rubyneat 0.3.5.alpha.3 → 0.3.5.alpha.5
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- checksums.yaml +4 -4
- data/.semver +1 -1
- data/Gemfile +19 -19
- data/Gemfile.lock +39 -33
- data/README.md +66 -0
- data/Rakefile +19 -2
- data/bin/neat +4 -60
- data/lib/rubyneat/cli.rb +5 -0
- data/lib/rubyneat/cli/generate.rb +131 -0
- data/lib/rubyneat/cli/main.rb +54 -0
- data/lib/rubyneat/cli/templates/generate/Gemfile.tt +17 -0
- data/lib/rubyneat/cli/templates/generate/README.md.tt +1 -0
- data/lib/rubyneat/cli/templates/generate/bin/neat.tt +14 -0
- data/{neater/xor_neat.rb → lib/rubyneat/cli/templates/generate/neater.tt} +7 -22
- data/rubyneat.gemspec +73 -297
- data/rubyneat.gemspec.orig +384 -0
- metadata +76 -292
- data/.idea/.name +0 -1
- data/.idea/.rakeTasks +0 -7
- data/.idea/dictionaries/trader.xml +0 -3
- data/.idea/encodings.xml +0 -5
- data/.idea/misc.xml +0 -5
- data/.idea/modules.xml +0 -9
- data/.idea/rubyneat.iml +0 -198
- data/.idea/runConfigurations/invpend_neat.xml +0 -26
- data/.idea/runConfigurations/sigdebug_neat.xml +0 -24
- data/.idea/runConfigurations/xor_neat.xml +0 -26
- data/.idea/runConfigurations/xordebug_neat.xml +0 -24
- data/.idea/runConfigurations/xorsin_neat.xml +0 -24
- data/.idea/scopes/scope_settings.xml +0 -5
- data/.idea/vcs.xml +0 -7
- data/.idea/workspace.xml +0 -1151
- data/.yardoc/checksums +0 -11
- data/.yardoc/object_types +0 -0
- data/.yardoc/objects/root.dat +0 -0
- data/.yardoc/proxy_types +0 -0
- data/Guardfile +0 -8
- data/doc/ControllerPoint.html +0 -125
- data/doc/CuteA.html +0 -286
- data/doc/CuteB.html +0 -297
- data/doc/DSL.html +0 -883
- data/doc/NEAT.html +0 -588
- data/doc/NEAT/BasicNeuronTypes.html +0 -136
- data/doc/NEAT/BasicNeuronTypes/BiasNeuron.html +0 -518
- data/doc/NEAT/BasicNeuronTypes/CosineNeuron.html +0 -274
- data/doc/NEAT/BasicNeuronTypes/InputNeuron.html +0 -366
- data/doc/NEAT/BasicNeuronTypes/SigmoidNeuron.html +0 -275
- data/doc/NEAT/BasicNeuronTypes/SineNeuron.html +0 -274
- data/doc/NEAT/BasicNeuronTypes/TanhNeuron.html +0 -274
- data/doc/NEAT/Controller.html +0 -2490
- data/doc/NEAT/Controller/NeatSettings.html +0 -3985
- data/doc/NEAT/Critter.html +0 -1037
- data/doc/NEAT/Critter/Genotype.html +0 -1601
- data/doc/NEAT/Critter/Genotype/Gene.html +0 -979
- data/doc/NEAT/Critter/Phenotype.html +0 -603
- data/doc/NEAT/DSL.html +0 -1255
- data/doc/NEAT/Evaluator.html +0 -420
- data/doc/NEAT/Evolver.html +0 -602
- data/doc/NEAT/Evolver/CritterOp.html +0 -551
- data/doc/NEAT/Expressor.html +0 -327
- data/doc/NEAT/Graph.html +0 -402
- data/doc/NEAT/Graph/DependencyResolver.html +0 -478
- data/doc/NEAT/Graph/GraphException.html +0 -123
- data/doc/NEAT/NeatException.html +0 -123
- data/doc/NEAT/NeatOb.html +0 -567
- data/doc/NEAT/Neuron.html +0 -1067
- data/doc/NEAT/Operator.html +0 -162
- data/doc/NEAT/Population.html +0 -1961
- data/doc/NEAT/Trait.html +0 -169
- data/doc/_index.html +0 -373
- data/doc/class_list.html +0 -54
- data/doc/css/common.css +0 -1
- data/doc/css/full_list.css +0 -57
- data/doc/css/style.css +0 -339
- data/doc/file_list.html +0 -53
- data/doc/frames.html +0 -26
- data/doc/index.html +0 -373
- data/doc/js/app.js +0 -219
- data/doc/js/full_list.js +0 -178
- data/doc/js/jquery.js +0 -4
- data/doc/method_list.html +0 -1415
- data/doc/top-level-namespace.html +0 -164
- data/foo/foo_aquarium_example.rb +0 -38
- data/foo/foo_gosu.rb +0 -99
- data/foo/foo_rubygoo.rb +0 -104
- data/foo/foo_sdl.rb +0 -34
- data/foo/icon.png +0 -0
- data/neater/invpend_neat.rb +0 -150
- data/neater/rnlib/inverted_pendulum.rb +0 -380
- data/neater/rnlib/xor.rb +0 -10
- data/neater/sigdebug_neat.rb +0 -136
- data/neater/xoranalog_neat.rb +0 -138
- data/neater/xorsin_neat.rb +0 -143
- data/projectFilesBackup/.idea/rubyneat.iml +0 -180
- data/public/.directory +0 -4
- data/public/background.png +0 -0
- data/public/background.xcf +0 -0
- data/public/cart.png +0 -0
- data/public/cart.xcf +0 -0
- data/public/metalpoles_molton_ball_l.jpg +0 -0
- data/public/old_background.png +0 -0
- data/public/pointer.png +0 -0
- data/public/pointer.xcf +0 -0
- data/public/pole.kra +0 -0
- data/public/pole.png +0 -0
- data/public/pole.xcf +0 -0
- data/public/wheel-of-year-stone-DD-131-WOYS.jpg +0 -0
- data/public/wheel.png +0 -0
- data/public/wheel.xcf +0 -0
- data/public/wood-planks-texture.jpg +0 -0
- data/rdoc/ControllerPoint.html +0 -116
- data/rdoc/CuteA.html +0 -177
- data/rdoc/CuteB.html +0 -178
- data/rdoc/DSLSetup.html +0 -177
- data/rdoc/GameTestWindow.html +0 -242
- data/rdoc/GameWindow.html +0 -292
- data/rdoc/Gemfile.html +0 -215
- data/rdoc/Gemfile_lock.html +0 -327
- data/rdoc/GraphTest.html +0 -210
- data/rdoc/Guardfile.html +0 -198
- data/rdoc/InvertedPendulum.html +0 -198
- data/rdoc/InvertedPendulum/Cart.html +0 -668
- data/rdoc/InvertedPendulum/DSL.html +0 -259
- data/rdoc/InvertedPendulum/InvPendWindow.html +0 -402
- data/rdoc/Logger.html +0 -98
- data/rdoc/NEAT.html +0 -422
- data/rdoc/NEAT/BasicNeuronTypes.html +0 -107
- data/rdoc/NEAT/BasicNeuronTypes/BiasNeuron.html +0 -265
- data/rdoc/NEAT/BasicNeuronTypes/CosineNeuron.html +0 -162
- data/rdoc/NEAT/BasicNeuronTypes/InputNeuron.html +0 -206
- data/rdoc/NEAT/BasicNeuronTypes/SigmoidNeuron.html +0 -162
- data/rdoc/NEAT/BasicNeuronTypes/SineNeuron.html +0 -162
- data/rdoc/NEAT/BasicNeuronTypes/TanhNeuron.html +0 -161
- data/rdoc/NEAT/Controller.html +0 -729
- data/rdoc/NEAT/Controller/NeatSettings.html +0 -880
- data/rdoc/NEAT/Critter.html +0 -489
- data/rdoc/NEAT/Critter/Genotype.html +0 -735
- data/rdoc/NEAT/Critter/Genotype/Gene.html +0 -457
- data/rdoc/NEAT/Critter/Phenotype.html +0 -330
- data/rdoc/NEAT/DSL.html +0 -729
- data/rdoc/NEAT/Evaluator.html +0 -256
- data/rdoc/NEAT/Evolver.html +0 -891
- data/rdoc/NEAT/Evolver/CritterOp.html +0 -349
- data/rdoc/NEAT/Expressor.html +0 -402
- data/rdoc/NEAT/Graph.html +0 -263
- data/rdoc/NEAT/Graph/DependencyResolver.html +0 -291
- data/rdoc/NEAT/Graph/GraphException.html +0 -105
- data/rdoc/NEAT/NeatException.html +0 -105
- data/rdoc/NEAT/NeatOb.html +0 -325
- data/rdoc/NEAT/Neuron.html +0 -481
- data/rdoc/NEAT/Operator.html +0 -109
- data/rdoc/NEAT/Population.html +0 -935
- data/rdoc/NEAT/Trait.html +0 -117
- data/rdoc/Object.html +0 -384
- data/rdoc/Phi.html +0 -98
- data/rdoc/Player.html +0 -383
- data/rdoc/Rakefile.html +0 -254
- data/rdoc/RubyNEAT.html +0 -98
- data/rdoc/RubyNEAT/Application.html +0 -105
- data/rdoc/SDL.html +0 -98
- data/rdoc/SDL/Event2.html +0 -98
- data/rdoc/Vector.html +0 -195
- data/rdoc/created.rid +0 -125
- data/rdoc/doc/ControllerPoint_html.html +0 -299
- data/rdoc/doc/CuteA_html.html +0 -438
- data/rdoc/doc/CuteB_html.html +0 -436
- data/rdoc/doc/DSL_html.html +0 -992
- data/rdoc/doc/NEAT/BasicNeuronTypes/BiasNeuron_html.html +0 -617
- data/rdoc/doc/NEAT/BasicNeuronTypes/CosineNeuron_html.html +0 -413
- data/rdoc/doc/NEAT/BasicNeuronTypes/InputNeuron_html.html +0 -498
- data/rdoc/doc/NEAT/BasicNeuronTypes/SigmoidNeuron_html.html +0 -413
- data/rdoc/doc/NEAT/BasicNeuronTypes/SineNeuron_html.html +0 -413
- data/rdoc/doc/NEAT/BasicNeuronTypes/TanhNeuron_html.html +0 -412
- data/rdoc/doc/NEAT/BasicNeuronTypes_html.html +0 -310
- data/rdoc/doc/NEAT/Controller/NeatSettings_html.html +0 -3324
- data/rdoc/doc/NEAT/Controller_html.html +0 -2212
- data/rdoc/doc/NEAT/Critter/Genotype/Gene_html.html +0 -997
- data/rdoc/doc/NEAT/Critter/Genotype_html.html +0 -1556
- data/rdoc/doc/NEAT/Critter/Phenotype_html.html +0 -687
- data/rdoc/doc/NEAT/Critter_html.html +0 -1037
- data/rdoc/doc/NEAT/DSL_html.html +0 -1349
- data/rdoc/doc/NEAT/Evaluator_html.html +0 -556
- data/rdoc/doc/NEAT/Evolver/CritterOp_html.html +0 -690
- data/rdoc/doc/NEAT/Evolver_html.html +0 -677
- data/rdoc/doc/NEAT/Expressor_html.html +0 -468
- data/rdoc/doc/NEAT/Graph/DependencyResolver_html.html +0 -598
- data/rdoc/doc/NEAT/Graph/GraphException_html.html +0 -299
- data/rdoc/doc/NEAT/Graph_html.html +0 -527
- data/rdoc/doc/NEAT/NeatException_html.html +0 -299
