1 | // This file is a part of Framsticks SDK. http://www.framsticks.com/ |
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2 | // Copyright (C) 1999-2015 Maciej Komosinski and Szymon Ulatowski. |
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3 | // See LICENSE.txt for details. |
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4 | |
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5 | // Copyright (C) 1999,2000 Adam Rotaru-Varga (adam_rotaru@yahoo.com), GNU LGPL |
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6 | |
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7 | #ifndef _F4_GENERAL_H_ |
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8 | #define _F4_GENERAL_H_ |
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9 | |
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10 | #include <frams/util/3d.h> |
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11 | #include <frams/util/sstring.h> |
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12 | #include <frams/util/multirange.h> |
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13 | #include <frams/genetics/geneprops.h> |
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14 | |
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15 | #ifdef DMALLOC |
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16 | #include <dmalloc.h> |
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17 | #endif |
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18 | |
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19 | /** |
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20 | * Performs single rotation angle decrementation on a given value. |
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21 | * @param v pointer to the decremented value |
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22 | */ |
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23 | void rolling_dec(double * v); |
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24 | |
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25 | /** |
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26 | * Performs single rotation angle incrementation on a given value. |
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27 | * @param v pointer to the incremented value |
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28 | */ |
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29 | void rolling_inc(double * v); |
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30 | |
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31 | class f4_node; // later |
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32 | class f4_Cell; // later |
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33 | class f4_Cells; // later |
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34 | |
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35 | |
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36 | /** @name Types of f4_Cell's */ |
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37 | //@{ |
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38 | #define T_UNDIFF4 40 ///<undifferentiated cell |
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39 | #define T_STICK4 41 ///<differentiated to stick, cannot divide |
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40 | #define T_NEURON4 42 ///<differentiated to neuron, can divide |
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41 | //@} |
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42 | |
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43 | /** |
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44 | * Scans f4 genotype string for a stopping character and returns the position of |
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45 | * this stopping character or 1 if the end of string was reached. This method is used |
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46 | * for closing braces, like ), >, ]. It runs recursively when opening braces |
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47 | * like (, <, # are found. |
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48 | * @param s string with the f4 genotype |
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49 | * @param slen length of a given string |
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50 | * @param stopchar character to be found |
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51 | * @return 1 if end of string was reached, or position of found character in sequence |
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52 | */ |
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53 | int scanrec(const char * s, unsigned int slen, char stopchar); |
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54 | |
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55 | |
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56 | class f4_CellLink; |
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57 | |
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58 | /** @name Constraints of f4 genotype structures */ |
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59 | //@{ |
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60 | #define MAXINPUTS 100 ///<maximum number of neuron inputs |
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61 | #define MAX4CELLS 100 ///<maximum number of f4 organism cells |
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62 | //@} |
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63 | |
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64 | /** |
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65 | * Abstract cell type - the representation of single component in the developmental |
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66 | * encoding. In the beginning, each f4_Cell is undifferentiated. During the process |
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67 | * of development it can divide or differentiate into a stick or a neuron. If it |
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68 | * differentiates to a neuron, then it preserves the ability to divide, but divided |
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69 | * cells will be the same type as the parent cell. If it is a stick, then it cannot |
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70 | * be divided anymore. |
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71 | * |
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72 | * From f4_Cell array the final Model of a creature is created. |
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73 | */ |
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74 | class f4_Cell |
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75 | { |
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76 | public: |
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77 | /** |
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78 | * Represents the repetition marker. It holds information about the pointer |
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79 | * to the repetition node and the count of repetitions. |
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80 | */ |
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81 | class repeat_ptr |
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82 | { |
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83 | public: |
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84 | repeat_ptr() : node(NULL), count(-1) { }; |
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85 | |
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86 | /** |
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87 | * A constructor that takes the pointer to the repetition node and the count of repetitions. |
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88 | * @param a pointer to f4_node for repetition character |
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89 | * @param b the number of repetitions |
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90 | */ |
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91 | repeat_ptr(f4_node *a, int b) : node(a), count(b) { }; |
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92 | |
