//----------------------------------------------------------------------------------------------------------------------
void CTRNN::record(Recorder& recorder)
{
for(int i = 0; i < size; ++i)
{
recorder.push_back("NeuralInput" + toString(i), inputs[i]);
recorder.push_back("NeuralState" + toString(i), states[i]);
recorder.push_back("NeuralOutput" + toString(i), outputs[i]);
recorder.push_back("NeuralExtInput" + toString(i), externalinputs[i]);
}
}
//----------------------------------------------------------------------------------------------------------------------
void SMCAgent::record(Recorder& recorder)
{
recorder.push_back("PosX", m_position[0]);
recorder.push_back("PosY", m_position[1]);
recorder.push_back("VelX", m_velocity[0]);
recorder.push_back("VelY", m_velocity[1]);
recorder.push_back("Angle", m_angle);
recorder.push_back("AngularSpeed", m_angularSpeed);
recorder.push_back("Sensor", m_sensedValue);
recorder.push_back("SensorDer", m_sensedValueDerivative);
recorder.push_back("Energy", m_energy);
recorder.push_back("SensedEnergy", getSensedEnergy());
recorder.push_back("Food", m_food);
recorder.push_back("Time", m_time);
// ctrnn
m_ctrnn->record(recorder);
}
//----------------------------------------------------------------------------------------------------------------------
void Muscle::record(Recorder& recorder)
{
recorder.push_back(m_name + "LengthNorm", m_lengthNorm);
recorder.push_back(m_name + "VelocityNorm", m_velocityNorm);
recorder.push_back(m_name + "Act", m_activation);
recorder.push_back(m_name + "FrcPsv", m_passiveForceNorm);
recorder.push_back(m_name + "FrcAct", m_activeForceNorm);
recorder.push_back(m_name + "FrcVel", m_velocityForceNorm);
recorder.push_back(m_name + "Force", m_force);
if(m_isMonoArticulate)
{
double ma = ((MuscleMonoWrap*)this)->getMomentArm();
recorder.push_back(m_name + "MomentArm", ma);
recorder.push_back(m_name + "Torque", ma * m_force);
}
else
{
double maElb = ((MuscleBiWrap*)this)->getMomentArm(JT_elbow);
double maShd = ((MuscleBiWrap*)this)->getMomentArm(JT_shoulder);
recorder.push_back(m_name + "MomentArmElb", maElb);
recorder.push_back(m_name + "MomentArmShd", maShd);
recorder.push_back(m_name + "TorqueElb", maElb * m_force);
recorder.push_back(m_name + "TorqueShd", maShd * m_force);
}
}
