Monty.Frameworks.Models.Salience.ReturnInhibitor.DecayKernel (ExTbpMonty.Core v0.1.0)

Copy Markdown View Source

One place the sensor has been, and how much it still says "not here again".

Mirrors tbp/monty/frameworks/models/salience/return_inhibitor.py::DecayKernel: a kernel returns the product of two exponentials — one falling with the time since it was created, one falling with distance from where it was created — so a salience module stops proposing the spot it just looked at, and stops sooner the further away it is looking.

Both decays are half-lives: tau_t and tau_s are the times and distances at which the weight halves, so the exponent divides by tau / ln 2. Beyond :spatial_cutoff metres the kernel says nothing at all, which keeps a surface's far side free of a visit to its near side.

Monty mutates a kernel in place; a struct here is a value, so stepping answers the kernel and whether it has decayed below :w_t_min — at which point its field drops it.

Summary

Types

location()
points()
t()

Functions

new(location, options \\ [])
space_weight(kernel, points)

How much the kernel matters at each of points, from distance alone.

step(kernel)

One step older, and whether that was one too many.

time_weight(kernel)

How much the kernel still matters, from its age alone.

weights(kernel, points)

The kernel's weight at each point: its age and its distance together.

Types

location()

@type location() :: [float()]

points()

@type points() :: [[float()]]

t()

@type t() :: %Monty.Frameworks.Models.Salience.ReturnInhibitor.DecayKernel{
  location: location(),
  spatial_cutoff: float() | nil,
  steps: non_neg_integer(),
  tau_s: float(),
  tau_t: float(),
  w_t_min: float()
}

Functions

new(location, options \\ [])

@spec new(location(), keyword()) :: t()

space_weight(kernel, points)

@spec space_weight(t(), points()) :: [float()]

How much the kernel matters at each of points, from distance alone.

Zero beyond the spatial cutoff, which is what makes the kernel local rather than merely weaker in the distance.

step(kernel)

@spec step(t()) :: {t(), boolean()}

One step older, and whether that was one too many.

Monty checks the new weight against the minimum, so a kernel is dropped on the step after it falls below it.

time_weight(kernel)

@spec time_weight(t()) :: float()

How much the kernel still matters, from its age alone.

weights(kernel, points)

@spec weights(t(), points()) :: [float()]

The kernel's weight at each point: its age and its distance together.