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dinvert3channelcontroller.hpp File Reference

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Functions

double ** allocateMatrix (int m, int n)
void freeMatrix (double **mat, int m)
virtual constparamkey getName () const
 return the name of the object (with version number)
virtual void init (int sensornumber, int motornumber)
 DInvert3ChannelController (int numberchannels, int buffersize)
virtual void step (const sensor *x_, int sensornumber, motor *y_, int motornumber)
 performs one step (includes learning). Calulates motor commands from sensor inputs.
virtual void stepNoLearning (const sensor *x_, int sensornumber, motor *y_, int motornumber)
 performs one step without learning. Calulates motor commands from sensor inputs.
virtual int getInternalParamNames (paramkey *&keylist)
virtual int getInternalParams (paramval *vallist, int length)
virtual void inverseMatrix (double **Q, double **Q_1)
virtual double calculateE (const double *x_, const double *x_delay, const double *y_delay)
virtual void learn (const double *x_, const double *x_delay, const double *y_delay)
virtual void learnModel (const double *x_actual, double *y_effective)
virtual void calculateDelayedValues (double **source, paramval number_steps_of_delay_, double *target)
 calculate delayed values
virtual void calculateSmoothValues (double **source, paramval number_steps_for_averaging_, double *target)
virtual void calculateControllerValues (double *x_smooth, double *y)
 calculate controller ouptus
virtual void putInBuffer (double **buffer, const double *values)

Function Documentation

double** allocateMatrix (  int  m,
int  n
) 
 

virtual void calculateControllerValues (  double *  x_smooth,
double *  y
)  [protected, virtual]
 

calculate controller ouptus

virtual void calculateDelayedValues (  double **  source,
paramval  number_steps_of_delay_,
double *  target
)  [protected, virtual]
 

calculate delayed values

virtual double calculateE (  const double *  x_,
const double *  x_delay,
const double *  y_delay
)  [protected, virtual]
 

virtual void calculateSmoothValues (  double **  source,
paramval  number_steps_for_averaging_,
double *  target
)  [protected, virtual]
 

DInvert3ChannelController (  int  numberchannels,
int  buffersize
) 
 

void freeMatrix (  double **  mat,
int  m
) 
 

virtual int getInternalParamNames (  paramkey *&  keylist  )  [virtual]
 

virtual int getInternalParams (  paramval *  vallist,
int  length
)  [virtual]
 

virtual constparamkey getName (   )  const [virtual]
 

return the name of the object (with version number)

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

Examples:
sphererobot3masses.cpp.

virtual void inverseMatrix (  double **  Q,
double **  Q_1
)  [protected, virtual]
 

virtual void learn (  const double *  x_,
const double *  x_delay,
const double *  y_delay
)  [protected, virtual]
 

virtual void learnModel (  const double *  x_actual,
double *  y_effective
)  [protected, virtual]
 

virtual void putInBuffer (  double **  buffer,
const double *  values
)  [protected, virtual]
 

virtual void step (  const sensor *  x_,
int  sensornumber,
motor *  y_,
int  motornumber
)  [virtual]
 

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

virtual void stepNoLearning (  const sensor *  x_,
int  sensornumber,
motor *  y_,
int  motornumber
)  [virtual]
 

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

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