/* LICENSE: */

This is the code to create decision trees so the robot
can detect that it's hung up on a wall.

You will need C4.5 R8. Download it, expand the tarball, and
replace Src/trees.c with the hacked version from cmu_only
(we can't redistributed C4.5 source code, so make sure this
doesn't end up in a release)

The hack simplifies the way C4.5 prints textual representations
of trees and makes it easier for our crappy parser to understand
them. An example of the output can be found in sparse.tree.txt
 - it's easy to hack C4.5 to produce this output - get rid of
everything except variables, <=, >, and values. Also make sure
C4.5 doesn't print out subtrees separately - you want one monolithic
tree (change the width limit at the top of the file).

Directions:

Gather gsensor data for the robot standing in place, the robot
running into a wall, the robot hooked on another robot, and the
robot playing freely.

Process the logs to get text files. Name them the same things
the four files at the top of the Octave .m file are named.

Run process_spare.m in Octave.

Run build_data.sh

playing.txt, wall.txt, hooked.txt, and standing.txt should now be
labeled data files that C4.5 will accept. Divide this into data and
test sets as you see fit. (I like using head and tail to break them
into two chunks)

Run the modified version of C4.5 and save the text output to 
a file. sparse.names has been provided.

Edit the text output of C4.5 so that it only contains the pruned
decision tree.

Run:

parse_tree <c4.5 names file> <simplified tree cut from output>
copy out.bintree to /MS/config/stree.prm