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93 | inline void makeNull() { node = NULL; count = -1; }; |
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94 | |
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95 | inline bool isNull() const { return ((node == NULL) || (count <= 0)); }; |
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96 | |
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97 | inline void dec() { count--; }; |
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98 | f4_node *node; ///<pointer to the repetition code |
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99 | char count; ///<repetition counter |
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100 | }; |
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101 | |
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102 | /** |
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103 | * Represents the stack of repeat_ptr objects. The objects are |
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104 | * pushed to the stack when '#' repetition symbol appears, and are popped when |
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105 | * the end of the current cell definition, i.e. the '>' character, appears. After the |
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106 | * '>' character, the cell is duplicated as many times as it is defined after the |
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107 | * repetition marker. |
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108 | */ |
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109 | class repeat_stack |
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110 | { |
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111 | public: |
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112 | repeat_stack() { top = 0; } |
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113 | |
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114 | inline void clear() { top = 0; } |
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115 | |
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116 | /** |
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117 | * Pushes repeat_ptr object onto the stack. If the stack size is exceeded, then no |
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118 | * information is provided. |
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119 | * @param rn repetition node info |
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120 | */ |
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121 | inline void push(repeat_ptr rn) { if (top >= stackSize) return; ptr[top] = rn; top++; } |
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122 | |
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123 | inline void pop() { if (top > 0) top--; } |
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124 | |
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125 | /** |
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126 | * Gets the current top element. |
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127 | * @return pointer to the element on top of the repeat_stack object |
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128 | */ |
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129 | inline repeat_ptr* first() { return &(ptr[top - (top > 0)]); }; |
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130 | static const int stackSize = 4; ///<max 4 nested levels |
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131 | repeat_ptr ptr[stackSize]; ///<array holding pointers to repeat_ptr |
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132 | short int top; ///<index of the top of the stack |
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133 | }; |
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134 | |
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135 | /** |
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136 | * Creates a new f4_Cell object. |
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137 | * @param nname name of a cell, can be T_UNDIFF4, T_STICK4 or T_NEURON4 |
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138 | * @param ndad pointer to the parent of the created cell |
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139 | * @param nangle the amount of commas affecting branch angles |
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140 | * @param newP genotype properties of a given cell |
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141 | */ |
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142 | f4_Cell(int nname, |
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143 | f4_Cell * ndad, int nangle, GeneProps newP); |
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144 | /** |
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145 | * Creates a new f4_Cell object. |
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146 | * @param nO pointer to an organism containing the cell |
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147 | * @param nname name of the cell, can be T_UNDIFF4, T_STICK4 or T_NEURON4 |
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148 | * @param ngeno pointer to the root of the genotype tree |
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149 | * @param ngcur pointer to the f4_node representing the current cell in the genotype tree |
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150 | * @param ndad pointer to the parent of the created cell |
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151 | * @param nangle the number of commas affecting branch angles |
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152 | * @param newP genotype properties of a given cell |
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153 | */ |
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154 | f4_Cell(f4_Cells *nO, int nname, f4_node *ngeno, f4_node *ngcur, |
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155 | f4_Cell *ndad, int nangle, GeneProps newP); |
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156 | |
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157 | ~f4_Cell(); |
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158 | |
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159 | /** |
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160 | * Performs one step of cell development. This method requires pointer to |
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161 | * f4_Cells object in org attribute. If the current node in genotype tree |
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162 | * represents branching, then the cell divides into two cells, unless the |
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163 | * cell was already differentiated into stick cell. Otherwise the current |
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164 | * differentiation or modification is performed on cell. If current node is |
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165 | * creating a connection between two neuron nodes, and the input node is not |
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166 | * yet developed, then the simulation of current cell halts and waits until |
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167 | * the input node will be developed. The onestep method is ran on each cell |
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168 | * at least once and if one cell requires another to develop, then onestep |
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169 | * should be deployed again on this cell. This method, unlike genotype tree |
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170 | * creation, checks semantics. This means that this function will fail if: |
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171 | * - the stick cell will have divide node, |
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172 | * - the undifferentiated cell will have '>' node (end of cell development), |
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173 | * - the stack of repetition marker '#' will be overflowed, |
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174 | * - the stick modifiers, like rotation, will be applied on neuron cell, |
