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#ifndef __DINVERT3CHANNELCONTROLLER_H
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#define __DINVERT3CHANNELCONTROLLER_H
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#include "invertcontroller.h"
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#include <assert.h>
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#include <math.h>
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00029 class DInvert3ChannelController :
public InvertController {
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public:
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00040 virtual void step(const sensor*, motor*);
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00043 virtual void stepNoLearning(const sensor*, motor*);
00044 */
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protected:
00048 int NUMBER_CHANNELS;
00049 int BUFFER_SIZE;
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00051 double*
x_smooth;
00052 double*
x_effective;
00053 double*
y_effective;
00054 double**
Q_buf1;
00055 double**
Q_buf2;
00056 double**
L;
00057 double*
z;
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public:
00060 double**
A;
00061 double**
C;
00062 double*
h;
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00064 double**
x_buffer;
00065 double**
y_buffer;
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00067 double*
xsi4E;
00068 double*
xsi4Model;
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00070 int t;
00071 char name[50];
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00080 virtual void learn(double *x_delay, double *y_delay);
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00083 virtual void learnModel(double *x_actual, double *y_effective);
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00087 virtual void calculateDelayedValues(double source[BUFFER_SIZE][NUMBER_CHANNELS], int number_steps_of_delay_, double *target);
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00089 virtual void calculateSmoothValues(double source[BUFFER_SIZE][NUMBER_CHANNELS], int number_steps_for_averaging_, double *target);
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00092 virtual void calculateControllerValues(double *x_smooth, double *y);
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00094 // put new value in ring buffer
00095 virtual void putInBuffer(double buffer[BUFFER_SIZE][NUMBER_CHANNELS], double *values);
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00097 */
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00099 virtual double g(
double z)
00100 {
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return tanh(z);
00102 };
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00106 virtual double g_s(
double z)
00107 {
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double k=tanh(z);
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return 1.0 - k*k;
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00111 };
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00114 virtual double squash(
double z)
00115 {
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return z < -0.1 ? -0.1 : ( z > 0.1 ? 0.1 : z );
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00118 };
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#include "dinvert3channelcontroller.hpp"
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00123 };
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#endif