Update to the new controller, with similar segments using same learne…

…d parameters. So far, the quadruped falls over, and there's a runtime error when hitting the space bar to reset the sim in graphics mode. So, it's a fixer-upper.

scripts/learning/src/BP_SC_SymmetricSpiral_Segments.json

@@ -0,0 +1,106 @@
+{
+    "filePrefix"   : "monteOut",
+    "fileSuffix"   : ".json",
+    "resourcePath" : "../../../resources/src/",
+    "lowerPath"    : "dhustigschultz/AppQuadControlSpiral_Segments/",
+    "executable" : "./../../../build/dev/dhustigschultz/BP_SC_SymmetricSpiral_Segments/AppQuadControlSegments",
+    "terrain" : [[[0, 0, 0, 0.0, 60000]]],
+    "learningParams": 
+    {
+        "trialLength" : 60000,
+        "numTrials" : 1,
+        "numGenerations" : 1,
+        "deterministic": 0,
+        "nodeVals" :
+        {
+            "learning" : true,
+            "startingControllers" : 0,
+            "monteCarlo" : true,
+            "numberOfStates" : 0,
+            "numberOfOutputs" : 5,
+            "numberOfInstances" : 1,
+            "populationSize" : 1,
+            "useAverage" : true,
+            "numberToMutate" : 2,
+            "numberOfChildren" : 1,
+            "mutationChance" : 0.5,
+            "mutationDev" : 0.03,
+            "paramMax" : 1.0,
+            "paramMin": 0.0,
+            "childMutationChance" : 0.9
+        },
+        "edgeVals" :
+        {
+            "learning" : true,
+            "startingControllers" : 0,
+            "monteCarlo" : true,
+            "numberOfStates" : 0,
+            "numberOfOutputs" : 2,
+            "numberOfInstances" : 392,
+            "populationSize" : 1,
+            "useAverage" : true,
+            "numberToMutate" : 2,
+            "numberOfChildren" : 1,
+            "mutationChance" : 0.5,
+            "mutationDev" : 0.03,
+            "paramMax" : 1.0,
+            "paramMin": 0.0,
+            "childMutationChance" : 0.9
+        },
+        "hipEdgeVals" :
+        {
+            "learning" : true,
+            "startingControllers" : 0,
+            "monteCarlo" : true,
+            "numberOfStates" : 0,
+            "numberOfOutputs" : 2,
+            "numberOfInstances" : 610,
+            "populationSize" : 1,
+            "useAverage" : true,
+            "numberToMutate" : 2,
+            "numberOfChildren" : 1,
+            "mutationChance" : 0.5,
+            "mutationDev" : 0.03,
+            "paramMax" : 1.0,
+            "paramMin": 0.0,
+            "childMutationChance" : 0.9
+        },
+        "legEdgeVals" :
+        {
+            "learning" : true,
+            "startingControllers" : 0,
+            "monteCarlo" : true,
+            "numberOfStates" : 0,
+            "numberOfOutputs" : 2,
+            "numberOfInstances" : 610,
+            "populationSize" : 1,
+            "useAverage" : true,
+            "numberToMutate" : 2,
+            "numberOfChildren" : 1,
+            "mutationChance" : 0.5,
+            "mutationDev" : 0.03,
+            "paramMax" : 1.0,
+            "paramMin": 0.0,
+            "childMutationChance" : 0.9
+        },
+        "feedbackVals" :
+        {
+            "learning" : true,
+            "startingControllers" : 0,
+            "monteCarlo" : true,
+            "numberOfStates" : 2,
+            "numberOfOutputs" : 3,
+            "numberHidden" : 4,
+            "numberOfInstances" : 1,
+            "populationSize" : 1,
+            "useAverage" : true,
+            "numberToMutate" : 15,
+            "numberOfChildren" : 5,
+            "mutationChance" : 0.5,
+            "mutationDev" : 0.03,
+            "paramMax" : 1.0,
+            "paramMin": -1.0,
+            "childMutationChance" : 0.7
+        }
+    }
+}

src/dev/dhustigschultz/BP_SC_SymmetricSpiral_Segments/AppQuadControlSegments.cpp

@@ -84,8 +84,8 @@ bool AppQuadControlSegments::setup()
     // Fifth create the controllers, attach to model
     if (add_controller)
     {
-        const int segmentSpan = 3; //Not sure what this will be for mine!
-        const int numMuscles = 16; //This may be ok, but confirm. 
+        const int segmentSpan = 3; 
+        const int numMuscles = 16; 
         const int numParams = 2;
         const int segNumber = 0; // For learning results
         const double controlTime = .01;
@@ -114,6 +114,10 @@ bool AppQuadControlSegments::setup()
 	const double maxH = 30.0;
 	const double minH = 1.0;
 
+	// New params for number of muscles in hips/legs:
+	const int numHipMuscles = 20;
+	const int numLegMuscles = 20;
+
         JSONSegmentsFeedbackControl::Config control_config(segmentSpan, 
                                                     numMuscles,
                                                     numMuscles,
@@ -138,7 +142,11 @@ bool AppQuadControlSegments::setup()
                                                     pfMin,
                                                     pfMax,
 						    maxH,
-						    minH);
+						    minH,
+						    numHipMuscles,
+						    numHipMuscles,
+						    numLegMuscles,
+						    numLegMuscles);
         /// @todo fix memory leak that occurs here
        JSONSegmentsFeedbackControl* const myControl =
         new JSONSegmentsFeedbackControl(control_config, suffix, lowerPath);