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175 | * - the differentiated cell will be differentiated again, |
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176 | * - the neuron class inside cell connection definition is not a sensor, |
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177 | * - the connection between neurons could not be established, |
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178 | * - the neuron class is not valid. |
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179 | * |
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180 | * @return 0 if development was successful, 1 if there was an error in genotype tree |
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181 | */ |
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182 | int onestep(); // execute one simulation step (till a division) |
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183 | |
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184 | /** |
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185 | * Add link between this neuron cell and a given neuron cell. If nfrom object |
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186 | * is not given, than neuron type in nt holds the sensor type. |
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187 | * @param nfrom input neuron cell, or NULL if not given |
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188 | * @param nw weight of connection |
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189 | * @param nt empty string or name of sensor class |
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190 | * @return 0 if link is established, -1 otherwise |
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191 | */ |
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192 | int addlink(f4_Cell * nfrom, double nw, string nt); |
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193 | |
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194 | /** |
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195 | * Adjusts properties of stick objects. |
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196 | */ |
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197 | void adjustRec(); |
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198 | |
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199 | int name; ///<name of cell(number) |
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200 | int type; ///<type |
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201 | f4_Cell * dadlink; ///<pointer to cell parent |
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202 | f4_Cells * org; ///<uplink to organism |
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203 | |
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204 | f4_node * genot; ///<genotype tree |
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205 | f4_node * gcur; ///<current genotype execution pointer |
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206 | int active; ///<whether development is still active |
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207 | repeat_stack repeat; ///<stack holding repetition nodes and counters |
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208 | int recProcessedFlag; ///<used during recursive traverse |
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209 | MultiRange genoRange; ///<remember the genotype codes affecting this cell so far |
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210 | |
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211 | GeneProps P; ///<properties |
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212 | int anglepos; ///<number of position within dad's children (,) |
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213 | int childcount; ///<number of children |
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214 | int commacount; ///<number of postitions at lastend (>=childcount) |
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215 | double rolling; ///<rolling angle ('R') (around x) |
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216 | double xrot; ///<rotation angle around x |
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217 | double zrot; ///<horizontal rotation angle due to branching (around z) |
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218 | |
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219 | double mz; ///<freedom in z |
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220 | int p2_refno; ///<number of last end part object, used in f0 |
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221 | int joint_refno; ///<number of the joint object, used in f0 |
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222 | int neuro_refno; ///<number of the neuro object, used in f0 |
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223 | |
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224 | int ctrl; ///<neuron type |
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225 | double state; ///<state of neuron |
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226 | double inertia; ///<inertia of neuron |
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227 | double force; ///<force of neuron |
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228 | double sigmo; ///<sigmoid of neuron |
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229 | f4_CellLink* links[MAXINPUTS]; ///<array of neuron links |
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230 | int nolink; ///<number of links |
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231 | NeuroClass * neuclass = NULL; ///<pointer to neuron class |
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232 | }; |
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233 | |
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234 | /** |
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235 | * Class representing link between neuron cells. |
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236 | */ |
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237 | class f4_CellLink |
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238 | { |
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239 | public: |
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240 | /** |
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241 | * Constructor for f4_CellLink class. Parameter nfrom can represent input |
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242 | * neuron cell or be NULL, if connection has neuron cell definition inside. |
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243 | * The inside definition must be hold in nt parameter and a neuron class |
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244 | * must represent sensor. |
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245 | * @param nfrom pointer to input neuron cell or NULL |
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246 | * @param nw weight of connection |
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247 | * @param nt name of neuron class or empty string |
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248 | */ |
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249 | f4_CellLink(f4_Cell * nfrom, double nw, string nt); |
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250 | |
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251 | f4_Cell * from; ///<pointer to input neuron cell |
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252 | string t; ///<empty if from cell is given, NeuroClass name otherwise |
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253 | double w; ///<weight of connection |
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254 | }; |
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255 | |
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256 | |
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257 | // a collection of cells, like Organism, for developmental encoding |
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258 | /** |
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259 | * Class representing a collection of cells. It is equivalent of organism. |
