Abstract wiring-object between controller and robot. More...

#include <abstractwiring.h>

Inheritance diagram for AbstractWiring:

Collaboration diagram for AbstractWiring:

Public Types
enum	PlotTypes { Nothing =0, Robot =1, Controller =4, Noise =8 }

typedef double	sensor

typedef double	motor

Public Types inherited from Inspectable
typedef std::string	iparamkey

typedef double	iparamval

typedef std::pair< iparamkey, iparamval const * >	iparampair

typedef std::pair< iparamkey, std::pair< const matrix::Matrix *, bool > >	imatrixpair

typedef std::list< iparamkey >	iparamkeylist

typedef std::list< std::string >	infoLinesList

typedef std::list< iparamval >	iparamvallist

typedef std::list< iparamval const * >	iparamvalptrlist

typedef std::list< iparampair >	iparampairlist

typedef std::list< imatrixpair >	imatrixpairlist

typedef struct Inspectable::ILayer	ILayer

typedef struct Inspectable::IConnection	IConnection

typedef std::list< ILayer >	ilayerlist

typedef std::list< IConnection >	iconnectionlist

typedef std::list< const Inspectable * >	inspectableList

Public Member Functions
	AbstractWiring (NoiseGenerator *noise, int plotMode=Controller, const std::string &name="AbstractWiring")
	constructor More...

virtual	~AbstractWiring ()
	destructor More...

virtual bool	init (int robotsensornumber, int robotmotornumber, RandGen *randGen=0)
	Initializes the number of sensors and motors from robot (to be precise the internal parameters rsensornumber and rmotornumber!), calculates the number of sensors and motors on controller side. More...

virtual bool	wireSensors (const sensor rsensors, int rsensornumber, sensor csensors, int csensornumber, double noiseStrength)
	Realizes wiring from robot sensors to controller sensors. More...

virtual bool	wireMotors (motor rmotors, int rmotornumber, const motor cmotors, int cmotornumber)
	Realizes wiring from controller motor outputs to robot motors. More...

virtual int	getRobotSensornumber ()
	Returns the number of sensors on robot side. More...

virtual int	getRobotMotornumber ()
	Returns the number of motors on robot side. More...

virtual int	getControllerSensornumber ()
	Returns the number of sensors on controller side. More...

virtual int	getControllerMotornumber ()
	Returns the number of motors on controller side. More...

virtual std::list < SensorMotorInfo >	wireSensorInfos (const std::list< SensorMotorInfo > &robotSensorInfos)
	routes the infos of the motors from robot to controller More...

virtual std::list < SensorMotorInfo >	wireMotorInfos (const std::list< SensorMotorInfo > &robotMotorInfos)
	routes the infos of the motors from robot to controller More...

virtual void	reset ()
	reset internal state More...

void	addSensorMotorInfosToInspectable (const std::list< SensorMotorInfo > &robotSensorInfos, const std::list< SensorMotorInfo > &robotMotorInfos, const std::list< SensorMotorInfo > &controllerSensorInfos, const std::list< SensorMotorInfo > &controllerMotorInfos)
	used by WiredController to pass infos to inspectable More...

Public Member Functions inherited from Inspectable
	Inspectable (const iparamkey &name="")
	TYPEDEFS END. More...

virtual	~Inspectable ()

virtual iparamkeylist	getInternalParamNames () const
	The list of the names of all internal parameters given by getInternalParams(). More...

virtual iparamvallist	getInternalParams () const

virtual iparamvalptrlist	getInternalParamsPtr () const
	be careful: matrices will be ignored More...

virtual ilayerlist	getStructuralLayers () const
	Specifies which parameter vector forms a structural layer (in terms of a neural network) The ordering is important. More...

virtual iconnectionlist	getStructuralConnections () const
	Specifies which parameter matrix forms a connection between layers (in terms of a neural network) The orderning is not important. More...

virtual void	addInspectableValue (const iparamkey &key, iparamval const *val, const std::string &descr=std::string())
	This is the new style for adding inspectable values. More...

virtual void	addInspectableMatrix (const iparamkey &key, const matrix::Matrix *m, bool only4x4AndDiag=true, const std::string &descr=std::string())
	This is the new style for adding inspectable values. More...

