[286] | 1 | // This file is a part of Framsticks SDK. http://www.framsticks.com/ |
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| 2 | // Copyright (C) 1999-2015 Maciej Komosinski and Szymon Ulatowski. |
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| 3 | // See LICENSE.txt for details. |
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[193] | 4 | |
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[196] | 5 | // Copyright (C) 1999,2000 Adam Rotaru-Varga (adam_rotaru@yahoo.com), GNU LGPL |
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| 6 | |
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[193] | 7 | #ifndef _F4_GENERAL_H_ |
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| 8 | #define _F4_GENERAL_H_ |
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| 9 | |
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[196] | 10 | #include <frams/util/3d.h> |
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| 11 | #include <frams/util/sstring.h> |
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| 12 | #include <frams/util/multirange.h> |
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[760] | 13 | #include <frams/genetics/geneprops.h> |
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[193] | 14 | |
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| 15 | #ifdef DMALLOC |
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| 16 | #include <dmalloc.h> |
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| 17 | #endif |
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| 18 | |
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[760] | 19 | /** |
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| 20 | * Performs single rotation angle decrementation on a given value. |
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| 21 | * @param v pointer to the decremented value |
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| 22 | */ |
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| 23 | void rolling_dec(double * v); |
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[193] | 24 | |
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[760] | 25 | /** |
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| 26 | * Performs single rotation angle incrementation on a given value. |
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| 27 | * @param v pointer to the incremented value |
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| 28 | */ |
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[193] | 29 | void rolling_inc(double * v); |
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| 30 | |
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| 31 | class f4_node; // later |
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| 32 | class f4_Cell; // later |
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| 33 | class f4_Cells; // later |
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| 34 | |
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| 35 | |
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[760] | 36 | /** @name Types of f4_Cell's */ |
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| 37 | //@{ |
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| 38 | #define T_UNDIFF4 40 ///<undifferentiated cell |
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| 39 | #define T_STICK4 41 ///<differentiated to stick, cannot divide |
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| 40 | #define T_NEURON4 42 ///<differentiated to neuron, can divide |
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| 41 | //@} |
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[193] | 42 | |
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[760] | 43 | /** |
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| 44 | * Scans f4 genotype string for a stopping character and returns the position of |
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| 45 | * this stopping character or 1 if the end of string was reached. This method is used |
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| 46 | * for closing braces, like ), >, ]. It runs recursively when opening braces |
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| 47 | * like (, <, # are found. |
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| 48 | * @param s string with the f4 genotype |
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| 49 | * @param slen length of a given string |
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| 50 | * @param stopchar character to be found |
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| 51 | * @return 1 if end of string was reached, or position of found character in sequence |
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| 52 | */ |
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[193] | 53 | int scanrec(const char * s, unsigned int slen, char stopchar); |
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| 54 | |
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| 55 | |
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| 56 | class f4_CellLink; |
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| 57 | |
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[760] | 58 | /** @name Constraints of f4 genotype structures */ |
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| 59 | //@{ |
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| 60 | #define MAXINPUTS 100 ///<maximum number of neuron inputs |
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| 61 | #define MAX4CELLS 100 ///<maximum number of f4 organism cells |
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| 62 | //@} |
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| 63 | |
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| 64 | /** |
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| 65 | * Abstract cell type - the representation of single component in the developmental |
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| 66 | * encoding. In the beginning, each f4_Cell is undifferentiated. During the process |
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| 67 | * of development it can divide or differentiate into a stick or a neuron. If it |
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| 68 | * differentiates to a neuron, then it preserves the ability to divide, but divided |
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| 69 | * cells will be the same type as the parent cell. If it is a stick, then it cannot |
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| 70 | * be divided anymore. |
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| 71 | * |
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| 72 | * From f4_Cell array the final Model of a creature is created. |
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| 73 | */ |
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[193] | 74 | class f4_Cell |
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| 75 | { |
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| 76 | public: |
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[760] | 77 | /** |
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| 78 | * Represents the repetition marker. It holds information about the pointer |
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| 79 | * to the repetition node and the count of repetitions. |
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| 80 | */ |
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[196] | 81 | class repeat_ptr |
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| 82 | { |
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| 83 | public: |
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| 84 | repeat_ptr() : node(NULL), count(-1) { }; |
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[760] | 85 | |
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| 86 | /** |
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| 87 | * A constructor that takes the pointer to the repetition node and the count of repetitions. |
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| 88 | * @param a pointer to f4_node for repetition character |
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| 89 | * @param b the number of repetitions |
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| 90 | */ |
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| 91 | repeat_ptr(f4_node *a, int b) : node(a), count(b) { }; |
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| 92 | |