- data/rdoc/doc/NEAT/NeatOb_html.html +0 -671
- data/rdoc/doc/NEAT/Neuron_html.html +0 -1095
- data/rdoc/doc/NEAT/Operator_html.html +0 -337
- data/rdoc/doc/NEAT/Population_html.html +0 -1795
- data/rdoc/doc/NEAT/Trait_html.html +0 -344
- data/rdoc/doc/NEAT_html.html +0 -736
- data/rdoc/doc/_index_html.html +0 -559
- data/rdoc/doc/class_list_html.html +0 -369
- data/rdoc/doc/css/common_css.html +0 -188
- data/rdoc/doc/css/full_list_css.html +0 -243
- data/rdoc/doc/css/style_css.html +0 -530
- data/rdoc/doc/file_list_html.html +0 -240
- data/rdoc/doc/frames_html.html +0 -217
- data/rdoc/doc/index_html.html +0 -559
- data/rdoc/doc/js/app_js.html +0 -423
- data/rdoc/doc/js/full_list_js.html +0 -372
- data/rdoc/doc/js/jquery_js.html +0 -1536
- data/rdoc/doc/method_list_html.html +0 -1375
- data/rdoc/doc/top-level-namespace_html.html +0 -317
- data/rdoc/fonts.css +0 -167
- data/rdoc/fonts/Lato-Light.ttf +0 -0
- data/rdoc/fonts/Lato-LightItalic.ttf +0 -0
- data/rdoc/fonts/Lato-Regular.ttf +0 -0
- data/rdoc/fonts/Lato-RegularItalic.ttf +0 -0
- data/rdoc/fonts/SourceCodePro-Bold.ttf +0 -0
- data/rdoc/fonts/SourceCodePro-Regular.ttf +0 -0
- data/rdoc/images/add.png +0 -0
- data/rdoc/images/arrow_up.png +0 -0
- data/rdoc/images/brick.png +0 -0
- data/rdoc/images/brick_link.png +0 -0
- data/rdoc/images/bug.png +0 -0
- data/rdoc/images/bullet_black.png +0 -0
- data/rdoc/images/bullet_toggle_minus.png +0 -0
- data/rdoc/images/bullet_toggle_plus.png +0 -0
- data/rdoc/images/date.png +0 -0
- data/rdoc/images/delete.png +0 -0
- data/rdoc/images/find.png +0 -0
- data/rdoc/images/loadingAnimation.gif +0 -0
- data/rdoc/images/macFFBgHack.png +0 -0
- data/rdoc/images/package.png +0 -0
- data/rdoc/images/page_green.png +0 -0
- data/rdoc/images/page_white_text.png +0 -0
- data/rdoc/images/page_white_width.png +0 -0
- data/rdoc/images/plugin.png +0 -0
- data/rdoc/images/ruby.png +0 -0
- data/rdoc/images/tag_blue.png +0 -0
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- data/rdoc/images/wrench.png +0 -0
- data/rdoc/images/wrench_orange.png +0 -0
- data/rdoc/images/zoom.png +0 -0
- data/rdoc/index.html +0 -282
- data/rdoc/js/darkfish.js +0 -140
- data/rdoc/js/jquery.js +0 -18
- data/rdoc/js/navigation.js +0 -142
- data/rdoc/js/search.js +0 -109
- data/rdoc/js/search_index.js +0 -1
- data/rdoc/js/searcher.js +0 -228
- data/rdoc/rdoc.css +0 -580
- data/rdoc/rubyneat_gemspec.html +0 -387
- data/rdoc/table_of_contents.html +0 -2502
- data/rdoc/xordebug_log.html +0 -170598
- data/rdoc/xorsin_log.html +0 -22569
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class="method-args">(ipwin: nil, scale: 0.50, ang: 90.1, xpos: 500.0, ypos: 845.0, cartmass: 200.0, polemass: 100.10, bang: 10.0, thrust_decay: 2.0, window_pix_width: 1280, update_interval: 16.666666, naked: false)</span>
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<p>@param ipwin – the windowed canvalss this will be shown. @param scale –
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<pre>positive side of the x axis.</pre>
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<pre>We will not deal with the angular momentum
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<p>@param bang – per mouse event, how much bang (acceleration in m/s) to</p>
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<pre>deliver to the cart</pre>
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<pre><span class="ruby-comment"># File neater/rnlib/inverted_pendulum.rb, line 117</span>
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<span class="ruby-keyword">def</span> <span class="ruby-identifier">initialize</span>(<span class="ruby-identifier">ipwin</span><span class="ruby-operator">:</span> <span class="ruby-keyword">nil</span>,
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<span class="ruby-identifier">xpos</span><span class="ruby-operator">:</span> <span class="ruby-value">500.0</span>,
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<span class="ruby-identifier">cartmass</span><span class="ruby-operator">:</span> <span class="ruby-value">200.0</span>,
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<span class="ruby-identifier">polemass</span><span class="ruby-operator">:</span> <span class="ruby-value">100.10</span>,
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<span class="ruby-identifier">bang</span><span class="ruby-operator">:</span> <span class="ruby-value">10.0</span>, <span class="ruby-comment"># acceleration on a bang event</span>
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<span class="ruby-identifier">thrust_decay</span><span class="ruby-operator">:</span> <span class="ruby-value">2.0</span>, <span class="ruby-comment"># thrust decay percentage per second</span>
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<span class="ruby-identifier">window_pix_width</span><span class="ruby-operator">:</span> <span class="ruby-value">1280</span>,
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<span class="ruby-identifier">update_interval</span><span class="ruby-operator">:</span> <span class="ruby-value">16.666666</span>,
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<span class="ruby-identifier">naked</span><span class="ruby-operator">:</span> <span class="ruby-keyword">false</span>)
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<span class="ruby-ivar">@t</span> = <span class="ruby-value">0</span>
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<span class="ruby-ivar">@bang</span> = <span class="ruby-identifier">bang</span>
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<span class="ruby-ivar">@thrust</span> = <span class="ruby-value">0</span> <span class="ruby-comment"># accumulated bang</span>
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<span class="ruby-ivar">@thrust_decay</span> = <span class="ruby-identifier">thrust_decay</span>
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<span class="ruby-ivar">@scale</span> = <span class="ruby-identifier">scale</span>
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<span class="ruby-ivar">@cart_length</span> = <span class="ruby-value">5.0</span> <span class="ruby-comment"># meters</span>
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<span class="ruby-ivar">@pix_meters</span> = <span class="ruby-value">640.0</span> <span class="ruby-operator">*</span> <span class="ruby-identifier">scale</span> <span class="ruby-operator">/</span> <span class="ruby-ivar">@cart_length</span>
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<span class="ruby-ivar">@ipwin</span> = <span class="ruby-identifier">ipwin</span>
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<span class="ruby-ivar">@pix_width</span> = <span class="ruby-ivar">@ipwin</span>.<span class="ruby-identifier">nil?</span> <span class="ruby-operator">?</span> <span class="ruby-identifier">window_pix_width</span> <span class="ruby-operator">:</span> <span class="ruby-ivar">@ipwin</span>.<span class="ruby-identifier">pix_width</span>
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<span class="ruby-ivar">@update_interval</span> = <span class="ruby-identifier">ipwin</span>.<span class="ruby-identifier">nil?</span> <span class="ruby-operator">?</span> <span class="ruby-identifier">update_interval</span> <span class="ruby-operator">:</span> <span class="ruby-ivar">@ipwin</span>.<span class="ruby-identifier">update_interval</span>
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<span class="ruby-ivar">@cart</span> = {
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<span class="ruby-identifier">pos</span><span class="ruby-operator">:</span> <span class="ruby-constant">Vector</span>[<span class="ruby-identifier">xpos</span> <span class="ruby-operator">/</span> <span class="ruby-ivar">@pix_meters</span>, <span class="ruby-identifier">ypos</span> <span class="ruby-operator">/</span> <span class="ruby-ivar">@pix_meters</span>, <span class="ruby-value">0</span>],
