WallyHackenslacker/IAS-SS
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Parameter changes.

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Wally Hackenslacker
2017-02-23 16:38:24 -04:00
parent bf47b9e59d
commit 39efccb0e4
2 changed files with 7 additions and 1 deletions
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6
ias_robot.cpp
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@@ -28,7 +28,9 @@
#include <cstdlib> #include <cstdlib>
#include <cmath> #include <cmath>
#include <sys/time.h> #include <sys/time.h>
#ifndef NDEBUG
#include <sstream> #include <sstream>
#endif
#include "ias_robot.hpp" #include "ias_robot.hpp"
@@ -134,7 +136,9 @@ float IASSS_Robot::brss() {
std::map<int, float> U, V; std::map<int, float> U, V;
unsigned int i_min, i_max; unsigned int i_min, i_max;
float min, sample, prob, max, sum_uv = 0.0f, steer; float min, sample, prob, max, sum_uv = 0.0f, steer;
#ifndef NDEBUG
std::ostringstream oss; std::ostringstream oss;
#endif
while(U.size() < (U_RATIO * NUM_PHERO_SAMPLES)) { while(U.size() < (U_RATIO * NUM_PHERO_SAMPLES)) {
min = std::numeric_limits<double>::max(); min = std::numeric_limits<double>::max();
@@ -221,12 +225,14 @@ float IASSS_Robot::brss() {
steer = (NUM_PHERO_SAMPLES / 2.0f) - i_max; steer = (NUM_PHERO_SAMPLES / 2.0f) - i_max;
#ifndef NDEBUG
oss << "samples: " << std::endl; oss << "samples: " << std::endl;
for(unsigned int i = 0; i < NUM_PHERO_SAMPLES; i++) for(unsigned int i = 0; i < NUM_PHERO_SAMPLES; i++)
oss << "\tSAMPLE[" << i << "]: " << _phero_sensor[i] << " - " << _phero_sensor.sample_amnt[i] << " - " << _phero_sensor.probs[i] << std::endl; oss << "\tSAMPLE[" << i << "]: " << _phero_sensor[i] << " - " << _phero_sensor.sample_amnt[i] << " - " << _phero_sensor.probs[i] << std::endl;
oss << "\ti_max: " << i_max << " | Steer: " << steer; oss << "\ti_max: " << i_max << " | Steer: " << steer;
log(oss.str()); log(oss.str());
#endif
return steer; return steer;
} }

2
pheromone.hpp
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@@ -34,7 +34,7 @@
extern const unsigned char MAX_PHERO_INTENSITY; extern const unsigned char MAX_PHERO_INTENSITY;
extern const unsigned char MIN_PHERO_INTENSITY; extern const unsigned char MIN_PHERO_INTENSITY;
const unsigned int NUM_PHERO_SAMPLES = 5; const unsigned int NUM_PHERO_SAMPLES = 180;
typedef struct PHERO_SENSOR { typedef struct PHERO_SENSOR {
float samples[NUM_PHERO_SAMPLES]; float samples[NUM_PHERO_SAMPLES];