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| 93 | inline void makeNull() { node = NULL; count = -1; }; |
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| 94 | |
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[196] | 95 | inline bool isNull() const { return ((node == NULL) || (count <= 0)); }; |
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[760] | 96 | |
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[196] | 97 | inline void dec() { count--; }; |
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[760] | 98 | f4_node *node; ///<pointer to the repetition code |
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| 99 | char count; ///<repetition counter |
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[196] | 100 | }; |
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[193] | 101 | |
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[760] | 102 | /** |
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| 103 | * Represents the stack of repeat_ptr objects. The objects are |
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| 104 | * pushed to the stack when '#' repetition symbol appears, and are popped when |
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| 105 | * the end of the current cell definition, i.e. the '>' character, appears. After the |
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| 106 | * '>' character, the cell is duplicated as many times as it is defined after the |
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| 107 | * repetition marker. |
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| 108 | */ |
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| 109 | class repeat_stack |
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[196] | 110 | { |
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| 111 | public: |
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[760] | 112 | repeat_stack() { top = 0; } |
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| 113 | |
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| 114 | inline void clear() { top = 0; } |
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| 115 | |
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| 116 | /** |
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| 117 | * Pushes repeat_ptr object onto the stack. If the stack size is exceeded, then no |
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| 118 | * information is provided. |
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| 119 | * @param rn repetition node info |
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| 120 | */ |
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| 121 | inline void push(repeat_ptr rn) { if (top >= stackSize) return; ptr[top] = rn; top++; } |
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| 122 | |
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| 123 | inline void pop() { if (top > 0) top--; } |
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| 124 | |
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| 125 | /** |
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| 126 | * Gets the current top element. |
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| 127 | * @return pointer to the element on top of the repeat_stack object |
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| 128 | */ |
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| 129 | inline repeat_ptr* first() { return &(ptr[top - (top > 0)]); }; |
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| 130 | static const int stackSize = 4; ///<max 4 nested levels |
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| 131 | repeat_ptr ptr[stackSize]; ///<array holding pointers to repeat_ptr |
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| 132 | short int top; ///<index of the top of the stack |
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[196] | 133 | }; |
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[193] | 134 | |
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[760] | 135 | /** |
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| 136 | * Creates a new f4_Cell object. |
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| 137 | * @param nname name of a cell, can be T_UNDIFF4, T_STICK4 or T_NEURON4 |
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| 138 | * @param ndad pointer to the parent of the created cell |
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| 139 | * @param nangle the amount of commas affecting branch angles |
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| 140 | * @param newP genotype properties of a given cell |
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| 141 | */ |
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[196] | 142 | f4_Cell(int nname, |
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[760] | 143 | f4_Cell * ndad, int nangle, GeneProps newP); |
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| 144 | /** |
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| 145 | * Creates a new f4_Cell object. |
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| 146 | * @param nO pointer to an organism containing the cell |
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| 147 | * @param nname name of the cell, can be T_UNDIFF4, T_STICK4 or T_NEURON4 |
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| 148 | * @param ngeno pointer to the root of the genotype tree |
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| 149 | * @param ngcur pointer to the f4_node representing the current cell in the genotype tree |
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| 150 | * @param ndad pointer to the parent of the created cell |
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| 151 | * @param nangle the number of commas affecting branch angles |
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| 152 | * @param newP genotype properties of a given cell |
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| 153 | */ |
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| 154 | f4_Cell(f4_Cells *nO, int nname, f4_node *ngeno, f4_node *ngcur, |
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| 155 | f4_Cell *ndad, int nangle, GeneProps newP); |
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| 156 | |
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[196] | 157 | ~f4_Cell(); |
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[193] | 158 | |
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[760] | 159 | /** |
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| 160 | * Performs one step of cell development. This method requires pointer to |
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| 161 | * f4_Cells object in org attribute. If the current node in genotype tree |
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| 162 | * represents branching, then the cell divides into two cells, unless the |
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| 163 | * cell was already differentiated into stick cell. Otherwise the current |
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| 164 | * differentiation or modification is performed on cell. If current node is |
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| 165 | * creating a connection between two neuron nodes, and the input node is not |
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| 166 | * yet developed, then the simulation of current cell halts and waits until |
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| 167 | * the input node will be developed. The onestep method is ran on each cell |
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| 168 | * at least once and if one cell requires another to develop, then onestep |
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| 169 | * should be deployed again on this cell. This method, unlike genotype tree |
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| 170 | * creation, checks semantics. This means that this function will fail if: |
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| 171 | * - the stick cell will have divide node, |
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| 172 | * - the undifferentiated cell will have '>' node (end of cell development), |
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| 173 | * - the stack of repetition marker '#' will be overflowed, |
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| 174 | * - the stick modifiers, like rotation, will be applied on neuron cell, |