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<span class="ruby-identifier">vel</span><span class="ruby-operator">:</span> <span class="ruby-constant">Vector</span>[<span class="ruby-value">0.0</span>, <span class="ruby-value">0</span>, <span class="ruby-value">0</span>], <span class="ruby-comment">#speed in meters per second</span>
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<span class="ruby-identifier">acc</span><span class="ruby-operator">:</span> <span class="ruby-constant">Vector</span>[<span class="ruby-value">0.0</span>, <span class="ruby-value">0</span>, <span class="ruby-value">0</span>], <span class="ruby-comment">#acceleration in meters per second squared</span>
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<span class="ruby-identifier">scale</span><span class="ruby-operator">:</span> <span class="ruby-value">0.2</span> <span class="ruby-operator">*</span> <span class="ruby-identifier">scale</span>,
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<span class="ruby-identifier">length</span><span class="ruby-operator">:</span> <span class="ruby-keyword">nil</span>, <span class="ruby-comment"># in meters, calculated from the scaled pixel length.</span>
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<span class="ruby-identifier">height</span><span class="ruby-operator">:</span> <span class="ruby-keyword">nil</span>, <span class="ruby-comment"># in meters, calculated from the scaled pixel height</span>
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<span class="ruby-identifier">basis</span><span class="ruby-operator">:</span> {
|
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<span class="ruby-identifier">horiz</span><span class="ruby-operator">:</span> <span class="ruby-constant">Vector</span>[<span class="ruby-value">1.0</span>, <span class="ruby-value">0.0</span>, <span class="ruby-value">0.0</span>], <span class="ruby-comment"># The cart is resticted to movement on the x axis</span>
|
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<span class="ruby-identifier">vert</span><span class="ruby-operator">:</span> <span class="ruby-constant">Vector</span>[<span class="ruby-value">0.0</span>, <span class="ruby-value">1.0</span>, <span class="ruby-value">0.0</span>]}, <span class="ruby-comment"># so these basis vectors will never change.</span>
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<span class="ruby-identifier">force</span><span class="ruby-operator">:</span> {},
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<span class="ruby-identifier">mass</span><span class="ruby-operator">:</span> <span class="ruby-identifier">cartmass</span>
|
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}
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|
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|
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<span class="ruby-ivar">@pole</span> = {
|
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<span class="ruby-identifier">z</span><span class="ruby-operator">:</span> <span class="ruby-value">0</span>,
|
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<span class="ruby-identifier">xoff</span><span class="ruby-operator">:</span> <span class="ruby-value">0.0</span>,
|
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<span class="ruby-identifier">yoff</span><span class="ruby-operator">:</span> <span class="ruby-value">0.5</span>,
|
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<span class="ruby-identifier">ang</span><span class="ruby-operator">:</span> <span class="ruby-identifier">ang</span>, <span class="ruby-comment"># angle is in degrees</span>
|
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<span class="ruby-identifier">dang</span><span class="ruby-operator">:</span> <span class="ruby-value">0.0</span>, <span class="ruby-comment"># degrees per second</span>
|
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<span class="ruby-identifier">ddang</span><span class="ruby-operator">:</span> <span class="ruby-keyword">nil</span>, <span class="ruby-comment"># angular acceleration, degree / second ** 2</span>
|
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|
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<span class="ruby-identifier">cdang</span><span class="ruby-operator">:</span> <span class="ruby-value">0.0</span>, <span class="ruby-comment"># degrees per second, contribution from cart</span>
|
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|
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<span class="ruby-identifier">cddang</span><span class="ruby-operator">:</span> <span class="ruby-keyword">nil</span>, <span class="ruby-comment"># angular acceleration, degree / second ** 2, contribution from cart</span>
|
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<span class="ruby-identifier">scale</span><span class="ruby-operator">:</span> <span class="ruby-value">0.2</span> <span class="ruby-operator">*</span> <span class="ruby-identifier">scale</span>,
|
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|
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<span class="ruby-identifier">force</span><span class="ruby-operator">:</span> {}, <span class="ruby-comment"># shall hold the 2 force vectors :shaft and :radial</span>
|
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|
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<span class="ruby-identifier">basis</span><span class="ruby-operator">:</span> {}, <span class="ruby-comment"># basis (unit) vectors</span>
|
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<span class="ruby-identifier">cacc</span><span class="ruby-operator">:</span> <span class="ruby-constant">Vector</span>[<span class="ruby-value">0</span>,<span class="ruby-value">0</span>,<span class="ruby-value">0</span>], <span class="ruby-comment"># acceleration from cart</span>
|
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<span class="ruby-identifier">length</span><span class="ruby-operator">:</span> <span class="ruby-keyword">nil</span>, <span class="ruby-comment"># in meters, calculated from the scaled pixel length.</span>
|
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<span class="ruby-identifier">mass</span><span class="ruby-operator">:</span> <span class="ruby-identifier">polemass</span>
|
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}
|
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|
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|
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|
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|
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<span class="ruby-ivar">@wheels</span> = [
|
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{
|
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<span class="ruby-identifier">ang</span><span class="ruby-operator">:</span> <span class="ruby-value">0</span>,
|
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<span class="ruby-identifier">dang</span><span class="ruby-operator">:</span> <span class="ruby-value">100</span>, <span class="ruby-comment">#FIXME: delete this for this will be overwritten anyway</span>
|
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<span class="ruby-identifier">xoff</span><span class="ruby-operator">:</span> <span class="ruby-value">-0.7</span>, <span class="ruby-comment"># percentage from center</span>
|
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<span class="ruby-identifier">yoff</span><span class="ruby-operator">:</span> <span class="ruby-value">0.4</span>, <span class="ruby-comment"># percentage from center</span>
|
|
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|
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<span class="ruby-identifier">scale</span><span class="ruby-operator">:</span> <span class="ruby-value">0.2</span> <span class="ruby-operator">*</span> <span class="ruby-identifier">scale</span>
|
