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net.h




/*
 * 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


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