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| 175 | * - the differentiated cell will be differentiated again, |
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| 176 | * - the neuron class inside cell connection definition is not a sensor, |
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| 177 | * - the connection between neurons could not be established, |
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| 178 | * - the neuron class is not valid. |
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| 179 | * |
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| 180 | * @return 0 if development was successful, 1 if there was an error in genotype tree |
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| 181 | */ |
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[196] | 182 | int onestep(); // execute one simulation step (till a division) |
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[193] | 183 | |
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[760] | 184 | /** |
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| 185 | * Add link between this neuron cell and a given neuron cell. If nfrom object |
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| 186 | * is not given, than neuron type in nt holds the sensor type. |
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| 187 | * @param nfrom input neuron cell, or NULL if not given |
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| 188 | * @param nw weight of connection |
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| 189 | * @param nt empty string or name of sensor class |
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| 190 | * @return 0 if link is established, -1 otherwise |
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| 191 | */ |
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| 192 | int addlink(f4_Cell * nfrom, double nw, string nt); |
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| 193 | |
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| 194 | /** |
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| 195 | * Adjusts properties of stick objects. |
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| 196 | */ |
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[196] | 197 | void adjustRec(); |
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[193] | 198 | |
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[760] | 199 | int name; ///<name of cell(number) |
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| 200 | int type; ///<type |
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| 201 | f4_Cell * dadlink; ///<pointer to cell parent |
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| 202 | f4_Cells * org; ///<uplink to organism |
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[193] | 203 | |
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[760] | 204 | f4_node * genot; ///<genotype tree |
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| 205 | f4_node * gcur; ///<current genotype execution pointer |
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| 206 | int active; ///<whether development is still active |
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| 207 | repeat_stack repeat; ///<stack holding repetition nodes and counters |
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| 208 | int recProcessedFlag; ///<used during recursive traverse |
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| 209 | MultiRange genoRange; ///<remember the genotype codes affecting this cell so far |
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[193] | 210 | |
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[760] | 211 | GeneProps P; ///<properties |
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| 212 | int anglepos; ///<number of position within dad's children (,) |
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| 213 | int childcount; ///<number of children |
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| 214 | int commacount; ///<number of postitions at lastend (>=childcount) |
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| 215 | double rolling; ///<rolling angle ('R') (around x) |
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| 216 | double xrot; ///<rotation angle around x |
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| 217 | double zrot; ///<horizontal rotation angle due to branching (around z) |
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[193] | 218 | |
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[760] | 219 | double mz; ///<freedom in z |
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| 220 | int p2_refno; ///<number of last end part object, used in f0 |
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| 221 | int joint_refno; ///<number of the joint object, used in f0 |
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| 222 | int neuro_refno; ///<number of the neuro object, used in f0 |
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| 223 | |
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| 224 | int ctrl; ///<neuron type |
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| 225 | double state; ///<state of neuron |
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| 226 | double inertia; ///<inertia of neuron |
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| 227 | double force; ///<force of neuron |
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| 228 | double sigmo; ///<sigmoid of neuron |
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| 229 | f4_CellLink* links[MAXINPUTS]; ///<array of neuron links |
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| 230 | int nolink; ///<number of links |
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| 231 | NeuroClass * neuclass = NULL; ///<pointer to neuron class |
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[193] | 232 | }; |
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| 233 | |
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[760] | 234 | /** |
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| 235 | * Class representing link between neuron cells. |
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| 236 | */ |
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[193] | 237 | class f4_CellLink |
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| 238 | { |
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| 239 | public: |
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[760] | 240 | /** |
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| 241 | * Constructor for f4_CellLink class. Parameter nfrom can represent input |
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| 242 | * neuron cell or be NULL, if connection has neuron cell definition inside. |
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| 243 | * The inside definition must be hold in nt parameter and a neuron class |
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| 244 | * must represent sensor. |
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| 245 | * @param nfrom pointer to input neuron cell or NULL |
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| 246 | * @param nw weight of connection |
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| 247 | * @param nt name of neuron class or empty string |
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| 248 | */ |
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| 249 | f4_CellLink(f4_Cell * nfrom, double nw, string nt); |
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| 250 | |
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| 251 | f4_Cell * from; ///<pointer to input neuron cell |
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| 252 | string t; ///<empty if from cell is given, NeuroClass name otherwise |
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| 253 | double w; ///<weight of connection |
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[193] | 254 | }; |
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| 255 | |
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| 256 | |
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| 257 | // a collection of cells, like Organism, for developmental encoding |
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[760] | 258 | /** |
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| 259 | * Class representing a collection of cells. It is equivalent of organism. |
