Implements a wiring (between controller and robot) which includes the first and second derivative of the original robot sensor values. More...

#include <derivativewiring.h>

Inheritance diagram for DerivativeWiring:

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Collaboration diagram for DerivativeWiring:

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Public Member Functions
	DerivativeWiring (const DerivativeWiringConf &conf, NoiseGenerator *noise, const std::string &name="DerivativeWiring")
	constructor More...

virtual	~DerivativeWiring ()
	destructor More...

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

Public Member Functions inherited from AbstractWiring
	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...

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...

Static Public Member Functions
static DerivativeWiringConf	getDefaultConf ()
	Providing default configuration for DerivativeWiring with first derivative. More...

static DerivativeWiringConf	getDefaultConf1 ()
	Providing default configuration for DerivativeWiring for only first derivative. More...

Protected Member Functions
virtual bool	initIntern ()
	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 noise)
	Realizes a wiring from robot sensors to controller sensors. More...

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

void	calcFirstDerivative ()
	Calculate the first derivative of the sensorvalues given by the robot f'(x) = (f(x+1) - f(x-1)) / 2 since we do not have f(x+1) we go one timestep in the past. More...

void	calcSecondDerivative ()
	Calculate the secound derivative of the sensorvalues given by the robot f'(x) = f(x) - 2f(x-1) + f(x-2) More...

Protected Attributes
DerivativeWiringConf	conf
	used configuration More...

int	time

sensor *	sensorbuffer [buffersize]
	number timesteps the sensor values are delayed for calculation of the derivative More...

sensor *	first
	current sensors (with noise) More...

sensor *	second
	current second derivative More...

motor *	blindMotors
	array that stored the values of the blind motors More...

Protected Attributes inherited from AbstractWiring
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

Static Protected Attributes
static const int	buffersize =40

Additional Inherited Members
Public Types inherited from AbstractWiring
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

Detailed Description

Implements a wiring (between controller and robot) which includes the first and second derivative of the original robot sensor values.

Constructor & Destructor Documentation

DerivativeWiring	(	const DerivativeWiringConf &	conf,
		NoiseGenerator *	noise,
		const std::string &	name = `"DerivativeWiring"`
	)

constructor

Parameters

conf	for giving the wished configuration of DerivativeWiring via DerivativeWiringConf
noise	NoiseGenerator that is used for adding noise to sensor values

~DerivativeWiring ( )

virtual

destructor

Member Function Documentation

void calcFirstDerivative ( )

protected

Calculate the first derivative of the sensorvalues given by the robot f'(x) = (f(x+1) - f(x-1)) / 2 since we do not have f(x+1) we go one timestep in the past.

f'(x) = (f(x+1) - f(x-1)) / 2

void calcSecondDerivative ( )

protected

Calculate the secound derivative of the sensorvalues given by the robot f'(x) = f(x) - 2f(x-1) + f(x-2)

f'(x) = f(x) - 2f(x-1) + f(x-2)

static DerivativeWiringConf getDefaultConf ( )

inlinestatic

Providing default configuration for DerivativeWiring with first derivative.

No smoothing and no scaling. ( as static method )

static DerivativeWiringConf getDefaultConf1 ( )

inlinestatic

Providing default configuration for DerivativeWiring for only first derivative.

smoothing over 4 steps and scale of 5. Use smaller noise! ( as static method )

bool initIntern ( )

protectedvirtual

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()

Implements AbstractWiring.

void reset ( )

virtual

reset internal state

Reimplemented from AbstractWiring.

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

protectedvirtual

Realizes wiring from controller motor outputs to robot motors.

Implements AbstractWiring.

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

protectedvirtual

Realizes a wiring from robot sensors to controller sensors.

Implements AbstractWiring.

Member Data Documentation

motor* blindMotors

protected

array that stored the values of the blind motors

const int buffersize =40

staticprotected

DerivativeWiringConf conf

protected

used configuration

sensor* first

protected

current sensors (with noise)

current first derivative

sensor* second

protected

current second derivative

sensor* sensorbuffer[buffersize]

protected

number timesteps the sensor values are delayed for calculation of the derivative

current and old smoothed sensor values of robot

int time

protected

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

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Static Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation