Deprivation Class Reference

robot controller for self-organized behaviour just like invertmotornstep, just that is enables us to execute the same motor commands for a long time More...

#include <deprivation.h>

Inherits InvertMotorNStep.

Inheritance diagram for Deprivation:

[legend]Collaboration diagram for Deprivation:

[legend]List of all members.


Public Types
typedef matrix::Matrix(*	MotorCallback )(const matrix::Matrix &y)
	is called with current motor values and returns new motor values
typedef void(*	ControllerCallback )(matrix::Matrix &C, matrix::Matrix &H)
	is called with current controller matrix C and bias H which can be alterned
Public Member Functions
	Deprivation (MotorCallback motorCallback, ControllerCallback controllerCallback=0, const InvertMotorNStepConf &conf=getDefaultConf())
virtual	~Deprivation ()
virtual void	setExternalControlMode (bool useExternal)
virtual bool	getExternalControlMode ()
Protected Member Functions
virtual void	learnController ()
	overloaded
virtual matrix::Matrix	calculateControllerValues (const Matrix &x_smooth)
	calculate controller outputs (only of nop external value is set)
Protected Attributes
bool	useExternal
MotorCallback	motorCallback
ControllerCallback	controllerCallback

Detailed Description

robot controller for self-organized behaviour just like invertmotornstep, just that is enables us to execute the same motor commands for a long time

Member Typedef Documentation

typedef void(* ControllerCallback)(matrix::Matrix &C, matrix::Matrix &H)

is called with current controller matrix C and bias H which can be alterned

typedef matrix::Matrix(* MotorCallback)(const matrix::Matrix &y)

is called with current motor values and returns new motor values

Constructor & Destructor Documentation

Deprivation ( MotorCallback motorCallback,

ControllerCallback controllerCallback = 0,

const InvertMotorNStepConf & conf = getDefaultConf()

) [inline]

virtual ~Deprivation ( ) [inline, virtual]

Member Function Documentation

virtual matrix::Matrix calculateControllerValues ( const Matrix & x_smooth ) [inline, protected, virtual]

calculate controller outputs (only of nop external value is set)

Parameters:

x_smooth smoothed sensors Matrix(number_channels,1)