Implements one to one wiring that integrates the mismatch between motor commands (understood as target values) and sensor values and adds them to the controller output If more sensors than motors are used it uses just the first m sensors. More...

#include <forceboostwiring.h>

Inheritance diagram for ForceBoostWiring:

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Collaboration diagram for ForceBoostWiring:

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Public Member Functions
	ForceBoostWiring (NoiseGenerator *noise, double boost=0, bool exportBoostError=false, int plotMode=Controller, const std::string &name="ForceBoostWiring")
	constructor More...

virtual	~ForceBoostWiring ()
	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...

Public Member Functions inherited from Configurable
	Configurable ()

	Configurable (const std::string &name, const std::string &revision)
	intialise with name and revision (use "$ID$") More...

virtual	~Configurable ()

virtual void	notifyOnChange (const paramkey &key)
	Is called when a parameter was changes via setParam(). More...

virtual void	addParameter (const paramkey &key, paramval *val, paramval minBound, paramval maxBound, const paramdescr &descr=paramdescr())
	This is the new style for adding configurable parameters. More...

virtual void	addParameter (const paramkey &key, paramval *val, const paramdescr &descr=paramdescr())
	See addParameter(const paramkey& key, paramval* val, paramval minBound, paramval maxBound, const paramdescr& descr) More...

virtual void	addParameter (const paramkey &key, parambool *val, const paramdescr &descr=paramdescr())
	See addParameter(const paramkey& key, paramval* val) but for bool values. More...

virtual void	addParameter (const paramkey &key, paramint *val, paramint minBound, paramint maxBound, const paramdescr &descr=paramdescr())
	See addParameter(const paramkey& key, paramval* val) but for int values. More...

virtual void	addParameter (const paramkey &key, paramint *val, const paramdescr &descr=paramdescr())

virtual void	addParameterDef (const paramkey &key, paramval *val, paramval def, paramval minBound, paramval maxBound, const paramdescr &descr=paramdescr())
	This function is only provided for convenience. More...

virtual void	addParameterDef (const paramkey &key, paramval *val, paramval def, const paramdescr &descr=paramdescr())

virtual void	addParameterDef (const paramkey &key, parambool *val, parambool def, const paramdescr &descr=paramdescr())
	See addParameterDef(const paramkey&, paramval*, paramval) More...

virtual void	addParameterDef (const paramkey &key, paramint *val, paramint def, paramint minBound, paramint maxBound, const paramdescr &descr=paramdescr())
	See addParameterDef(const paramkey&, paramval*, paramval) More...

virtual void	addParameterDef (const paramkey &key, paramint *val, paramint def, const paramdescr &descr=paramdescr())

virtual void	setParamDescr (const paramkey &key, const paramdescr &descr, bool traverseChildren=true)
	sets a description for the given parameter More...

int	getId () const
	return the id of the configurable objects, which is created by random on initialisation More...

virtual paramkey	getName () const
	return the name of the object More...

virtual paramkey	getRevision () const
	returns the revision of the object More...

virtual void	setName (const paramkey &name, bool callSetNameOfInspectable=true)
	Sets the name of the configurable. More...

virtual void	setRevision (const paramkey &revision)
	sets the revision Hint: { return "$ID$"; } More...

virtual paramval	getParam (const paramkey &key, bool traverseChildren=true) const
	returns the value of the requested parameter or 0 (+ error message to stderr) if unknown. More...

virtual bool	hasParam (const paramkey &key, bool traverseChildren=true) const
	Returns if the requested parameter is part of the configurable or their children. More...

virtual bool	setParam (const paramkey &key, paramval val, bool traverseChildren=true)
	sets the value of the given parameter or does nothing if unknown. More...

virtual void	setParamBounds (const paramkey &key, paramval minBound, paramval maxBound, bool traverseChildren=true)
	Sets the bounds (minBound and maxBound) of the given parameter. More...

virtual void	setParamBounds (const paramkey &key, paramint minBound, paramint maxBound, bool traverseChildren=true)

virtual void	setParamBounds (const paramkey &key, paramvalBounds bounds, bool traverseChildren=true)

virtual void	setParamBounds (const paramkey &key, paramintBounds bounds, bool traverseChildren=true)

virtual paramlist	getParamList () const
	The list of all parameters with there value as allocated lists. More...

virtual std::list< paramkey >	getAllParamNames (bool traverseChildren=true)
	returns all names that are configureable More...

virtual parammap	getParamValMap () const

virtual paramintmap	getParamIntMap () const

virtual paramboolmap	getParamBoolMap () const

virtual paramdescr	getParamDescr (const paramkey &key, bool traverseChildren=true) const
	returns the description for the given parameter More...

virtual paramvalBounds	getParamvalBounds (const paramkey &key, bool traverseChildren=true) const

virtual paramintBounds	getParamintBounds (const paramkey &key, bool traverseChildren=true) const

virtual bool	hasParamDescr (const paramkey &key, bool traverseChildren=true) const

virtual bool	hasParamvalBounds (const paramkey &key, bool traverseChildren=true) const

virtual bool	hasParamintBounds (const paramkey &key, bool traverseChildren=true) const

virtual bool	storeCfg (const char *filenamestem, const std::list< std::string > &comments=std::list< std::string >())
	stores the key values paires into the file : filenamestem.cfg including the comments given in the list More...