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| 260 | */ |
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[193] | 261 | class f4_Cells |
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| 262 | { |
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[196] | 263 | public: |
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[760] | 264 | |
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| 265 | /** |
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| 266 | * Constructor taking genotype in a form of a tree. |
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| 267 | * @param genome genotype tree |
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| 268 | * @param nrepair 0 if nothing to repair |
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| 269 | */ |
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[196] | 270 | f4_Cells(f4_node * genome, int nrepair); |
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[760] | 271 | |
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| 272 | /** |
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| 273 | * Constructor taking genotype in a form of a string. |
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| 274 | * @param genome genotype string |
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| 275 | * @param nrepair 0 if nothing to repair |
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| 276 | */ |
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[196] | 277 | f4_Cells(SString &genome, int nrepair); |
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[760] | 278 | |
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| 279 | /** |
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| 280 | * Destructor removing cells from memory. |
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| 281 | */ |
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[196] | 282 | ~f4_Cells(); |
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[760] | 283 | |
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| 284 | /** |
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| 285 | * Adds new cell to organism. |
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| 286 | * @param newcell cell to be added |
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| 287 | */ |
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[196] | 288 | void addCell(f4_Cell * newcell); |
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[760] | 289 | |
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| 290 | /** |
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| 291 | * Creates approximate genotype in f1 encoding and stores it in a given |
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| 292 | * parameter. |
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| 293 | * @param out the string in which approximate f1 genotype will be stored |
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| 294 | */ |
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| 295 | void toF1Geno(SString &out); |
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| 296 | |
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| 297 | /** |
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| 298 | * Performs single step of organism development. It runs each active cell |
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| 299 | * in organism. |
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| 300 | * @return 0 if all cells are developed, or 1 otherwise |
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| 301 | */ |
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| 302 | int onestep(); |
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| 303 | |
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| 304 | /** |
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| 305 | * Performs full development of organism and returns error code if something |
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| 306 | * went wrong. |
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| 307 | * @return 0 if organism developed successfully, error code if something went wrong |
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| 308 | */ |
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| 309 | int simulate(); |
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| 310 | |
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| 311 | /** |
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| 312 | * Returns error code of last simulation. |
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| 313 | * @return error code |
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| 314 | */ |
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[196] | 315 | int geterror() { return error; }; |
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[760] | 316 | |
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| 317 | /** |
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| 318 | * Returns position of error in genotype. |
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| 319 | * @return position of error |
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| 320 | */ |
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[196] | 321 | int geterrorpos() { return errorpos; }; |
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[760] | 322 | |
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| 323 | /** |
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| 324 | * Sets error code GENOPER_OPFAIL for simulation on a given position. |
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| 325 | * @param nerrpos position of error |
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| 326 | */ |
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[196] | 327 | void setError(int nerrpos); |
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[760] | 328 | |
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| 329 | /** |
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| 330 | * Sets the element of genotype to be repaired by removal. |
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| 331 | * @param nerrpos position of error in genotype |
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| 332 | * @param rem the f4_node to be removed from genotype tree in order to repair |
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| 333 | */ |
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[196] | 334 | void setRepairRemove(int nerrpos, f4_node * rem); |
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[760] | 335 | |
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| 336 | /** |
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| 337 | * Sets repairing of genotype by inserting new node to current genotype. |
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| 338 | * @param nerrpos position of error in genotype |
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| 339 | * @param parent the parent of new element |
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| 340 | * @param insert the element to be inserted |
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| 341 | * @return 0 if repair can be performed, -1 otherwise (the repair flag wasn't set in constructor) |
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| 342 | */ |
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[196] | 343 | int setRepairInsert(int nerrpos, f4_node * parent, f4_node * insert); |
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[760] | 344 | |
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| 345 | /** |
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| 346 | * Repairs genotype according to setRepairRemove or setRepairInsert method. |
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| 347 | * @param geno pointer to genotype tree |
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| 348 | * @param whichchild 1 if first child, 2 otherwise |
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| 349 | */ |
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[196] | 350 | void repairGeno(f4_node * geno, int whichchild); |
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[193] | 351 | |
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[196] | 352 | // the cells |
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[760] | 353 | f4_Cell * C[MAX4CELLS]; ///<Array of all cells of organism |
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| 354 | int nc; ///<Number of cells in organism |
