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testsensor.c
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testsensor.c
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#include <stdio.h>
#include <stdlib.h>
#include <math.h>
#include "node.h"
#include "graph.h"
#include "logic.h"
int MakeGaussian(double *array, double scale, double stddev, double mean, int offset, int size)
{
int counter;
for(counter=0; counter<size; counter++)
{
array[counter] = (1/(stddev*sqrt(2*M_PI)))*exp(-pow(((double)(counter-offset)*scale/(double)size)-mean,2)/pow(2*stddev,2));
}
return counter;
}
unsigned int ConvertArray(fix *output, double *input, unsigned int size)
{
unsigned int counter;
//normalizeArray(output, size);
for(counter=0; counter<size; counter++)
output[counter] = DOUBLE_TO_FIX(input[counter]);
return (unsigned int)size;
}
#define blength 16
int main(int argc, char **argv)
{
char bdot[32768]; unsigned int size;
fix fixarray[blength];
fix fixarray_left[blength];
fix fixarray_right[blength];
unsigned int nn[6];
double sensor_width = 30.0;
double left_sensor[] = {0.8, 0.2};
double middle_sensor[] = {0.8, 0.2}; //{0.0, 1.35};
double right_sensor[] = {0.1, 0.9};
double fused_sensor[blength] = {0.0};
double left_motor[] = {0.6, 0.4};
double right_motor[] = {0.6, 0.4};
double motor_bias[] = {0.5, 0.5};
double bias_array[blength] = {0.9, 0.9, 0.9, 0.9, 0.9, 0.8, 0.7, 0.6, 0.4, 0.4, 0.4, 0.4, 0.4, 0.4, 0.4, 0.4};
printf("Byte Sizes: short=%ld int=%ld long=%ld fix=%ld fixrad=%ld BERR=%d\n",
sizeof(short), sizeof(int), sizeof(long), sizeof(fix), sizeof(fixrad), BERR);
MakeGaussian(fused_sensor, 5.0, 1.0, 0.0, blength/2, blength);
size = ConvertArray(fixarray, left_sensor, sizeof(left_sensor)/sizeof(double));
nn[0] = addBNode("LeftSensor", fixarray, size);
size = ConvertArray(fixarray, middle_sensor, sizeof(middle_sensor)/sizeof(double));
nn[1] = addBNode("MiddleSensor", fixarray, size);
size = ConvertArray(fixarray, right_sensor, sizeof(right_sensor)/sizeof(double));
nn[2] = addBNode("RightSensor", fixarray, size);
size = ConvertArray(fixarray, fused_sensor, sizeof(fused_sensor)/sizeof(double));
nn[3] = addBNode("FusedSensor", fixarray, size);
printArray(fixarray, sensor_width, size/2, size, "data/gaussian.csv");
size = ConvertArray(fixarray, left_motor, sizeof(left_motor)/sizeof(double));
nn[4] = addBNode("LeftMotor", fixarray, size);
size = ConvertArray(fixarray, right_motor, sizeof(right_motor)/sizeof(double));
nn[5] = addBNode("RightMotor", fixarray, size);
addBParent(nn[3], nn[0]);
addBParent(nn[3], nn[1]);
addBParent(nn[3], nn[2]);
addBParent(nn[4], nn[3]);
addBParent(nn[5], nn[3]);
MakeGaussian(fused_sensor, sensor_width, 0.0, 0.0, blength/2, blength);
ConvertArray(fixarray, fused_sensor, sizeof(fused_sensor)/sizeof(double));
setBNodeProbVectorCoords(nn[3], fixarray, 0, 0, 0);
MakeGaussian(fused_sensor, sensor_width, 3.0, -5.0, blength/2, blength);
ConvertArray(fixarray, fused_sensor, sizeof(fused_sensor)/sizeof(double));
setBNodeProbVectorCoords(nn[3], fixarray, 1, 0, 0);
MakeGaussian(fused_sensor, sensor_width, 3.0, -10.0, blength/2, blength);
ConvertArray(fixarray, fused_sensor, sizeof(fused_sensor)/sizeof(double));
setBNodeProbVectorCoords(nn[3], fixarray, 1, 1, 0);
MakeGaussian(fused_sensor, sensor_width, 3.0, 0.0, blength/2, blength);
ConvertArray(fixarray, fused_sensor, sizeof(fused_sensor)/sizeof(double));
setBNodeProbVectorCoords(nn[3], fixarray, 0, 1, 0);
MakeGaussian(fused_sensor, sensor_width, 3.0, 5.0, blength/2, blength);
