42 #include "examples/learningSpines/tgCPGStringControl.h"
59 std::vector <tgLinearString*> allMuscles = subject.getAllMuscles();
61 for (std::size_t i = 0; i < allMuscles.size(); i++)
64 allMuscles[i]->attach(pStringControl);
65 m_allControllers.push_back(pStringControl);
70 for (std::size_t i = 0; i < m_allControllers.size(); i++)
72 m_allControllers[i]->assignNodeNumber(*m_pCPGSys, nodeActions);
80 for (std::size_t i = 0; i < m_allControllers.size(); i++)
83 assert(pStringInfo != NULL);
87 #if (1) // origninal params
88 if (allMuscles[i]->hasTag(
"outer"))
100 controlLength = 15.0 ;
102 #else // Params for In Won
103 if (allMuscles[i]->hasTag(
"outer"))
108 controlLength = 17.5;
115 controlLength = 15.0 ;
121 pStringInfo->setupControl(*p_ipc, controlLength);
Controller for TetraSpineLearningModel.
virtual void setupCPGs(BaseSpineModelLearning &subject, array_2D nodeActions, array_4D edgeActions)
A class to read a learning configuration from a .ini file.
Contains the definition of class AnnealEvolution. Adapting NeuroEvolution to do Simulated Annealing...
void setConnectivity(const std::vector< tgCPGStringControl * > &allStrings, array_4D edgeParams)
Contains the definition of class ImpedanceControl. $Id$.
Contains the definition of class tgLinearString.
TetraSpineCPGControl(BaseSpineCPGControl::Config config, std::string args, std::string ec="edgeConfig.ini", std::string nc="nodeConfig.ini")