NeuroMovement3dV2_generator.java :  » Java-3D » gaima » com » physicalneuro » neuro » Java Open Source

package com.physicalneuro.neuro;

  import java.util.Arrays;

import org.joone.helpers.factory.JooneTools;
import org.joone.net.NeuralNet;

import com.jme.math.Vector2f;
import com.jme.math.Vector3f;
import com.physicalneuro.util.NeuroUtil;

  /**
   * NeuroMovement with JOONE Helpers.
   * 
   * <pre>
   * Input     Hidden    Output 
   *             x                                      X                                           
   *  x          x         x2                           X                                           
   *             x                                      X                                           
   *  y          x         y2                           X                                           
   *             x                                      X             
   *  z          x         z2                           X
   *                                             
   * If output is over ratio 0.5, then add 0.5 to position.                               
   * </pre>
   * 
   * @author T8TSOSO
   */
  public class NeuroMovement3dV2_generator {
      
      // Neuron input for object position
      private Vector3f  inputPositionVector;
      
      // Neuron input for object heading
      private Vector3f  inputHeadingVector;

      // Neuron input for object velocity
      private double velocity;
      
      // Objects desired position
      private Vector3f  desiredPositionVector;
      
      // Objects desired velocity
      private double desiredVelocity = 0;
      
      private NeuralNet network;
       
      
      private double[][]  inputPosition;
      
      // XOR desired output
      private double[][]  desiredPosition;
      
      private static boolean singleThreadMode = true;
      
      private boolean isNetworkTrained = false;
      /**
       * Creates a new instance of XOR_using_helpers
       */
      public NeuroMovement3dV2_generator() {
      }
      
    
    public void setNeuroMovement(Vector3f movement, Vector3f heading ) {
      this.inputPositionVector = movement;
      this.inputHeadingVector = heading;
      network = JooneTools.create_standard(new int[]{ 3, 6, 3 }, JooneTools.LOGISTIC);
      network.getMonitor().setSingleThreadMode(singleThreadMode);
    }

    
    public Vector3f getMovement() {
      return inputPositionVector;
    }

    
    public void setMovement(Vector3f movement) {
      this.inputPositionVector = movement;
    }

    
    public Vector3f updateMovement() {
      inputPosition = NeuroUtil.addRow(NeuroUtil.vectorToArray(inputPositionVector),null);
      desiredPosition = NeuroUtil.addRow(NeuroUtil.vectorToArray(desiredPositionVector),null);
      Vector3f outputPosition = new Vector3f();
      if (isNetworkTrained == false) {
        double rmse = JooneTools.train(network, inputPosition, desiredPosition,
                    10, 0.01,
                    1, null, false);
              isNetworkTrained = true;
      }
            
            for (int i = 0; i < inputPosition.length; i++) {
        double[] output = JooneTools.interrogate(network, inputPosition[i]);
        // X
        if (output[NeuroUtil.X_ARRAY] > 0.5f) {
                outputPosition.x += 0.0005f;
              }
        else if (output[NeuroUtil.X_ARRAY] < 0.5f) {
          outputPosition.x -= 0.0005f;
        }
        // Y
        if (output[NeuroUtil.Y_ARRAY] > 0.5f) {
          outputPosition.y += 0.0005f;
              }
        else if (output[NeuroUtil.Y_ARRAY] < 0.5f) {
          outputPosition.y -= 0.0005f;
        }
        // Z
        if (output[NeuroUtil.Z_ARRAY] > 0.5f) {
          outputPosition.z += 0.0005f;
              }
        else if (output[NeuroUtil.Z_ARRAY] < 0.5f) {
          outputPosition.z -= 0.0005f;
        }
      }
            return inputPositionVector;
    }

    
    public void setDesiredPosition(Vector3f position) {
      this.desiredPositionVector = position;
      
    }

    
    public Vector3f getDesiredPosition() {
      return desiredPositionVector;
    }
  }