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260 | */ |
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261 | class f4_Cells |
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262 | { |
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263 | public: |
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264 | |
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265 | /** |
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266 | * Constructor taking genotype in a form of a tree. |
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267 | * @param genome genotype tree |
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268 | * @param nrepair 0 if nothing to repair |
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269 | */ |
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270 | f4_Cells(f4_node * genome, int nrepair); |
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271 | |
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272 | /** |
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273 | * Constructor taking genotype in a form of a string. |
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274 | * @param genome genotype string |
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275 | * @param nrepair 0 if nothing to repair |
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276 | */ |
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277 | f4_Cells(SString &genome, int nrepair); |
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278 | |
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279 | /** |
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280 | * Destructor removing cells from memory. |
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281 | */ |
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282 | ~f4_Cells(); |
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283 | |
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284 | /** |
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285 | * Adds new cell to organism. |
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286 | * @param newcell cell to be added |
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287 | */ |
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288 | void addCell(f4_Cell * newcell); |
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289 | |
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290 | /** |
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291 | * Creates approximate genotype in f1 encoding and stores it in a given |
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292 | * parameter. |
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293 | * @param out the string in which approximate f1 genotype will be stored |
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294 | */ |
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295 | void toF1Geno(SString &out); |
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296 | |
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297 | /** |
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298 | * Performs single step of organism development. It runs each active cell |
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299 | * in organism. |
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300 | * @return 0 if all cells are developed, or 1 otherwise |
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301 | */ |
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302 | int onestep(); |
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303 | |
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304 | /** |
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305 | * Performs full development of organism and returns error code if something |
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306 | * went wrong. |
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307 | * @return 0 if organism developed successfully, error code if something went wrong |
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308 | */ |
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309 | int simulate(); |
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310 | |
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311 | /** |
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312 | * Returns error code of last simulation. |
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313 | * @return error code |
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314 | */ |
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315 | int geterror() { return error; }; |
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316 | |
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317 | /** |
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318 | * Returns position of error in genotype. |
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319 | * @return position of error |
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320 | */ |
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321 | int geterrorpos() { return errorpos; }; |
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322 | |
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323 | /** |
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324 | * Sets error code GENOPER_OPFAIL for simulation on a given position. |
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325 | * @param nerrpos position of error |
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326 | */ |
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327 | void setError(int nerrpos); |
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328 | |
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329 | /** |
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330 | * Sets the element of genotype to be repaired by removal. |
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331 | * @param nerrpos position of error in genotype |
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332 | * @param rem the f4_node to be removed from genotype tree in order to repair |
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333 | */ |
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334 | void setRepairRemove(int nerrpos, f4_node * rem); |
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335 | |
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336 | /** |
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337 | * Sets repairing of genotype by inserting new node to current genotype. |
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338 | * @param nerrpos position of error in genotype |
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339 | * @param parent the parent of new element |
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340 | * @param insert the element to be inserted |
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341 | * @return 0 if repair can be performed, -1 otherwise (the repair flag wasn't set in constructor) |
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342 | */ |
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343 | int setRepairInsert(int nerrpos, f4_node * parent, f4_node * insert); |
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344 | |
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345 | /** |
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346 | * Repairs genotype according to setRepairRemove or setRepairInsert method. |
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347 | * @param geno pointer to genotype tree |
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348 | * @param whichchild 1 if first child, 2 otherwise |
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349 | */ |
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350 | void repairGeno(f4_node * geno, int whichchild); |
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351 | |
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352 | // the cells |
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353 | f4_Cell * C[MAX4CELLS]; ///<Array of all cells of organism |
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354 | int nc; ///<Number of cells in organism |
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355 | |