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|
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},
|
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{
|
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<span class="ruby-identifier">ang</span><span class="ruby-operator">:</span> <span class="ruby-value">0</span>,
|
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<span class="ruby-identifier">dang</span><span class="ruby-operator">:</span> <span class="ruby-value">12.33</span>, <span class="ruby-comment">#FIXME: delete this for this will be overwritten anyway</span>
|
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<span class="ruby-identifier">xoff</span><span class="ruby-operator">:</span> <span class="ruby-value">0.7</span>,
|
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<span class="ruby-identifier">yoff</span><span class="ruby-operator">:</span> <span class="ruby-value">0.4</span>,
|
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<span class="ruby-identifier">scale</span><span class="ruby-operator">:</span> <span class="ruby-value">0.2</span> <span class="ruby-operator">*</span> <span class="ruby-identifier">scale</span>
|
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|
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}
|
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|
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]
|
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<span class="ruby-keyword">end</span></pre>
|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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<div id="method-i-big_bang" class="method-detail ">
|
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|
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|
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|
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<span class="method-name">big_bang</span><span
|
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|
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class="method-args">(bb = 0)</span>
|
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|
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|
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|
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|
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|
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|
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|
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|
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|
|
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|
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|
|
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|
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<pre>Provide a bang for the cart.
|
|
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|
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Return a thrust (acc) vector (really just x)
|
|
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|
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based on thrust</pre>
|
|
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|
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|
|
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|
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<p>@param bb – bang factor, normally -1, 0, or 1, but could be</p>
|
|
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|
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|
|
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|
-
<pre>other values based on being a multiplier of the actual bang to be
|
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|
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applied.</pre>
|
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|
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|
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|
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|
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|
|
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|
-
<pre><span class="ruby-comment"># File neater/rnlib/inverted_pendulum.rb, line 212</span>
|
|
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|
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<span class="ruby-keyword">def</span> <span class="ruby-identifier">big_bang</span>(<span class="ruby-identifier">bb</span> = <span class="ruby-value">0</span>)
|
|
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|
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<span class="ruby-comment"># FIXME: this is temporary. Eventually this will call a callback in the Neater script.</span>
|
|
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|
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<span class="ruby-identifier">v</span> = <span class="ruby-constant">Vector</span>[<span class="ruby-ivar">@thrust</span>, <span class="ruby-value">0</span>, <span class="ruby-value">0</span>]
|
|
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|
-
<span class="ruby-ivar">@thrust</span> <span class="ruby-operator">+=</span> <span class="ruby-ivar">@bang</span> <span class="ruby-operator">*</span> <span class="ruby-identifier">bb</span>
|
|
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|
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<span class="ruby-ivar">@thrust</span> <span class="ruby-operator">-=</span> <span class="ruby-ivar">@thrust</span> <span class="ruby-operator">*</span> <span class="ruby-ivar">@thrust_decay</span> <span class="ruby-operator">*</span> <span class="ruby-ivar">@dt</span>
|
|
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|
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<span class="ruby-identifier">v</span>
|
|
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|
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<span class="ruby-keyword">end</span></pre>
|
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|
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|
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|
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</div>
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|
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|
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|
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|
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|
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<div id="method-i-button_down" class="method-detail ">
|
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|
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|
|
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|
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<div class="method-heading">
|
|
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|
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<span class="method-name">button_down</span><span
|
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|
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class="method-args">(id)</span>
|
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|
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|
|
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|
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|
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</div>
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<div class="method-description">
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|
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<div class="method-source-code" id="button_down-source">
|
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|
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<pre><span class="ruby-comment"># File neater/rnlib/inverted_pendulum.rb, line 220</span>
|
|
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|
