source: cpp/tests/genomanipulation-default.goal @ 1305

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  ##    Welcome to Genotype Manipulation Demo!    ##
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Found converter accepting f1: "Recursive encoding"
Found 6 converter(s) producing f0

Source genotype: 'X[|G:1.23]'
                  ( format 1 )
Converted to f0:
p:
p:1.0
j:0, 1, dx=1.0, 0.0, 0.0
n:p=1
n:j=0, d="|:p=0.25,r=1"
n:j=0, d=G
c:0, 2, 1.23
c:1, 0

Model contains: 2 part(s)
                1 joint(s)
                3 neuron(s)

Investigating details...
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  ##    P A R T    O B J E C T                   ##
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            (part # 1)
Here is the full listing of properties as they are printed in f0
 (please compare with f0 genotype).
Some properties have special meaning (eg. geometry and connections groups)
and should be handled with care, because they influence other elements of the model.

 [this data is provided by Part::properties() ]
 #        id                      type  name        group (21 properties)
 0.        x = 1.0                  f   position.x  Geometry  
 1.        y = 0.0                  f   position.y  Geometry  
 2.        z = 0.0                  f   position.z  Geometry  
 3.       sh = 0                    d 0 3 0 shape       Geometry  
 4.        s = 1.0                  f 0.1 10.0 1.0 size        Geometry  
 5.       sx = 1.0                  f 0.05 5.0 1.0 scale.x     Geometry  
 6.       sy = 1.0                  f 0.05 5.0 1.0 scale.y     Geometry  
 7.       sz = 1.0                  f 0.05 5.0 1.0 scale.z     Geometry  
 8.        h = 0.0                  f 0 1 0 hollow      Other properties
 9.       dn = 1.0                  f 0.2 5.0 1.0 density     Other properties
10.       fr = 0.4                  f 0.0 4.0 0.4 friction    Other properties
11.      ing = 0.25                 f 0.0 1.0 0.25 ingestion   Other properties
12.       as = 0.25                 f 0.0 1.0 0.25 assimilation  Other properties
13.       rx = 0.0                  f   rot.x       Geometry  
14.       ry = 0.0                  f   rot.y       Geometry  
15.       rz = 0.0                  f   rot.z       Geometry  
16.        i =                      s   info        Other properties
17.   Vstyle = part                 s 0 -1 part Visual style  Visual    
18.       vr = 0.5                  f 0.0 1.0 0.5 red component  Visual    
19.       vg = 0.5                  f 0.0 1.0 0.5 green component  Visual    
20.       vb = 0.5                  f 0.0 1.0 0.5 blue component  Visual    

However, there is a subset of properties which may be modified more freely.
Properties on this list are related only to this part and can be changed
without much consideration. They are guaranteed to be always valid; any inconsistencies
will be silently repaired.

 [this data is provided by Part::extraProperties() ]
 #        id                      type  name        group (8 properties)
 0.        h = 0.0                  f 0 1 0 hollow      Extra properties
 1.       dn = 1.0                  f 0.2 5.0 1.0 density     Extra properties
 2.       fr = 0.4                  f 0.0 4.0 0.4 friction    Extra properties
 3.      ing = 0.25                 f 0.0 1.0 0.25 ingestion   Extra properties
 4.       as = 0.25                 f 0.0 1.0 0.25 assimilation  Extra properties
 5.       vr = 0.5                  f 0.0 1.0 0.5 red component  Extra properties
 6.       vg = 0.5                  f 0.0 1.0 0.5 green component  Extra properties
 7.       vb = 0.5                  f 0.0 1.0 0.5 blue component  Extra properties

This set of properties can vary from release to release,
but can be safely accessed by using extraProperties() call.
This method accesses the full set of properies (even those
which appear in future releases).
Now we will try to change some of properties:

      Change property #4 to random value from range [0..1]
      Current value of 'as' (assimilation) is '0.25'
      Setting new value... [ using ParamInterface::set() ]
      The value is now '0.715189'

Let's see f0... (check out part #1 !)

p:
p:1.0, as=0.715189
j:0, 1, dx=1.0, 0.0, 0.0
n:p=1
n:j=0, d="|:p=0.25,r=1"
n:j=0, d=G
c:0, 2, 1.23
c:1, 0

    #############################################
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  ##    J O I N T    O B J E C T                 ##
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            (joint # 0)
Similarly as with Part, the full list of properties comes first:

