimate

Definition at line 32 of file aibicom.c.

Referenced by SS_Clear(), SS_Execute(), SS_IfExecute(), and SS_Init().

double* SS_MASK

Pointer to intention kernel mask

Definition at line 31 of file aibicom.c.

Referenced by SS_Clear(), SS_Execute(), SS_IfExecute(), SS_Init(), and SS_UpdateMask().

int SS_OUTI

Interpreter's output index

Definition at line 37 of file aibicom.c.

Referenced by SS_Execute(), and SS_UpdateMask().

double SS_RD1

Range width of 1st dimension of control domain

Definition at line 34 of file aibicom.c.

Referenced by SS_GetD2(), SS_Init(), SS_LinSpace(), and SS_UpdateMask().

double SS_RD2

Range width of 2nd dimension of control domain

Definition at line 35 of file aibicom.c.

Referenced by SS_GetD2(), SS_Init(), and SS_UpdateMask().

aibicom.c File Reference

Functions

Variables

Detailed Description

Function Documentation

Variable Documentation


Functions
void	SS_LinSpace (void)
double	SS_GetD1 (int i)
	Obtain the i-th member of the 1st dimension of the control domain (SS_DOMAIN).
double	SS_GetD2 (int i)
	Obtain the i-th member of the 2nd dimension of the control domain (SS_DOMAIN).
void	SS_UpdateMask (void)
int	SS_FindMin (double *V)
void	SS_Init (void)
	Initializes the interpreter.
void	SS_ApplyDecay (double *V, double K)
int	SS_IfExecute (void)
	Obtains the index of a real-time estimate of the next behavior.
int	SS_Execute (void)
	Executes the binary interface logic and obtains the index of the updated device behavior.
void	SS_Clear (void)
	Clear memory used by aibicom.
Variables
double *	SS_DOMAIN
double *	SS_MASK
double *	SS_ESTIMATE
double *	ESTIMATE
double	SS_RD1
double	SS_RD2
int	SS_OUTI