_brain_cpg_network_static

Module Contents

Classes

BrainCpgNetworkStatic

A CPG (central pattern generator) brain with CPGs and connections defined by the user.
class BrainCpgNetworkStatic(initial_state: numpy.typing.NDArray[numpy.float_], weight_matrix: numpy.typing.NDArray[numpy.float_], output_mapping: list[tuple[int, modular_robot.body.base.ActiveHinge]])

Bases: modular_robot.brain._brain.Brain

Inheritance diagram of modular_robot.brain.cpg._brain_cpg_network_static.BrainCpgNetworkStatic

A CPG (central pattern generator) brain with CPGs and connections defined by the user.

A state vector is integrated over time using a weight matrix which multiplication with the state vector sum defines the derivative of the state vector. I.e X’ = WX

The first num_output_neurons in the state vector are the outputs for the controller created by this brain.

classmethod uniform_from_params(params: numpy.typing.NDArray[numpy.float_], cpg_network_structure: modular_robot.brain.cpg._cpg_network_structure.CpgNetworkStructure, initial_state_uniform: float, output_mapping: list[tuple[int, modular_robot.body.base.ActiveHinge]]) → BrainCpgNetworkStatic

Create and initialize an instance of this brain from the provided parameters, assuming uniform initial state.

Parameters:

  • params – Parameters for the weight matrix to be created.

  • cpg_network_structure – The cpg network structure.

  • initial_state_uniform – Initial state to use for all neurons.

  • output_mapping – Marks neurons as controller outputs and map them to the correct active hinge.

Returns:

The created brain.

make_instance() → modular_robot.brain._brain_instance.BrainInstance

Create an instance of this brain.

Returns:

The created instance.