// Will be called from subclasses, as is virtual function
//----------------------------------------------------------------------------------------------------------------------
void Muscle::toXml(ci::XmlTree& muscle)
{
// XMLTree muscle provided by subclass //ci::XmlTree muscle("Muscle", "");
muscle.setAttribute("Name", getName());
muscle.setAttribute("IsFlexor", isFlexor());
muscle.setAttribute("IsMono", isMonoArticulate());
ci::XmlTree attach("Attachment","");
attach.setAttribute("Origin", getOrigin());
attach.setAttribute("Insertion", getInsertion());
muscle.push_back(attach);
double Fmax = getForceMax();
ci::XmlTree maxForce("MaxIsoForce", toString(Fmax));
muscle.push_back(maxForce);
double Vmax = getVelocityMax();
ci::XmlTree maxVel("MaxVelocity", toString(Vmax));
muscle.push_back(maxVel);
ci::XmlTree length("Length","");
length.setAttribute("Optimal", getOptimalLength());
length.setAttribute("Min", m_lengthMin);
length.setAttribute("Max", m_lengthMax);
muscle.push_back(length);
ci::XmlTree hillParams("HillParameters","");
hillParams.setAttribute("Shortening", m_hillSh);
hillParams.setAttribute("Lengthening", m_hillLn);
hillParams.setAttribute("Asymptote", m_hillMax);
hillParams.setAttribute("Slope", m_hillSlope);
muscle.push_back(hillParams);
}
//----------------------------------------------------------------------------------------------------------------------
void CTRNN::toXml(ci::XmlTree& xml)
{
ci::XmlTree nn("CTRNN","");
nn.setAttribute("Size", size);
nn.setAttribute("Weight", getWeightSum());
for(int i = 0; i < size; ++i)
{
ci::XmlTree n("Neuron","");
n.setAttribute("Index", i);
n.setAttribute("Bias", biases[i]);
n.setAttribute("TimeConstant", taus[i]);
n.setAttribute("Gain", gains[i]);
for(int j = 0; j < size; ++j)
{
ci::XmlTree w("Weight", toString(weights[j][i]));
w.setAttribute("From", j);
n.push_back(w);
}
nn.push_back(n);
}
xml.push_back(nn);
}
//----------------------------------------------------------------------------------------------------------------------
void SMCAgent::toXml(ci::XmlTree& xml)
{
if(m_distanceSensor != NULL)
m_distanceSensor->toXml(xml);
xml.push_back(ci::XmlTree("MaxSpeed", toString(m_maxSpeed)));
float maxAngSpeed = radiansToDegrees(m_maxAngularSpeed);
xml.push_back(ci::XmlTree("MaxAngularSpeed", toString(maxAngSpeed)));
xml.push_back(ci::XmlTree("MaxPosition", toString(m_maxPosition)));
xml.push_back(ci::XmlTree("PositionWraps", toString(m_positionWraps)));
float maxAngle = radiansToDegrees(m_maxAngle);
xml.push_back(ci::XmlTree("MaxAngle", toString(maxAngle)));
xml.push_back(ci::XmlTree("AngleWraps", toString(m_angleWraps)));
// ctrnn
m_ctrnn->toXml(xml);
}