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<span class="ruby-keyword">def</span> <span class="ruby-identifier">button_down</span>(<span class="ruby-identifier">id</span>)
|
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|
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<span class="ruby-identifier">big_bang</span> <span class="ruby-keyword">case</span> <span class="ruby-identifier">id</span>
|
|
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|
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<span class="ruby-keyword">when</span> <span class="ruby-constant">MOUSE_ROLL_FOREWARD</span>
|
|
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|
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<span class="ruby-value">1.0</span>
|
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|
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<span class="ruby-keyword">when</span> <span class="ruby-constant">MOUSE_ROLL_BACK</span>
|
|
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|
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<span class="ruby-value">-1.0</span>
|
|
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|
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<span class="ruby-keyword">else</span>
|
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|
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<pre><span class="ruby-comment"># File neater/rnlib/inverted_pendulum.rb, line 231</span>
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<span class="ruby-keyword">def</span> <span class="ruby-identifier">button_up</span>(<span class="ruby-identifier">id</span>)
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<pre><span class="ruby-comment"># File neater/rnlib/inverted_pendulum.rb, line 328</span>
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<span class="ruby-keyword">def</span> <span class="ruby-identifier">draw</span>
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<span class="ruby-ivar">@pole</span>[<span class="ruby-value">:image</span>].<span class="ruby-identifier">draw_rot</span>( <span class="ruby-ivar">@pole</span>[<span class="ruby-value">:_x</span>] <span class="ruby-operator">%</span> <span class="ruby-ivar">@pix_width</span>,
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<span class="ruby-ivar">@pole</span>[<span class="ruby-value">:z</span>],
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<span class="ruby-operator">-</span><span class="ruby-ivar">@pole</span>[<span class="ruby-value">:ang</span>], <span class="ruby-comment"># negative because y is inverted on the canvas</span>
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<span class="ruby-ivar">@pole</span>[<span class="ruby-value">:xoff</span>], <span class="ruby-ivar">@pole</span>[<span class="ruby-value">:yoff</span>],
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<span class="ruby-ivar">@pole</span>[<span class="ruby-value">:scale</span>],
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<span class="ruby-ivar">@pole</span>[<span class="ruby-value">:scale</span>])
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<span class="ruby-ivar">@cart</span>[<span class="ruby-value">:image</span>].<span class="ruby-identifier">draw</span>(<span class="ruby-ivar">@cart</span>[<span class="ruby-value">:_x</span>] <span class="ruby-operator">%</span> <span class="ruby-ivar">@pix_width</span>,
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<span class="ruby-identifier">wh</span>[<span class="ruby-value">:image</span>].<span class="ruby-identifier">draw_rot</span>(<span class="ruby-identifier">wh</span>[<span class="ruby-value">:_x</span>] <span class="ruby-operator">%</span> <span class="ruby-ivar">@pix_width</span>,
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<span class="ruby-value">0.5</span>, <span class="ruby-value">0.5</span>,
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class="method-args">(ipwin)</span>
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<pre><span class="ruby-comment"># File neater/rnlib/inverted_pendulum.rb, line 190</span>
|
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<span class="ruby-keyword">def</span> <span class="ruby-identifier">ipwin=</span>(<span class="ruby-identifier">ipwin</span>)
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<span class="ruby-ivar">@ipwin</span> = <span class="ruby-identifier">ipwin</span>
|
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|
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<span class="ruby-ivar">@cart</span>[<span class="ruby-value">:image</span>] = <span class="ruby-constant">Gosu</span><span class="ruby-operator">::</span><span class="ruby-constant">Image</span>.<span class="ruby-identifier">new</span>(<span class="ruby-identifier">ipwin</span>, <span class="ruby-string">'public/cart.png'</span>, <span class="ruby-keyword">true</span>)
|
|
485
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<span class="ruby-ivar">@pole</span>[<span class="ruby-value">:image</span>] = <span class="ruby-constant">Gosu</span><span class="ruby-operator">::</span><span class="ruby-constant">Image</span>.<span class="ruby-identifier">new</span>(<span class="ruby-identifier">ipwin</span>, <span class="ruby-string">'public/pole.png'</span>, <span class="ruby-keyword">true</span>)
|
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486
|
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<span class="ruby-ivar">@wheels</span>.<span class="ruby-identifier">each</span> {<span class="ruby-operator">|</span><span class="ruby-identifier">w</span><span class="ruby-operator">|</span>
|
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487
|
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<span class="ruby-identifier">w</span>[<span class="ruby-value">:image</span>] = <span class="ruby-constant">Gosu</span><span class="ruby-operator">::</span><span class="ruby-constant">Image</span>.<span class="ruby-identifier">new</span>(<span class="ruby-identifier">ipwin</span>, <span class="ruby-string">'public/wheel.png'</span>, <span class="ruby-keyword">true</span>)
|
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|
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<span class="ruby-comment"># radius of wheel in meters, need this for rotational velocity calculation</span>
|
|
489
|
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<span class="ruby-identifier">w</span>[<span class="ruby-value">:radius</span>] = <span class="ruby-identifier">w</span>[<span class="ruby-value">:image</span>].<span class="ruby-identifier">width</span> <span class="ruby-operator">*</span> <span class="ruby-identifier">w</span>[<span class="ruby-value">:scale</span>] <span class="ruby-operator">/</span> <span class="ruby-ivar">@pix_meters</span> <span class="ruby-operator">/</span> <span class="ruby-value">2.0</span>
|
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490
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<span class="ruby-identifier">w</span>[<span class="ruby-value">:circumference</span>] = <span class="ruby-identifier">w</span>[<span class="ruby-value">:radius</span>] <span class="ruby-operator">*</span> <span class="ruby-value">2.0</span> <span class="ruby-operator">*</span> <span class="ruby-constant">PI</span>
|
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}
|
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<span class="ruby-ivar">@cart</span>[<span class="ruby-value">:length</span>] = <span class="ruby-ivar">@cart</span>[<span class="ruby-value">:image</span>].<span class="ruby-identifier">width</span> <span class="ruby-operator">*</span> <span class="ruby-ivar">@cart</span>[<span class="ruby-value">:scale</span>] <span class="ruby-operator">/</span> <span class="ruby-ivar">@pix_meters</span>
|
|
494
|