 #        id                      type  name        group (27 properties)
 0.       p1 = 0                    d -1 999999 -1 part1 ref#  Connections
 1.       p2 = 1                    d -1 999999 -1 part2 ref#  Connections
 2.       rx = 0.0                  f   rotation.x  Geometry  
 3.       ry = 0.0                  f   rotation.y  Geometry  
 4.       rz = 0.0                  f   rotation.z  Geometry  
 5.       dx = 1.0                  f -2 2 0 delta.x     Geometry  
 6.       dy = 0.0                  f -2 2 0 delta.y     Geometry  
 7.       dz = 0.0                  f -2 2 0 delta.z     Geometry  
 8.       sh = 0                    d 0 3 0 shape       Geometry  
 9.       hx = 0.0                  f   hinge position.x  Geometry  
10.       hy = 0.0                  f   hinge position.y  Geometry  
11.       hz = 0.0                  f   hinge position.z  Geometry  
12.      hrx = 0.0                  f   hinge rotation.x  Geometry  
13.      hry = 0.0                  f   hinge rotation.y  Geometry  
14.      hrz = 0.0                  f   hinge rotation.z  Geometry  
15.      hxn = -1.5708              f -6.2832 0 -1.5708 hinge x negative limit  Geometry  
16.      hxp = 1.5708               f 0 6.2832 1.5708 hinge x positive limit  Geometry  
17.      hyn = -1.5708              f -6.2832 0 -1.5708 hinge y negative limit  Geometry  
18.      hyp = 1.5708               f 0 6.2832 1.5708 hinge y positive limit  Geometry  
19.     stif = 1.0                  f 0.01 1.0 1.0 stiffness   Other properties
20.  rotstif = 1.0                  f 0.0 1.0 1.0 rotation stiffness  Other properties
21.     stam = 0.25                 f 0.0 1.0 0.25 stamina     Other properties
22.        i =                      s   info        Other properties
23.   Vstyle = joint                s 0 -1 joint Visual style  Visual    
24.       vr = 0.5                  f 0.0 1.0 0.5 red component  Visual    
25.       vg = 0.5                  f 0.0 1.0 0.5 green component  Visual    
26.       vb = 0.5                  f 0.0 1.0 0.5 blue component  Visual    

Actually, there are two kinds of Joints: delta and absolute.
For this object, Joint::isDelta() returns 1, so this is the delta Joint.

Delta fields (dx,dy,dz) describe relative location of the second part.
This joint will change the second Part's positions to preserve delta distance.
Let's move the first Part (#0) along y axis (+0.1) and change delta.z (dz) by 0.1.
Position of the second Part referenced by this joint (part #1) is now changed:

p:y=0.1
p:1.0, 0.1, 0.1, as=0.715189
j:0, 1, dx=1.0, 0.0, 0.1
n:p=1
n:j=0, d="|:p=0.25,r=1"
n:j=0, d=G
c:0, 2, 1.23
c:1, 0

If no delta fields are defined, they will be computed automatically.
You can always delete existing delta values by using Joint::resetDelta().
Now we will change the second Part's z position by -0.2 and call resetDelta()...
As you can see, Joint's delta fields have altered:

p:y=0.1
p:1.0, 0.1, -0.1, as=0.715189
j:0, 1, dx=1.0, 0.0, -0.1
n:p=1
n:j=0, d="|:p=0.25,r=1"
n:j=0, d=G
c:0, 2, 1.23
c:1, 0

How would this joint look like with delta option disabled?
[ by calling Joint::useDelta(0) ]
f0 is now:

p:y=0.1
p:1.0, 0.1, -0.1, as=0.715189
j:0, 1
n:p=1
n:j=0, d="|:p=0.25,r=1"
n:j=0, d=G
c:0, 2, 1.23
c:1, 0

...so this is an absolute joint.

Absolute Joints adapt to its Parts' positions.
We can move a Part, and it does not influence the second part, nor the Joint.
Let's move the first Part along y axis by -0.1...
The Part's position is changed, but everything else stays intact:

p:
p:1.0, 0.1, -0.1, as=0.715189
j:0, 1
n:p=1
n:j=0, d="|:p=0.25,r=1"
n:j=0, d=G
c:0, 2, 1.23
c:1, 0

Part references and delta fields are the 'core' properties of the Joint.
The other properties are available from Joint::extraProperties()
and at the moment are defined as follows:

 #        id                      type  name        group (5 properties)
 0.     stif = 1.0                  f 0.01 1.0 1.0 stiffness   Extra properties
 1.  rotstif = 1.0                  f 0.0 1.0 1.0 rotation stiffness  Extra properties
 2.       vr = 0.5                  f 0.0 1.0 0.5 red component  Extra properties
 3.       vg = 0.5                  f 0.0 1.0 0.5 green component  Extra properties
 4.       vb = 0.5                  f 0.0 1.0 0.5 blue component  Extra properties

They can be changed just like Part's extra properties:
      Change property #3 to random value from range [0..1]
      Current value of 'vg' (green component) is '0.5'
      Setting new value... [ using ParamInterface::set() ]
      The value is now '0.857946'
And after that we have this genotype:

p:
p:1.0, 0.1, -0.1, as=0.715189
j:0, 1, vg=0.857946
n:p=1
n:j=0, d="|:p=0.25,r=1"
n:j=0, d=G
c:0, 2, 1.23
c:1, 0

    #############################################
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  ##    N E U R O    O B J E C T                 ##
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            (neuro # 1)
Basic features of Neuro object are similar to those of Part and Joint.
We can request a property list:

 #        id                      type  name        group (10 properties)
 0.        p = -1                   d -1 999999 -1 part ref#   Connections
 1.        j = 0                    d -1 999999 -1 joint ref#  Connections
 2.        d = |:p=0.25,r=1         s   details     Other     
 3.        i =                      s   info        Other     
 4.   Vstyle = neuro                s 0 -1 neuro Visual style  Visual    
 5. getInputCount = 1                    d   input count  Connections
 9. classObject = null                 oNeuroClass neuron class  Connections

...and extra properties (which are designed to be always valid and easy to change):

 #        id                      type  name        group (0 properties)

As usual, we will change something:
Each neuron can have any number of inputs = weighted connections
 with other neurons.
According to Neuro::getInputCount(), this one has 1 inputs.
Standard API is provided for accessing those inputs (getInput(int)),
adding inputs (addInput(Neuro*)) and removing them (removeInput(int)).


The most unusual thing is 'details' field (d).
It is something like separate object with its own set of properties.
Currently the value of 'd' is '|:p=0.25,r=1'.
'|' is the class name (Neuro::getClassName() == '|') and means 'Bend muscle'.
Neuro::getClass() gives you information about basic characteristic
of the class, that can be analyzed automatically.
For the current object we can learn that it supports 1 inputs (getPreferredInputs()) and doesn't provide useful output signal (getPreferredOutput()==0).
Instances of '|' can be used in models having shape types: 'ball-and-stick'.
Instances of '|' can be attached to Joints having any shapes.
The class defines its own properties:

 [ data provided by Neuro::classProperties() ]
 #        id                      type  name        group (2 properties)
 0.        p = 0.25                 f 0.0 1.0 0.25 power       Bend muscle
 1.        r = 1.0                  f 0.0 1.0 1.0 bending range  Bend muscle
and they can be changed:
      Change property #1 to random value from range [0..1]
      Current value of 'r' (bending range) is '1.0'
      Setting new value... [ using ParamInterface::set() ]
      The value is now '0.423655'
After that, 'details' contains the new object: '|:r=0.423655'.
The class of this object can be changed using Neuro::setClassName()
The following classes are available:
 [ data provided by Neuro::getClassInfo()->getProperties() ]

 #  class  description       properties
 0.     N  Neuron                 4
 1.    Nu  Unipolar neuron [EXPERIMENTAL!]   4
 2.     G  Gyroscope              0
 3. Gpart  Part Gyroscope         2
 4.     T  Touch                  3
 5.Tcontact  Touch contact          0
 6.Tproximity  Touch proximity        3
 7.     S  Smell                  0
 8.     *  Constant               0
 9.     |  Bend muscle            2
10.     @  Rotation muscle        1
11.     M  Muscle for solids      2
12.     D  Differentiate          0
13. Fuzzy  Fuzzy system [EXPERIMENTAL!]   4
14.   Sti  Sticky [EXPERIMENTAL!]   0
15.   LMu  Linear muscle [EXPERIMENTAL!]   1
16. Water  Water detector         0
17.Energy  Energy level           0
18.    Ch  Channelize             0
19. ChMux  Channel multiplexer    0
20. ChSel  Channel selector       1
21.   Rnd  Random noise           0
22.   Sin  Sinus generator        2

Let's change the Neuro's class to 'Sti'...
[WARN] Param.loadSingleLine: Unknown property 'Sti.r' (ignored)
Info for input #0 = ""
Info for input #0, field "abc" = ""
The final object description will be then: 'Sti'
And the full f0 genotype:

p:
p:1.0, 0.1, -0.1, as=0.715189
j:0, 1, vg=0.857946
n:p=1
n:j=0, d=Sti
n:j=0, d=G
c:0, 2, 1.23
c:1, 0, i="test=44,abc=yeah"


######### THE END ###########

Hints:
  1. You can redirect output: genomanipulation >filename.txt
  2. Each run can yield different results and new behaviors, but you
     need to uncomment rndRandomizeSeed() in genomanipulation.cpp.
  3. This application will use custom genotype passed as
     a commandline parameter: genomanipulation "/*9*/FULU"