Ejemplo n.º 1
0
void setEnvironment() {
	checkTerminal();
	saveAttributes();
	setMenuMode();
	registerSigIntCatcher();
	disableRepeatAndCursor();
}
Ejemplo n.º 2
0
void GrammarParser::checkGrammar() {
  for(int i = 1; i < m_grammar.getSymbolCount(); i++) { // dont check EOI
    const GrammarSymbol &sym = m_grammar.getSymbol(i);
    if(sym.m_type == NONTERMINAL) {
      checkNonTerminal(i);
    } else {
      checkTerminal(i);
    }
  }
  if(m_grammar.getProductionCount() == 0) {
    m_lex.error(_T("No productions in grammar."));
  } else {
    checkDuplicateProd();
    checkReachability();
    checkTermination();
  }
}
Ejemplo n.º 3
0
void GoalLineUp::setState(const State& s, bool& terminal)
{
	CurrentState = s;
	if ((CurrentState.x[0]<0)||(CurrentState.x[0]>100))
	{
		cout << "State set to invalid value" << endl;
		cout << s << endl;
		exit(EXIT_FAILURE);
	}

	if ((CurrentState.x[1] < -25)||(CurrentState.x[1] > 25)){
		cout << "State set to invalid value" << endl;
		cout << s << endl;
		exit(EXIT_FAILURE);
	}
	
	terminal = checkTerminal();
	Stages=1;
}
Ejemplo n.º 4
0
void GoalLineUp::makeObservation(double &reward, bool initial)
{
	static bool firstCall = true;
	
	
	
	measureddistance = 0;
	balldistance = 0;
	ballbearing = 0;
	compass = 0;
	mixedSpeed = 0;
	

	
	Blackboard->Sensors->getCompass(compass );
	currPos[2] = compass;
	
	Blackboard->Sensors->getBallGps(ballPos);
	if(firstCall)
	{
		firstCall = false;
		oldBallPos = ballPos;
	}
	//cout<<"\nBall position : ["<<ballPos[0]<<", "<<ballPos[1]<<" ]";
	
	bool retVal = false;
	
	MobileObject& ball = Blackboard->Objects->mobileFieldObjects[FieldObjects::FO_BALL];
	
	measureddistance = Blackboard->Objects->mobileFieldObjects[FieldObjects::FO_BALL].measuredDistance();
	balldistance = measureddistance * cos(Blackboard->Objects->mobileFieldObjects[FieldObjects::FO_BALL].measuredElevation());
	ballbearing = Blackboard->Objects->mobileFieldObjects[FieldObjects::FO_BALL].measuredBearing();
	
	kickPosition[0] = ball.estimatedDistance() * cos(ball.estimatedBearing());
	kickPosition[1] = ball.estimatedDistance() * sin(ball.estimatedBearing());
	targetPosition[0] = kickPosition[0] + 1000.0f;
	targetPosition[1] = kickPosition[1];
	
	
	//Blackboard->Sensors->get(NUSensorsData::MotionWalkSpeed,currVel);
	//mixedSpeed = (transVel + rotVel)/2;
	
	if(ball.estimatedDistance() >= 120)
		CurrentState.x[0] = 120;
	else
		CurrentState.x[0] = ball.estimatedDistance();
		
	double currAngle = mathGeneral::rad2deg(currPos[2]);;
	
	if(currAngle < 0 )
		currAngle = 180 + currAngle;
	else 
		currAngle = currAngle - 180;
	
	
	
	CurrentState.x[1] = currAngle;
	
	CurrentState.x[2] = transVel;
	CurrentState.x[3] = rotVel;
	
	if (Blackboard->Objects->mobileFieldObjects[FieldObjects::FO_BALL].isObjectVisible())
	{
		CurrentState.x[4] = 1;
		if(blindFrameCount>0)
			blindFrameCount--;
	}
	else 
	{
		CurrentState.x[0] = s_last.x[0];  // if ball is not visible, donot decrease its distance from robot
		CurrentState.x[4] = 0;
		cout<<"\nI cannot see the ball!";
	}
	
	
	//cout<<"\nBall position : ["<<ballPos[0]<<", "<<ballPos[1]<<" ]";
	static int moved = 0;
	int movedX = fabs(BALLINITIAL_X - ballPos[0]); 
	int movedY = fabs( BALLINITIAL_Y - ballPos[1]);
	//cout<<"\nBall moved condition : "<<movedX <<", "<<movedY<<"\n";
	

	if(!initial)
	{
		if(checkTerminal() && Stages>2 )
		{
			reward = 100;	
			//terminal = true;
			cout<<"\n\n\nRewarding +ve heavily !\n\n\n\n\n\n";
			Blackboard->Actions->restartCondition = true;
		}
	
		if ( (movedX>2 || movedY>2))
		{
			moved++;
			if (moved>2)
			{
				cout<<"\nBall moved, restarting with negative reward!";
				reward = -10;
			//	Blackboard->Actions->restartCondition = true;
				
			}		
		}
			
		vector<float>roboPose(3,0);
		Blackboard->Sensors->getGps(roboPose);
		Blackboard->Sensors->getBallGps(ballPos);
	
		double balldistanceX = roboPose[0] - ballPos[0];
		double balldistanceY = roboPose[1] - ballPos[1];
	
		
		// cannot see the ball
		if(CurrentState.x[4]==0) // ||  !(Blackboard->Objects->mobileFieldObjects[FieldObjects::FO_BALL].isObjectVisible()))
		{
			reward = -10;
			cout<<"\nReturning heavy -ve reward!\n\n";
		}
/*		else if ( balldistanceX < 25 && (transVel>0.25 || rotVel>0.25) ) //// if reached ball but still walking
		{
			cout<<"\nReturning heavy -ve reward!\n\n";
			reward = -10;
			Blackboard->Actions->restartCondition = true;
		}
 */
		else 
			reward = -1;
	}
	
}