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autonomousdriving
torcs_dl
Commits
05c709ac
Commit
05c709ac
authored
Jul 26, 2018
by
Svetlana
Browse files
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Plain Diff
Fixes in Denormalizer.
parent
2c4d88aa
Changes
4
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Showing
4 changed files
with
41 additions
and
77 deletions
+41
-77
TorcsEMAMGenerator/src/main/models/dp/Mastercomponent.emadl
TorcsEMAMGenerator/src/main/models/dp/Mastercomponent.emadl
+7
-6
TorcsEMAMGenerator/src/main/models/dp/subcomponents/Denormalizer.emadl
...rator/src/main/models/dp/subcomponents/Denormalizer.emadl
+33
-0
TorcsEMAMGenerator/src/main/models/dp/subcomponents/Dpnet.emadl
...MAMGenerator/src/main/models/dp/subcomponents/Dpnet.emadl
+1
-1
TorcsEMAMGenerator/src/main/models/dp/subcomponents/Unnormalizer.emadl
...rator/src/main/models/dp/subcomponents/Unnormalizer.emadl
+0
-70
No files found.
TorcsEMAMGenerator/src/main/models/dp/Mastercomponent.emadl
View file @
05c709ac
...
...
@@ -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
un
norm
;
instance
KFMastercomponent
kfm
;
instance
Denormalizer
de
norm
;
//
instance
KFMastercomponent
kfm
;
instance
SteeringBuffer
steeringBuffer
;
connect
imageIn
->
dpnet
.
data
;
connect
dpnet
.
predictions
->
un
norm
.
normalizedPredictions
;
connect
dpnet
.
predictions
->
de
norm
.
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
0 → 100644
View file @
05c709ac
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
View file @
05c709ac
...
...
@@ -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
deleted
100644 → 0
View file @
2c4d88aa
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
;
}
}
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