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<span class="ruby-ivar">@cart</span>[<span class="ruby-value">:height</span>] = <span class="ruby-ivar">@cart</span>[<span class="ruby-value">:image</span>].<span class="ruby-identifier">height</span> <span class="ruby-operator">*</span> <span class="ruby-ivar">@cart</span>[<span class="ruby-value">:scale</span>] <span class="ruby-operator">/</span> <span class="ruby-ivar">@pix_meters</span>
|
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|
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<span class="ruby-ivar">@pole</span>[<span class="ruby-value">:length</span>] = <span class="ruby-ivar">@pole</span>[<span class="ruby-value">:image</span>].<span class="ruby-identifier">width</span> <span class="ruby-operator">*</span> <span class="ruby-ivar">@pole</span>[<span class="ruby-value">:scale</span>] <span class="ruby-operator">/</span> <span class="ruby-ivar">@pix_meters</span>
|
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<span class="ruby-keyword">end</span></pre>
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513
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<span class="method-click-advice">click to toggle source</span>
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|
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<pre><span class="ruby-comment"># File neater/rnlib/inverted_pendulum.rb, line 235</span>
|
|
527
|
-
<span class="ruby-keyword">def</span> <span class="ruby-identifier">update</span>
|
|
528
|
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<span class="ruby-comment">## Physics updates</span>
|
|
529
|
-
<span class="ruby-ivar">@dt</span> = <span class="ruby-ivar">@update_interval</span> <span class="ruby-operator">/</span> <span class="ruby-value">1000.0</span>
|
|
530
|
-
<span class="ruby-ivar">@t</span> <span class="ruby-operator">+=</span> <span class="ruby-ivar">@dt</span>
|
|
531
|
-
|
|
532
|
-
<span class="ruby-comment">## Pole (Pendulum) forces, accelerations, etc.</span>
|
|
533
|
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<span class="ruby-comment"># basis vectors</span>
|
|
534
|
-
<span class="ruby-identifier">ang</span> = <span class="ruby-ivar">@pole</span>[<span class="ruby-value">:ang</span>] <span class="ruby-operator">*</span> <span class="ruby-constant">TORAD</span>
|
|
535
|
-
<span class="ruby-ivar">@pole</span>[<span class="ruby-value">:time</span>] = <span class="ruby-ivar">@t</span>
|
|
536
|
-
<span class="ruby-ivar">@pole</span>[<span class="ruby-value">:basis</span>][<span class="ruby-value">:shaft</span>] = <span class="ruby-identifier">iShaft</span> = <span class="ruby-constant">Vector</span>[<span class="ruby-identifier">cos</span>(<span class="ruby-identifier">ang</span>), <span class="ruby-identifier">sin</span>(<span class="ruby-identifier">ang</span>), <span class="ruby-value">0</span>]
|
|
537
|
-
<span class="ruby-ivar">@pole</span>[<span class="ruby-value">:basis</span>][<span class="ruby-value">:radial</span>] = <span class="ruby-identifier">iRadial</span> = <span class="ruby-constant">Vector</span>[<span class="ruby-identifier">sin</span>(<span class="ruby-identifier">ang</span>), <span class="ruby-operator">-</span><span class="ruby-identifier">cos</span>(<span class="ruby-identifier">ang</span>), <span class="ruby-value">0</span>]
|
|
538
|
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<span class="ruby-ivar">@pole</span>[<span class="ruby-value">:r</span>] = <span class="ruby-identifier">r</span> = <span class="ruby-identifier">iShaft</span> <span class="ruby-operator">*</span> <span class="ruby-ivar">@pole</span>[<span class="ruby-value">:length</span>]
|
|
539
|
-
<span class="ruby-ivar">@pole</span>[<span class="ruby-value">:force</span>][<span class="ruby-value">:shaft</span>] = <span class="ruby-identifier">iShaft</span>.<span class="ruby-identifier">basis</span>(<span class="ruby-constant">GV</span> <span class="ruby-operator">*</span> <span class="ruby-ivar">@pole</span>[<span class="ruby-value">:mass</span>])
|
|
540
|
-
<span class="ruby-ivar">@pole</span>[<span class="ruby-value">:force</span>][<span class="ruby-value">:radial</span>] = <span class="ruby-identifier">radial</span> = <span class="ruby-identifier">iRadial</span>.<span class="ruby-identifier">basis</span>(<span class="ruby-constant">GV</span> <span class="ruby-operator">*</span> <span class="ruby-ivar">@pole</span>[<span class="ruby-value">:mass</span>])
|
|
541
|
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<span class="ruby-comment"># the magnitude of the radial vector goes to the torque on</span>
|
|
542
|
-
<span class="ruby-ivar">@pole</span>[<span class="ruby-value">:force</span>][<span class="ruby-value">:torque</span>] = <span class="ruby-identifier">torque</span> = <span class="ruby-identifier">r</span>.<span class="ruby-identifier">cross_product</span>(<span class="ruby-identifier">radial</span>)
|
|
543
|
-
<span class="ruby-ivar">@pole</span>[<span class="ruby-value">:alpha</span>] = <span class="ruby-identifier">alpha</span> = <span class="ruby-identifier">torque</span> <span class="ruby-operator">/</span> (<span class="ruby-ivar">@pole</span>[<span class="ruby-value">:mass</span>] <span class="ruby-operator">*</span> (<span class="ruby-ivar">@pole</span>[<span class="ruby-value">:length</span>] <span class="ruby-operator">**</span> <span class="ruby-value">2.0</span>))
|
|
544
|
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<span class="ruby-ivar">@pole</span>[<span class="ruby-value">:ddang</span>] = <span class="ruby-operator">-</span><span class="ruby-identifier">alpha</span>[<span class="ruby-constant">Z</span>] <span class="ruby-operator">/</span> <span class="ruby-constant">TORAD</span> <span class="ruby-comment"># the pseudo vector component Z is the signed magnitude</span>
|
|
545
|
-
<span class="ruby-ivar">@pole</span>[<span class="ruby-value">:dang</span>] <span class="ruby-operator">+=</span> <span class="ruby-ivar">@pole</span>[<span class="ruby-value">:ddang</span>] <span class="ruby-operator">*</span> <span class="ruby-ivar">@dt</span> <span class="ruby-comment"># angular velocity</span>
|
|
546
|
-
<span class="ruby-ivar">@pole</span>[<span class="ruby-value">:vel</span>] = <span class="ruby-ivar">@pole</span>[<span class="ruby-value">:basis</span>][<span class="ruby-value">:radial</span>] <span class="ruby-operator">*</span> (<span class="ruby-ivar">@pole</span>[<span class="ruby-value">:dang</span>] <span class="ruby-operator">*</span> <span class="ruby-constant">TORAD</span> <span class="ruby-operator">*</span> <span class="ruby-constant">PI2</span> <span class="ruby-operator">*</span> <span class="ruby-ivar">@pole</span>[<span class="ruby-value">:length</span>]) <span class="ruby-comment">#linear velocity at the pole mass</span>
|
|
547
|
-
<span class="ruby-ivar">@pole</span>[<span class="ruby-value">:ang</span>] <span class="ruby-operator">+=</span> <span class="ruby-ivar">@pole</span>[<span class="ruby-value">:dang</span>] <span class="ruby-operator">*</span> <span class="ruby-ivar">@dt</span>
|
|
548
|
-
|
|
549
|
-
<span class="ruby-comment">## Cart forces from pole [:force][:shaft] and centifugal</span>
|
|
550
|
-
<span class="ruby-ivar">@cart</span>[<span class="ruby-value">:time</span>] = <span class="ruby-ivar">@t</span>
|
|
551
|
-
|
|
552
|
-
<span class="ruby-ivar">@pole</span>[<span class="ruby-value">:force</span>][<span class="ruby-value">:centrifugal</span>] = <span class="ruby-identifier">centrifugal</span> = (<span class="ruby-ivar">@pole</span>[<span class="ruby-value">:basis</span>][<span class="ruby-value">:shaft</span>] <span class="ruby-operator">*</span> <span class="ruby-ivar">@pole</span>[<span class="ruby-value">:vel</span>].<span class="ruby-identifier">magnitude</span> <span class="ruby-operator">**</span> <span class="ruby-value">2</span>) <span class="ruby-operator">*</span> <span class="ruby-ivar">@pole</span>[<span class="ruby-value">:mass</span>]
|
|
553
|
-
