Fixes in Denormalizer.

TorcsEMAMGenerator/src/main/models/dp/Mastercomponent.emadl

@@ -3,21 +3,22 @@ import dp.subcomponents.*;
 
 component Mastercomponent {
    ports
-        in   Q(0:255)^{3, 210, 280}   imageIn,
+        in   Z(0:255)^{3, 210, 280}   imageIn,
         in   Q(0 m/s:0.1 m/s:100 m/s) speedIn,
         out  Q(-1:1)^{3}           commandsOut;
 
    instance Dpnet dpnet;
    instance DriverController driverController;
-   instance Unnormalizer unnorm;
-   instance KFMastercomponent kfm;
+   instance Denormalizer denorm;
+   //instance KFMastercomponent kfm;
    instance SteeringBuffer steeringBuffer;
 
    connect imageIn -> dpnet.data;
-   connect dpnet.predictions -> unnorm.normalizedPredictions;
+   connect dpnet.predictions -> denorm.normalizedPredictions;
 
-   connect unnorm.affordance -> kfm.affordanceIn;
-   connect kfm.affordanceSmoothed -> driverController.affordanceIn;
+   //connect denorm.affordance -> kfm.affordanceIn;
+   //connect kfm.affordanceSmoothed -> driverController.affordanceIn;
+   connect denorm.affordance -> driverController.affordanceIn;
 
    connect steeringBuffer.outputBuffer -> driverController.steeringRecordIn;
    connect speedIn -> driverController.speedIn;

TorcsEMAMGenerator/src/main/models/dp/subcomponents/Denormalizer.emadl

+package dp.subcomponents;
+
+import changeRange;
+
+component Denormalizer {
+    ports in Q^{14} normalizedPredictions,
+          out Affordance affordance;
+
+    implementation Math {
+
+       function changeRange(oldMin, oldMax, newMin, newMax, oldValue){
+               (((oldValue - oldMin) * (newMax - newMin)) / (oldMax - oldMin)) + newMin
+       }
+
+        Q oldMin = 0.1;
+        Q oldMax = 0.9;
+
+        affordance.angle = changeRange(oldMin, oldMax, -0.5, 0.5, normalizedPredictions(0));
+        affordance.toMarkingL = changeRange(oldMin, oldMax, -7, -2.5, normalizedPredictions(1));
+        affordance.toMarkingM = changeRange(oldMin, oldMax, -2, 3.5, normalizedPredictions(2));
+        affordance.toMarkingR = changeRange(oldMin, oldMax, 2.5, 7, normalizedPredictions(3));
+        affordance.distL = changeRange(oldMin, oldMax, 0, 75, normalizedPredictions(4));
+        affordance.distR = changeRange(oldMin, oldMax, 0, 75, normalizedPredictions(5));
+        affordance.toMarkingLL = changeRange(oldMin, oldMax, -9.5, -4, normalizedPredictions(6));
+        affordance.toMarkingML = changeRange(oldMin, oldMax, -5.5, -0.5, normalizedPredictions(7));
+        affordance.toMarkingMR = changeRange(oldMin, oldMax, 0.5, 5.5, normalizedPredictions(8));
+        affordance.toMarkingRR = changeRange(oldMin, oldMax, 4, 9.5, normalizedPredictions(9));
+        affordance.distLL = changeRange(oldMin, oldMax, 0, 75, normalizedPredictions(10));
+        affordance.distMM = changeRange(oldMin, oldMax, 0, 75, normalizedPredictions(11));
+        affordance.distRR = changeRange(oldMin, oldMax, 0, 75, normalizedPredictions(12));
+        affordance.fast = changeRange(oldMin, oldMax, 0, 1, normalizedPredictions(13));
+    }
+}

TorcsEMAMGenerator/src/main/models/dp/subcomponents/Dpnet.emadl

@@ -2,7 +2,7 @@
 package dp.subcomponents;
 
 component Dpnet{
-    ports in Q(0:255)^{3, 210, 280} data,
+    ports in Z(0:255)^{3, 210, 280} data,
          out Q(-oo:oo)^{14} predictions;
 
     implementation CNN {

TorcsEMAMGenerator/src/main/models/dp/subcomponents/Unnormalizer.emadl

-package dp.subcomponents;
-
-component Unnormalizer {
-    ports in Q^{14} normalizedPredictions,
-          out Affordance affordance;
-
-    implementation Math {
-        Q oldMin = 0.1;
-        Q oldMax = 0.9;
-        Q oldRange = oldMax - oldMin;
-
-        Q newMin = -0.5;
-        Q newMax = 0.5;
-        Q newRange = newMax - newMin;
-        affordance.angle = (((normalizedPredictions(0) - oldMin) * newRange) / oldRange) + newMin;
-
-        newMin = -7;
-        newMax = -2.5;
-        newRange = newMax - newMin;
-        affordance.toMarkingL = (((normalizedPredictions(1) - oldMin) * newRange) / oldRange) + newMin;
-
-        newMin = -2;
-        newMax = 3.5;
-        newRange = newMax - newMin;
-        affordance.toMarkingM = (((normalizedPredictions(2) - oldMin) * newRange) / oldRange) + newMin;
-
-        newMin = 2.5;
-        newMax = 7;
-        newRange = newMax - newMin;
-        affordance.toMarkingR = (((normalizedPredictions(3) - oldMin) * newRange) / oldRange) + newMin;
-
-        newMin = 0;
-        newMax = 75;
-        newRange = newMax - newMin;
-        affordance.distL = (((normalizedPredictions(4) - oldMin) * newRange) / oldRange) + newMin;
-        affordance.distR = (((normalizedPredictions(5) - oldMin) * newRange) / oldRange) + newMin;
-
-        newMin = -9.5;
-        newMax = -4;
-        newRange = newMax - newMin;
-        affordance.toMarkingLL = (((normalizedPredictions(6) - oldMin) * newRange) / oldRange) + newMin;
-
-        newMin = -5.5;
-        newMax = -0.5;
-        newRange = newMax - newMin;
-        affordance.toMarkingML = (((normalizedPredictions(7) - oldMin) * newRange) / oldRange) + newMin;
-
-        newMin = 0.5;
-        newMax = 5.5;
-        newRange = newMax - newMin;
-        affordance.toMarkingMR = (((normalizedPredictions(8) - oldMin) * newRange) / oldRange) + newMin;
-
-        newMin = 4;
-        newMax = 9.5;
-        newRange = newMax - newMin;
-        affordance.toMarkingRR = (((normalizedPredictions(9) - oldMin) * newRange) / oldRange) + newMin;
-
-        newMin = 0;
-        newMax = 75;
-        newRange = newMax - newMin;
-        affordance.distLL = (((normalizedPredictions(10) - oldMin) * newRange) / oldRange) + newMin;
-        affordance.distMM = (((normalizedPredictions(11) - oldMin) * newRange) / oldRange) + newMin;
-        affordance.distRR = (((normalizedPredictions(12) - oldMin) * newRange) / oldRange) + newMin;
-
-        newMin = 0;
-        newMax = 1;
-        newRange = newMax - newMin;
-        affordance.fast = (((normalizedPredictions(13) - oldMin) * newRange) / oldRange) + newMin;
-    }
-}