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[193] | 355 | |
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| 356 | private: |
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[196] | 357 | // for error reporting / genotype fixing |
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| 358 | int repair; |
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| 359 | int error; |
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| 360 | int errorpos; |
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| 361 | f4_node * repair_remove; |
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| 362 | f4_node * repair_parent; |
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| 363 | f4_node * repair_insert; |
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| 364 | void toF1GenoRec(int curc, SString &out); |
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| 365 | f4_Cell * tmpcel; // needed by toF1Geno |
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| 366 | f4_node * f4rootnode; // used by constructor |
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[193] | 367 | }; |
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| 368 | |
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| 369 | |
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| 370 | /** |
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| 371 | * Class to organize a f4 genotype in a tree structure. |
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| 372 | */ |
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| 373 | class f4_node |
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| 374 | { |
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| 375 | public: |
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[760] | 376 | string name; ///<one-letter 'name', multiple characters for classes |
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| 377 | f4_node *parent; ///<parent link, or NULL |
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| 378 | f4_node *child; ///<child, or NULL |
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| 379 | f4_node *child2; ///<second child, or NULL |
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| 380 | int pos; ///<original position in string |
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| 381 | int i1; ///<internal int parameter1 |
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| 382 | int l1; ///<internal long parameter1 |
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| 383 | double f1; ///<internal double parameter1 |
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| 384 | string s1; ///<internal string parameter1 |
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[193] | 385 | |
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[760] | 386 | /** |
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| 387 | * Default constructor. |
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| 388 | */ |
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[196] | 389 | f4_node(); |
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[760] | 390 | |
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| 391 | /** |
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| 392 | * Multiple-character name constructor. |
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| 393 | * @param nname string from genotype representing node |
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| 394 | * @param nparent pointer to parent of node |
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| 395 | * @param npos position of node substring in genotype string |
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| 396 | */ |
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| 397 | f4_node(string nname, f4_node * nparent, int npos); |
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| 398 | |
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| 399 | /** |
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| 400 | * One-character name constructor. |
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| 401 | * @param nname character from genotype representing node |
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| 402 | * @param nparent pointer to parent of node |
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| 403 | * @param npos position of node character in genotype string |
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| 404 | */ |
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[196] | 405 | f4_node(char nname, f4_node * nparent, int npos); |
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[760] | 406 | |
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| 407 | /** |
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| 408 | * Desctructor of object. |
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| 409 | */ |
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[196] | 410 | ~f4_node(); |
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[760] | 411 | |
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| 412 | /** |
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| 413 | * Method for adding child to a node. |
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| 414 | * @param nchi child to be added to node |
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| 415 | * @return 0 if child could be added, -1 otherwise |
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| 416 | */ |
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[196] | 417 | int addChild(f4_node * nchi); |
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[760] | 418 | |
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| 419 | /** |
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| 420 | * Method for removing child from node. |
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| 421 | * @param nchi child to be removed from node |
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| 422 | * @return 0 if child could be removed, -1 otherwise |
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| 423 | */ |
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[196] | 424 | int removeChild(f4_node * nchi); |
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[760] | 425 | |
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| 426 | /** |
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| 427 | * Returns number of children. |
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| 428 | * @return 0, 1 or 2 |
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| 429 | */ |
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| 430 | int childCount(); |
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| 431 | |
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| 432 | /** |
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| 433 | * Returns number of nodes coming from this node in a recursive way. |
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| 434 | * @return number of nodes from this node |
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| 435 | */ |
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| 436 | int count(); |
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| 437 | |
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| 438 | /** |
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| 439 | * Returns the nth subnode (0-) |
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| 440 | * @param n index of child to be found |
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| 441 | * @return pointer to nth subnode or NULL if not found |
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| 442 | */ |
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| 443 | f4_node * ordNode(int n); |
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| 444 | |
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| 445 | /** |
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| 446 | * Returns a random subnode. |
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| 447 | * @return random subnode |
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| 448 | */ |
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| 449 | f4_node * randomNode(); |
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| 450 | |
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| 451 | /** |
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| 452 | * Returns a random subnode with given size. |
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| 453 | * @param min minimum size |
