ProActive2 Class Reference

robot controller for self-organized behaviour using pro-active elements and it is based in InvertMotorNStep. More...

#include <proactive2.h>

Inheritance diagram for ProActive2:

[legend]Collaboration diagram for ProActive2:


Public Member Functions
	ProActive2 (unsigned int numberNonContext, unsigned int tau, const InvertMotorNStepConf &conf=getDefaultConf())
virtual	~ProActive2 ()
virtual void	init (int sensornumber, int motornumber)
	initialisation of the controller with the given sensor/ motornumber Must be called before use.
virtual void	step (const sensor x_, int number_sensors, motor y_, int number_motors)
	performs one step (includes learning).
virtual void	stepNoLearning (const sensor x_, int number_sensors, motor y_, int number_motors)
	performs one step without learning. Calulates motor commands from sensor inputs.
virtual paramkey	getName () const
	return the name of the object (with version number) Hint: use insertCVSInfo from Configurable
virtual list< iparamkey >	getInternalParamNames () const
	The list of the names of all internal parameters given by getInternalParams().
virtual list< iparamval >	getInternalParams () const
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.
Static Public Member Functions
InvertMotorNStepConf	getDefaultConf ()
Protected Member Functions
virtual void	bufferSynDynInput ()
virtual void	calcXsi (int delay)
	calculates xsi for the current time step using the delayed y values
Protected Attributes
OneLayerFFNN	synDyn
matrix::Matrix *	syndyn_buffer
matrix::Matrix	x_context
matrix::Matrix	xsi_pred
matrix::Matrix	xsi_orig
paramkey *	internkeylist
unsigned int	tau
unsigned int	numberNonContext
unsigned int	number_all_sensors
double	dampH
double	epsH

Detailed Description

robot controller for self-organized behaviour using pro-active elements and it is based in InvertMotorNStep.

Constructor & Destructor Documentation

ProActive2 ( unsigned int numberNonContext,

unsigned int tau,

const InvertMotorNStepConf & conf = getDefaultConf()

) [inline]

Parameters:

numberNonContext number of input channels that are not considered as context inputs (e.g.\ infrared)

tau time window for temporal correlation

conf configuration InvertMotorNStepConf

virtual ~ProActive2 ( ) [inline, virtual]

Member Function Documentation

virtual void bufferSynDynInput ( ) [inline, protected, virtual]

virtual void calcXsi ( int delay ) [inline, protected, virtual]

calculates xsi for the current time step using the delayed y values

Reimplemented from InvertMotorNStep.

InvertMotorNStepConf getDefaultConf ( ) [inline, static]

Reimplemented from InvertMotorNStep.

virtual list<iparamkey> getInternalParamNames ( ) const [inline, virtual]

The list of the names of all internal parameters given by getInternalParams().
The naming convention is "v[i]" for vectors and "A[i][j]" for matrices, where i, j start at 0.
Returns:
: list of keys

Reimplemented from InvertMotorNStep.

virtual list<iparamval> getInternalParams ( ) const [inline, virtual]

Returns:
: list of values

Reimplemented from InvertMotorNStep.

virtual paramkey getName ( ) const [inline, virtual]

return the name of the object (with version number) Hint: use insertCVSInfo from Configurable

Reimplemented from Configurable.

virtual paramval getParam ( const paramkey & key ) const [inline, virtual]

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

Reimplemented from InvertMotorController.

virtual paramlist getParamList ( ) const [inline, virtual]

The list of all parameters with there value as allocated lists.

Returns:
list of key-value pairs

Reimplemented from InvertMotorController.

virtual void init ( int sensornumber,

int motornumber

) [inline, virtual]

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

Reimplemented from InvertMotorNStep.

virtual bool setParam ( const paramkey & key,

paramval val

) [inline, virtual]

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

Reimplemented from InvertMotorController.

virtual void step ( const sensor * x_,

int number_sensors,

motor * y_,

int number_motors

) [inline, virtual]

performs one step (includes learning).
Calulates motor commands from sensor inputs.
Reimplemented from InvertMotorNStep.

virtual void stepNoLearning ( const sensor * x_,

int number_sensors,

motor * y_,

int number_motors

) [inline, virtual]

performs one step without learning. Calulates motor commands from sensor inputs.

Reimplemented from InvertMotorNStep.