AbstractController Class Reference

Abstract class (interface) for robot controller. More...

Inheritance diagram for AbstractController:

[legend]Collaboration diagram for AbstractController:


Public Member Functions
	AbstractController (const std::string &name, const std::string &revision)
	contructor (hint: use $ID$ for revision)
virtual void	init (int sensornumber, int motornumber) ABSTRACT
	initialisation of the controller with the given sensor/ motornumber Must be called before use.
virtual int	getSensorNumber () const ABSTRACT
virtual int	getMotorNumber () const ABSTRACT
virtual void	step (const sensor sensors, int sensornumber, motor motors, int motornumber) ABSTRACT
	performs one step (includes learning).
virtual void	stepNoLearning (const sensor , int number_sensors, motor , int number_motors) ABSTRACT
	performs one step without learning.

Detailed Description

Abstract class (interface) for robot controller.

The controller gets a number of input sensor values each timestep and has to generate a number of output motor values.

Interface assumes the following usage:

init() is called first to initialise the dimension of sensor- and motor space
each time step either step() or stepNoLearning() is called to ask the controller for motor values.

Examples:: directconnect/directconnect.cpp, integration/main.cpp, and main.cpp.

AbstractController ( const std::string & name,

const std::string & revision

) [inline]

contructor (hint: use $ID$ for revision)

virtual int getMotorNumber ( ) const [virtual]

Returns:
Number of motors the controller was initialised with or 0 if not initialised

Reimplemented in DerController, FFNNController, InvertMotorBigModel, InvertMotorNStep, InvertMotorSpace, InvertNChannelController, SineController, DemoController, MultiController, and SimpleController.

virtual int getSensorNumber ( ) const [virtual]

Returns:
Number of sensors the controller was initialised with or 0 if not initialised

Reimplemented in DerController, FFNNController, InvertMotorBigModel, InvertMotorNStep, InvertMotorSpace, InvertNChannelController, SineController, DemoController, MultiController, and SimpleController.

virtual void step ( const sensor * sensors,

int sensornumber,

motor * motors,

int motornumber

) [virtual]

performs one step (includes learning).
Calculates motor commands from sensor inputs.
Parameters:

sensors sensors inputs scaled to [-1,1]

sensornumber length of the sensor array

motors motors outputs. MUST have enough space for motor values!

motornumber length of the provided motor array

Reimplemented in DerController, DInvert3ChannelController, FFNNController, Invert3ChannelController, InvertMotorBigModel, InvertMotorNStep, InvertMotorSpace, InvertNChannelController, ProActive, ProActive2, SineController, DemoController, MultiController, and SimpleController.

Examples:
directconnect/directconnect.cpp.

The documentation for this class was generated from the following file:

Generated on Tue Jan 16 02:14:45 2007 for Robotsystem of the Robot Group Leipzig by

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