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| 454 | * @param max maximum size |
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| 455 | * @return a random subnode with given size or NULL |
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| 456 | */ |
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| 457 | f4_node * randomNodeWithSize(int min, int max); |
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| 458 | |
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| 459 | /** |
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| 460 | * Prints recursively tree from a given node. |
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| 461 | * @param buf variable storing printing result |
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| 462 | */ |
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| 463 | void sprintAdj(char *& buf); |
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| 464 | |
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| 465 | /** |
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| 466 | * Recursively copies genotype tree from this node. |
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| 467 | * @return pointer to a tree copy |
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| 468 | */ |
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| 469 | f4_node * duplicate(); |
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| 470 | |
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| 471 | /** |
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| 472 | * Recursively releases memory from all node children. |
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| 473 | */ |
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| 474 | void destroy(); |
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[193] | 475 | private: |
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[196] | 476 | void sprint(SString & out); // print recursively |
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[193] | 477 | }; |
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| 478 | |
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| 479 | // convert f4 geno string to tree structure (internal) |
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[760] | 480 | |
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| 481 | /** |
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| 482 | * Main function to perform conversion of f4 geno to tree structure. Prepares |
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| 483 | * f4_node root of tree and runs f4_processrec function for it. |
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| 484 | * @param geno string representing f4 genotype |
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| 485 | * @return pointer to f4_node object representing f4 tree root |
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| 486 | */ |
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[193] | 487 | f4_node * f4_processtree(const char * geno); |
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[760] | 488 | |
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| 489 | /** |
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| 490 | * Scans genotype string from a given position. This recursive method creates |
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| 491 | * tree of f4_node objects. The method extract each potentially functional element |
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| 492 | * of genotype string to separate f4_nodes. When branching character '<' occurs, |
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| 493 | * then f4_processrec is ran for latest f4_node element. This method does not |
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| 494 | * analyse genotype semantically, it checks only if syntax is proper. The only |
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| 495 | * semantic aspect is neuron class name extraction, in which the GenoOperators |
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| 496 | * class is used to parse possible neuron class in genotype. |
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| 497 | * @param genot the string holding all genotype |
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| 498 | * @param pos0 the current position of processing in string |
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| 499 | * @param current parent of analysed branch of genotype |
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| 500 | * @return 0 if processing was successful or position of error in genotype |
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| 501 | */ |
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[193] | 502 | int f4_processrec(const char * genot, unsigned pos0, f4_node * parent); |
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| 503 | |
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[760] | 504 | /** |
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| 505 | * Function parses notation of neuron connection - it takes beginning of connection |
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| 506 | * definition, extracts relative position of input neurons and weight of connection. |
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| 507 | * After successful parsing it returns pointer to first character after connection |
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| 508 | * definition, or NULL if connection definition was not valid - lack of [, :, ] |
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| 509 | * characters or wrong value of relfrom or weight. |
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| 510 | * @param fragm the beginning of connection definition, it should be '[' character |
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| 511 | * @param relfrom the reference to int variable, in which relative position of input neuron will be stored |
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| 512 | * @param weight the reference to double variable, in which weight of connection will be stored |
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| 513 | * @return the pointer to first character in string after connection definition |
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| 514 | */ |
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| 515 | const char * parseConnection(const char * fragm, int& relfrom, double &weight); |
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[193] | 516 | |
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[760] | 517 | /** |
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| 518 | * Function parses notation of neuron connection with neuron definition - it |
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| 519 | * takes beginning of connection definition, extracts the name of neuron class |
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| 520 | * that will be the input for current neuron and weight of connection. |
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| 521 | * After successful parsing it returns pointer to first character after connection |
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| 522 | * definition, or NULL if connection definition was not valid - lack of [, :, ] |
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| 523 | * characters, wrong value of weight or invalid neuron class name. |
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| 524 | * @param fragm the beginning of connection definition, it should be '[' character |
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| 525 | * @param neutype the reference to string representing input neuron class name. The name of class is validated with GenoOperators::parseNeuroClass |
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| 526 | * @param weight the reference to double variable, in which weight of connection will be stored |
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| 527 | * @return the pointer to first character in string after connection definition |
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| 528 | */ |
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| 529 | const char * parseConnectionWithNeuron(const char * fragm, string& neutype, double &weight); |
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| 530 | |
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[193] | 531 | #endif |
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