DerivativeWiring Class Reference

Implements a wiring (between controller and robot) which includes the first and second derivative of the original robot sensor values. More...

#include <derivativewiring.h>

Inherits AbstractWiring.

Inheritance diagram for DerivativeWiring:

[legend]Collaboration diagram for DerivativeWiring:

[legend]List of all members.

Public Member Functions
	DerivativeWiring (const DerivativeWiringConf &conf, NoiseGenerator *noise)
	constructor
virtual	~DerivativeWiring ()
	destructor
virtual bool	init (int robotsensornumber, int robotmotornumber)
	initializes the internal numbers of sensors and motors on robot side, calculate number of sensors and motors on controller side
virtual bool	wireSensors (const sensor *rsensors, int rsensornumber, sensor *csensors, int csensornumber, double noise)
	Realizes derivative wiring from robot sensors to controller sensors.
virtual bool	wireMotors (motor *rmotors, int rmotornumber, const motor *cmotors, int cmotornumber)
	Realizes wiring from controller motor outputs to robot motors.
Static Public Member Functions
DerivativeWiringConf	getDefaultConf ()
	Providing default configuration for DerivativeWiring with first derivative.
DerivativeWiringConf	getDefaultConf1 ()
	Providing default configuration for DerivativeWiring for only first derivative.
Protected Member Functions
void	calcFirstDerivative ()
	Calculate the first derivative of the sensorvalues given by the robot f'(x) = (f(x+1) - f(x-1)) / 2 since we do not have f(x+1) we go one timestep in the past.
void	calcSecondDerivative ()
	Calculate the secound derivative of the sensorvalues given by the robot f'(x) = f(x) - 2f(x-1) + f(x-2).
Protected Attributes
DerivativeWiringConf	conf
	used configuration
int	time
sensor *	sensorbuffer [buffersize]
	current and old smoothed sensor values of robot
sensor *	first
	current first derivative
sensor *	second
	current second derivative
motor *	blindMotors
	array that stored the values of the blind motors
Static Protected Attributes
const int	buffersize = 40

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Detailed Description

Implements a wiring (between controller and robot) which includes the first and second derivative of the original robot sensor values.

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Constructor & Destructor Documentation

DerivativeWiring (  const DerivativeWiringConf &  conf, NoiseGenerator *  noise )

constructor Parameters: conf  for giving the wished configuration of DerivativeWiring via DerivativeWiringConf noise  NoiseGenerator that is used for adding noise to sensor values

~DerivativeWiring (   )  [virtual]

destructor

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Member Function Documentation

void calcFirstDerivative (   )  [protected]

Calculate the first derivative of the sensorvalues given by the robot f'(x) = (f(x+1) - f(x-1)) / 2 since we do not have f(x+1) we go one timestep in the past.

void calcSecondDerivative (   )  [protected]

Calculate the secound derivative of the sensorvalues given by the robot f'(x) = f(x) - 2f(x-1) + f(x-2).

DerivativeWiringConf getDefaultConf (   )  [inline, static]

Providing default configuration for DerivativeWiring with first derivative. No smoothing and no scaling. ( as static method )

DerivativeWiringConf getDefaultConf1 (   )  [inline, static]

Providing default configuration for DerivativeWiring for only first derivative. smoothing over 4 steps and scale of 5. Use smaller noise! ( as static method )

bool init (  int  robotsensornumber, int  robotmotornumber )  [virtual]

initializes the internal numbers of sensors and motors on robot side, calculate number of sensors and motors on controller side Implements AbstractWiring.

bool wireMotors (  motor *  rmotors, int  rmotornumber, const motor *  cmotors, int  cmotornumber )  [virtual]

Realizes wiring from controller motor outputs to robot motors. Parameters: rmotors  pointer to array of motorvalues for robot rmotornumber  number of robot motors cmotors  pointer to array of motorvalues from controller cmotornumber  number of motorvalues from controller Implements AbstractWiring.

bool wireSensors (  const sensor *  rsensors, int  rsensornumber, sensor *  csensors, int  csensornumber, double  noise )  [virtual]

Realizes derivative wiring from robot sensors to controller sensors. Parameters: rsensors  pointer to array of sensorvalues from robot rsensornumber  number of sensors from robot csensors  pointer to array of sensorvalues for controller csensornumber  number of sensors to controller noise  size of the noise added to the sensors Implements AbstractWiring.

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Member Data Documentation

motor* blindMotors [protected]

array that stored the values of the blind motors

const int buffersize = 40 [static, protected]

DerivativeWiringConf conf [protected]

used configuration

sensor* first [protected]

current first derivative

sensor* second [protected]

current second derivative

sensor* sensorbuffer[buffersize] [protected]

current and old smoothed sensor values of robot

int time [protected]

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

• derivativewiring.h
• derivativewiring.cpp

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