Changeset 15

Timestamp:

10/08/08 11:06:37 (16 years ago)

Author:

jgaeddert

Message:

reformatting goals, etc.; still needs work

Location:

vtcross/trunk/src

Files:

• main_utility.c (modified) (1 diff)
• utility.c (modified) (3 diffs)
• utility.h (modified) (1 diff)

vtcross/trunk/src/main_utility.c

@@ -7 +7 @@
 
 int main() {
-    utility u = utility_create(2.0f, UTIL_SHAPE_BELL, UTIL_REL_LIN, UTIL_MAX);
+    float target=2.0f;
+    int goal = UTIL_GOAL_MAX;
+    int scale = UTIL_SCALE_LIN;
+    utility u = utility_create(target, goal, scale);
     
+    printf("target : %f\n", target);
     unsigned int i;
     for (i=0; i<5; i++)

vtcross/trunk/src/utility.c

@@ -5 +5 @@
 #include <math.h>
 #include <stdlib.h>
+#include <stdbool.h>
+
 #include "utility.h"
 
 typedef float(*utility_function_prototype)(float _x, float _eta, float _sig);
-float util_func_atan(float _x, float _eta, float _sig);
+float util_func_tanh(float _x, float _eta, float _sig);
 float util_func_gauss(float _x, float _eta, float _sig);
 
 struct utility_s {
     float target;
-    int shape;
+    int goal;
     int scale;
-    int minmax;
+    bool flip;
     utility_function_prototype f;
     float eta;
@@ -21 +23 @@
 };
 
-utility utility_create(float _target, int _shape, int _scale, int _minmax)
+utility utility_create(float _target, int _goal, int _scale)
 {
     utility u = (utility) malloc(sizeof(struct utility_s));
     u->target = _target;
-    u->shape = _shape;
+    u->goal = _goal;
     u->scale = _scale;
-    u->minmax = _minmax;
 
-    switch (u->shape) {
-    case UTIL_SHAPE_BELL:
+    switch (u->goal) {
+    case UTIL_GOAL_MIN:
+        u->f = &util_func_tanh;
+        u->eta = u->target;
+        u->sig = 1.0f;
+        u->flip = true;
+        break;
+    case UTIL_GOAL_MAX:
+        u->f = &util_func_tanh;
+        u->eta = u->target;
+        u->sig = 1.0f;
+        u->flip = false;
+        break;
+    case UTIL_GOAL_MEET:
         u->f = &util_func_gauss;
         u->eta = u->target;
         u->sig = 1.0f;
+        u->flip = false;
         break;
-    case UTIL_SHAPE_RAMP:
-        u->f = &util_func_atan;
-        u->eta = 0.0f;
+    case UTIL_GOAL_AVOID:
+        u->f = &util_func_gauss;
+        u->eta = u->target;
         u->sig = 1.0f;
+        u->flip = true;
         break;
     default:;
@@ -53 +68 @@
 float utility_evaluate(utility _u, float _x)
 {
-    float y = _x / _u->target;
-    if (_u->scale==UTIL_REL_LOG)
+    float y = _x;
+    if (_u->scale==UTIL_SCALE_LOG)
         y = logf(y);
-    return _u->f( y, _u->eta, _u->sig);
+    float v = _u->f( y, _u->eta, _u->sig);
+    return (_u->flip) ? 1-v : v;
 
 }
 
-float util_func_atan(float _x, float _eta, float _sig) {
+float util_func_tanh(float _x, float _eta, float _sig) {
     return tanhf((_x-_eta)/_sig);
 }

vtcross/trunk/src/utility.h

@@ -3 +3 @@
 //
 
-#define UTIL_SHAPE_BELL 0
-#define UTIL_SHAPE_RAMP 1
+#define UTIL_GOAL_MIN   0
+#define UTIL_GOAL_MAX   1
+#define UTIL_GOAL_MEET  2
+#define UTIL_GOAL_AVOID 3
 
-#define UTIL_REL_LIN    0
-#define UTIL_REL_LOG    1
-
-#define UTIL_MAX        0
-#define UTIL_MIN        1
+#define UTIL_SCALE_LIN  0
+#define UTIL_SCALE_LOG  1
 
 typedef struct utility_s * utility;
 
-utility utility_create(float _target, int _shape, int _scale, int _minmax);
+utility utility_create(float _target, int _goal, int _scale);
 void utility_free(utility _u);