MultiController Class Reference

class for robot controll with sine and cosine More...

#include <multi_controller.h>

Inherits AbstractController.

Inheritance diagram for MultiController:

[legend]Collaboration diagram for MultiController:

[legend]List of all members.

Public Member Functions
	MultiController ()
virtual void	init (int sensornumber, int motornumber)
	initialisation of the controller with the given sensor/ motornumber Must be called before use.
virtual paramkey	getName () const
	returns the name of the object (with version number)
virtual int	getSensorNumber () const
	Number of sensors the controller was initialised with or 0 if not initialised.
virtual int	getMotorNumber () const
	Number of motors the controller was initialised with or 0 if not initialised.
virtual void	step (const sensor *sensors, int sensornumber, motor *motors, int motornumber)
	performs one step (includes learning).
virtual void	stepNoLearning (const sensor *, int number_sensors, motor *, int number_motors)
	performs one step without learning.
virtual std::list< iparamkey >	getInternalParamNames () const
	The list of the names of all internal parameters given by getInternalParams().
virtual list< iparamval >	getInternalParams () const
	The list of the names of all internal parameters given by getInternalParams().
virtual paramval	getParam (const paramkey &key) const
	returns the value of the requested parameter or 0 (+ error message to stderr) if unknown.
virtual bool	setParam (const paramkey &key, paramval val)
	sets the value of the given parameter or does nothing if unknown.
virtual paramlist	getParamList () const
	The list of all parameters with there value as allocated lists.
ControllerContainer &	get_controller_container ()
	Initialises the registers the given callback functions.
ControllerContainer::iterator	get_active_controller ()
void	set_active_controller (ControllerContainer::iterator it)
void	next_controller ()
Protected Attributes
ControllerContainer	controller_container
ControllerContainer::iterator	it_active_controller

---

Detailed Description

class for robot controll with sine and cosine

---

Constructor & Destructor Documentation

MultiController (   )

---

Member Function Documentation

ControllerContainer::iterator get_active_controller (   )

ControllerContainer & get_controller_container (   )

Initialises the registers the given callback functions. Parameters: handling()  is called every step that the camera gets new position and view.

list< AbstractController::iparamkey > getInternalParamNames (   )  const [virtual]

The list of the names of all internal parameters given by getInternalParams(). Parameters:   keylist (do NOT free it! It is a pointer to an internal structure) Returns: : length of the lists Implements Inspectable.

std::list< AbstractController::iparamval > getInternalParams (   )  const [virtual]

The list of the names of all internal parameters given by getInternalParams(). Implements Inspectable.

int getMotorNumber (   )  const [virtual]

Number of motors the controller was initialised with or 0 if not initialised. Reimplemented from AbstractController.

AbstractController::paramkey getName (   )  const [virtual]

returns the name of the object (with version number) Reimplemented from Configurable.

AbstractController::paramval getParam (  const paramkey &  key  )  const [virtual]

returns the value of the requested parameter or 0 (+ error message to stderr) if unknown. Reimplemented from Configurable.

AbstractController::paramlist getParamList (   )  const [virtual]

The list of all parameters with there value as allocated lists. Returns: list of key-value pairs Reimplemented from Configurable.

int getSensorNumber (   )  const [virtual]

Number of sensors the controller was initialised with or 0 if not initialised. Reimplemented from AbstractController.

void init (  int  sensornumber, int  motornumber )  [virtual]

initialisation of the controller with the given sensor/ motornumber Must be called before use. Reimplemented from AbstractController.

void next_controller (   )

void set_active_controller (  ControllerContainer::iterator  it  )

bool setParam (  const paramkey &  key, paramval  val )  [virtual]

sets the value of the given parameter or does nothing if unknown. Reimplemented from Configurable.

void step (  const sensor *  sensors, int  sensornumber, motor *  motors, int  motornumber )  [virtual]

performs one step (includes learning). Calculates motor commands from sensor inputs. Parameters: sensor  sensors inputs scaled to [-1,1] sensornumber  length of the sensor array motor  motors outputs. MUST have enough space for motor values! motornumber  length of the provided motor array Reimplemented from AbstractController.

void stepNoLearning (  const sensor *  , int  number_sensors, motor *  , int  number_motors )  [virtual]

performs one step without learning. See also: step Reimplemented from AbstractController.

---

Member Data Documentation

ControllerContainer controller_container [protected]

ControllerContainer::iterator it_active_controller [protected]

---

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

• multi_controller.h
• multi_controller.cpp

---