ConvertArray(fixarray, fused_sensor, sizeof(fused_sensor)/sizeof(double));
setBNodeProbVectorCoords(nn[3], fixarray, 0, 1, 1);
MakeGaussian(fused_sensor, sensor_width, 3.0, 10.0, blength/2, blength);
ConvertArray(fixarray, fused_sensor, sizeof(fused_sensor)/sizeof(double));
setBNodeProbVectorCoords(nn[3], fixarray, 0, 0, 1);
MakeGaussian(fused_sensor, sensor_width, 0.0, 0.0, blength/2, blength);
ConvertArray(fixarray, fused_sensor, sizeof(fused_sensor)/sizeof(double));
setBNodeProbVectorCoords(nn[3], fixarray, 1, 0, 1);
MakeGaussian(fused_sensor, sensor_width, 3.0, 0.0, blength/2, blength);
ConvertArray(fixarray, fused_sensor, sizeof(fused_sensor)/sizeof(double));
setBNodeProbVectorCoords(nn[3], fixarray, 1, 1, 1);
for(size = 0; size < blength; size++)
{
motor_bias[0] = bias_array[size]; motor_bias[1] = 1.0-motor_bias[0];
ConvertArray(fixarray, motor_bias, sizeof(motor_bias)/sizeof(double));
setBNodeProbVectorCoords(nn[4], fixarray, size);
setBNodeProbVectorCoords(nn[5], fixarray, blength-size-1);
}
inferBNode(nn[3]);
inferBNode(nn[4]);
inferBNode(nn[5]);
size = getBNodeInfVector(nn[3], fixarray);
printArray(fixarray, sensor_width, size/2, size, "data/inferred.csv");
size = getBNodeProbVectorCoords(nn[3], fixarray, 0, 0, 0);
printArray(fixarray, sensor_width, size/2, size, "data/none.csv");
size = getBNodeProbVectorCoords(nn[3], fixarray, 1, 0, 0);
printArray(fixarray, sensor_width, size/2, size, "data/left.csv");
size = getBNodeProbVectorCoords(nn[3], fixarray, 1, 1, 0);
printArray(fixarray, sensor_width, size/2, size, "data/leftmid.csv");
size = getBNodeProbVectorCoords(nn[3], fixarray, 0, 1, 0);
printArray(fixarray, sensor_width, size/2, size, "data/mid.csv");
size = getBNodeProbVectorCoords(nn[3], fixarray, 0, 1, 1);
printArray(fixarray, sensor_width, size/2, size, "data/rightmid.csv");
size = getBNodeProbVectorCoords(nn[3], fixarray, 0, 0, 1);
printArray(fixarray, sensor_width, size/2, size, "data/right.csv");
size = getBNodeProbVectorCoords(nn[3], fixarray, 1, 0, 1);
printArray(fixarray, sensor_width, size/2, size, "data/split.csv");
size = getBNodeProbVectorCoords(nn[3], fixarray, 1, 1, 1);
printArray(fixarray, sensor_width, size/2, size, "data/all.csv");
size = getBNodeInfVector(nn[4], fixarray);
normalizeArray(fixarray, 2);
printValue(fixarray[0], sensor_width, size/2, blength, "data/left_inferred_forward.csv");
printValue(fixarray[1], sensor_width, size/2, blength, "data/left_inferred_reverse.csv");
size = getBNodeInfVector(nn[5], fixarray);
normalizeArray(fixarray, 2);
printValue(fixarray[0], sensor_width, size/2, blength, "data/right_inferred_forward.csv");
printValue(fixarray[1], sensor_width, size/2, blength, "data/right_inferred_reverse.csv");
for(size = 0; size < blength; size++)
{
fixarray_left[size] = getBNodeProbElementCoords(nn[4], 0, size);
fixarray_right[size] = getBNodeProbElementCoords(nn[5], 0, size);
}
printArray(fixarray_left, sensor_width, size/2, blength, "data/left_motor_forward.csv");
printArray(fixarray_right, sensor_width, size/2, blength, "data/right_motor_forward.csv");
for(size = 0; size < blength; size++)
{
fixarray_left[size] = getBNodeProbElementCoords(nn[4], 1, size);
fixarray_right[size] = getBNodeProbElementCoords(nn[5], 1, size);
}
printArray(fixarray_left, sensor_width, size/2, blength, "data/left_motor_reverse.csv");
printArray(fixarray_right, sensor_width, size/2, blength, "data/right_motor_reverse.csv");
printBNetwork();
generateDotGraph(bdot, blength);
ExportDotGraph(bdot, "graph.dot");
DisplayDotGraph(bdot);
freeBNetwork();
return 0;
}