// based on Rich and Satinder's  papers// Code written by Sridhar Mahadevan// Department of Computer Science and Engineering// University of South Florida// 4202 East Fowler Avenue, ENG 118// Tampa, Florida 33620-5399// mahadeva@csee.usf.edu// http://www.csee.usf.edu/~mahadeva/mypage.html#include "cmac.h"// create the tiles for the CMACcmac::cmac(double pos, double vel) : mcar(pos, vel){  // for each grid, compute an offset from center	   cout << "setting up CMAC tiles..." << endl; 	   pos_interval = (POS_RANGE[1] - POS_RANGE[0])/POS_BINS;   vel_interval = (VEL_RANGE[1] - VEL_RANGE[0])/VEL_BINS; 	  cout << "Position interval is " << pos_interval << endl;   cout << "Velocity interval is " << vel_interval << endl; 	  for (int tile = 0; tile<TILES; tile++)    {      // generate random offset as a fraction of an interval 			//      offset[0][tile]  = (choose_random_value() * 2  * pos_interval) - pos_interval; //      offset[1][tile]  = (choose_random_value() * 2 * vel_interval) - vel_interval; // CMAC offsets are positive fractions of an interval (Rich's correction!)      offset[0][tile]  = choose_random_value() * pos_interval;  // offsets = pos fraction of int      offset[1][tile]  = choose_random_value() * vel_interval;    }		  active_tiles();  // set up active tiles }// display the offsets void cmac::display_cmac(void){  for (int tile = 0; tile < TILES; tile++)    {      cout << endl; 			      cout << "Tile Number " << tile << " Position offset " << offset[0][tile] << endl;             cout << "Position intervals: " ;            for (int pos=0; pos<=POS_BINS; pos++)      	cout << POS_RANGE[0] - offset[0][tile] + pos*(POS_RANGE[1] - POS_RANGE[0])/POS_BINS << "  ";             cout << endl;       				      cout << "Tile Number " << tile << " Velocity offset " << offset[1][tile] << endl;             cout << "Velocity intervals: " ;            for (int vel=0;vel <= VEL_BINS ; vel++)      	cout << VEL_RANGE[0] - offset[1][tile] + vel*(VEL_RANGE[1] - VEL_RANGE[0])/VEL_BINS << "  ";             cout << endl;     }		}// given a state of the mountain car, return the set of CMAC tiles corresponding to itvoid cmac::active_tiles(){  double pos = curr_pos();   double vel = curr_vel();  // get state of car  //  cout << "Active tiles in pos " << pos << " and vel " << vel << endl; 	  for (int tile =0; tile<TILES; tile++)    {      int pos_tile = (pos - POS_RANGE[0] + offset[0][tile])/pos_interval; // add offset!!      int vel_tile  = (vel - VEL_RANGE[0] + offset[1][tile])/vel_interval;          //   cout << "(" << pos_tile << "," << vel_tile << ")" << " "; 			      atiles[tile].pos_bin = pos_tile;       atiles[tile].vel_bin = vel_tile;     }//    cout << endl; }// show which tiles are active 	void cmac::display_active_tiles(){  for (int tile = 0; tile < TILES; tile++)    {     // cout << "Tile " << tile << " ";       cout << "(" << atiles[tile].pos_bin << "," << atiles[tile].vel_bin << ")  ";  //    cout << endl;     }        cout << endl << endl; }