<span class="ruby-ivar">@cart</span>[<span class="ruby-value">:force</span>][<span class="ruby-value">:shaft</span>] = <span class="ruby-identifier">shaft</span> = <span class="ruby-ivar">@pole</span>[<span class="ruby-value">:force</span>][<span class="ruby-value">:shaft</span>] <span class="ruby-comment"># + centrifugal #FIXME cemtrifugal calculations wonky!</span>
|
|
554
|
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<span class="ruby-ivar">@cart</span>[<span class="ruby-value">:force</span>][<span class="ruby-value">:horiz</span>] = <span class="ruby-identifier">horiz</span> = <span class="ruby-ivar">@cart</span>[<span class="ruby-value">:basis</span>][<span class="ruby-value">:horiz</span>].<span class="ruby-identifier">basis</span> <span class="ruby-identifier">shaft</span>
|
|
555
|
-
<span class="ruby-ivar">@cart</span>[<span class="ruby-value">:force</span>][<span class="ruby-value">:vert</span>] = <span class="ruby-ivar">@cart</span>[<span class="ruby-value">:basis</span>][<span class="ruby-value">:vert</span>].<span class="ruby-identifier">basis</span> <span class="ruby-identifier">shaft</span> <span class="ruby-comment"># not that we use the vert</span>
|
|
556
|
-
|
|
557
|
-
<span class="ruby-comment"># Now the horz force induces an acceleration on the cart.</span>
|
|
558
|
-
<span class="ruby-comment"># Any additions to the acceleration vector must be done after</span>
|
|
559
|
-
<span class="ruby-comment"># this point.</span>
|
|
560
|
-
<span class="ruby-ivar">@cart</span>[<span class="ruby-value">:acc</span>] = <span class="ruby-identifier">horiz</span> <span class="ruby-operator">/</span> (<span class="ruby-ivar">@cart</span>[<span class="ruby-value">:mass</span>] <span class="ruby-operator">+</span> <span class="ruby-ivar">@pole</span>[<span class="ruby-value">:mass</span>] <span class="ruby-operator">*</span> <span class="ruby-identifier">cos</span>(<span class="ruby-identifier">ang</span>).<span class="ruby-identifier">abs</span>)
|
|
561
|
-
|
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562
|
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<span class="ruby-ivar">@cart</span>[<span class="ruby-value">:acc</span>] <span class="ruby-operator">+=</span> <span class="ruby-identifier">big_bang</span>
|
|
563
|
-
|
|
564
|
-
<span class="ruby-comment">## Cart acceleration also affects angular torque</span>
|
|
565
|
-
<span class="ruby-comment"># FIXME: Note that recalculations are being done here, which</span>
|
|
566
|
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<span class="ruby-comment"># FIXME: are not DRY. Redo this properly later.</span>
|
|
567
|
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<span class="ruby-ivar">@pole</span>[<span class="ruby-value">:cacc</span>] = <span class="ruby-identifier">cacc</span> = <span class="ruby-ivar">@cart</span>[<span class="ruby-value">:acc</span>] <span class="ruby-operator">*</span> <span class="ruby-value">-1.0</span>
|
|
568
|
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<span class="ruby-ivar">@pole</span>[<span class="ruby-value">:force</span>][<span class="ruby-value">:cradial</span>] = <span class="ruby-identifier">radial</span> = <span class="ruby-identifier">iRadial</span>.<span class="ruby-identifier">basis</span>(<span class="ruby-identifier">cacc</span> <span class="ruby-operator">*</span> <span class="ruby-ivar">@pole</span>[<span class="ruby-value">:mass</span>])
|
|
569
|
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<span class="ruby-comment"># the magnitude of the radial vector goes to the torque on</span>
|
|
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|
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<span class="ruby-ivar">@pole</span>[<span class="ruby-value">:force</span>][<span class="ruby-value">:ctorque</span>] = <span class="ruby-identifier">torque</span> = <span class="ruby-identifier">r</span>.<span class="ruby-identifier">cross_product</span>(<span class="ruby-identifier">radial</span>)
|
|
571
|
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<span class="ruby-ivar">@pole</span>[<span class="ruby-value">:calpha</span>] = <span class="ruby-identifier">alpha</span> = <span class="ruby-identifier">torque</span> <span class="ruby-operator">/</span> (<span class="ruby-ivar">@pole</span>[<span class="ruby-value">:mass</span>] <span class="ruby-operator">*</span> (<span class="ruby-ivar">@pole</span>[<span class="ruby-value">:length</span>] <span class="ruby-operator">**</span> <span class="ruby-value">2.0</span>))
|
|
572
|
-
<span class="ruby-ivar">@pole</span>[<span class="ruby-value">:cddang</span>] = <span class="ruby-operator">-</span><span class="ruby-identifier">alpha</span>[<span class="ruby-constant">Z</span>] <span class="ruby-operator">/</span> <span class="ruby-constant">TORAD</span> <span class="ruby-comment"># the pseudo vector component Z is the signed magnitude</span>
|
|
573
|
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<span class="ruby-ivar">@pole</span>[<span class="ruby-value">:cdang</span>] <span class="ruby-operator">+=</span> <span class="ruby-ivar">@pole</span>[<span class="ruby-value">:cddang</span>] <span class="ruby-operator">*</span> <span class="ruby-ivar">@dt</span>
|
|
574
|
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<span class="ruby-ivar">@pole</span>[<span class="ruby-value">:ang</span>] <span class="ruby-operator">+=</span> <span class="ruby-ivar">@pole</span>[<span class="ruby-value">:cdang</span>] <span class="ruby-operator">*</span> <span class="ruby-ivar">@dt</span>
|
|
575
|
-
|
|
576
|
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<span class="ruby-comment">## Actual cart physics</span>
|
|
577
|
-
<span class="ruby-ivar">@cart</span>[<span class="ruby-value">:vel</span>][<span class="ruby-constant">X</span>] <span class="ruby-operator">+=</span> <span class="ruby-ivar">@cart</span>[<span class="ruby-value">:acc</span>][<span class="ruby-constant">X</span>] <span class="ruby-operator">*</span> <span class="ruby-ivar">@dt</span>
|
|
578
|
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<span class="ruby-ivar">@cart</span>[<span class="ruby-value">:pos</span>][<span class="ruby-constant">X</span>] <span class="ruby-operator">+=</span> <span class="ruby-ivar">@cart</span>[<span class="ruby-value">:vel</span>][<span class="ruby-constant">X</span>] <span class="ruby-operator">*</span> <span class="ruby-ivar">@dt</span>
|
|
579
|
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<span class="ruby-ivar">@cart</span>[<span class="ruby-value">:x</span>] = <span class="ruby-ivar">@cart</span>[<span class="ruby-value">:pos</span>][<span class="ruby-constant">X</span>] <span class="ruby-operator">*</span> <span class="ruby-ivar">@pix_meters</span>
|
|
580
|
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<span class="ruby-ivar">@cart</span>[<span class="ruby-value">:y</span>] = <span class="ruby-ivar">@cart</span>[<span class="ruby-value">:pos</span>][<span class="ruby-constant">Y</span>] <span class="ruby-operator">*</span> <span class="ruby-ivar">@pix_meters</span>
|
|
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|
-
|
|
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|
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<span class="ruby-comment">#puts '=' * 80</span>
|
|
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|
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<span class="ruby-comment">#pp({pole: @pole, cart: @cart})</span>
|
|
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|
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|
|
585
|
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<span class="ruby-comment"># wheels physics -- angular velocity of each wheel based</span>
|
|
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|
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<span class="ruby-comment"># on the linear velocity of the cart.</span>
|
|
587
|
-
