DifferentialCPG::DifferentialCPG(
const ::gazebo::physics::ModelPtr &_model,
const sdf::ElementPtr _settings,
const std::vector< revolve::gazebo::MotorPtr > &_motors,
const std::vector< revolve::gazebo::SensorPtr > &_sensors)
: nextState_(nullptr)
, input_(new double[_sensors.size()])
, output_(new double[_motors.size()])
{
// Create transport node
this->node_.reset(new gz::transport::Node());
this->node_->Init();
auto name = _model->GetName();
// Listen to network modification requests
// alterSub_ = node_->Subscribe(
// "~/" + name + "/modify_diff_cpg", &DifferentialCPG::Modify,
// this);
if (not _settings->HasElement("rv:brain"))
{
std::cerr << "No robot brain detected, this is probably an error."
<< std::endl;
throw std::runtime_error("DifferentialCPG brain did not receive settings");
}
std::cout << _settings->GetDescription() << std::endl;
auto motor = _settings->HasElement("rv:motor")
? _settings->GetElement("rv:motor")
: sdf::ElementPtr();
while(motor)
{
if (not motor->HasAttribute("x") or not motor->HasAttribute("y"))
{
std::cerr << "Missing required motor attributes (x- and/or y- coordinate)"
<< std::endl;
throw std::runtime_error("Robot brain error");
}
auto motorId = motor->GetAttribute("part_id")->GetAsString();
auto coordX = std::atoi(motor->GetAttribute("x")->GetAsString().c_str());
auto coordY = std::atoi(motor->GetAttribute("y")->GetAsString().c_str());
this->positions_[motorId] = {coordX, coordY};
this->neurons_[{coordX, coordY, 1}] = {1.f, 0.f, 0.f};
this->neurons_[{coordX, coordY, -1}] = {1.f, 0.f, 0.f};
// TODO: Add check for duplicate coordinates
motor = motor->GetNextElement("rv:motor");
}
// Add connections between neighbouring neurons
for (const auto &position : this->positions_)
{
auto name = position.first;
int x, y; std::tie(x, y) = position.second;
if (this->connections_.count({x, y, 1, x, y, -1}))
{
continue;
}
if (this->connections_.count({x, y, -1, x, y, 1}))
{
continue;
}
this->connections_[{x, y, 1, x, y, -1}] = 1.f;
this->connections_[{x, y, -1, x, y, 1}] = 1.f;
for (const auto &neighbour : this->positions_)
{
int nearX, nearY;
std::tie(nearX, nearY) = neighbour.second;
if ((x+1) == nearX or (y+1) == nearY or (x-1) == nearX or (y-1) == nearY)
{
this->connections_[{x, y, 1, nearX, nearY, 1}] = 1.f;
this->connections_[{nearX, nearY, 1, x, y, 1}] = 1.f;
}
}
}
// Initialise array of neuron states for Update() method
this->nextState_ = new double[this->neurons_.size()];
}
