One2OneWiring Class Reference

Implements one to one wireing of robot sensors to inputs of the controller and controller outputs to robot motors. More...

#include <one2onewiring.h>

Inherits AbstractWiring.

Inherited by SelectiveOne2OneWiring.

Inheritance diagram for One2OneWiring:

[legend]Collaboration diagram for One2OneWiring:

[legend]List of all members.

Public Member Functions
	One2OneWiring (NoiseGenerator *noise, bool plotNoise=false)
	constructor
virtual	~One2OneWiring ()
	destructor
virtual bool	init (int robotsensornumber, int robotmotornumber)
	initializes the number 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 one to one wiring from robot sensors to controller sensors.
virtual bool	wireMotors (motor *rmotors, int rmotornumber, const motor *cmotors, int cmotornumber)
	Realizes one to one wiring from controller motor outputs to robot motors.
virtual std::list< iparamkey >	getInternalParamNames () const
	Returns the list of the names of all internal parameters.
virtual std::list< iparamval >	getInternalParams () const
	The list of the values of all internal parameters given by getInternalParams().
Protected Attributes
bool	plotNoise
	TRUE for plotting noise values, FALSE for not plotting.
sensor *	noisevals
	for storing the noise values

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Detailed Description

Implements one to one wireing of robot sensors to inputs of the controller and controller outputs to robot motors.

Examples:

integration/main.cpp, and main.cpp.

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Constructor & Destructor Documentation

One2OneWiring (  NoiseGenerator *  noise, bool  plotNoise = false )

constructor Parameters: noise  NoiseGenerator that is used for adding noise to sensor values plotNoise  for plotting the noise values (to observe it from outside via getInternalParams() and guilogger) set it TRUE, for not plotting the noise set it to FALSE.

~One2OneWiring (   )  [virtual]

destructor

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Member Function Documentation

Inspectable::iparamkeylist getInternalParamNames (   )  const [virtual]

Returns the list of the names of all internal parameters. Reimplemented from AbstractWiring.

Inspectable::iparamvallist getInternalParams (   )  const [virtual]

The list of the values of all internal parameters given by getInternalParams(). (in the order given by getInternalParamNames()) Reimplemented from AbstractWiring.

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

initializes the number of sensors and motors on robot side, calculate number of sensors and motors on controller side Implements AbstractWiring. Reimplemented in SelectiveOne2OneWiring.

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

Realizes one to one 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 one to one 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. Reimplemented in SelectiveOne2OneWiring.

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Member Data Documentation

sensor* noisevals [protected]

for storing the noise values

bool plotNoise [protected]

TRUE for plotting noise values, FALSE for not plotting.

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

• one2onewiring.h
• one2onewiring.cpp

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