[ODE] Re: FMax and Vel doesnt wrok for me! Y?

[Neelam C]

Hi all,

Finally my Doggy seems to do right kind of movement with his legs. I have
checked all calculations (most of all!) and I think I am ready for the "learning
process". 

I have one problem though, Doggy falls either on front or back wile simulation,
I mean either his front body or rear body touches ground but he continously
moves his legs as if he is trying to walk in air! 

MY QS: 
It is in my ODE code that Doggy falls? like not setting proper values. Do I need
to check values like FMax, Vel, masses etc? so that Doggy doesnt fall? 

Since I am no expert in ODE I am confused. As such in learning process I give
lowest fitness value if Doggy falls. 

Please  guide me. 

Tyler, you probably have an answer to my question (I have seen "Verve" and its
cool)

I have uploaded couple of files at:
http://groups.yahoo.com/group/take_care_dearones/files/Thesis/

1. doggy.h (class doggy)
2. main_prg.cpp

There are two more files:
1. variables.h
2. reinforcement.h
As the name suggest they contain variables info and the reinforcement algorithm.


Doggy is going to learn (inspired by Nate and Peter):

    ellipseLength
    frontEllipseHeight
    rearEllipseHeight
    totalCycleTime
    timeOnGround   // fraction 0 <= x <=1
    yOffsetFrontLegs
    yOffsetRearLegs
    frontShoulderHeight
    rearShoulderHeight

Regards.


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________________________
Neelam C

http://www.geocities.com/tina_vipul/homepage.html


		
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