virtual void	addInspectableDescription (const iparamkey &key, const std::string &descr)
	adds a description for the given parameter using info-lines The line will start (appart from the #I) with a D for description followed by the key end then followed by the string. More...

virtual void	addInfoLine (std::string infoLine)
	Adds an info line to this inspectable instance. More...

virtual void	addInfoLines (std::list< std::string > infoLineList)
	Adds a bunch of infolines with addInfoLine to this inspectable instance. More...

virtual void	removeInfoLines ()
	Removes all infolines from this inspectable instance. More...

virtual const infoLinesList &	getInfoLines () const
	Returns all infolines added to this inspectable instance. More...

virtual void	addInspectable (Inspectable *insp)
	Adds an inspectable as a child object. More...

virtual void	removeInspectable (Inspectable *insp)
	Removes an inspectable as a child object. More...

virtual void	setNameOfInspectable (const iparamkey &name)
	set the name of the inspectable More...

virtual const iparamkey	getNameOfInspectable () const
	return the name of the inspectable, getName() would conflict with Configurable::getName() too often More...

virtual const inspectableList &	getInspectables () const
	Returns the list containing all inspectable children. More...

Protected Member Functions
virtual bool	initIntern ()=0
	to be overloaded by subclasses The rsensornumber and rmotornumber are already stored in the member variables. More...

virtual bool	wireSensorsIntern (const sensor rsensors, int rsensornumber, sensor csensors, int csensornumber, double noiseStrength)=0
	to be overloaded by subclasses More...

virtual bool	wireMotorsIntern (motor rmotors, int rmotornumber, const motor cmotors, int cmotornumber)=0
	to be overloaded by subclasses More...

Protected Attributes
int	plotMode
	using plotTypes this variables defines what is plotted More...

matrix::Matrix	mNoise
	for storing the noise values More...

sensor *	noisevals

int	noisenumber

int	rsensornumber
	number of sensors at robot side More...

matrix::Matrix	mRsensors
	copy of the last robot sensors More...

int	rmotornumber
	number of motors at robot side More...

matrix::Matrix	mRmotors
	copy of the last robot motors More...

int	csensornumber
	number of sensors at controller side More...

matrix::Matrix	mCsensors
	copy of the last controller sensors More...

int	cmotornumber
	number of motors at controller side More...

matrix::Matrix	mCmotors
	copy of the last controller motors More...

NoiseGenerator *	noiseGenerator
	noise generator More...

RandGen *	randGen
	random generator used in NoiseGenerator (in case it is needed by subclasses) More...

bool	initialised

Protected Attributes inherited from Inspectable
iparamkey	name

iparampairlist	mapOfValues

imatrixpairlist	mapOfMatrices

infoLinesList	infoLineStringList

Detailed Description

Abstract wiring-object between controller and robot.

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

Examples:: integration/main.cpp.

Member Typedef Documentation

typedef double motor

typedef double sensor

Member Enumeration Documentation

enum PlotTypes

Enumerator
Nothing
Robot
Controller
Noise

Constructor & Destructor Documentation

AbstractWiring	(	NoiseGenerator *	noise,
		int	plotMode = `Controller`,
		const std::string &	name = `"AbstractWiring"`
	)

inline

constructor

Parameters

noise NoiseGenerator that is used for adding noise to sensor values

virtual ~AbstractWiring ( )

inlinevirtual

destructor

Member Function Documentation

void addSensorMotorInfosToInspectable	(	const std::list< SensorMotorInfo > &	robotSensorInfos,
		const std::list< SensorMotorInfo > &	robotMotorInfos,
		const std::list< SensorMotorInfo > &	controllerSensorInfos,
		const std::list< SensorMotorInfo > &	controllerMotorInfos
	)

used by WiredController to pass infos to inspectable

virtual int getControllerMotornumber ( )

inlinevirtual

Returns the number of motors on controller side.

virtual int getControllerSensornumber ( )

inlinevirtual

Returns the number of sensors on controller side.

virtual int getRobotMotornumber ( )

inlinevirtual

Returns the number of motors on robot side.

virtual int getRobotSensornumber ( )

inlinevirtual

Returns the number of sensors on robot side.

bool init	(	int	robotsensornumber,
		int	robotmotornumber,
		RandGen *	randGen = `0`
	)

virtual

Initializes the number of sensors and motors from robot (to be precise the internal parameters rsensornumber and rmotornumber!), calculates the number of sensors and motors on controller side.

