Agent Class Reference

The Agent contains a controller, a robot and a wiring, which connects robot and controller. More...

#include <agent.h>

Inherited by OdeAgent.

Inheritance diagram for Agent:

[legend]Collaboration diagram for Agent:


Public Member Functions
	Agent (const PlotOption &plotOption=PlotOption(NoPlot), double noisefactor=1)
	constructor.
	Agent (const std::list< PlotOption > &plotOptions, double noisefactor=1)
	constructor.
virtual	~Agent ()
	destructor
virtual bool	init (AbstractController controller, AbstractRobot robot, AbstractWiring *wiring)
	initializes the object with the given controller, robot and wiring and initializes the output options
virtual void	step (double noise)
	Performs an step of the agent, including sensor reading, pushing sensor values through wiring, controller step, pushing controller outputs (= motorcommands) back through wiring and sent resulting motorcommands to robot.
virtual void	onlyControlRobot ()
	Sends only last motor commands again to robot.
virtual AbstractController *	getController ()
	Returns a pointer to the controller.
virtual AbstractRobot *	getRobot ()
	Returns a pointer to the robot.
virtual AbstractWiring *	getWiring ()
	Returns a pointer to the wiring.
virtual void	setTrackOptions (const TrackRobot &trackrobot)
	sets the trackoptions which enable tracking of a robot
virtual void	addPlotOption (const PlotOption &plotoption)
	adds the PlotOptions to the list of plotoptions If a plotoption with the same Mode exists, then the old one is deleted first
virtual bool	removePlotOption (PlotMode mode)
	removes the PlotOptions with the given type
virtual void	writePlotComment (const char *cmt)
	write comment to output streams (PlotOptions).
Protected Member Functions
virtual void	plot (const sensor rx, int rsensornumber, const sensor cx, int csensornumber, const motor *y, int motornumber)
	Plots controller sensor- and motorvalues and internal controller parameters.
void	internInit ()
Protected Attributes
AbstractController *	controller
AbstractRobot *	robot
AbstractWiring *	wiring
int	rsensornumber
	number of sensors of robot
int	rmotornumber
	number of motors of robot
int	csensornumber
	number of sensors of comntroller
int	cmotornumber
	number of motors of comntroller
double	noisefactor
	factor that is muliplied with noise stength
sensor *	rsensors
motor *	rmotors
sensor *	csensors
motor *	cmotors
TrackRobot	trackrobot
Private Attributes
std::list< PlotOption >	plotOptions
int	t

Detailed Description

The Agent contains a controller, a robot and a wiring, which connects robot and controller.

Additionally there are some ways to keep track of internal information. You have the possibility to keep track of sensor values, motor values and internal parameters of the controller with PlotOptions. The name PlotOptions is a bit missleaded, it should be "OutputOptions", however you can write the data into a file or send it to visialisation tools like guilogger or neuronviz.

If want to log the position, speed and orienation of your robot you can use setTrackOptions().

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

Constructor & Destructor Documentation

Agent ( const PlotOption & plotOption = PlotOption(NoPlot),

double noisefactor = 1

)

constructor.
PlotOption as output setting. noisefactor is used to set the relative noise strength of this agent

Agent ( const std::list< PlotOption > & plotOptions,

double noisefactor = 1

)

constructor.
A list of PlotOption can given. noisefactor is used to set the relative noise strength of this agent

~Agent ( ) [virtual]

destructor

Member Function Documentation

void addPlotOption ( const PlotOption & plotoption ) [virtual]

adds the PlotOptions to the list of plotoptions If a plotoption with the same Mode exists, then the old one is deleted first

virtual AbstractController* getController ( ) [inline, virtual]

Returns a pointer to the controller.

virtual AbstractRobot* getRobot ( ) [inline, virtual]

Returns a pointer to the robot.

Reimplemented in OdeAgent.

virtual AbstractWiring* getWiring ( ) [inline, virtual]

Returns a pointer to the wiring.

bool init ( AbstractController * controller,

AbstractRobot * robot,

AbstractWiring * wiring

) [virtual]

initializes the object with the given controller, robot and wiring and initializes the output options

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

void internInit ( ) [protected]

Reimplemented in OdeAgent.

void onlyControlRobot ( ) [virtual]

Sends only last motor commands again to robot.

void plot ( const sensor * rx,

int rsensornumber,

const sensor * cx,

int csensornumber,

const motor * y,

int motornumber

) [protected, virtual]

Plots controller sensor- and motorvalues and internal controller parameters.

Parameters:

rx actual sensorvalues from robot (used for generation of motorcommand in actual timestep)

rsensornumber length of rx

cx actual sensorvalues which are passed to controller (used for generation of motorcommand in actual timestep)

csensornumber length of cx

y actual motorcommand (generated in the actual timestep)

motornumber length of y

bool removePlotOption ( PlotMode mode ) [virtual]

removes the PlotOptions with the given type

Returns:
true if sucessful, false otherwise

void setTrackOptions ( const TrackRobot & trackrobot ) [virtual]

sets the trackoptions which enable tracking of a robot

void step ( double noise ) [virtual]

Performs an step of the agent, including sensor reading, pushing sensor values through wiring, controller step, pushing controller outputs (= motorcommands) back through wiring and sent resulting motorcommands to robot.

Parameters:

noise Noise strength.

Reimplemented in OdeAgent.

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