SineController Class Reference

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

#include <sinecontroller.h>

Inheritance diagram for SineController:

[legend]Collaboration diagram for SineController:


Public Member Functions
	SineController (int number_controlled=-1)
virtual void	init (int sensornumber, int motornumber)
	initialisation of the controller with the given sensor/ motornumber Must be called before use.
virtual int	getSensorNumber () const
virtual int	getMotorNumber () const
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 std::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.
virtual bool	store (FILE *f) const
	Storable.
virtual bool	restore (FILE *f)
	Storable.
Protected Attributes
int	t
std::string	name
int	number_sensors
int	number_motors
int	number_controlled
paramval	sineRate
paramval	phaseShift

Detailed Description

class for robot control with sine and cosine

Constructor & Destructor Documentation

SineController ( int number_controlled = -1 )

Member Function Documentation

virtual std::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

Implements Inspectable.

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

Returns:
: list of values

Implements Inspectable.

virtual int getMotorNumber ( ) const [inline, virtual]

Returns:
Number of motors the controller was initialised with or 0 if not initialised

Reimplemented from AbstractController.

Configurable::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.

Configurable::paramlist getParamList ( ) const [virtual]

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

Returns:
list of key-value pairs

Reimplemented from Configurable.

virtual int getSensorNumber ( ) const [inline, virtual]

Returns:
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.

virtual bool restore ( FILE * f ) [inline, virtual]

Storable.

Implements Storeable.

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:

sensors sensors inputs scaled to [-1,1]

sensornumber length of the sensor array

motors 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.