The internal version initIntern() is called from here and be overloaded to calculate and provide the appropriate numbers controllersensornumber (csensornumber), controllermotornumber (cmotornumber) The number of noise channels (noisenumber) can also be changed.

Parameters

randGen pointer to random generator, if not given then a new one is created

Returns: returns false on error, otherwise true

virtual bool initIntern ( )

protectedpure virtual

to be overloaded by subclasses The rsensornumber and rmotornumber are already stored in the member variables.

The random values are to be accessed via the noiseGenerator.

See Also: init()

Implemented in DerivativeWiring, SelectiveOne2OneWiring, CopyWiring, FeedbackWiring, ForceBoostWiring, MotorNoiseWiring, One2OneWiring, and WiringSequence.

virtual void reset ( )

inlinevirtual

reset internal state

Reimplemented in DerivativeWiring, CopyWiring, and ForceBoostWiring.

std::list< SensorMotorInfo > wireMotorInfos ( const std::list< SensorMotorInfo > & robotMotorInfos )

virtual

routes the infos of the motors from robot to controller

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

virtual

Realizes wiring from controller motor outputs to robot motors.

The internal version wireMotorsIntern() is called from here and must be overloaded in order to implement the appropriate mapping.

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

Returns: returns false if error, else true

virtual bool wireMotorsIntern	(	motor *	rmotors,
		int	rmotornumber,
		const motor *	cmotors,
		int	cmotornumber
	)

protectedpure virtual

to be overloaded by subclasses

See Also: wireMotors()

Implemented in DerivativeWiring, CopyWiring, ForceBoostWiring, One2OneWiring, FeedbackWiring, MotorNoiseWiring, and WiringSequence.

std::list< SensorMotorInfo > wireSensorInfos ( const std::list< SensorMotorInfo > & robotSensorInfos )

virtual

routes the infos of the motors from robot to controller

bool wireSensors	(	const sensor *	rsensors,
		int	rsensornumber,
		sensor *	csensors,
		int	csensornumber,
		double	noiseStrength
	)

virtual

Realizes wiring from robot sensors to controller sensors.

The internal version wireSensorsIntern() is called from here and must be overloaded in order to implement the appropriate mapping. Noise values of the right size are then accessible via the noisevals array.

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
noiseStrength	size of the noise added to the sensors

Returns: returns false on error, otherwise true

virtual bool wireSensorsIntern	(	const sensor *	rsensors,
		int	rsensornumber,
		sensor *	csensors,
		int	csensornumber,
		double	noiseStrength
	)

protectedpure virtual

to be overloaded by subclasses

See Also: wireSensors()

Implemented in DerivativeWiring, SelectiveOne2OneWiring, CopyWiring, ForceBoostWiring, FeedbackWiring, One2OneWiring, SelectiveNoiseWiring, and WiringSequence.

Member Data Documentation

int cmotornumber

protected

number of motors at controller side

int csensornumber

protected

number of sensors at controller side

bool initialised

protected

matrix::Matrix mCmotors

protected

copy of the last controller motors

matrix::Matrix mCsensors

protected

copy of the last controller sensors

matrix::Matrix mNoise

protected

for storing the noise values

matrix::Matrix mRmotors

protected

copy of the last robot motors

matrix::Matrix mRsensors

protected

copy of the last robot sensors

NoiseGenerator* noiseGenerator

protected

noise generator

int noisenumber

protected

sensor* noisevals

protected

int plotMode

protected

using plotTypes this variables defines what is plotted

RandGen* randGen

protected

random generator used in NoiseGenerator (in case it is needed by subclasses)

int rmotornumber

protected

number of motors at robot side

int rsensornumber

protected

number of sensors at robot side

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

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation