class for robot controller that use naglaa's direct matrix inversion for n channels (simple one layer networks) More...

#include <invert3channelcontroller.h>

Inheritance diagram for Invert3ChannelController< NUMBER_CHANNELS, BUFFER_SIZE >:

Collaboration diagram for Invert3ChannelController< NUMBER_CHANNELS, BUFFER_SIZE >:

Public Member Functions
virtual double	g (double z)
	neuron transfer function More...

virtual double	g_s (double z)

virtual double	squash (double z)
	squashing function, to protect against to large weight updates More...

	Invert3ChannelController ()

virtual void	step (const sensor x_, int sensornumber, motor y_, int motornumber)
	performs one step (includes learning). Calulates motor commands from sensor inputs. More...

virtual void	stepNoLearning (const sensor x_, int sensornumber, motor y_, int motornumber)
	performs one step without learning. Calulates motor commands from sensor inputs. More...

Public Member Functions inherited from InvertController
	InvertController (const std::string &name, const std::string &revision)

Public Member Functions inherited from AbstractController
	AbstractController (const std::string &name, const std::string &revision)
	contructor (hint: use $ID$ for revision) More...

virtual void	init (int sensornumber, int motornumber, RandGen *randGen=0)=0
	initialisation of the controller with the given sensor/ motornumber Must be called before use. More...

virtual int	getSensorNumber () const =0

virtual int	getMotorNumber () const =0

virtual void	motorBabblingStep (const sensor , int number_sensors, const motor , int number_motors)
	called in motor babbling phase. More...

virtual void	sensorInfos (std::list< SensorMotorInfo > sensorInfos)
	the controller is notified about the information on sensor. More...

virtual void	motorInfos (std::list< SensorMotorInfo > motorInfos)
	the controller is notified about the information on motors. More...

virtual int	SIdx (const std::string &name)
	returns the index of the sensor with the given name (if not found then 0 and all sensor names are printed) More...

virtual int	MIdx (const std::string &name)
	returns the index of the motor with the given name (if not found then 0 and all motor names are printed) More...

virtual SensorMotorInfo	SInfo (int index)
	returns the Information for the sensor with given index More...

virtual SensorMotorInfo	MInfo (int index)
	returns the Information for the motor with given index 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...

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 Storeable
virtual	~Storeable ()

virtual bool	store (FILE *f) const =0
	stores the object to the given file stream (ASCII preferred). More...

virtual bool	restore (FILE *f)=0
	loads the object from the given file stream (ASCII preferred). More...

bool	storeToFile (const char *filename) const
	Provided for convenience. More...

bool	restoreFromFile (const char *filename)
	Provided for convenience. More...

Public Attributes
double	A [NUMBER_CHANNELS][NUMBER_CHANNELS]
	model matrix More...

double	C [NUMBER_CHANNELS][NUMBER_CHANNELS]
	controller matrix More...

double	h [NUMBER_CHANNELS]
	bias vector More...

double	x_buffer [BUFFER_SIZE][NUMBER_CHANNELS]
	buffer for input values, x[tbuffersize]=actual value, x[(t-1+buffersize)buffersize]=x(t-1) More...

double	y_buffer [BUFFER_SIZE][NUMBER_CHANNELS]
	buffer for output values, y[tbuffersize]=actual value(if already calculated!), y[(t-1+buffersize)buffersize]=y(t-1) More...

double	xsi4E [NUMBER_CHANNELS]

double	xsi4Model [NUMBER_CHANNELS]

int	t
	number of steps, needed for ringbuffer x_buffer More...

Protected Member Functions
virtual void	inverseMatrix (double Q[NUMBER_CHANNELS][NUMBER_CHANNELS], double Q_1[NUMBER_CHANNELS][NUMBER_CHANNELS])

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[BUFFER_SIZE][NUMBER_CHANNELS], paramval number_steps_of_delay_, double *target)
	calculate delayed values More...

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

virtual void	calculateControllerValues (double x_smooth, double y)
	calculate controller ouptus More...

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

virtual int	getInternalParamNames (paramkey *&keylist)

virtual int	getInternalParams (paramval *vallist, int length)

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

Additional Inherited Members
Public Types inherited from AbstractController
typedef double	sensor

typedef double	motor

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

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

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...

Protected Attributes inherited from InvertController
paramval	eps

paramval	rho

paramval	desens

paramval	s4delay

paramval	s4avg

paramval	factor_a

paramval	number_it

paramval	epsilon_it

paramval	delta

paramval	damping_c

Protected Attributes inherited from AbstractController
std::map< std::string, int >	sensorIndexMap

std::map< std::string, int >	motorIndexMap

std::map< int, SensorMotorInfo >	sensorInfoMap

std::map< int, SensorMotorInfo >	motorInfoMap

Protected Attributes inherited from Inspectable
iparamkey	name

iparampairlist	mapOfValues

imatrixpairlist	mapOfMatrices

infoLinesList	infoLineStringList

Detailed Description

template<int NUMBER_CHANNELS, int BUFFER_SIZE = 2>
class Invert3ChannelController< NUMBER_CHANNELS, BUFFER_SIZE >

class for robot controller that use naglaa's direct matrix inversion for n channels (simple one layer networks)

Implements standart parameters: eps, rho, mu, stepnumber4avg, stepnumber4delay

Constructor & Destructor Documentation

Invert3ChannelController ( )

inline

Member Function Documentation

virtual void calculateControllerValues	(	double *	x_smooth,
		double *	y
	)

inlineprotectedvirtual

calculate controller ouptus

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

inlineprotectedvirtual

calculate delayed values

virtual double calculateE	(	const double *	x_,
		const double *	x_delay,
		const double *	y_delay
	)

inlineprotectedvirtual

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

inlineprotectedvirtual

virtual double g ( double z )

inlinevirtual

neuron transfer function

virtual double g_s ( double z )

inlinevirtual

virtual int getInternalParamNames ( paramkey *& keylist )

inlineprotectedvirtual

virtual int getInternalParams	(	paramval *	vallist,
		int	length
	)

inlineprotectedvirtual

virtual void inverseMatrix	(	double	Q[NUMBER_CHANNELS][NUMBER_CHANNELS],
		double	Q_1[NUMBER_CHANNELS][NUMBER_CHANNELS]
	)

inlineprotectedvirtual

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

inlineprotectedvirtual

virtual void learnModel	(	const double *	x_actual,
		double *	y_effective
	)

inlineprotectedvirtual

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

inlineprotectedvirtual

virtual double squash ( double z )

inlinevirtual

squashing function, to protect against to large weight updates

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

inlinevirtual

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

Implements AbstractController.

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

inlinevirtual

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

Implements AbstractController.

Member Data Documentation

double A[NUMBER_CHANNELS][NUMBER_CHANNELS]

model matrix

double C[NUMBER_CHANNELS][NUMBER_CHANNELS]

controller matrix

double h[NUMBER_CHANNELS]

bias vector

int t

number of steps, needed for ringbuffer x_buffer

double x_buffer[BUFFER_SIZE][NUMBER_CHANNELS]

buffer for input values, x[tbuffersize]=actual value, x[(t-1+buffersize)buffersize]=x(t-1)

double xsi4E[NUMBER_CHANNELS]

double xsi4Model[NUMBER_CHANNELS]

double y_buffer[BUFFER_SIZE][NUMBER_CHANNELS]

buffer for output values, y[tbuffersize]=actual value(if already calculated!), y[(t-1+buffersize)buffersize]=y(t-1)

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

invert3channelcontroller.h

Public Member Functions

Public Attributes

Protected Member Functions

Additional Inherited Members

Detailed Description

template<int NUMBER_CHANNELS, int BUFFER_SIZE = 2> class Invert3ChannelController< NUMBER_CHANNELS, BUFFER_SIZE >

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<int NUMBER_CHANNELS, int BUFFER_SIZE = 2>
class Invert3ChannelController< NUMBER_CHANNELS, BUFFER_SIZE >