domain_actuators behaviour (faber_neuroevolution v1.2.4)

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Domain Actuator Consumer behaviour.

Domains implement this behaviour to declare what actuators they accept and how to apply actuator outputs to the domain state.

Example Implementation

A domain bridge module implementing this behaviour:

-module(my_domain_bridge). -behaviour(domain_actuators).

actuator_spec() -> [#{name => turn, dimension => 1, range => {-1.0, 1.0}, level => l0, category => motor, description => "Rotation amount"}].

apply_actuators(Outputs, DomainState) -> Turn = maps:get(turn, Outputs, [0.0]), update_rotation(DomainState, hd(Turn)).

Summary

Types

actuator_definition/0
actuator_outputs/0

Callbacks

actuator_spec/0
apply_actuators/2

Types

actuator_definition/0

-type actuator_definition() ::
          #{name := atom(),
            dimension := pos_integer(),
            range := {Min :: float(), Max :: float()},
            level := l0 | l1 | l2,
            category := atom(),
            description := binary()}.

actuator_outputs/0

-type actuator_outputs() :: #{atom() => [float()]}.

Callbacks

actuator_spec/0

-callback actuator_spec() -> [actuator_definition()].

apply_actuators/2

-callback apply_actuators(actuator_outputs(), DomainState :: term()) -> NewDomainState :: term().