00001 /*!@file Beobot/BeobotMemory.H sensory/motor memory for the Beobots */ 00002 00003 // //////////////////////////////////////////////////////////////////// // 00004 // The iLab Neuromorphic Vision C++ Toolkit - Copyright (C) 2001 by the // 00005 // University of Southern California (USC) and the iLab at USC. // 00006 // See http://iLab.usc.edu for information about this project. // 00007 // //////////////////////////////////////////////////////////////////// // 00008 // Major portions of the iLab Neuromorphic Vision Toolkit are protected // 00009 // under the U.S. patent ``Computation of Intrinsic Perceptual Saliency // 00010 // in Visual Environments, and Applications'' by Christof Koch and // 00011 // Laurent Itti, California Institute of Technology, 2001 (patent // 00012 // pending; application number 09/912,225 filed July 23, 2001; see // 00013 // http://pair.uspto.gov/cgi-bin/final/home.pl for current status). // 00014 // //////////////////////////////////////////////////////////////////// // 00015 // This file is part of the iLab Neuromorphic Vision C++ Toolkit. // 00016 // // 00017 // The iLab Neuromorphic Vision C++ Toolkit is free software; you can // 00018 // redistribute it and/or modify it under the terms of the GNU General // 00019 // Public License as published by the Free Software Foundation; either // 00020 // version 2 of the License, or (at your option) any later version. // 00021 // // 00022 // The iLab Neuromorphic Vision C++ Toolkit is distributed in the hope // 00023 // that it will be useful, but WITHOUT ANY WARRANTY; without even the // 00024 // implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR // 00025 // PURPOSE. See the GNU General Public License for more details. // 00026 // // 00027 // You should have received a copy of the GNU General Public License // 00028 // along with the iLab Neuromorphic Vision C++ Toolkit; if not, write // 00029 // to the Free Software Foundation, Inc., 59 Temple Place, Suite 330, // 00030 // Boston, MA 02111-1307 USA. // 00031 // //////////////////////////////////////////////////////////////////// // 00032 // 00033 // Primary maintainer for this file: Laurent Itti <itti@usc.edu> 00034 // $HeadURL: svn://isvn.usc.edu/software/invt/trunk/saliency/src/Beobot/BeobotMemory.H $ 00035 // $Id: BeobotMemory.H 4663 2005-06-23 17:47:28Z rjpeters $ 00036 // 00037 00038 #ifndef BEOBOTMEMORY_H_DEFINED 00039 #define BEOBOTMEMORY_H_DEFINED 00040 00041 #include "Util/Types.H" 00042 00043 #include "Beobot/BeobotAction.H" 00044 #include "Beobot/BeobotSensation.H" 00045 00046 enum MemoryState { HAVE_SENSATION, HAVE_RECOM_ACTION, HAVE_ACTION }; 00047 00048 //! Memory of a Beobot 00049 /*! this is more or less a FIFO queue of actions & sensation 00050 actions are computed from the recommended actions 00051 proposed by Beobot::highLevel() 00052 */ 00053 class BeobotMemory { 00054 00055 public: 00056 static const int memoryLength = 6; 00057 00058 BeobotMemory(); 00059 00060 //! set present sensation 00061 void presentSensation( BeobotSensation &sensa ); 00062 00063 //! set present action 00064 void presentActionRecommendation( BeobotAction &act ); 00065 00066 //! get sensation at time t-howOld - false iif nothing to remember 00067 bool passedSensation( int howOld, BeobotSensation & sensa ); 00068 00069 //! generate action based on recommendation and previous actions 00070 void generatePresentAction( BeobotAction & currentAction ); 00071 00072 private: 00073 BeobotSensation sensation[memoryLength]; //!< recent sensations 00074 BeobotAction action[memoryLength]; //!< recent actions 00075 BeobotAction actionRecommendation[memoryLength]; 00076 //!< recent recommended actions 00077 00078 //! when initialized, the cells contain nothing... 00079 bool valid[memoryLength]; 00080 00081 //! index of current memory cell 00082 int idx; 00083 00084 //! keeps track of what we have put in the memory at 00085 /*! this point. This is necessary to prevent the 00086 memory from getting corrupted */ 00087 MemoryState state; 00088 }; 00089 00090 #endif 00091 00092 // ###################################################################### 00093 /* So things look consistent in everyone's emacs... */ 00094 /* Local Variables: */ 00095 /* indent-tabs-mode: nil */ 00096 /* End: */
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