virtual bool	restoreCfg (const char *filenamestem)
	restores the key values paires from the file : filenamestem.cfg More...

void	print (FILE f, const char prefix, int columns=90, bool traverseChildren=true) const
	prints the keys, values and descriptions to the file. Each line is prefixed More...

bool	parse (FILE f, const char prefix=0, bool traverseChildren=true)
	parses the configuration from the given file More...

virtual void	addConfigurable (Configurable *conf)
	Adds a configurable as a child object. More...

virtual void	removeConfigurable (Configurable *conf)
	Removes a configurable as a child object. More...

virtual const configurableList &	getConfigurables () const
	Returns the list containing all configurable children. More...

virtual void	configurableChanged ()
	Indicates that the configurable itself or the configurable children attached to this configurable have changed. More...

Public Member Functions inherited from BackCaller
	BackCaller ()

virtual	~BackCaller ()

virtual void	addCallbackable (Callbackable *callbackableInstance, CallbackableType type=BackCaller::DEFAULT_CALLBACKABLE_TYPE)
	Adds a Callbackable instance to this caller instance. More...

virtual void	removeCallbackable (Callbackable *callbackableInstance, CallbackableType type=BackCaller::DEFAULT_CALLBACKABLE_TYPE)
	Removes a Callbackable instance from this caller instance. More...

virtual void	removeAllCallbackables (CallbackableType type)
	Removes all Callbackable instances from this caller instance. More...

virtual void	callBack (CallbackableType type=BackCaller::DEFAULT_CALLBACKABLE_TYPE)
	Calls all registered callbackable classes of the determined type. More...

virtual void	callBackQMP (CallbackableType type=BackCaller::DEFAULT_CALLBACKABLE_TYPE)
	Calls all registered callbackable classes of the determined type. More...

Protected Member Functions
virtual bool	initIntern ()
	initializes the number of sensors and motors on robot side, calculate number of sensors and motors on controller side More...

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

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

Protected Member Functions inherited from Configurable
void	copyParameters (const Configurable &, bool traverseChildren=true)
	copies the internal params of the given configurable More...

void	printdescr (FILE f, const char prefix, const paramkey &key, int columns, int indent) const

Protected Attributes
double	boost

matrix::Matrix	error

matrix::Matrix	sens

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

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

Public Types inherited from Configurable
typedef std::string	paramkey

typedef std::string	paramdescr

typedef double	paramval

typedef std::list< std::pair < paramkey, paramval > >	paramlist

typedef std::map< paramkey, paramval * >	parammap

typedef bool	parambool

typedef std::list< std::pair < paramkey, parambool > >	paramboollist

typedef std::map< paramkey, parambool * >	paramboolmap

typedef int	paramint

typedef std::list< std::pair < paramkey, paramint > >	paramintlist

typedef std::map< paramkey, paramint * >	paramintmap

typedef std::map< paramkey, paramdescr >	paramdescrmap

typedef std::pair< paramval, paramval >	paramvalBounds

typedef std::map< paramkey, paramvalBounds >	paramvalBoundsMap

typedef std::pair< paramint, paramint >	paramintBounds

typedef std::map< paramkey, paramintBounds >	paramintBoundsMap

typedef std::pair< paramkey, paramval * >	paramvalpair

typedef std::pair< paramkey, parambool * >	paramboolpair

typedef std::pair< paramkey, paramint * >	paramintpair

typedef std::vector < Configurable * >	configurableList

Public Types inherited from BackCaller
typedef unsigned long	CallbackableType

Static Public Attributes inherited from Configurable
static const CallbackableType	CALLBACK_CONFIGURABLE_CHANGED = 11

Static Public Attributes inherited from BackCaller
static const CallbackableType	DEFAULT_CALLBACKABLE_TYPE = 0
	This is the default Callbackable type. More...

Detailed Description

Implements one to one wiring that integrates the mismatch between motor commands (understood as target values) and sensor values and adds them to the controller output If more sensors than motors are used it uses just the first m sensors.

Constructor & Destructor Documentation

ForceBoostWiring	(	NoiseGenerator *	noise,
		double	boost = `0`,
		bool	exportBoostError = `false`,
		int	plotMode = `Controller`,
		const std::string &	name = `"ForceBoostWiring"`
	)

constructor

Parameters

noise	NoiseGenerator that is used for adding noise to sensor values
plotMode	see AbstractWiring
boost	factor for mismatch integration
exportBoostError	whether to export force boost error to inspectables (guilogger)

~ForceBoostWiring ( )

virtual

destructor

Member Function Documentation

bool initIntern ( )

protectedvirtual

initializes the number of sensors and motors on robot side, calculate number of sensors and motors on controller side

Implements AbstractWiring.

void reset ( )

virtual

reset internal state

Reimplemented from AbstractWiring.

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

protectedvirtual

Realizes one to one wiring from controller motor outputs to robot motors.

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

Implements AbstractWiring.

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

protectedvirtual

Realizes one to one wiring from robot sensors to controller sensors.

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
noise	size of the noise added to the sensors

Implements AbstractWiring.

Member Data Documentation

double boost

protected

matrix::Matrix error

protected

matrix::Matrix sens

protected

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

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation