void ModularRobotEvalOp::genotypeToRobot ( FloatingPoint::FloatingPoint * genotype ) [private]

Extract the oscillator parameters encoded in the genotype and set them in the oscillators.

{
    std::vector<float> amplitudes;
    std::vector<float> offsets;
    std::vector<float> phases;
    float frequency;

    for(int i = 0; i < (int) n_modules; i++)
    {
        float amplitude = genotype->realValue[i*3] * max_amp_0_5 + max_amp_0_5;
        float offset = genotype->realValue[i*3+1] * max_offset;
        float phase = genotype->realValue[i*3+2] * max_pha_0_5 + max_pha_0_5;

        amplitudes.push_back(amplitude);
        offsets.push_back(offset);
        phases.push_back(phase);
    }

    frequency = genotype->realValue[n_modules*3] * max_freq_0_5 + max_freq_0_5;

    //-- Set the parameters to the oscillators:
    int period = (int) ( 1000.0 / frequency);

    for (int i = 0; i < (int) oscillators.size(); i++)
        oscillators[i]->setParameters( amplitudes[i], offsets[i], phases[i], period);

}