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356 | private: |
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357 | // for error reporting / genotype fixing |
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358 | int repair; |
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359 | int error; |
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360 | int errorpos; |
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361 | f4_node * repair_remove; |
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362 | f4_node * repair_parent; |
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363 | f4_node * repair_insert; |
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364 | void toF1GenoRec(int curc, SString &out); |
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365 | f4_Cell * tmpcel; // needed by toF1Geno |
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366 | f4_node * f4rootnode; // used by constructor |
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367 | }; |
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368 | |
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369 | |
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370 | /** |
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371 | * Class to organize a f4 genotype in a tree structure. |
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372 | */ |
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373 | class f4_node |
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374 | { |
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375 | public: |
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376 | string name; ///<one-letter 'name', multiple characters for classes |
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377 | f4_node *parent; ///<parent link, or NULL |
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378 | f4_node *child; ///<child, or NULL |
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379 | f4_node *child2; ///<second child, or NULL |
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380 | int pos; ///<original position in string |
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381 | int i1; ///<internal int parameter1 |
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382 | int l1; ///<internal long parameter1 |
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383 | double f1; ///<internal double parameter1 |
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384 | string s1; ///<internal string parameter1 |
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385 | |
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386 | /** |
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387 | * Default constructor. |
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388 | */ |
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389 | f4_node(); |
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390 | |
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391 | /** |
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392 | * Multiple-character name constructor. |
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393 | * @param nname string from genotype representing node |
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394 | * @param nparent pointer to parent of node |
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395 | * @param npos position of node substring in genotype string |
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396 | */ |
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397 | f4_node(string nname, f4_node * nparent, int npos); |
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398 | |
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399 | /** |
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400 | * One-character name constructor. |
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401 | * @param nname character from genotype representing node |
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402 | * @param nparent pointer to parent of node |
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403 | * @param npos position of node character in genotype string |
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404 | */ |
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405 | f4_node(char nname, f4_node * nparent, int npos); |
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406 | |
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407 | /** |
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408 | * Desctructor of object. |
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409 | */ |
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410 | ~f4_node(); |
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411 | |
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412 | /** |
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413 | * Method for adding child to a node. |
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414 | * @param nchi child to be added to node |
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415 | * @return 0 if child could be added, -1 otherwise |
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416 | */ |
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417 | int addChild(f4_node * nchi); |
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418 | |
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419 | /** |
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420 | * Method for removing child from node. |
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421 | * @param nchi child to be removed from node |
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422 | * @return 0 if child could be removed, -1 otherwise |
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423 | */ |
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424 | int removeChild(f4_node * nchi); |
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425 | |
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426 | /** |
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427 | * Returns number of children. |
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428 | * @return 0, 1 or 2 |
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429 | */ |
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430 | int childCount(); |
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431 | |
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432 | /** |
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433 | * Returns number of nodes coming from this node in a recursive way. |
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434 | * @return number of nodes from this node |
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435 | */ |
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436 | int count(); |
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437 | |
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438 | /** |
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439 | * Returns the nth subnode (0-) |
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440 | * @param n index of child to be found |
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441 | * @return pointer to nth subnode or NULL if not found |
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442 | */ |
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443 | f4_node * ordNode(int n); |
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444 | |
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445 | /** |
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446 | * Returns a random subnode. |
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447 | * @return random subnode |
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448 | */ |
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449 | f4_node * randomNode(); |
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450 | |
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451 | /** |
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452 | * Returns a random subnode with given size. |
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453 | * @param min minimum size |
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454 | * @param max maximum size |
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455 | * @return a random subnode with given size or NULL |
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456 | */ |
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457 | f4_node * randomNodeWithSize(int min, int max); |
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458 | |
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459 | /** |
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460 | * Prints recursively tree from a given node. |
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461 | * @param buf variable storing printing result |
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462 | */ |
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463 | void sprintAdj(char *& buf); |
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464 | |
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465 | /** |
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466 | * Recursively copies genotype tree from this node. |
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467 | * @return pointer to a tree copy |
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468 | */ |
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469 | f4_node * duplicate(); |
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470 | |
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471 | /** |
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472 | * Recursively releases memory from all node children. |
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473 | */ |
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474 | void destroy(); |
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475 | private: |
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476 | void sprint(SString & out); // print recursively |
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477 | }; |
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478 | |
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479 | // convert f4 geno string to tree structure (internal) |
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480 | |
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481 | /** |
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482 | * Main function to perform conversion of f4 geno to tree structure. Prepares |
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483 | * f4_node root of tree and runs f4_processrec function for it. |
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484 | * @param geno string representing f4 genotype |
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485 | * @return pointer to f4_node object representing f4 tree root |
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486 | */ |
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487 | f4_node * f4_processtree(const char * geno); |
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488 | |
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489 | /** |
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490 | * Scans genotype string from a given position. This recursive method creates |
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491 | * tree of f4_node objects. The method extract each potentially functional element |
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492 | * of genotype string to separate f4_nodes. When branching character '<' occurs, |
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493 | * then f4_processrec is ran for latest f4_node element. This method does not |
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494 | * analyse genotype semantically, it checks only if syntax is proper. The only |
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495 | * semantic aspect is neuron class name extraction, in which the GenoOperators |
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496 | * class is used to parse possible neuron class in genotype. |
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497 | * @param genot the string holding all genotype |
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498 | * @param pos0 the current position of processing in string |
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499 | * @param current parent of analysed branch of genotype |
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500 | * @return 0 if processing was successful or position of error in genotype |
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501 | */ |
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502 | int f4_processrec(const char * genot, unsigned pos0, f4_node * parent); |
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503 | |
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504 | /** |
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505 | * Function parses notation of neuron connection - it takes beginning of connection |
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506 | * definition, extracts relative position of input neurons and weight of connection. |
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507 | * After successful parsing it returns pointer to first character after connection |
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508 | * definition, or NULL if connection definition was not valid - lack of [, :, ] |
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509 | * characters or wrong value of relfrom or weight. |
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510 | * @param fragm the beginning of connection definition, it should be '[' character |
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511 | * @param relfrom the reference to int variable, in which relative position of input neuron will be stored |
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512 | * @param weight the reference to double variable, in which weight of connection will be stored |
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513 | * @return the pointer to first character in string after connection definition |
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514 | */ |
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515 | const char * parseConnection(const char * fragm, int& relfrom, double &weight); |
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516 | |
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517 | /** |
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518 | * Function parses notation of neuron connection with neuron definition - it |
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519 | * takes beginning of connection definition, extracts the name of neuron class |
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520 | * that will be the input for current neuron and weight of connection. |
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521 | * After successful parsing it returns pointer to first character after connection |
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522 | * definition, or NULL if connection definition was not valid - lack of [, :, ] |
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523 | * characters, wrong value of weight or invalid neuron class name. |
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524 | * @param fragm the beginning of connection definition, it should be '[' character |
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525 | * @param neutype the reference to string representing input neuron class name. The name of class is validated with GenoOperators::parseNeuroClass |
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526 | * @param weight the reference to double variable, in which weight of connection will be stored |
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527 | * @return the pointer to first character in string after connection definition |
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528 | */ |
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529 | const char * parseConnectionWithNeuron(const char * fragm, string& neutype, double &weight); |
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530 | |
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531 | #endif |
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