<span class="ruby-ivar">@wheels</span>.<span class="ruby-identifier">each</span> <span class="ruby-keyword">do</span> <span class="ruby-operator">|</span><span class="ruby-identifier">w</span><span class="ruby-operator">|</span>
|
|
588
|
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<span class="ruby-identifier">w</span>[<span class="ruby-value">:dang</span>] = <span class="ruby-value">360.0</span> <span class="ruby-operator">*</span> <span class="ruby-ivar">@cart</span>[<span class="ruby-value">:vel</span>][<span class="ruby-constant">X</span>] <span class="ruby-operator">/</span> <span class="ruby-identifier">w</span>[<span class="ruby-value">:circumference</span>]
|
|
589
|
-
<span class="ruby-identifier">w</span>[<span class="ruby-value">:ang</span>] <span class="ruby-operator">+=</span> <span class="ruby-identifier">w</span>[<span class="ruby-value">:dang</span>] <span class="ruby-operator">*</span> <span class="ruby-ivar">@dt</span>
|
|
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|
-
<span class="ruby-keyword">end</span>
|
|
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|
-
|
|
592
|
-
<span class="ruby-comment"># model update</span>
|
|
593
|
-
<span class="ruby-keyword">self</span>.<span class="ruby-identifier">update_cart</span>
|
|
594
|
-
<span class="ruby-keyword">end</span></pre>
|
|
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|
-
</div>
|
|
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|
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|
|
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|
-
</div>
|
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|
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|
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|
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|
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</div>
|
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|
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|
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|
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|
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<div id="method-i-update_cart" class="method-detail ">
|
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|
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|
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|
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<div class="method-heading">
|
|
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|
-
<span class="method-name">update_cart</span><span
|
|
609
|
-
class="method-args">()</span>
|
|
610
|
-
|
|
611
|
-
<span class="method-click-advice">click to toggle source</span>
|
|
612
|
-
|
|
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|
-
</div>
|
|
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|
-
|
|
615
|
-
|
|
616
|
-
<div class="method-description">
|
|
617
|
-
|
|
618
|
-
<p>update the positions of all the compnents of the cart in terms of the
|
|
619
|
-
relative positional relationships</p>
|
|
620
|
-
|
|
621
|
-
|
|
622
|
-
|
|
623
|
-
|
|
624
|
-
<div class="method-source-code" id="update_cart-source">
|
|
625
|
-
<pre><span class="ruby-comment"># File neater/rnlib/inverted_pendulum.rb, line 306</span>
|
|
626
|
-
<span class="ruby-keyword">def</span> <span class="ruby-identifier">update_cart</span>
|
|
627
|
-
<span class="ruby-comment"># center of cart is taken as (x, y), actual is (_x, _y)</span>
|
|
628
|
-
<span class="ruby-identifier">pw</span> = <span class="ruby-ivar">@cart</span>[<span class="ruby-value">:image</span>].<span class="ruby-identifier">width</span> <span class="ruby-operator">*</span> <span class="ruby-ivar">@cart</span>[<span class="ruby-value">:scale</span>]
|
|
629
|
-
<span class="ruby-identifier">ph</span> = <span class="ruby-ivar">@cart</span>[<span class="ruby-value">:image</span>].<span class="ruby-identifier">height</span> <span class="ruby-operator">*</span> <span class="ruby-ivar">@cart</span>[<span class="ruby-value">:scale</span>]
|
|
630
|
-
<span class="ruby-ivar">@cart</span>[<span class="ruby-value">:_x</span>] = <span class="ruby-ivar">@cart</span>[<span class="ruby-value">:x</span>] <span class="ruby-operator">-</span> <span class="ruby-identifier">pw</span> <span class="ruby-operator">/</span> <span class="ruby-value">2.0</span>
|
|
631
|
-
<span class="ruby-ivar">@cart</span>[<span class="ruby-value">:_y</span>] = <span class="ruby-ivar">@cart</span>[<span class="ruby-value">:y</span>] <span class="ruby-operator">-</span> <span class="ruby-identifier">ph</span> <span class="ruby-operator">/</span> <span class="ruby-value">2.0</span>
|
|
632
|
-
|
|
633
|
-
<span class="ruby-comment"># Wheels in their respective places</span>
|
|
634
|
-
<span class="ruby-ivar">@wheels</span>.<span class="ruby-identifier">each</span> <span class="ruby-keyword">do</span> <span class="ruby-operator">|</span><span class="ruby-identifier">wl</span><span class="ruby-operator">|</span>
|
|
635
|
-
<span class="ruby-comment">#ww = wl[:image].width * wl[:scale]</span>
|
|
636
|
-
<span class="ruby-comment">#wh = wl[:image].height * wl[:scale]</span>
|
|
637
|
-
<span class="ruby-identifier">wl</span>[<span class="ruby-value">:_x</span>] = <span class="ruby-ivar">@cart</span>[<span class="ruby-value">:x</span>] <span class="ruby-operator">+</span> <span class="ruby-identifier">wl</span>[<span class="ruby-value">:xoff</span>] <span class="ruby-operator">*</span> <span class="ruby-identifier">pw</span> <span class="ruby-operator">/</span> <span class="ruby-value">2.0</span>
|
|
638
|
-
<span class="ruby-identifier">wl</span>[<span class="ruby-value">:_y</span>] = <span class="ruby-ivar">@cart</span>[<span class="ruby-value">:y</span>] <span class="ruby-operator">+</span> <span class="ruby-identifier">wl</span>[<span class="ruby-value">:yoff</span>] <span class="ruby-operator">*</span> <span class="ruby-identifier">ph</span> <span class="ruby-operator">/</span> <span class="ruby-value">2.0</span>
|
|
639
|
-
<span class="ruby-keyword">end</span>
|
|
640
|
-
|
|
641
|
-
<span class="ruby-comment"># Pendulum</span>
|
|
642
|
-
<span class="ruby-identifier">polew</span> = <span class="ruby-ivar">@pole</span>[<span class="ruby-value">:image</span>].<span class="ruby-identifier">width</span> <span class="ruby-operator">*</span> <span class="ruby-ivar">@pole</span>[<span class="ruby-value">:scale</span>]
|
|
643
|
-
<span class="ruby-identifier">poleh</span> = <span class="ruby-ivar">@pole</span>[<span class="ruby-value">:image</span>].<span class="ruby-identifier">height</span> <span class="ruby-operator">*</span> <span class="ruby-ivar">@pole</span>[<span class="ruby-value">:scale</span>]
|
|
644
|
-
<span class="ruby-ivar">@pole</span>[<span class="ruby-value">:_x</span>] = <span class="ruby-ivar">@cart</span>[<span class="ruby-value">:x</span>]
|
|
645
|
-
<span class="ruby-ivar">@pole</span>[<span class="ruby-value">:_y</span>] = <span class="ruby-ivar">@cart</span>[<span class="ruby-value">:y</span>]
|
|
646
|
-
<span class="ruby-keyword">end</span></pre>
|
|
647
|
-
</div>
|
|
648
|
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|
|
649
|
-
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|
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|
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|
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<footer id="validator-badges" role="contentinfo">
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<p><a href="http://validator.w3.org/check/referer">Validate</a>
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665
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<p>Generated by <a href="http://rdoc.rubyforge.org">RDoc</a> 4.1.1.
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666
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<p>Based on <a href="http://deveiate.org/projects/Darkfish-Rdoc/">Darkfish</a> by <a href="http://deveiate.org">Michael Granger</a>.
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