#include <abstractwiring.h>
Inherits Inspectable.
Inherited by DerivativeWiring, and One2OneWiring.
Inheritance diagram for AbstractWiring:
Public Member Functions | |
AbstractWiring (NoiseGenerator *noise) | |
constructor | |
virtual | ~AbstractWiring () |
destructor | |
virtual bool | init (int robotsensornumber, int robotmotornumber)=0 |
Initializes the number of sensors and motors from robot (to be precise the internal parameters rsensornumber and rmotornumber!), calculates the number of sensors and motors on controller side. | |
virtual bool | wireSensors (const sensor *rsensors, int rsensornumber, sensor *csensors, int csensornumber, double noise)=0 |
Realizes wiring from robot sensors to controller sensors. | |
virtual bool | wireMotors (motor *rmotors, int rmotornumber, const motor *cmotors, int cmotornumber)=0 |
Realizes wiring from controller motor outputs to robot motors. | |
virtual int | getRobotSensornumber () |
Returns the number of sensors on robot side. | |
virtual int | getRobotMotornumber () |
Returns the number of motors on robot side. | |
virtual int | getControllerSensornumber () |
Returns the number of sensors on controller side. | |
virtual int | getControllerMotornumber () |
Returns the number of motors on controller side. | |
virtual std::list< iparamkey > | getInternalParamNames () const |
Returns the list of the names of all internal parameters. | |
virtual std::list< iparamval > | getInternalParams () const |
Returns a list of the values of all internal parameters (in the order given by getInternalParamNames()). | |
Protected Attributes | |
int | rsensornumber |
number of sensors at robot side | |
int | rmotornumber |
number of motors at robot side | |
int | csensornumber |
number of sensors at controller side | |
int | cmotornumber |
number of motors at controller side | |
NoiseGenerator * | noiseGenerator |
noise generator |
Implements wiring of robot sensors to inputs of the controller and controller outputs to robot motors.
integration/main.cpp, and main.cpp.
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constructor
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destructor
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Returns the number of motors on controller side.
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Returns the number of sensors on controller side.
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Returns the list of the names of all internal parameters.
Implements Inspectable.
Reimplemented in One2OneWiring.
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Returns a list of the values of all internal parameters (in the order given by getInternalParamNames()).
Implements Inspectable.
Reimplemented in One2OneWiring.
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Returns the number of motors on robot side.
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Returns the number of sensors on robot side.
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Initializes the number of sensors and motors from robot (to be precise the internal parameters rsensornumber and rmotornumber!), calculates the number of sensors and motors on controller side. Must be overloaded to calculate and provide the appropriate numbers controllersensornumber (csensornumber), controllermotornumber (cmotornumber), robotsensornumber (rsensornumber) and robotmotornumber (rmotornumber),
Implemented in DerivativeWiring, One2OneWiring, and SelectiveOne2OneWiring.
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Realizes wiring from controller motor outputs to robot motors. Must be overloaded in order to implement the appropriate mapping.
Implemented in DerivativeWiring, and One2OneWiring.
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Realizes wiring from robot sensors to controller sensors. Must be overloaded in order to implement the appropriate mapping.
Implemented in DerivativeWiring, One2OneWiring, and SelectiveOne2OneWiring.
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number of motors at controller side
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number of sensors at controller side
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noise generator
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number of motors at robot side
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number of sensors at robot side
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