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robotology / peripersonal-space

This repository deals with the implementation of peripersonal space representations on the iCub humanoid robot.
GNU General Public License v2.0
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Pps with modulations dev multi event #32

Closed matejhof closed 8 years ago

matejhof commented 8 years ago

This contains mainly:

  1. new definition of receptive fields of taxels (addressing #24), replacing spherical sector and cylindrical patch with a shifted spherical sector - that is not starting at the apex at the taxel, but with a radius currently set to 7 cm: https://github.com/robotology/peripersonal-space/blob/pps-with-modulations-devMultiEvent/lib/src/taxelPWE.cpp#L8 Receptive fields do not rise to infinity anymore.
  2. multiple events/stimuli can be handled at the same time for PPS activations. Maximum response is taken at every taxel. The representation is more efficient now - only events inside the RFs on inidividual taxels are stored in the corresponding representations. Learning was tested and works too, albeit that only for one stimulus.

fixes #27