/* * file : net.h * * [DEFINE DESCRIPTION = Top level R/S model definitions] * * Name Date Description * -------------- -------- ------------------------------------- * Andrew H. Fagg 09/05/94 Original * * * */ #define WEIGHT_FLAGS 0 #define F5_SIZE 750 #define F2_SIZE 4 #define F6_SIZE 4 #define ABSTRACT_SIZE F2_SIZE /* SI computations. */ #define INDIVIDUAL_FINGER_POS_SIZE 30 /*10 /*30 /* # units representing finger pos */ /* Total number of Position SI units. */ #define FINGER_POS_SIZE (INDIVIDUAL_FINGER_POS_SIZE * HAND_JOINTS) /* Total number of Force SI units */ #define TH_PAD_FORCES_SIZE (2*PAD_FORCES_SIZE) /* Total SI size. */ #define SI_SIZE (TH_PAD_FORCES_SIZE + FINGER_POS_SIZE) /* Total number of Mcx units. */ #define MCX_SIZE 500 #define SII_SIZE 40 #define AIP_SIZE 600 #define SMA_SIZE 1 #define SMA_TASK_SIZE 2 #define PIP_SIZE 183 //93 #define NUM_GATES 1 #define SII_NUM_GATES 1 #define TRIGGER_SIZE 5 #define TRIGGER_GO 0 #define TRIGGER_GO2 1 #define TRIGGER_GO_CONTEXT 2 #define TRIGGER_IS 3 #define TRIGGER_F6 4 #define BG_PHASE_SIZE 10 #define BG_GRASP_SIZE 5 #define BG_F5_RECURRENT_SIZE 1 #define BG_AIP_RECURRENT_SIZE 1 /********************************************************************/ /* PPcx shape descriptors. */ #define PPCX_CYLINDER 0 #define PPCX_CUBE 1 #define PPCX_PLATE 2 #define PPCX_CONE 3 /********************************************************************/ #define REVERSE_INHIBITION (free3_parm.elem()) #define P5_INTRA_CLUSTER_INHIBITION -1.0 #define F5_AIP_CONNECT_GAIN (free_parm.elem()) #define F5_P2_RECURRENT_SUPPORT (free2_parm.elem()) #define F5_P3_RECURRENT_SUPPORT (free2_parm.elem()) #define SMALL_VALUE 0.00001 #define STRSIZE 100 #define F5_PHASES 5 #define F5_PHASE_SET 0 #define F5_PHASE_EXTENSION 1 #define F5_PHASE_FLEXION 2 #define F5_PHASE_HOLD 3 #define F5_PHASE_RELEASE 4 #define F5_PHASE_DONE 5 /*******************************************************************/ #define NUM_REGIONS 10 #define PET_AIP 0 #define PET_F5 1 #define PET_BG_PHASE 2 #define PET_BG_GRASP 3 #define PET_BG_F5_RECURRENT 4 #define PET_BG_AIP_RECURRENT 5 #define PET_Mcx 6 #define PET_SI 7 #define PET_SII 8 #define PET_F2 9 /*******************************************************************/ #define NUM_GRASPS 4 #define GRASP_PRECISION 0 #define GRASP_FINGER 1 #define GRASP_PALM 2 #define GRASP_SIDE 3 /*******************************************************************/ #define NUM_EVENTS 14 #define EVENT_VISION 0 #define EVENT_CONTEXT 1 #define EVENT_GO 2 #define EVENT_MOVEMENT_INIT 3 #define EVENT_PEAK_APERTURE 4 #define EVENT_CONTACT 5 #define EVENT_HOLD 6 #define EVENT_GO_2 7 #define EVENT_RELEASE 8 #define EVENT_SHUTDOWN 9 #define EVENT_ABSTRACT 10 #define EVENT_46_ENGAGE 11 #define EVENT_46_DISENGAGE 12 #define EVENT_F6 13